fpmc 2016 - university of · pdf filefpmc 2016 7-9 september 2016 ... 11:15 1717 noah manring...

Bath/ASME Symposium on Fluid Power and Motion Control

FPMC 2016

7-9 SEPTEMBER 2016

Contents Technical Programme 5 Social Programme 8 The University of Bath at 50 9 Honorary Graduand 10 The Robert E. Koski Medal 11 The Joseph Bramah Medal 12 Best Paper Award 13 FPMC 2016 Organisers 14 Maps 15

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Bath/ASME Symposium on Fluid Power and Motion Control

FPMC 2016, 7-9 September 2016 University of Bath

FPMC 2016

7-9 SEPTEMBER 2016

Lecture Room CB 2.6, Chancellors’ Building, University of Bath

Delegates can register and pick up Symposium files in Chancellors’ Building Foyer on Tuesday 6th September, 15:00-17:00

and Wednesday 7th September, 08:30-09:00

Please wear your name badge at all times during the Symposium.

To aid in the smooth running of the Symposium, Presenting Authors and Chairs are asked to meet in the lecture room 15 minutes before the start of their session so that their presentations can be set up. If possible, presentations should be brought on a flash drive and copied onto the lecture room PC.

For wi-fi access, select ‘_The Cloud’ and follow the instructions to get online.

Exhibitors:

Bath/ASME Symposium on Fluid Power and Motion Control FPMC 2016, 7-9 September 2016

University of Bath

Programme for Wednesday 7th September 09:00 – 09:15 Introduction 09:15 – 10:45 Session 1: Hydraulic Pumps and Motors Chair: James Van de Ven 9:15 1734 Divya Thiagarajan and Andrea Vacca, Investigation of Hydro-Mechanical Losses in External Gear Machines: Simulation

and Experimental Validation 9:30 1765 Tyler Shinn, Richard Carpenter and Roger Fales, Pump Efficiency Parameter Estimation 9:45 1781 Bernhard Manhartsgruber, The Dynamics of Leakage in Bent Axis Units Without Timing Gear 10:00 1782 Shuichi Nakagawa, Takayoshi Ichiyanagi and Takao Nishiumi, Experimental Investigation on Effective Bulk Modulus and

Effective Volume in an External Gear Pump 10:15 1790 Markus Kunkis and Juergen Weber, Experimental and Numerical Assessment of an Axial Piston Pump’s Speed Limit 10:30 Discussion

10:45 – 11:15 Break

11:15 – 12:45 Session 2: Hydraulic Component and System Efficiency Chair: Andrea Vacca 11:15 1717 Noah Manring and Viral Mehta, An Energy Audit for a Three-Function Hydraulic Control System: A Consideration of Pump

Arrangements 11:30 1745 Jongchan Lee, Kichang Jin, Youngmin Kwon, Lim-Gook Choi, Jaeyoon Choi and Byungkyu Lee, Development of the

Independent Metering Valve Control System and Analysis of Its Performance for an Excavator 11:45 1755 Ken Sugimura and Hubertus Murrenhoff, Novel Hydraulic System for Mini Excavators Without Electronic Controls 12:00 1771 Arnold Hießl and Rudolf Scheidl, Methodical Loss Reduction in Load Sensing Systems Based on Measurements 12:15 1777 Henri Hänninen, Tatiana Minav and Matti Pietola, Replacing a Constant Pressure Valve Controlled System with a Pump

Controlled System 12:30 Discussion

12:45 – 14:00 Lunch (Wessex House Restaurant)

14:00 – 15:30 Session 3: Noise and Vibration Chair: Rudolf Scheidl 14:00 1701 Arne Waitschat, Lennard Nordmann, Frank Thielecke and Valerie Pommier-Budinger, Enhanced Toolbox for the

Combined Analysis of Fluid- and Structure-Borne Noise of Hydraulic Systems 14:15 1705 Gudrun Mikota, Rainer Haas and Evgeny Lukachev, Modal Analysis of Fluid-Structure Interaction in a Bent Pipeline 14:30 1762 Yuanzhi Xu, Zongxia Jiao, Yaoxing Shang and Shuai Wu, Improved Exact Solution for Axial FSI Model of Liquid-Pipes

