Chapter

Operating Conditions’ Influence on the Change of Functional Characteristics for Mechatronic Systems with Orbital Hydraulic Motors

Authors:
  • Dmytro Motornyi Tavria State Agrotechnological University
  • Dmytro Motornyi Tavria State Agrotechnological University
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... High-torque low-speed gerotor [1,2], orbital [3] and planetary [4] hydraulic motors are most commonly used to drive active working bodies and running systems of road, construction, agricultural and other self-propelled equipment. One of the main units causing a decrease in the functional parameters of hydraulic motors is a working fluid distribution system that creates a rotating hydraulic field necessary for the movement of the inner rotor of these hydraulic machines [5,6]. ...
... It is known [1,3,8,11] that in mechatronic systems with a hydraulic drive, gerotor [1,2], orbital [3,5] and planetary [4,6] hydraulic machines with cycloidal rotors are mainly used. The proposed theoretical method for predicting the characteristics of an engine with constant difference orbital piston engines [21]. ...
... It is known [1,3,8,11] that in mechatronic systems with a hydraulic drive, gerotor [1,2], orbital [3,5] and planetary [4,6] hydraulic machines with cycloidal rotors are mainly used. The proposed theoretical method for predicting the characteristics of an engine with constant difference orbital piston engines [21]. ...
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As a result of the study, an experimental test bench was developed for testing high-torque hydraulic motors. A methodology for experimental studies of a unified series of planetary hydraulic motors has been developed. It has been established that an increase in the throughput of a hydraulic motor with a modernized distributed system makes it possible to increase the hydromechanical efficiency of the modernized hydraulic motor by 11 to 14%, the volumetric efficiency by 2 to 4%, and the overall efficiency by 7 to 9%. The increase in the values of the hydromechanical, volumetric and overall efficiency of the modernized hydraulic motor explains the increase in the throughput of its distributed system. It has been established that the torque of the developed serial hydraulic motor is 300 to 325 min ⁻¹ , which is a sign of the rigid characteristics of this hydraulic motor. The stability of the torque (within 1.5%) developed by the modernized hydraulic motor 370 to 375 H.m in the frequency range of 75 to 450 min ⁻¹ is confirmed by its rigid characteristic.
... Current trends in expanding the field of application of mechatronic systems with a hydraulic drive of active working bodies of self-propelled vehicles necessitates the creation of new designs of hydraulic machines. For mechatronic systems with a hydraulic drive of the active working bodies of selfpropelled vehicles, various types of hydraulic machines are used [1,2], but special attention is paid to planetary [3][4][5][6][7] and orbital [8][9][10][11][12] hydraulic motors. By plane taryhydraulicmotors are meant hydraulic machines operating on the principle of a planetary gearbox. ...
... A movable distributor 3 mounted on the shaft 4 of the hydraulic motor forms a distribution unit that supplies (discharges) the working fluid to the working chambers of the hydraulic TRANSBUD-2019 IOP Conf. Series: Materials Science and Engineering 708 (2019) 012038 IOP Publishing doi: 10.1088/1757-899X/708/1/012038 2 motor. When the distribution system is operating, the movable distributor 3 mounted on the hydraulic motor shaft 4 rotates relative to the stationary 2 installed in the front cover 1. ...
... Moreover, for kinematic schemes 7/6 и 11/10 (Z 1 = 12; 20) working and additional (unloading) windows are shifted clockwise, and for kinematic schemes 5/4, 9/8 и 13/12 (Z 1 = 8; 16; 24) working and additional (unloading) windows are shifted counterclockwise. 10. The location angles of the workings and additionals (unloading) windows of the movable distributor after the displacement are determined if the windows are shifted clockwise, then τ work и τ unload taken with a sign "+", if the windows are shifted counterclockwise -with a sign "-". ...
Article
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Current trends in expanding the field of application of mechatronic systems with a hydraulic drive of active working bodies of self-propelled vehicles necessitates the creation of new designs of hydraulic machines. For mechatronic systems with a hydraulic drive of the active working bodies of self-propelled vehicles, various types of hydraulic machines are used, but special attention is paid to orbital and planetary hydraulic motors. The crank in this hydraulics machines is a rotating hydraulic field formed by the distribution system of the planetary hydraulic motor. The distribution system of the considered hydraulic motor is one of the main mechanisms determining the stable operation of the planetary hydraulic motor. As a result of the research, design schemes, a mathematical apparatus, and a calculation algorithm have been developed that make it possible to justify the angular arrangement of the working and unloading windows of the moving distributor. The angular arrangement of the working and unloading windows of the moving distributor of the planetary hydraulic motor distribution system is substantiated. A technique has been developed for shifting the distribution window of the movable distributor, which allows to reduce fluctuations in the flow of the working fluid, and as a result, improve the functional parameters of the planetary hydraulic motor.
