Proceedings of IMECE2006

2006 ASME International Mechanical Engineering Congress and Exposition

November 5-10, 2006, Chicago, Illinois, USA

IMECE2006-15588

FEASIBILITY STUDY ON THE USE OF DYNAMIC NEURAL NETWORKS (DNN’s)

FOR MODELING A VARIABLE DISPLACMENT LOAD SENSING PUMP

Leslie Li, Richard Burton, Greg Schoenau

University of Saskatchewan
Department of Mechanical Engineering
57 Campus Drive
Saskatoon, SK
Canada S7N 5A9

ABSTRACT (which is comprised of DNU’s) are introduced. The simulation

The feasibility of using a particular form of neural
networks, defined as Dynamic Neural Units (DNU’s), to model
a pump in a load sensing system is investigated in this paper.
Because of the highly complex structure of the pump, its
compensators and controlling elements, simulation of load-
sensing pump systems pose many challenges to researchers.
Several models of pumps, compensators and valves have been
developed and published in the literature but they are overly
simplified or are in an extremely complex form. One modeling
approach which can capture the nonlinear dynamic properties
of the pump yet still retain reasonable simplicity in its basic
form is to use neural network technology. Previous studies have
shown some limited success in using feed forward neurons with
dynamic properties being introduced using time delays. A
problem referred to a error accumulation has prevented these
neural based models from being practical dynamic
representations of load sensing systems.
Based on the topology of the biological neural systems
several new structures, Dynamic Neural Units (DNU’s) have
been developed. Only one DNU is necessary to capture or
represent some of the dynamics of a plant, which a static (feed
forward) neuron cannot do. The main advantage of the
dynamic neuron is that it reduces the network dimension and
the amount of computational requirement and has the potential
to avoid this error accumulation problem.
The use of Dynamic Neural Networks with Dynamic
Neural Units in simulating a variable displacement pump is
presented in this paper. Only the pump portion of the load
sensing pump system is considered due to problems of
interacting operating points. A DNU structure and a DNN
results establishes the feasibility of using a Dynamic Neural
Networks with DNU’s to model a simulated nonlinear
hydraulic system such as a load sensing pump .
1. INTRODUCTION
One of the most important components in a hydraulic
system is the pump. This component has received much
attention from the research community as well as industry and
has been the subject of many publications over the decades.
Many models of pumps have been developed to gain an in-
depth understanding of the many factors that determine the
performance of this component [1,2,3,4,5,6]. These detailed
models have been successfully used as a tool for re-design and
for system analysis. However, the often nonlinear behaviour of
pumps has made the derivation of a comprehensive model
which is valid over a wide range of operating conditions, a
challenge to say the least.
One approach which has seen some success in component
modeling in the fluid power area is the idea of a “black box”
model of the component [7] In this approach, the details of
physical phenomena or relationships are not so much of
concern as are the consequences on the output operation of the
system considered; that is, the input output relationship for all
operating conditions is what is desired. This kind of black box
model is appealing for system simulation in which the
component model is integrated with other component models to
determine system performance and component interactions. In
addition, any nonlinear physical properties and characteristics

