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This paper presents a mathematical model of the proportional valve main stage flow characteristics. Model is
verified with static measurements. Valve spool dynamics are modelled but not verified. Model uses variable
sonic conductance and critical pressure ratio that are based on measurements. Valve control system and
pilot stage are not included this model. This means that the model reacts faster than the real valve does.
Model of the valve control electronics and pilot stage will be presented in our next paper.
Keywords: proportional pneumatic valve; mathematic model; pressure ratio; sonic conductance
1 INTRODUCTION
The pneumatic proportional valve presented in this paper is used for fast and precise pressure control.
Schema of the proportional pressure control valve is presented in Figure 1. In our case this proportional
valve supplied pressurized air into an pneumatic muscle which was used in our earlier measuring
arrangement [1].
The position of pneumatic muscle can be controlled with air pressure if the load is known [2]. For controlling
a pneumatic muscle movement, it is necessary to know the mathematic model of both the muscle and the
valve. This paper is about the main stage part of the Festo VPPM-6L-L-1-G18-0L6H valve model (part 5 in
Figure 1). Previous research [3, 4] of the authors was used in building this model. In earlier research sonic
conductance C and the critical pressure ratio b were measured as the functions of the valve poppet position.
Integral part of our previous research was to validate the model with static measurements. This was done by
pressurizing a relatively large constant volume through the valve [3].For model presented here, the
mechanism of the valve main stage is measured and modelled. However this part of the model cant be
verified by the earlier measurement because it is too slow to show any dynamic behaviour. No dynamic
model verification has been done because control system and pilot stage of the valve havent been modelled
yet and they have a major effect to valve response time.
q *m ( x ) = C ( x) p1 0
T0
T1
q m ( x) = C ( x) p1 0
where
0
p1
p2
T0
T1
C(x)
b(x)
T0
T1
for
p2
b
p1
p2
b( x )
1 1
1 b( x )
(1)
checked flow ,
for
p2
>b
p1
subsonic flow ,
(2)
- means density,
- means upstream pressure,
- means downstream pressure,
- means upstream temperature,
- means downstream temperature,
- means sonic conductance in dependence on the stroke of poppet,
- means critical pressure ratio in dependence on the stroke of poppet.
The sonic conductance C and critical pressure ratio b is determined as a function of poppet position in our
previous research. Parameters C and b are determined by filling and emptying a constant volume tank with
different openings of the poppet [6]. Obtained values of sonic conductance and critical pressure ratio were
th
th
fitted by using polynomial functions of 7 and 4 degree, equations (3) and (4).
Note that the variable x is the stroke of poppet and has a range of
experimentally determined by dimension analysis on the actual valve.
b( x) = p1 x 4 + p2 x 3 + p3 x 2 + p 4 x + p5
7
C ( x) = k1 x + k 2 x + k 3 x + k 4 x + k 5 x + k 6 x + k 7 x + k8
where p1,..,pn
k1,..,kn
x
C(x)
b(x)
(3)
,
,
(4)
Output port 2
Pressure port 1
Exhauster port 3
Figure 2: Schema of the valve for the case of filling on the left and for the emptying of working space on the right
Integral part of creating mathematical model of proportional pneumatic valve was measuring the stiffness of
the spring, properties of membrane and the weight of all parts.
Equation of motion for filling the working space:
where mp
b
x
k1
k2
h1
h2
pp
S
(5)
F p (t ) = S p p (t ) ,
(6)
The value of damping constant has been solved by measuring mechanical properties of membrane. The
measured hysteresis data has been linearized and membrane stiffness is derived from this.
Equation of motion for emptying the working space:
where mp
po
b
x
k1
h1
S
(7)
Fo (t ) = S p o (t ) ,
(8)
3 RESULTS
In the subsection 2.1 we discussed about the process of determining sonic conductance C(x) and critical
pressure ratio b(x) as functions of poppet position. For the case where pressurized air is directed to output
port, we were able to make an approximation from measured data by using polynomial functions. This was
done in previous research done by the authors [3]. The graphs with measured data and our approximations
are shown in figs.3 and 4.
