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Hochwallner, M. (2019). The Gaits of Linear Incremental Hydraulic Actuators: Digital and mixed mode hydraulic/mechanical motion. In: PROCEEDINGS The 10th Workshop on DIGITAL FLUID POWER: DFP19. Paper presented at The 10th Workshop on Digital Fluid Power, February 28 - March 1 , 2019, Linz, Austria. Linz
Open this publication in new window or tab >>The Gaits of Linear Incremental Hydraulic Actuators: Digital and mixed mode hydraulic/mechanical motion
2019 (English)In: PROCEEDINGS The 10th Workshop on DIGITAL FLUID POWER: DFP19, Linz, 2019Conference paper, Published paper (Other academic)
Abstract [en]

Linear Incremental Hydraulic Actuators are a class of actuators consisting of one or more double-acting cylinders with are detachable from a common piston rod. The actuator works in a kind of rope-climbing motion. The cylinders engage to the rod, drive the load, disengage and retract. The various patterns, how these base actions of the realized cylinders are concatenated form the gaits of Linear Incremental Hydraulic Actuators. Depending on the gait the base actions are realized digital or continuous. For example, in the gait Smooth Motion engaging / disengaging is realized digital and the driving / retraction continuous. Other gaits may be realized fully digital. This contribution presents the concept of the Linear Incremental Hydraulic Actuator, an overview over various gaits, and how they can be combined to form advantages in applications. Advantages of Linear Incremental Hydraulic Actuators are or may be lower resource utilization and environmental impact, applicable for long or even infinite stroke, and simple integration.

Place, publisher, year, edition, pages
Linz: , 2019
Keywords
Linear Incremental Hydraulic Actuator, Gaits
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-154965 (URN)
Conference
The 10th Workshop on Digital Fluid Power, February 28 - March 1 , 2019, Linz, Austria
Available from: 2019-03-07 Created: 2019-03-07 Last updated: 2019-04-25
Ribeiro, L. & Hochwallner, M. (2018). On the Design Complexity of Cyberphysical Production Systems. Complexity, Article ID 4632195.
Open this publication in new window or tab >>On the Design Complexity of Cyberphysical Production Systems
2018 (English)In: Complexity, ISSN 1076-2787, E-ISSN 1099-0526, article id 4632195Article in journal (Refereed) Published
Abstract [en]

Establishing mass-customization practices, in a sustainable way, at a time of increased market uncertainty, is a pressing challenge for modern producing companies and one that traditional automation solutions cannot cope with. Industry 4.0 seeks to mitigate current practices limitations. It promotes a vision of a fully interconnected ecosystem of systems, machines, products, and many different stakeholders. In this environment, dynamically interconnected autonomous systems support humans in multifaceted decision-making. Industrial Internet of Things and cyberphysical systems (CPSs) are just two of the emerging concepts that embody the design and behavioral principles of these highly complex technical systems. The research within multiagent systems in manufacturing, by embodying most of the defining principles of industrial CPSs (ICPSs), is often regarded as a precursor for many of todays emerging ICPS architectures. However, the domain has been fuzzy in specifying clear-cut design objectives and rules. Designs have been proposed with different positioning, creating confusion in concepts and supporting technologies. This paper contributes by providing clear definitions and interpretations of the main functional traits spread across the literature. A characterization of the defining functional requirements of ICPSs follows, in the form of a scale, rating systems according to the degree of implementation of the different functions.