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 which are very hard to identify and indeed model, are how well the networks represent a physical system once
inherently captured in the input output relationship. training stops because the application was related to control and
One approach to implement the black box concept has an error was available for continuous training. In the
been to use neural networks as the underlying mechanism for application of interest in this study, that is of modeling a
“learning” the input-output relationship under consideration dynamic system, the network is assumed trained and thus this
[7,8,9]. Neural networks are AI (Artificial Intelligence) based application represents places very strict and extreme constraints
elements that can be subjected to a series of input output data on the dynamic neural network.
pairs and “trained” to recognize and hence reproduce these data The objective of this research was therefore to re-visit the
pairs when subjected to inputs not necessarily used in the modeling of a variable displacement pump (from a load sensing
training process. These networks are capable of interpolating system) using the black box approach and by employing
input output information from data pairs that they have been dynamic neurons originally introduced by Gupta et. al. [13].
trained for. Because neural networks can be trained to This manuscript presents the first stage of the study which
recognize nonlinear input output relationships, the trained focuses on training the network to an established model of a
network can then be used to represent any nonlinear system pump which reflects many of the nonlinear properties of an
given the appropriate amount of training data (often called actual pump. The approach was considered logical because if
“richness” of the data pair). the dynamic network could not be used to model a “clean”
A detailed description of Neural Networks is not presented analytically based model then there would be little chance of
here and the reader is referred to the vast amount of published the approach being successfully applied to more complex “real”
work that can be found in this area. A brief introduction to pump.
neural networks is presented in Appendix A. The paper will present a brief introduction to dynamic
Neural networks have been used in the fluid power area to neural networks (here within referred to as DNN’s), followed
represent various types of nonlinear behavior. McNamara et. al. by a brief discussion and justification for the choice of the
used a neural network to mimic the nonlinear toque inputs and outputs for the pump model. Typical results from the
characteristics in an axial displacement pump. This model was trained DNN are presented followed by “compensated DNN”
then integrated into a traditional equation based model of the results. The paper concludes with a discussion on the feasibility
pump and found to be quite accurate in representing the of using DNN’s as a means for representing a variable
characteristics of the pump [8]. Xu et. al. used a feed forward displacement pump.
neural network to characterize the nonlinear characteristics of
an orifice using experimental data [7]. Watton and Xue used
neural networks to simulate hydraulic circuits [9]. 2. NOMENCLATURE
Neural networks have also been used to simulate dynamic
hydraulic systems. Xu et. al. used a feed-forward neural Description units
network with feedback time delays to approximate the
dynamic behavior of a load sensing pump as illustrated in Fig.
SZ Pump rotation speed rads/sec
A.3 [10]. This study exposed a problem with time delayed
networks in that any error that occurs at the output of the Ql Pump leakage m 3 / sec
network is fed back recursively to the input resulting in an
unacceptable error accumulation. Lamontagne et. al. continued Ps Pump output pressure Pa
this study but used time delays primarily in the input signals Pump flowrate
(Fig. A.3) [11]. This study did address some of the issues of the
Qp m 3 / sec
error accumulation experienced by Xu but showed limited Qs Pump output flowrate m 3 / sec
success in being able to represent an accurate dynamic model
of the load sensing pump. Rl Leakage resistance coefficient of m 3 /( p a ˜ sec)
pump
Part of the difficulties experienced by both Xu and
Lamontagne was their choice of the network morphology. T Swash plate angle rads
Several studies by Gupta and Rao, Gupta and Song. (amongst Pc Pressure of control line Pa
others) have shown that a “dynamic neuron” could replace the
static neuron of Fig. A.1 [12],[13],[14]. The idea was that Tlp Torque on yoke due to load N ˜m
dynamic systems do consist of a series of smaller lower order pressure in the output line
dynamic systems combined together in some fashion.
Nonlinear properties of physical systems could still be Tspr Torque on yoke due to return N ˜m
entrenched using with the “squashing functions” (see Appendix spring
A) that exist in each neuron. These dynamic neurons and the
resulting neural networks were shown to be able to dynamically T yk Torque on yoke due to control N ˜m
piston
represent higher order nonlinear systems for control purposes
as long as training continued. It is not clear from these studies

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 T yd Torque on yoke due to viscous N ˜m r (k  2)
damping and friction Z 1 a2  v(k )
r ( k  1)  u (k )
Acp Area of control piston face m2 a1 ¦ \[.]
 
Z 1  b1 Z 1
k spr Angular spring constant of return N ˜ m / rads
spring r (k )
a0 b0 Z 1
R yd Lumped damping resistance of N ˜ sec
swash plate assembly
Fig.1. Basic Dynamic Neuron Unit (DNU) adopted in this
I yk Effective mass moment of inertia kg ˜ m 2 study
of yoke
Tspr (0) Pretension of return spring N ˜m Fig. 2 shows a basic schematic of a single load, load
sensing system. The objective of the load sensing system is to
force Ps to follow PL for a specific setting at the controlling
k pri Coefficients of load torque orifice. Thus for varying load conditions, the pressure drop
across the controlling orifice is constant and hence flow control
k pr1 Coefficients of load torque N ˜m is possible. What makes this system special is the fact that the
pressure drop across the controlling orifice can be set at a
k pr 2 Coefficients of load torque N ˜ m / Pa minimum value (typically 1 MPa) so as minimize losses across
the orifice for all loading conditions.
k pr 3 Coefficients of load torque N ˜ m/(Pa ˜ rads)
Compensator Spool
Coefficients of load torque N ˜ m ˜ sec Compensator
k pr 4 PL QT
PS