Considering Complex Constraints 14:45 1783 Colin O'Shea, Hydraulic Flow Ripple Cancellation Using the Primary Flow Source 15:00 1788 Paul Kalbfleisch, Taeho Kim and Monika Ivantysynova, Robotic Arm for Automatic Sound Intensity Measurements 15:15 Discussion

15:30 – 16:00 Break

16:00 – 17:30 Session 4: Motion Control Chair: Roger Fales 15:45 1722 Jin Mengren and Wang Qingfeng, An Energy-Saving Way to Balance Variable Negative Load Based On Back-Stepping

Control With Load Observer 16:00 1748 Dario Buono, Adolfo Senatore, Emma Frosina, Wade Gehlhoff and Ina Costin, Simulation and Experimental

Investigations of a Digital High Speed Close Loop Proportional Directional Valve Using a Solenoid Technology 16:15 1760 Kazushi Sanada and Tetsuro Miyazaki, Application of DDVC Fuel Injection System to Ship Speed Control 16:30 1780 Henrik Pedersen, Torben Andersen and Michael Hansen, Guidelines for Properly Adjusting Pressure Feedback in Systems

With Over-Centre Valves 16:45 1792 Szabolcs Fodor, Carlos Vazquez, Leonid Freidovich and Nariman Sepehri, Towards Oscillation Reduction in Forestry

Cranes 17:00 Discussion

17:15 Close

Evening: Reception, Holburne Museum, Bath. See page 8 for details.


University of Bath

Programme for Thursday 8th September

09:00 – 10:30 Session 5: Hydraulic Component and System Modelling Chair: Eric Barth 09:00 1707 Matthias Liermann, Active Pneumatic Pulsation Damper for Peristaltic Pump Flow Loops 09:15 1725 Chungeng Sun, Jianhua Wei, Jinhui Fang, Chengzhang Huang and Mingjie Li, Co-Simulation ADAMS-Simulink

for Analysis of Passive Four-Point Leveling System of the Hydraulic Press 09:30 1754 Abdulaziz Alfadhli, Jocelyn Darling and Andrew Hillis, Hardware-in-the-Loop (HIL) Simulation of a Quarter

Vehicle Model Using a Multi-Axis Simulation Table (MAST) 09:45 1756 Lasse Schmidt, Michael Liedhegener, Michael Moeller Bech and Torben Andersen, Dynamic Analysis and

Characterization of Conventional Hydraulic Power Supply Units 10:00 1773 Paolo Righettini, Roberto Strada, Shirin Valilou and Ehsan Khademolama, Nonlinear Modeling and

Experimental Validation of Uni-Axial Servo-Hydraulic Shaking Table 10:15 Discussion

10:30 – 11:00 Break

11:00 – 12:30 Session 6: Digital Hydraulics Chair: Richard Burton 11:00 1716 Noah D. Manring, Digital Hydraulics: A Theoretical Study Comparing Hydraulic Power Units 11:15 1721 Jing Yao, Xiaoming Cao, Pei Wang and Xiangdong Kong, Multi-Level Pressure Switching Control and Energy

Saving for Displacement Servo Control System 11:30 1768 Anthony Knutson and James Van de Ven, Modeling and Experimental Validation of a Reed Check Valve for

Hydraulic Applications 11:45 1779 Alexander C. Yudell and James Van de Ven, Soft Switching in Switched Inertance Hydraulic Circuits 12:00 1789 Christian Noergaard, Lasse Schmidt and Michael Moeller Bech, A Simple and Robust Sliding Mode Velocity

Observer for Moving Coil Actuators in Digital Hydraulic Valves 12:15 Discussion


14:00 – 14:45 Honorary Degree Ceremony Conferment of Doctor of Engineering honoris causa to Professor Kevin Edge

14:00 Delegates and guests take their seats in the lecture room 14:15 Honorary Graduand and University Officers arrive for Conferment Ceremony 14:40 Ceremony ends. Please remain until Procession departs.

