Method of improving the operation of the hydraulically actuated, automatíc drum gate of the Ingursk hydroelectric plant

V. K. Gladkov

doi:10.1007/bf02376205

Active Variable-Impedance based Compliant Landing Control for a Hydraulically-Actuated Articulated Robotic Leg

2020 39th Chinese Control Conference (CCC) ◽

10.23919/ccc50068.2020.9188561 ◽

2020 ◽

Author(s):

AN Honglei ◽

LIAN Yao ◽

LI Yun ◽

MA Hongxu ◽

WEI Qing

Keyword(s):

Hydraulically Actuated ◽

Robotic Leg ◽

Landing Control

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A Gap Metric Approach for Controller Certification of a Hydraulically-Actuated Legged Robot

10.26678/abcm.cobem2019.cob2019-2184 ◽

2019 ◽

Author(s):

Jose Luiz Montandon Neto ◽

Thiago Boaventura

Keyword(s):

Legged Robot ◽

Gap Metric ◽

Hydraulically Actuated

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Results of 10-year operation of the Kaunassk hydroelectric plant

Hydrotechnical Construction ◽

10.1007/bf02376351 ◽

1973 ◽

Vol 7 (5) ◽

pp. 471-478 ◽

Cited By ~ 2

Author(s):

S. I. Danila

Keyword(s):

Hydroelectric Plant

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Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach

Multibody System Dynamics ◽

10.1007/s11044-020-09776-4 ◽

2021 ◽

Author(s):

Suraj Jaiswal ◽

Jarkko Rahikainen ◽

Qasim Khadim ◽

Jussi Sopanen ◽

Aki Mikkola

Keyword(s):

Time Integration ◽

Physical Nature ◽

Double Step ◽

Work Cycle ◽

Driven System ◽

Hydraulically Actuated ◽

Fluid Theory ◽

Monolithic Approach ◽

Constraint Enforcement ◽

Volume Size

AbstractThe simulation of mechanical systems often requires modeling of systems of other physical nature, such as hydraulics. In such systems, the numerical stiffness introduced by the hydraulics can become a significant aspect to consider in the modeling, as it can negatively effect to the computational efficiency. The hydraulic system can be described by using the lumped fluid theory. In this approach, a pressure can be integrated from a differential equation in which effective bulk modulus is divided by a volume size. This representation can lead to numerical stiffness as a consequence of which time integration of a hydraulically driven system becomes cumbersome. In this regard, the used multibody formulation plays an important role, as there are many different procedures for the constraint enforcement and different sets of coordinates to choose from. This paper introduces the double-step semirecursive approach and compares it with a penalty-based semirecursive approach in case of coupled multibody and hydraulic dynamics within the monolithic framework. To this end, hydraulically actuated four-bar and quick-return mechanisms are analyzed as case studies. The two approaches are compared in terms of the work cycle, energy balance, constraint violation, and numerical efficiency of the mechanisms. It is concluded that the penalty-based semirecursive approach has a number of advantages compared with the double-step semirecursive approach, which is in accordance with the literature.

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Main and auxiliary equipment for the Sayano-Shushenskoe hydroelectric plant

Hydrotechnical Construction ◽

10.1007/bf02304365 ◽

1978 ◽

Vol 12 (1) ◽

pp. 5-11 ◽

Cited By ~ 1

Author(s):

I. M. Gamus

Keyword(s):

Hydroelectric Plant ◽

Auxiliary Equipment

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Dynamic Behavior of a Hydraulically Actuated Mechanism. Part 2: Nonlinear Character

Journal of Mechanisms Transmissions and Automation in Design ◽

10.1115/1.3260810 ◽

1986 ◽

Vol 108 (2) ◽

pp. 250-254

Author(s):

V. Venkatraman ◽

R. W. Mayne

Keyword(s):

Dynamic Response ◽

Transient Response ◽

Adequate Description ◽

Linear Behavior ◽

Transmission Angle ◽

Dimensionless Groups ◽

Hydraulically Actuated ◽

Nonlinear Character ◽

The Common ◽

Nonlinear Nature

The first of these papers considering a hydraulically actuated mechanism presents the common oscillating cylinder arrangement and sets of equations which describe the dynamic system. It then defines dimensionless groups that characterize the actuator-mechanism and explores the quasi-linear behavior of the system. This present paper focuses on the nonlinear nature of the system. Effects of transmission angle, mechanism geometry and loading are considered as well as the range of operation in which the small perturbation behavior provides an adequate description of the dynamic response. The paper closes by identifying a new parameter which plays an important role in characterizing the dependence of the system transient response on mechanism geometry.

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