Place, publisher, year, edition, pages
WILEY-HINDAWI, 2018
National Category
Evolutionary Biology
Identifiers
urn:nbn:se:liu:diva-149760 (URN)10.1155/2018/4632195 (DOI)000436295100001 ()
Note

Funding Agencies|Linkopings Universitet

Available from: 2018-07-24 Created: 2018-07-24 Last updated: 2018-08-14
Hochwallner, M., Pinto, L. & Krus, P. (2018). Tracking Control for High-Performance Motion of a Hydraulic Infinite Linear Actuator. IEEE/ASME transactions on mechatronics, 23(6), 2782-2793
Open this publication in new window or tab >>Tracking Control for High-Performance Motion of a Hydraulic Infinite Linear Actuator
2018 (English)In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, Vol. 23, no 6, p. 2782-2793Article in journal (Refereed) Published
Abstract [en]

The concept of the hydraulic infinite linear actuator consists of two double-acting cylinders with hydraulically detachable pistons driving a common rod. Alternatingly, one cylinder engages and drives the load, whereas the other retracts; the actuator, thus, works in a kind of rope-climbing motion. The actuator has three degrees of freedom, which are temporarily coupled compared with one in a conventional cylinder. Hence, the actuator is a hybrid system with both continuous and discrete states and control inputs. This paper presents a tracking control problem and a solution for high-performance motion, which is interpreted as utilizing the hardware limits in the sense of velocity, accuracy, smoothness, and usability. The concept is demonstrated by simulation for the case of a rest-to-rest motion, but the intended use cases also include arbitrary trajectories.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Hybrid system; hydraulic servo system; infinite motion; linear hydraulic actuator; tracking problem
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-153684 (URN)10.1109/TMECH.2018.2871865 (DOI)000453560200025 ()2-s2.0-85054223956 (Scopus ID)
Available from: 2019-01-07 Created: 2019-01-07 Last updated: 2019-08-19
Hochwallner, M. & Krus, P. (2017). Hydraulic Infinite Linear Actuator: The Ballistic Gait Digital Hydro-Mechanical Motion. In: Petter Krus, Liselott Ericson and Magnus Sethson (Ed.), Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden DOI: https://doi.org/10.3384/ecp17144: . Paper presented at 15th Scandinavian International Conference on Fluid Power, SICFP’17, Linköping, Sweden, Juni 7-9, 2017 (pp. 10-17). Linköping: Linköping University Electronic Press, 144
Open this publication in new window or tab >>Hydraulic Infinite Linear Actuator: The Ballistic Gait Digital Hydro-Mechanical Motion
2017 (English)In: Proceedings of 15:th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden DOI: https://doi.org/10.3384/ecp17144 / [ed] Petter Krus, Liselott Ericson and Magnus Sethson, Linköping: Linköping University Electronic Press, 2017, Vol. 144, p. 10-17Conference paper, Published paper (Refereed)
Abstract [en]

The Hydraulic Infinite Linear Actuator, HILA, has been presented in previous publications. The novel actuator consists of one, two or more double-acting cylinders witha common piston rod and hydraulically detachable pistons. In the basic gait, one cylinderalternatingly engages and drives the load while the other retracts. The HILA thus works in akind of rope-climbing motion. The concept also allows other gaits, i.e. patterns of motion.This contribution focuses on the ballistic gait, a pattern of motion where one cylinder engagesto give the load a push. The load then carries on with its motion by inertia, cylinders disen-gaged. The actuator thus realizes hydro-mechanical pulse-frequency modulation (PFM).This gait is energy efficient and able to recuperate energy.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2017
Series
Linköping Electronic Conference Proceedings, ISSN 1650-3686, E-ISSN 1650-3740 ; 144
Keywords
novel actuator, infinite linear motion, digital fluid power, digital hydromechanical motion, energy recuperation
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-142416 (URN)10.3384/ecp1714410 (DOI)9789176853696 (ISBN)
Conference
15th Scandinavian International Conference on Fluid Power, SICFP’17, Linköping, Sweden, Juni 7-9, 2017
Available from: 2017-10-30 Created: 2017-10-30 Last updated: 2019-05-08Bibliographically approved
Hochwallner, M. & Krus, P. (2017). Motion Control Concepts For The Hydraulic Infinite Linear Actuator. In: : . Paper presented at ASME 2016 9th FPNI Ph.D Symposium on Fluid Power -- FPNI2016. ASME Press, Article ID UNSP V001T01A017.
Open this publication in new window or tab >>Motion Control Concepts For The Hydraulic Infinite Linear Actuator
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This contribution presents the novel Hydraulic Infinite Linear Actuator (HILA). It focuses on the control of motion and is based on simulation and analysis. The novel actuator consists of two symmetric double acting cylinders with a common piston rod and hydraulically detachable pistons. Alternatingly one cylinder engages and drives the load while the other retracts, the HILA thus works in a kind of rope climbing motion. The purpose of this contribution is to study the motion control of the HILA and to mimic the behaviour of a conventional cylinder. The HILA has three degrees of freedom which are temporarily coupled compared with one in a conventional cylinder. Further, the HILA with the chosen hydraulic system has two continuous and two digital control inputs. The challenge to be tackled is to combine the short stroke back and forth motions of the cylinders into a continuous smooth motion of the whole actuator. Results from simulations and analyses show that the investigated concepts can keep the jerk within acceptable limits for many applications.