14:45 – 15:45 Koski Lecture Chair: William Durfee 14:50 Kim Stelson, Is there a future for fluid power? 15:30 Discussion

15:45 – 16:15 Break

16:15 – 17:00 Session 7: Robotics and Prosthetics Chair: Hubertus Murrenhoff 16:15 1708 Tetsuro Miyazaki, Takuya Iijima and Kazushi Sanada, Design and Control of Supporting Arm for Reducing

Factory Worker Load With Desired Support Force and Stiffness Characteristics 16:30 1770 Tian Yu, Andrew Plummer, Pejman Iravani, Jawaad Bhatti, Saeed Zahedi and David Moser, The Design,

Analysis and Testing of a Compact Electrohydrostatic Powered Ankle Prosthesis 16:45 Discussion

17:00 Close

Evening: Symposium Dinner and Awards Presentation. See page 8 for details.


University of Bath

Programme for Friday 9th September 09:00 – 10:15 Session 8: Sealing and Tribology Chair: Noah Manring 09:00 1738 Futoshi Yoshida, Shimpei Miyakawa and Shouichiro Iio, Research on the Stability of a System Consisting of a Water

Hydraulic Control Valve and Cylinder 09:15 1739 Julian Angerhausen, Hubertus Murrenhoff, Leonid Dorogin, Michele Scaraggi, Boris Lorenz and Bo Persson, Influence of

Anisotropic Surfaces on the Friction Behaviour of Hydraulic Seals 09:30 1744 Marcel Rückert, Stefan Heitzig and Hubertus Murrenhoff, Reducing Friction and Wear in Common-Rail Pumps by

Grooved and Contoured Pistons 09:45 1769 Rudolf Scheidl and Hu Zhidong, Fluid Stiction with Mechanical Contact: A Theoretical Model 10:00 Discussion

10:15– 11:00 Break

11:00 – 12:30 Session 9: CFD Modelling of Hydraulic Components Chair: Bernhard Manhartsgruber 11:00 1723 P.J. Gamez-Montero, R. Castilla, A. Buza, M. Khamashta and E. Codina, Numerical Study in a Mini Trochoidal-Gear Pump

With Multi-Meshing Contact Points 11:15 1724 Patrik Bordovsky and Hubertus Murrenhoff, Investigation of Steady-State Flow Forces in Spool Valves of Different

Geometries and at Different Oil Temperatures With the Help of Measurements and CFD Simulations 11:30 1753 Pietro Marani, Cristian Ferrari and Massimiliano Ruggeri, Flow Reactions Prediction in Roto-Translating Valve through

CFD Simulations 11:45 1767 Cristian Ferrari and Pietro Marani, Study of Air Inclusion in Lubrication System of CVT Gearbox Transmission With

Biphasic CFD Simulation 12:00 1772 Yoshinari Nakamura, Sinji Yakabe, Kazunari Suzuki, Hirohito Watanabe and Tetsuhiro Tsukiji, Characteristics Prediction

of Vane Pump With Rich Gases Containing Hydraulic Oil 12:15 Discussion


14:00 – 15:30 Session 10: Pneumatics Chair: Matthias Liermann 14:00 1702 Tomonori Kato, Kazuki Sakuragi, Mingzhao Cheng, Ryo Kakiyama, Yuta Matsunaga and Manabu Ono, Development of

Miniaturized Rubber Muscle Actuator Driven by Gas–Liquid Phase Change 14:15 1706 David Bou Saba, Eric Bideaux, Xavier Brun and Paolo Massioni, A Complete Model of a Two Degree of Freedom Platform

Actuated by Three Pneumatic Muscles Elaborated for Control Synthesis 14:30 1735 Fan Yang, Kotaro Tadano, Gangyan Li and Toshiharu Kagawa, Characteristics Analysis of Pneumatic Booster Valve With

Energy Recovery 14:45 1759 Paul Harris, Barbara Linke and Stephen Spence, A Numerical Investigation of a Miniature Pneumatic Spindle Turbine 15:00 1786 Tyler Gibson and Eric Barth, Dynamic Equivalence of Pneumatic and Electrical Boost Converters for Exhaust Gas Energy

Reclamation 15:15 Discussion

15:30 – 16:00 Break

16:00 – 17:30 Session 11: Energy Recovery Chair: Kalevi Huhtala 16:00 1713 Pengyu Zhao, Yinglong Chen and Hua Zhou, Potential Energy Recovery System of Hydraulic Hybrid Excavator 16:15 1740 Young-Bum Kim, Pan-Young Kim and Hubertus Murrenhoff, Boom Potential Energy Regeneration Scheme for Hydraulic

Excavators 16:30 1775 Travis Wiens and Douglas Bitner, An Efficient, High Performance and Low-Cost Energy Recovering Hydrostatic Linear

Actuator Concept 16:45 1793 Jan F. Lübbert, André Sitte, Benjamin Beck and Jürgen Weber, Load-Force-Adaptive Outlet Throttling: An Easily

Commissionable Independent Metering Control Strategy 17:00 Discussion

17:15 – 17:30 Closure


University of Bath

Social Programme Wednesday Evening: Reception and dinner at Holburne Museum, Bath

18:00 Coach departs from middle of East Car Park, Claverton Down Campus.