... At present, gerotor [1][2][3], orbital [1,[4][5][6][7][8][9] and planetary [10][11][12][13] hydraulic machines are widely used in hydraulic drives of mechatronic systems of self-propelled machinery. From the point of view of selfpropelled equipment, planetary hydraulic machines deserve the greatest attention, having the ability to install directly into the drive mechanisms conveyors, winches, motor wheels, etc. ...
... The increasing performance requirements of mechatronic systems with a hydraulic drive of active working bodies of self-propelled vehicles require the use of new approaches in the process of their development and design [6]. The functional parameters of mechatronic systems depend on a rational choice of the operating modes of the hydraulic system and the structural design of mechatronic modules and their elements [5]. ...
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A structural-functional diagram of a dynamic model of a mechatronic system with a planetary hydraulic motor is proposed. The initial conditions for the simulation of transients occurring in a mechatronic system with a planetary hydraulic motor are substantiated. The design parameters of the distribution system, which determine the unevenness of the output characteristics of the planetary hydraulic motor, are also substantiated. The influence of the design features of a serial and modernized hydraulic motors on the dynamic processes of the mechatronic system is investigated. It is established that fluctuations in the flow area of the distribution system of a serial hydraulic motor cause pulsations of torque on the hydraulic motor shaft and pressure in the discharge line of the mechatronic system. At the time of acceleration, significant pulsations of the flow of working fluid through the safety valve are observed, and as a result, pulsations of the flow of working fluid through the hydraulic motor. Elimination of fluctuations in the flow area of the distribution system of the upgraded hydraulic motor allows you to stabilize the values of pressure, torque and flow rate of the working fluid throughout the study of the acceleration process. Under steady-state operation, fluctuations in the area of the passage section of the distribution system do not affect the nature of the change in the shaft speed, either of the modernized or serial hydraulic motors.
... The characteristics of the parameters of hydraulic motors with cycloid transmission of the internal and external rotor systems are considered [21]. Hydraulic machines with epicycloidal and hypocycloidal gearing in a rotor system are compared. ...
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One of the main stages of research related to increasing the efficiency of planetary hydraulic motors operating as part of the mechatronic systems of self-propelled vehicles is the experimental research of real samples. Experimental studies of the influence of design features of the rotor system of serial and modernized hydraulic motors on the output characteristics of mechatronic systems were carried out by means of comparative bench tests. A technique has been developed for conducting comparative bench studies of planetary hydraulic motors. A test bench scheme is proposed for testing a family of unified series of high-torque, low-speed planetary-type hydraulic motors. The main factors determining the change in the output characteristics of the planetary hydraulic motor, taking into account the design features of the rotor system, are: pressure drop, flow rate of the working fluid and the error the manufacturing form of the gear profile of its rotors. Tests of planetary hydraulic motors with a serial and modernized rotor systems were carried out. The modernization of the rotor system was carried out by changing the design of the external and internal rotors in order to reduce the shape error of their gear profile. As a result of experimental studies, it was found that eliminating the error the manufacturing form of the rotors of the modernized hydraulic motor can significantly improve its output characteristics - increase the torque at specified rotation speeds, and as a result, increase the hydromechanical and overall efficiency of the mechatronic system as a whole.
... During the operation of hydraulic units of track machines, especially hydrostatic ones, all three oil indicators must be maintained at a high or set level, since during operation of these units both the hydrodynamic lubrication and the boundary lubrication exist, because of the design features of the units [4] and wide ranges of loads, relative speeds and temperature [5]. In addition, the viscosity characteristic of the oil significantly affects the efficiency of its application on the friction surface [6], which also confirms the importance of ensuring its performance at the necessary level. ...
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The promising types of additives to hydraulic oils of track machines, which contribute to increasing the lubricity of oils, that is necessary for the introduction of resource saving in railway transport, were substantiated. On the basis of the conducted justification, two types of additives were selected for further study: pure stearic acid and a three-component additive based on carbamide A, stearic and oleic acid. These additives were used in the studies, being added to hydraulic oil I-20A in different concentrations. Methods and results of laboratory studies of the indicators of the lubricity of hydraulic oil with additives depending on the concentration of the additive and the operating temperature of the oil are given. The following indicators of oil lubricity were studied: the dynamic viscosity of the oil measured in a rotary viscometer; the thickness of the boundary lubricant film measured using the “ball stack” method; the load-carrying capacity of the boundary lubricant film measured in a special load device by establishing a load in which the electrical resistance in the point of contact between two lubricated steel balls abruptly approaches the values of resistance of the dry metal contact.
... Dynamics analysis requires complex methods and equipment [10]. Experimental studies are performed using special equipment [11]. The studies cited in the literature refer to robotic complexes that move on smooth roads [12]. ...