Place, publisher, year, edition, pages
ASME Press, 2017
Keywords
novel actuator, infinite linear stroke, cylinder, control
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-136125 (URN)10.1115/FPNI2016-1523 (DOI)000398986900017 ()2-s2.0-85008258420 (Scopus ID)978-0-7918-5047-3 (ISBN)
Conference
ASME 2016 9th FPNI Ph.D Symposium on Fluid Power -- FPNI2016
Available from: 2017-03-28 Created: 2017-03-28 Last updated: 2017-05-05Bibliographically approved
Hochwallner, M. (2017). On Motion Control of Linear Incremental Hydraulic Actuators. (Doctoral dissertation). Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>On Motion Control of Linear Incremental Hydraulic Actuators
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Linear Incremental Hydraulic Actuators combine one or more short-stroke cylinders, and two or more engaging/disengaging mechanisms into one actuator with long, medium, or even unlimited stroke length. The motion of each single short-stroke actuator concatenated by the engaging/disengaging mechanisms forms the motion of the linear incremental hydraulic actuator.

The patterns of how these motions are concatenated form the gaits of a specific linear incremental hydraulic actuator. Linear incremental hydraulic actuators may have more than one gait. In an application, the gaits may be combined to achieve optimal performance at various operating points.

The distinguishing characteristic of linear incremental hydraulic actuators is the incremental motion. The term incremental actuator is seen as analogous to the incremental versus absolute position sensor. Incremental actuators realize naturally relative positioning. Incremental motion means also that the behavior does not depend on an absolute position but only on the relative position within a cycle or step.

Incremental actuators may realize discrete incremental or continuous incremental motion. Discrete incremental actuators can only approach discrete positions, whereby stepper drives are one prominent example. In contrast, continuous incremental actuators may approach any position. Linear electric motors are one example of continuous incremental actuators. The actuator has no inherent limitation in stroke length, as every step or cycle adds only to the state at the beginning of the step or cycle and does not depend on the absolute position. This led to the alternative working title Hydraulic Infinite Linear Actuator.

Linear incremental hydraulic actuator provides long stroke, high force, and linear motion and has the potential to

  • decrease the necessary resource usage,
  • minimize environmental impact, e.g. from potential oil spillage,
  • extend the range of feasible products: longer, stiffer, better, etc.