18:30 – 20:00 Reception and dinner.

After the reception and dinner you are free to explore Bath. There is a regular bus service back to the University if required – please ask one of the organisers for details.

Thursday Evening: Symposium Dinner and Awards Presentation

18:00 Coach departs from middle of East Car Park, Claverton Down Campus.

18:15 Alternative coach pick-up, Terrace Walk (“Bog Island”), Bath

19:30 Reception drinks at the Manor House Hotel, Castle Combe

20:00 Dinner, followed by presentations

22:30 Coach departs from Castle Combe car park to return to Bath (Terrace Walk) and the University.

The 2016 Robert E. Koski Medal, 2014 IMechE Joseph Bramah medal and the FPMC 2015 Best Paper award will be presented at the dinner.

See the maps on pages 15-16 for locations.

Manor House Hotel, Castle Combe

The University of Bath at 50 The University of Bath received its Royal Charter in 1966, and will celebrate its 50th anniversary in 2016. But, in truth, it can trace its history back over 150 years.

The University has its roots in Bristol. The Great Exhibition in Hyde Park in 1851 brought

about a realisation that scientific and craft education on the continent might be superior to our own. This prompted the establishment of the Bristol Trade School in 1856, the success of which led to it coming under the patronage of the Society of Merchant Venturers in 1885 as the Merchant Venturers’ Technical College. The College worked in close collaboration with the University of Bristol, providing its Faculty of Engineering until 1949, when two important changes took place: the Society of Merchant Venturers, not wishing to provide the financial resources which the continuing expansion of technical education demanded, passed control to the City of Bristol Education Authority; and the longstanding formal link with the University of Bristol was severed.

Over the next 15 years there was a gradual gearing up in the level of provision – some of which passed to the then Bristol Technical College in 1960 – so that in that year the College, by then known as the Bristol College of Science & Technology, became one of the ten colleges of advanced technology administered by the Ministry of Education. The adoption by Government of the recommendations of the Robbins Committee ensured the College’s transition to independent university status.

Construction on the Bath site began in 1964, with the first building being completed in 1965; the Royal Charter was granted in the following year. Over the subsequent ten years the bulk of the building took place, with the University gradually assuming its present form. Building, and rebuilding, to meet current needs continues.

In the first 50 years of its life as a university, Bath has been proud to become recognised as one of the leading universities of the United Kingdom, able to look to the future with confidence. In so doing, the University has remained true to the aims of the original founders of the College in undertaking teaching and research at standards of excellence which are challenging and innovative, and are relevant to our local communities, our region and the world.

Bath has consistently been ranked among the top universities in the world under the age of 50.

Events will be taking place throughout the year to celebrate our achievements and look to the future. We will be seeking to enhance existing, and establish new, relationships which encourage ongoing involvement with the University, whether by building research links, encouraging philanthropic support, or by promoting the full range of University activities and initiatives.

Over the last 50 years, we have expanded and enriched our community by conferring honorary degrees on many remarkable men and women. As part of our anniversary celebrations, we will be awarding over 60 honorary degrees in recognition of outstanding contributions in different fields of endeavour.

Honorary Graduand Professor Kevin Edge Oration Vice-Chancellor, it is my pleasure to introduce Professor Kevin Edge, an academic and an academic leader whose story is intricately linked with that of the University. It is particularly appropriate to make this award at the Bath/ASME International Fluid Power and Motion Control Symposium, as he was the principal organiser of this annual event for a period of 15 years from 1988.