3. DYNAMIC NEURONS AND NEURAL X QS

NETWORKS
Gupta and Rao proposed several morphologies for dynamic
neurons and defined them as Dynamic Neuron Units (here
within referred to as DNUs) [12]. After an initial study on some
of these morphologies, it was decided to use the structure
illustrated in Fig. 1. This neuron was then integrated into a
network configuration to form a DNN (similar to that shown in
Fig. A.2). The DNU’s and resulting DNN were simulated using
Matlab/Simulink. Incremental training was based on the least-
square algorithm.
4. PUMP MODEL AND INPUT OUTPUT
SELECTION
In establishing the feasibility of this black box approach, it
was important to be able to define what the actual inputs and
outputs to the DNN’s should be. To accommodate this choice, it
was necessary to examine the application that the variable
displacement pump was to be used. Modelling a load sensing
system was the overall objective of the study but it was quickly
recognized that a black box representation of the complete
system was neither realistic nor practical.
PC
PS PL Load
T
Z QP QL
Controlling
Orifice
Swash Plate
Fig. 2 Schematic of a single load, load sensing system
However, in trying to model the system, it can be seen that
if PS and PL were considered as inputs to the pump model
(which would include the dynamics of the compensator) and Qs
the output, then a problem arises. For the same Ps – PL across
the orifice, it is possible to have an infinite number of flow
rates as the output. Thus, the area of the controlling orifice
would have to be included as an input but this would mean the
model would only be valid for that particular controlling valve
and thus limit the applicability of the model. Both Xu and
Lamontagne recognized this problem and forwarded several
input-output scenarios which would partially address this
problem [10,11].
It was decided that the block diagram of the load sensing
system shown in Fig. 3 would be adopted for this study. It was
recognized that for a model of the complete system to be

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 completed, models for the compensator and the controlling Table 1. Parameter Values
orifice would have to be completed separately either
analytically or with DNN’s. It would have been very desirable Description Value
to integrate the compensator into the pump model as well but
the aforementioned problem would still exist. However, this SZ Pump rotation speed 183.3 rads/sec
does not reduce the effectiveness of the approach as it is similar
Rl Leakage resistance 361.8 u 10 15 m 3 /( p a ˜ sec)
to the approach taken by others in their dynamic pump models
coefficient of pump
[8].
In Fig. 3, the inputs to the load sensing pump are now PS Acp Area of control piston 239.4 u 10 6 m2
and PC (the pressure that is “ported” from the compensator to face
the pump swash plate piston) and the output is QS . This k spr Angular spring constant 56 N ˜ m / rads
configuration makes good physical sense because of the unique of return spring
input-output relationships between PC and QS and the indirect Lumped damping 0.422 N ˜ sec
effect of PS on the swash plate torque and the pump leakage R yd
resistance of swash plate
(which also uniquely affects QS). This configuration will also assembly
facilitate future experimental verification, a problem
experienced by both Xu and Lamontagne. I yk Effective mass moment 1.32 u 10 3 kg ˜ m 2
of inertia of yoke
PS PL Tspr (0) Pretension of return 18.5 N ˜ m
Compensator spring
Pc
k pr1 Coefficients of load 0.128 N ˜ m
PS
(Input) Load- QS(Output) PL torque
sensing Load T Coefficients of load 0.725 u 10 6 N ˜ m / Pa
pump
k pr 2
torque
Model Limits k pr 3 Coefficients of load 0.625 u 10 6 N ˜ m/(Pa ˜ rads)
torque
PS QS
Control Valve PL Coefficients of load  0.0962 N ˜ m ˜ sec
k pr 4
torque
XV