This thesis presents an analysis of the characteristics and properties of linear incremental hydraulic actuators as well as the gaits and possible realizations of some gaits. The gait for continuous, smooth motion with two cylinders is comprehensively studied and a control concept for the tracking problem is proposed. The control concept encapsulates the complexity of the linear incremental hydraulic actuator so that an application does not have to deal with it. One other gait, the ballistic gait, which realizes fast, energy-efficient motion, enabling energy recuperation is studied.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2017. p. 71
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1888
Keywords
Linear Incremental Hydraulic Actuator, novel actuator, linear hydraulic actuator, tracking problem, hydraulic servo system, digital fluid power
National Category
Applied Mechanics Control Engineering Computer Systems
Identifiers
urn:nbn:se:liu:diva-142264 (URN)10.3384/diss.diva-142264 (DOI)9789176854259 (ISBN)
Public defence
2017-11-30, ACAS, Hus A, Campus Valla, Linköping, 10:15 (English)
Opponent
Supervisors
Available from: 2017-10-24 Created: 2017-10-24 Last updated: 2019-10-11Bibliographically approved
Landberg, M., Hochwallner, M. & Krus, P. (2016). NOVEL LINEAR HYDRAULIC ACTUATOR. In: PROCEEDINGS OF THE ASME/BATH SYMPOSIUM ON FLUID POWER AND MOTION CONTROL, 2015: . Paper presented at ASME/BATH 2015 Symposium on Fluid Power and Motion Control. ASME Press (V001T01A054)
Open this publication in new window or tab >>NOVEL LINEAR HYDRAULIC ACTUATOR
2016 (English)In: PROCEEDINGS OF THE ASME/BATH SYMPOSIUM ON FLUID POWER AND MOTION CONTROL, 2015, ASME Press, 2016, no V001T01A054Conference paper, Published paper (Refereed)
Abstract [en]

In the area of linear motion, infinite stroke only is provided by electric actuators today, until now there has been no hydraulic alternative. The novel linear hydraulic actuator consists of two double acting cylinders with a common piston rod. The working principle of this actuator for short movements is that at least one piston is connected to the piston rod and the actuator works like an ordinary hydraulic double acting cylinder. For longer movements one of the pistons is connected alternatively to the piston rod providing the drive. In this way the two pistons are moving the piston rod alternatingly in a kind of rope climbing motion. The critical element is the clamping mechanism which is an already known machine element but used in this new application. Advantages of this concept are as follows: The actuator is compact. Very long strokes and piston rods are allowed without side effects of common cylinders. This property is the origin of the name "infinite cylinder". The cylinder has small chamber volumes and so high hydraulic stiffness and low capacitance. It has also potentially no external leakage. The cylinder can provide twice the rated force for short strokes. Applications for this feature are the plate opening stroke of injection molding machines, or presses with low work to travel stroke ratio, like a press brake. The paper includes a detailed description of the design and the working principle. One critical component is the clamping mechanism which temporarily connects the pistons to the piston rod. The clamping mechanism together with the piston represents a new kind of machine element in the mechanical engineering field. Here the focus will be on the function and the control strategy. With simulation the proposed control strategy and function will be presented and the performance analyzed. The simulation model is backed up by first results from experiments on the early prototype. The experiments carried out so far on the hydraulic clamping mechanism, which is the critical component in the system show very promising results that the required function can be achieved. Furthermore, the function of the whole cylinder has been simulated with good result. For the full paper results from a functioning prototype is also to be expected.

Place, publisher, year, edition, pages
ASME Press, 2016
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-127762 (URN)10.1115/FPMC2015-9604 (DOI)000373970500054 ()978-0-7918-5723-6 (ISBN)
Conference
ASME/BATH 2015 Symposium on Fluid Power and Motion Control
Available from: 2016-05-12 Created: 2016-05-12 Last updated: 2017-03-28
Hörl, M., Hochwallner, M., Dierneder, S. & Scheidl, R. (2012). Integration of SysML and Simulation Models for Mechatronic Systems. In: Roberto Moreno-Díaz, Franz Pichler, Alexis Quesada-Arencibia (Ed.), Computer Aided Systems Theory – EUROCAST 2011: 13th International Conference, Las Palmas de Gran Canaria, Spain, February 6-11, 2011, Revised Selected Papers, Part II (pp. 89-96). Berlin Heidelberg: Springer Berlin/Heidelberg
Open this publication in new window or tab >>Integration of SysML and Simulation Models for Mechatronic Systems
2012 (English)In: Computer Aided Systems Theory – EUROCAST 2011: 13th International Conference, Las Palmas de Gran Canaria, Spain, February 6-11, 2011, Revised Selected Papers, Part II / [ed] Roberto Moreno-Díaz, Franz Pichler, Alexis Quesada-Arencibia, Berlin Heidelberg: Springer Berlin/Heidelberg, 2012, p. 89-96Chapter in book (Refereed)
Abstract [en]

Each engineering domain, such as mechanical, electrical, hydraulic and software engineering has developed specialized tools to support its engineering work. Also for the management of the design process a lot of customized tools are used. Most of them have independent programming interfaces making the coupling error prone and resource intensive. In order to better manage the overall system’s aspects - what is essential for a well-founded mechatronic approach - appropriate models and corresponding tools for system description and simulation are necessary.