Kevin Edge’s career has striking similarities to that of the University of Bath. Born in Bristol, Kevin studied at Kingswood Grammar School before joining the University in 1967 as a student on the Mechanical Engineering degree programme at the brand new Bath

campus on Claverton Down. His academic studies were complemented by several industrial placements with his sponsor, Rolls Royce Aero Engines. He graduated with a First Class Honours degree in 1971 and, after completing a PhD at Bath, he re-joined Rolls Royce for a couple of years prior to returning to the University as a Research Officer concerned with noise in hydraulic systems. A lectureship followed and his career then blossomed as a result of his studious attention to detail in research and skilful management of colleagues. He received a personal chair in 1991, was head of the Department of Mechanical Engineering for 6 years from 1997 and was appointed Pro-Vice-Chancellor for Research in 2003. In 2008, he was made Deputy Vice-Chancellor and was a key player in the meteoric growth of the University, which has become one of the leading universities in the UK for undergraduate study and for research.

It would take too long to list the numerous awards that have been heaped on Kevin, other than to mention the IMechE Joseph Bramah Medal, a Fellowship to the Royal Academy of Engineering, a DSc from the University of Bath and numerous awards for technical papers that he authored over his career. Indeed, including this award, he is the only person in the history of the university to have received 3 doctorates from the University of Bath!

His research interests spanned all things hydraulic, including pumping dynamics, valve systems, fault diagnosis, control and fluid borne noise, the latter leading to the publication of new ISO Standards. More widely, his work on a tilting city vehicle has reached an estimated world audience of 100 million, appeared on the front cover of TIME magazine and was cited as one of the six best inventions of 2007. Under his tenure as the Head of Department, Mechanical Engineering received a 5* award in the 2001 Research Assessment Exercise, while as Deputy Vice-Chancellor, the University was placed first in the 2014 and 2015 Times Higher Education Survey.

It is telling that, on retirement, Kevin’s role as Deputy Vice-Chancellor was reviewed and he was replaced by two senior posts, a testament to the influence that Kevin had over many years. Kevin stands here today as a role model for a younger generation, an example of what can be achieved as a graduate from Bath and a highly respected academic and leader who was trusted and admired by all who worked with him.

Vice-Chancellor, I present to you Kevin Edge, who is eminently worthy to receive the degree of Doctor of Engineering, honoris causa.

Dr Jos Darling Orator

The Robert E. Koski Medal The Robert E. Koski Medal, established in 2007, recognizes individuals who have advanced the art and practice of fluid power motion and control through education and/or innovation. The Medal was established by the Fluid Power Systems and Technology Division to honour Robert E. Koski's contributions to the field of Design Engineering and Dynamic and Systems and Control.

The 2016 Robert E. Koski Medal will be awarded to Professor Kim Stelson, Distinguished Professor at University of Minnesota and Director of the Center for Compact and Efficient Fluid Power.

Previous Recipients

2015 Monika Ivantysynova 2014 Hubertus Murrenhoff 2013 Wayne J. Book 2012 Siegfried Helduser 2011 Richard T. Burton 2010 Yongxiang Lu 2009 Jan Ove Palmberg 2008 Clifford R. Burrows 2007 Wolfgang Backe

2015 recipient Professor Monika Ivantysynova with Beverly and Chris Koski, and previous recipients of the Koski Medal,

at FPMC 2015 in Chicago

Professor Kim Stelson

The Joseph Bramah Medal The Joseph Bramah Fund was established in 1968 at the instigation of Mr Frank Towler, a Fellow of the Institution of Mechanical Engineers (1932-1977), who arranged for its support by industry to commemorate Joseph Bramah, the inventor of a patent lock, the hydraulic press and other inventions concerned with pumps, water supply and the production of pipes and tubes by the extrusion process. The 2014 Joseph Bramah Medal will be awarded to Professor Win Rampen of Edinburgh University and Artemis Intelligent Power in recognition of his contributions to fluid power. Previous Recipients 2013 Professor Richard Burton, University of Saskatchewan 2011 Professor Shinichi Yokota, Tokyo Institute of Technology 2010 Professor Rudolf Scheidl, Johannes Kepler University 2009 Professor Monika Ivantysynova, Purdue University 2008 Professor Siegfried Helduser, Technical University of Dresden 2007 Dr Peter Achten, Innas BV 2006 Professor Serge Scavarda, INSA Lyon 2005 Professor Matti J. Vilenius, Tampere University 2004 Professor Hans-Heinrich Harms, Technical University,