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The paper describes the change of the geometry of the caterpillar of the terrestrial robotic complex depending on external factors. It is established that as a result of the action of centrifugal forces the caterpillar elongates, on the surface of the support rollers, the caterpillar repeats their shape, the upper part of the caterpillar acquires a convex shape, and the lower part of the caterpillar repeats the shape of the curve, which determines the unevenness of the soil. The dependence of the caterpillar shape on soil irregularities is established. The peculiarity of the geometry is that on the lower part of the caterpillar there is a ripple with the number of waves between the support rollers 1-2. It is established that the presence of soil irregularities, the harmonic components of the profiles of which have a period of about 4/3 of the distance between the extreme support rollers, leads to the greatest tensile loads in the caterpillar and the corresponding changes in caterpillar length. The dependences determining the elongation of the caterpillar, which is proportional to the square of the amplitude of the harmonic component of the soil roughness of the corresponding period are obtained.
... The increasing requirements for the performance of mechatronic systems with a hydraulic drive of active working bodies of self-propelled machines require the use of new approaches in the process of their development and design. A universal model has been proposed that describes the dynamic and static processes occurring in the elements of a mechatronic system [5], a methodology for designing hydraulic mechatronic systems with elements of multi-criteria optimization has been developed, which makes it possible to design a mechatronic system with given output characteristics [6], transient processes in the control system of a hydraulic drive have been analyzed [7], the functional characteristics of the hydraulically driven mechatronic system on the chassis were investigated [8]. Analytical and finite element models of a machine with a trochoidal rotor working surface for quasistatic conditions [9], a mathematical model of axial piston hydraulic machines for compressible flows [10] are presented. ...
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Predicting changes in the operating parameters of a planetary hydraulic motor is an urgent direction for improving its design. The physical and mathematical models of the planetary hydraulic motor have been developed, which make it possible to simulate the processes occurring under operating conditions. A design scheme and a mathematical apparatus have been developed for determining the pressure and leaks of the pressure fluid in the gap formed by the end surfaces of the distributors, which make it possible to study the change in the operating parameters of the hydraulic motor. By studying the features of the distribution system of a serial hydraulic motor, it was found that insignificant fluctuations in the flow area (up to 3%) cause rather large (up to 71%) pressure fluctuations. That causes the loss of fluid passing through the hydraulic motor up to 10% and fluctuations in the angular velocity of the output shaft – up to 11%. The absence of pressure fluctuations in the discharge line of the distribution system of the modernized hydraulic motor ensures the stability of its operating parameters. The results of the studies carried out make it possible to predict changes in the operating parameters of planetary hydraulic motors operating as part of a hydraulic drive at the design stage.
... Effective experimental methods are used to study the accuracy of [9]. It is accepted that the rational method of research is mathematical modeling [10]. Effective methods of modeling high-frequency shock processes have been developed [11]. ...
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A special technique to study the impact of the discharge on the ground robotic complex equipped with small arms in this article is proposed. The development of the technique is based on mathematical modeling of the dynamic system of the robotic complex. The magnitude and nature of dynamic loads on the ground robotic complex are determined. The experimental sample of the ground robotic complex equipped with small arms has been developed by the authors. Measures to ensure a stable position of the complex and methods of compensation for uncontrolled changes in the position of the complex under dynamic loads are proposed. To study the processes of firing, their individual components are considered: the problem of internal ballistics, the process of movement of the retractable parts of the barrel, dynamic loads on the complex. The conducted study gives the chance to create highly effective samples of special equipment. These are, in particular, military ground-based robotic complexes, which will be competitive by increasing the efficiency of their operation.
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Chapter
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The growing demands to performance of mechatronic systems with a hydraulic drive of movable operating elements of self-propelled machines require application of new approaches to the process of their development and design. Functional parameters of the mechatronic systems depend on a rational choice of operating modes of the hydraulic system and the design implementation of the mechatronic modules of these systems. Quality of the mechanically driven mechatronic system is largely determined by its dynamic characteristics. In order to improve dynamic characteristics, a universal model describing dynamic and static processes occurring in the elements of the mechatronic system was proposed. The pump, the hydraulic motor, the safety valve and the working fluid are considered interrelated as a single whole. The universal model takes into account peculiarities of functioning and mutual influence of all elements of the mechatronic system as well as the features of the working fluid and can be used with any hydraulic machines of a volumetric action. The study of dynamics of the changes in functional parameters of the mechanically driven mechatronic system was carried out for four stages of its operation: acceleration of the hydraulic drive (triggering of the safety valve); valve closure; completion of acceleration and steady-state operation. The conducted studies have established that when activating the hydraulic drive of the mechatronic system from the moment of the safety valve activation and to its closure, operating conditions do not affect changes in the functional parameters. In the steady-state operation, there are fluctuations caused by unevenness of the pump feed and load fluctuations. It should also be noted that the mechatronic system with a hydraulic motor having larger working volume has better dynamic characteristics than that with smaller working volume.
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