All systematic development processes, i.e. conceptual design, detail design and common product refinement process, have to focus on the functional requirements and constraints of the overall system under consideration. Describing and maintaining this structure and all the associated data and documenting its relations with the virtual or real experiments is very helpful for a systematic and reliable development process. This paper analyses the use of SysML as a system description language as well as a modeling and simulation language for the aspects of “System Requirements”, “System Behavior”, and “System Structure” and their interdependence.

Place, publisher, year, edition, pages
Berlin Heidelberg: Springer Berlin/Heidelberg, 2012
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 6928
Keywords
Design Cycle, Mechatronic System, Systematic Development Process, SysML Model
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:liu:diva-156515 (URN)10.1007/978-3-642-27579-1_12 (DOI)9783642275784 (ISBN)9783642275791 (ISBN)
Available from: 2019-04-25 Created: 2019-04-25 Last updated: 2019-05-13Bibliographically approved
Hochwallner, M., Hörl, M., Dierneder, S. & Scheidl, R. (2012). Some Aspects of SysML Application in the Reverse Engineering of Mechatronic Systems. In: Roberto Moreno-Díaz, Franz Pichler, Alexis Quesada-Arencibia (Ed.), Computer Aided Systems Theory – EUROCAST 2011: 13th International Conference, Las Palmas de Gran Canaria, Spain, February 6-11, 2011, Revised Selected Papers, Part II (pp. 81-88). Berlin Heidelberg: Springer Berlin/Heidelberg
Open this publication in new window or tab >>Some Aspects of SysML Application in the Reverse Engineering of Mechatronic Systems
2012 (English)In: Computer Aided Systems Theory – EUROCAST 2011: 13th International Conference, Las Palmas de Gran Canaria, Spain, February 6-11, 2011, Revised Selected Papers, Part II / [ed] Roberto Moreno-Díaz, Franz Pichler, Alexis Quesada-Arencibia, Berlin Heidelberg: Springer Berlin/Heidelberg, 2012, p. 81-88Chapter in book (Refereed)
Abstract [en]

The focus of this paper is the applicability of SysML for modelling certain aspects of both, mechatronic systems and the corresponding engineering processes. SysML is derived from UML, which was developed for software engineering, with the intention to support the engineering of technical systems in general. Although the usefulness of UML is widely confirmed in the software context, the use of SysML in the more hardware oriented engineering domains and in Mechatronics is still an open issue.

Mechatronic relevant applications have their focus on automation and software issues, mechanical and electrical hardware aspects, however, are rarely addressed. In an ongoing research project with industry the authors study the potentials of SysML to make the engineering of such systems more structured, better documented and, hence, more transparent.

In SysML is nearly exclusively studied for the development of new systems. Its application for product improvement or design modification because of changing customer requirements is scarcely reported. In the following sections the authors will focus on these topics, first on mechanical sub-systems since this is seen most critical, and in future on overall mechatronic systems.

Place, publisher, year, edition, pages
Berlin Heidelberg: Springer Berlin/Heidelberg, 2012
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 6928
Keywords
Reverse Engineering, Mechatronic System, Continuous Casting Machine, Reverse Engineering, Mechanical Interface
National Category
Other Engineering and Technologies not elsewhere specified
Identifiers
urn:nbn:se:liu:diva-156514 (URN)10.1007/978-3-642-27579-1_11 (DOI)9783642275784 (ISBN)9783642275791 (ISBN)
Available from: 2019-04-25 Created: 2019-04-25 Last updated: 2019-05-13Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-7598-8082

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