Braunschweig, Germany 2003 Mr Roy Cuthbert 2002 Mr John Bentley 2001 Professor Hubertus Murrenhoff 1999 Professor J Watton 1998 M D Kelley 1997 Professor Jan-Ove Palmberg 1996 Mr Norman Way 1995 Dr W Dieter 1994 P J Wilson 1993 Professor C Burrows 1992 Robert Koski 1991 Professor Dr Ing Wolfgang Backe 1990 Dr Kevin Edge 1989 G Allison 1988 R B Walters 1987 R E Knight 1986 F B Levetus 1985 J F Nosworthy 1984 G C Knight 1982 M J Fisher 1981 F W Baggett 1980 D Bick 1979 E H Bowers 1978 Professor D E Bowns 1976 P M M Price 1975 J G Keenan 1974 C M Edgehill 1973 Professor W M J Schlosser 1972 R H Y Hancock 1971 K Foster 1970 G P Copping 1968 B Lengyel

Professor Win Rampen

FPMC Best Paper Award The FPMC Best Paper award is awarded based on scoring by the Symposium delegates, on the basis of technical quality and presentation quality. The award is presented in the following year’s Symposium. The FPMC 2015 Best Paper Award will be awarded to Stefan Heitzig, Gregor Bultel and Hubertus Murrenhoff, for their paper entitled Efficiency Improvement of Common-Rail Pumps by Gap Compensation based on Hollow Pistons. Previous Recipients, 2008-2014 2014 Johannes Willkomm, Matthias Wahler and Juergen Weber, Process-Adapted Control to Maximize

Dynamics of Speed- and Displacement-Variable Pumps 2013 Johannes Schmitz, Milos Vukovic and Hubertus Murrenhoff, Hydrostatic Transmission for Wind

Turbines – an Old Concept, New Dynamics 2012 Henrik C Pedersen, Anders H Hansen, Rico H Hansen, Torben O Andersen and Michael M Bech, Design and Control of Full Scale Wave Energy Simulator System 2011 Matteo Pelosi and Monika Ivantysynova, A Novel Thermal Model for the Piston/Cylinder Interface of

Piston Machines 2010 Rico Hansen, Torben Andersen and Henrik Pedersen, Development and implementation of an

advanced power management algorithm for electronic load sensing on a telehandler 2009 Joshua Zimmerman and Monika Ivantysynova, Effect of Installed Hydraulic Corner Power on the

Energy Consumption and Performance of Multi-Actuator Displacement Controlled Mobile Machines 2008 José Riofrío and Eric Barth, Experimental assessment of a free elastic-piston engine compressor with

separated combustion chamber

FPMC 2016 Organisers Organising Committee:

Nigel Johnston, University of Bath Andrew Plummer, University of Bath Steve Weber, Sun Hydraulics

Technical Program Chair:

Nigel Johnston, University of Bath Administrator:

Gillian Elsworth, University of Bath Associate Editors /Session Organisers:

Session 1: Hydraulic Pumps and Motors: Monika Ivantysynova, Purdue University Session 2: Hydraulic Component and System Efficiency: Andrea Vacca, Purdue University Session 3: Noise and Vibration: Rudolf Scheidl, Johannes Kepler University, Linz Session 4: Motion Control: Nariman Sepehri, University of Manitoba Session 5: Hydraulic Component and System Modelling: Eric Barth, Vanderbilt University Session 6: Digital Hydraulics: Victor Juliano de Negri, Federal University of Santa Catarina Session 7: Robotics and Prosthetics: Hubertus Murrenhoff, RWTH Aachen University Session 8: Seals and Tribology: Noah Manring, University of Missouri Session 9: CFD Modelling of Hydraulic Components: Bernhard Manhartsgruber, Johannes

Kepler University, Linz Session 10: Pneumatics: Matthias Liermann, American University of Beirut Session 11: Energy Recovery: Kalevi Huhtala, Tampere University of Technology

Map of Campus

From http://www.bath.ac.uk/about/pdfs/campus-map-flat-with-key-June2014.pdf See also http://www.bath.ac.uk/about/gettinghere/maps/index.html

Chancellors’ Building (for technical sessions)

Wessex Restaurant

Coach pick-up

Map of Bath, showing venue for reception

Holburne Museum

Coach pick-up at Terrace Walk (‘Bog Island”)

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