Fig. 3. Load sensing pump model used to determine inputs
and outputs for DNN pump model
For the feasibility study, it was decided to use an
established model (verified experimentally) of a variable
displacement pump [3, 19]. There have been many models
proposed for load sensing systems and load sensing pumps
[15,16,17,18]. Since some of the authors have been involved in
pump modeling, it was decided to use their models to test the
feasibility of the DNN simulation approach [3, 19]. The bond
graph representation of a variable displacement pump and the
resulting describing equations are given in Appendix B. The
model does include the highly nonlinear “back torque” which
exists on the swash plate.
Table 1 lists the parameter values that were used in the
simulation study and were based on previous experimental
studies [3]
5. SIMULATION RESULTS
The results presented here are representative of a number
of simulation tests. The procedure was to choose a number of
DNU’s to form a DNN. In this study, two DNU’s were used
since the order of the pump was dominated by second order
terms. Since PS should be larger than PC, some logic in
determining the input signals was necessary. This is reflected in
all results presented. The input signals were random steps in
nature and were of sufficient duration to allow the pump model
to settle to steady state conditions. The inputs to the DNN were
the same as the inputs to the pump model (Appendix B) and the
output flows rates were compared. The error was used in the
training algorithm, and weights adjusted until the error was
minimized or the DNU weights changed only marginally from
one simulation step to another. At that point training was
suspended and the “trained” DNN subjected to a set of test
inputs that it was not trained for.
A typical set of step test input results is shown in Fig. 4.

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 represented by the DNN model. These results were very
consistent for other types of inputs.

Fig. 4 DNN flow output compared to the pump model

calculated flow rate. Ps and Oc varied in a random fashion
Fig. 5. Comparison of the output flow of the DNN and the
It is quite evident that the DNN does capture the dynamic pump model after DNN compensation (PS and PC varied in a
characteristics of the pump model but the steady state values random fashion ).
are substantially different. These step results were consistent
with various other types of inputs (excellent higher frequency
characteristics and poor low frequency results). It was
concluded that the DNN could train to the transient information
but only “follow” steady state data as oppose to “training” to it.
The steady state errors were examined and it was found that
a pattern could be deduced from the results. This pattern was
translated into a set of compensating equations and then applied
to the output of the trained DNN. The pattern equations for this
particular pump model results were:

Ps 1 Output (0.3PS  0.9) ( DNNoutput )  ^ 0.1

0
Pc I 0
Pc d 0

Ps 0.5 Output (0.3Ps  0.9) (DNNoutput)  ^ 0.075 Pct0

0 PcS 0

Ps 0 Output (0.3Ps  0.9) ( DNNoutput )  ^ 0.05

0
Pc t 0
Pc S 0

Ps 0.25 Output (0.3Ps  0.9) ( DNNoutput )  ^0 Pc t 0

0.035 Pc S 0

Ps 0.5 (0.3Ps  0.9) ( DNNoutput )  00.02 PcPct00

Output ^
(1)
The above equations were simplified to the following
equations: Fig. 6. Comparison of the output flow of the DNN and the
pump model after DNN compensation (PS random, PC constant
If Sign (Ps)*Sign (Pc) =1: at 3.2 MPa).
Output | (0.3Ps  0.9) ( DNNoutput )  (0.05Ps  0.05)

If Sign (Ps) *Sign (Pc) = -1: 6. DISCUSSIONS AND CONCLUSIONS

Output | (0.3Ps  0.9) ( DNNoutput )
(2)
Typical results of the compensated DNN are shown in Figs.
5 and 6. It is very apparent that both the steady state and the
transient responses of the compensated DNN are well
The results shown in Figs. 5 and 6 do imply that the
compensated DNN does represent the model of the pump with
two inputs and one output in a very satisfactory manner.
Impressive as the results might appear, the results are less than
spectacular given that the DNN had to be compensated via
visual interpretation of the steady state results. The fact that the
error accumulation problem encountered by Xu et. al [9] was

