Instability and Passivity Concepts for Fast and Safe Electrohydraulic Systems

佩里Y.李，明尼苏达大学提案编号：CMS-0088964快速和安全的电液系统的不稳定性和被动性概念电液在许多行业中发挥着重要作用，如建筑，材料测试，机器人，航空航天。电动液压的市场要求1）更高的带宽、更低的成本和更好的可靠性，以及2）更安全和更好的人性化，特别是对于需要与环境交互和由人直接操作的应用。本项目通过将不稳定性和被动性的概念引入到电液阀的设计中来解决这两个需求。首先，将开发具有改进的性能的新型单级阀（其本质上比多级阀更便宜且更可靠）-通过使阀芯不稳定，以便利用由不稳定流动力提供的灵活性。其次，一类新的电液阀，具有被动属性将被开发。虽然被动性是公认的，以提高安全性和提高人性化，它还没有被利用以前在电液系统。理论的设计和控制的新的不稳定阀和被动阀将开发。新的瓣膜将被制成原型。将在典型的力和位置跟踪任务中演示不稳定阀门。被动阀在安全关键，人类操作的应用程序的有用性将在液压驱动的远程手术工具的背景下得到证明，这项研究将使液压系统更具成本效益，更可靠，有更好的性能，更安全，更友好的用户。这些进步将把液压技术扩展到更大的工业领域和新的应用领域。

Perry Y. Li, University of MinnesotaProposal number: CMS-0088964Instability and Passivity Concepts for Fast and Safe Electrohydraulic SystemsElectrohydraulics play an important role in many industries, such as construction, material testing, robotics, aerospace. The market place for electrohydraulics is demanding 1) higher bandwidth, lower cost and better reliability, and 2) safer and better human friendliness, especially for applications that require interaction with the environment and direct operation by a human. This project addresses these two needs by introducing the concepts of instability and passivity to the design of electrohydraulic valves. Firstly, a new class single stage valves (which are inherently cheaper and more reliable than multistage valves) with improved performance will be developed - by making the spool unstable, so as to exploit the agility afforded by the unstable flow forces. Secondly, a new class of electrohydraulic valves that possess a passivity property will be developed. Although passivity is well recognized to improve safety and to enhance human friendliness, it has not been previously exploited in electrohydraulic systems.Theory for the design and control of the new unstable valves and passive valves will be developed. The new valves will be prototyped. The unstable valves will be demonstrated in typical force and position tracking tasks. The usefulness of the passive valves in safety critical, human operated applications will be demonstrated in the context of a hydraulically actuated teleoperated surgical tool.This research will enable hydraulic systems to be more cost effective, more reliable, have better performance, and to be safer and more user friendly. These advances will expand hydraulics into a larger segment of industry and to new applications.