An accurate evaluation of fluid density and bulk modulus is essential for predicting the operation of hydraulic systems and components. Among the models reported in literature to describe fluid properties, of particular success in the fluid power field are the continuous methods that assume the gas and liquid phases to be the same fluid. However, these models are typically based on steady-state equilibrium relations and, consequently, they fail in correctly predicting the dynamic features of both air release and air absorption processes. These phenomena are particularly important for machines based on open-system hydraulic circuits, in which a significant part of the system can operate with a fluid below the saturation pressure. This paper addresses this topic by proposing a novel approach suitable to describe the dynamic features of both vaporization and air release processes. The approach is based on simplified transport equations to evaluate the phase change rate and the air release/dissolve rate. These transport equation are obtained from the well-known theoretical “full cavitation model” previously developed for computational fluid dynamics (CFD). Specific tests were performed to validate particularly as concerns the air release/absorption features using a standard ISO32 mineral oil. Comparisons between model predictions and measurement data are presented for compression/decompression cycles as concerns transient fluid density and bulk modulus, and a good agreement between the two trends is found, showing the potentials of the new approach to describe typical cavitation phenomena in hydraulic systems.

The interface between the slipper/swash plate is one of the most important frication pairs in axial piston pumps. The test of this interface in a real pump is very challenging. In this paper, a novel pump prototype is designed and a test rig is set up to study the dynamic lubricating performance of the slipper/swash-plate interface in axial piston machines. Such an experimental setup can simulate the operating condition of a real axial piston pump without changing the relative motion relationship of the interfaces. Considering the lubricant oil film thickness as the main measurement parameter, the attitude of the slipper under the conditions of different load pressure, rotation speed and charge pressure are studied experimentally. After the test, the wear state of the swash plate is observed. According to the friction trace on the surface of the swash plate, the prediction for the attitude of the slipper and the zone easy to wear are verified.

The wheel-legged robot combines the functions of wheeled vehicles and legged robots: high speed and high passability. However, the limited performance of existing joint actuators has always been the bottleneck in the actual applications of large wheel-legged robots. This paper proposed a highly integrated electro-hydrostatic actuator (EHA) to enable high-dynamic performance in giant wheel-legged robots (>200 kg). A prototype with a high force-to-weight ratio was developed by integrating a micropump, a miniature spring accumulator, and a micro-symmetrical cylinder. The prototype achieves a large output force of more than 9400 N and a high force-to-weight ratio of more than 2518 N/kg. Compared with existing EHA-based robots, it has a higher force-to-weight ratio and can bear larger loads. A detailed EHA model was presented, and controllers were designed based on sliding mode control and PID methods to control the output position and force of the piston. The model’s accuracy is improved by identifying uncertain parameters such as friction and leakage coefficient. Finally, both simulations and experiments were carried out. The results verified the fast response of force control (step response within 50 ms, the force tracking control frequency about 6.7 Hz) and the developed EHA’s good potential for future large wheel-legged robots.

The friction in the swash plate type axial piston pumps is mainly influenced by the fluid film in the friction interface. The piston–cylinder interface is one of the key friction interfaces in the pumps. The film geometry is determined by the gap between the piston and the cylinder. The dimensions of the parts determine the gap geometry, and the deformation of the structure also influences the gap geometry. The fluid viscosity is strongly influenced by temperature. Thus, a novel approach of studying the fluid film, the structure, and temperature interaction is provided in this paper. A full and quick fluid–structure–thermal interaction simulation is realized. Then, a dynamic model of the piston–cylinder interface, which integrated the fluid–structure–thermal interacting effects, has been developed. Finally, an approach for calculating the extra friction force between the piston and the cylinder is provided. Compared with the measurement data, the simulation results of the axial friction force achieve a good fit. The present work allows a fast prediction and detailed support for designing the piston–cylinder interfaces.