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 overcome and that the dynamic properties of the pump model
was captured by the DNN are very important results and it is
concluded that within the limitations so specified, the use a
compensated DNN is feasible for the modeling of the load
sensing pump.
At the time of the writing of this manuscript, another
approach is being pursued which is anticipated would eliminate
the need to manually define the compensation equations. In this
approach, a static neural network (SNN) replaces the equations
to compensate the DNN. The static neural network would be
trained only during the steady state part of the transient
responses whilst the DNN is trained for the transient. This
would then make the DNN/SNN combination a very powerful
network which could model a complex system such as a
variable displacement pump.
An important step is now to apply the DNN/SNN to
experimental data from a “real” load sensing system. This is
actively now being pursued.
ACKNOWLEDGMENTS
The authors would like to acknowledge the financial
support in the form of a scholarship from the University of
Saskatchewan and the National Science and Engineering
Research Council of Canada.
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(ISFP’2003), Wuhan, PRC, pp 151-158.
[12] Gupta, M. and Rao, D., 1992. Dynamic Neural Units in
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On Neural Networks (IJCNN), Baltimore, pp. 100-105, June 9-
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[13] Gupta M. and Rao, D.,1993. Dynamic neural Units and
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[15] Krus, P. 1988. On Load Sensing Fluid Power Systems with
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APPENDIX A THE CONCEPT OF NEURAL
NETWORKS.
A basic “neuron” is shown in Fig. A.1 and a neural
network which consists of series of these neurons is shown in
Fig. A.2 [20]. With reference to Fig. A.1, a known signal is
input into the neuron and the output is adjusted via the “neuron
weights” (W0, W1 and W2) and limited to fall between two fixed
values by a “squashing” function until the output signal
 matches the desired value. Thus, the neuron is trained to r1 (k )
respond to produce the correct output. However, if the neuron is W1 u (k )
I >x@
subjected to a new input, there is no guarantee that the output
would be the correct one. Thus, several neurons can be ¦
connected together in series or parallel (as shown in Fig. A.2) to r2 (k )
form a “neural network”. This network is then subjected to a W2
series of known input output data pairs and trained so that it
gives the correct output for each input. This network
“morphology” has been shown to be very powerful in W0
“learning” many input output relationships where there are
nonlinearities involved.
If this neural network is subjected to inputs it has not seen
before and is capable of producing outputs which are Fig. A1 Static Neuron
acceptably close to the known outputs, the network is said to be
trained and can thus be thought as a black box representation of
the input output data pairs. r1
If the trained data pairs are essentially steady state
information, then the simple “static” or feed-forward neural
network shown in Fig. A.2, is sufficient to capture the input r2
output relationship. However if the relationship is dynamic, that
is for a single input value, multiple output values occur over a r3
specified time period (time steps), then the data represents a u
dynamic relationship and hence a “dynamic neural network” is r4
required. The morphology of the network must be dynamic and
thus some form of time delay in the feedback signals (from the
output to the input) and/or or at the input itself must exist. Such
a time delayed neural network is shown in Fig. A.3. The rn
training of the network becomes much more involved because
information about the past sequences must be stored and
recalled by the network (a consequence of all the time delays).
One very common technique to train the neural network is
based on a concept called Backproporgation [20]. There are Fig. A.2 Typical Structure of a Static or Feed Forward Neural
many variations of this approach but essentially, the philosophy Network
is to determine the error between the desired and neural
network outputs and then propagate the error back through the
network in order to adjust the weights in a systematic fashion
so as to force convergence of the error to an acceptable value
Input
over time. If the adjustments of the weights are done at each Z 1
Z 1
Z 1
Multi- Layer Output
iteration step, then this is called “instantaneous” training. If the Neural Network
weight adjustment occurs after many steps have occurred and
the error at each time step has been summed over a specific
time (or step number), this type of training is defined as batch
training. Instantaneous training is often chosen for control Z 1
Z 1
Z 1

purposes in which the neural network is forced to respond to

the immediate situation. In many cases, the network is never
actually trained but just “follows” the input control signal.
Fig. A.3 Time delayed Dynamic Neural Network

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