2
x 10
-8
1.8
)]
a
P
*
s(
/
1.6
1.4
m
[
C
e 1.2
c
n
at
c
1
u
d
n
o
c
ci 0.8
n
o
S
0.6
0.4
0
0.1
0.2
0.3
0.4
0.5
0.6
Stroke of poppet x [x10 3 m]
0.7
0.8
0.9
0.65
0.6
0.55
0.5
0.45
0.4
0.35
0
0.1
0.2
0.3
0.4
0.5
0.6
Stroke of poppet x [x10 3 m]
0.7
0.8
0.9
From the Figures 3 and 4 we can see that the sonic conductance C(x) and critical pressure ratio b(x) arent
constant values but nonlinear functions of poppet position. Same conclusion can be found in literature with
similar research [4] [8]. When the output port is opened to exhaust channel the poppet moves to same
position every time and opens a constant size orifice. This means that the sonic conductance C and the
critical pressure ratio b are constant. These constants were measured by emptying a known amount of
pressurized air through the valve.
The constant coefficient for polynomial function C(x) and b(x) for the case filling of working space are
presented in Table 1.
Table 1: Constant coefficients for polynomial functions C(x) and b(x) for the case of filling the working space
p1 = 3,16180
k1 = -1.1858e-6
p2 = -8,31770
k2 = 4.5064e-6
p3 = 7,68470
k3 = -6.9209e-6
p4 = -2,73840
k4 = 5.4385e-6
p5 = 0,71748
k5 = -2.2269e-6
k6 = 3.7653e-7
k7 = 2.1902e-8
k8 = 5.0034e-9
Based on the knowledge gained from our previous research, it was possible to measure mechanical
properties of the valve and to create the motion equations (5) to (8). Using these equations it was possible to
construct a simulation model of the system in Simulink. Model for filling the working space is shown in Figure
5. It consists of valve main spool model (left side of the model) and model of the tank (right side of the
3
model). Tank model is isentropic because during the filling gas temperature inside the 0.2 m tank rises
approximately 18 C.
S
-CT1
Step
-C-C-
k
-C-
k2
-Ch2
-C-
kapa R0
-K-
T0
P(u)
O(P) = 7
C(x)
q
-Ck1
-Ch1
-C-
sqrt
-CV2
-Kro
-Cmass
1/s
1/s
x1
x2
-Kro 1
1/s
p1
-C-
x stroke
of poppet P1
P(u)
O(P) = 4
b(x)
P2 - pressure
inside the tank
p20
MATLAB
Function
measured_data
k2*(h2-x)
Figure 5: Mathematical model of the proportional valve joined with mathematical model of tank
5.5
x 10
5
4.5
4
]
a
P[
er
u
s
s
er
P
3.5
3
2.5
2
Required value
Mathematical model
Measured data
1.5
1
0.5
0
20
40
60
Time [s]
80
100
120
Figure 6: Dependence internal pressure on time combination mathematical model of valve join with mathematical
model tank
5 CONCLUSIONS
Comparison of simulation and measurement shows us that the model works well in slow processes.
Measured data does not reach the same pressure as fast as model presumes. Main reason for this is
probably the fact that the tank model was isentropic and in reality heat is transferred out of the gas to the
steel tank. This also drops the pressure inside the tank. More precise model of the tank would be polytrophic.
Using non constant sonic conductance and critical pressure ratio makes the model much more precise when
the valve operates with different pilot pressures. This part of the model will be of its full use only after the rest
of the valve model is implemented.
In future, valve pilot stage will also be measured and modelled and control parameters evaluated. This full
model of the valve will be used together with the model of the muscle to simulate muscle position system.
Full valve model will also give us information about dynamic limitations of different components of the VMMP
valve. This information is important if the valve or parts of the valve are used for very fast pressure control,
for example in an active vibration damping systems.
REFERENCES
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Thermodynamics and Fluid Mechanics.January 2009, vol. 3, No 2/2009, pp. 16, ISSN 1802-9388.
[2] DAERDEN, F. - LEFEBER, D.: Pneumatic Artificial Muscles: actuators forrobotics and automation.
European Journal of Mechanical and Environmental Engineering.Citeseer, 2002,issue 1,vol. 47,pp. 11
21, ISSN 00353612.
[3] VARGA, Z. - KESKI-HONKOLA, P.: Determination of Flow Rate Characteristic for Pneumatic
Valves.Experimental fluid mechanics 2011.Jin (Czech Republic), 22nd - 25th November 2011, vol. 1,
Conference proceedings are listed in ISI-Web of Knowledge,ISBN 978-80-7372-784-0.
[4] BEATER, P.: Pneumatic Drivers: System Design, Modelling and Control. Springer, Berlin, Germany,
2006.ISBN-10 3-540-69470-6.
[5] ISO 6358: Pneumatic fluid power Components using compressible fluids Determination of flow-rate
characteristics, 1989.
[6] GIORGI, d. R. - KOBBI, N. - SESMAT, S., Bideauxthermal, E.: Model of a Tank for Simulation and Mass
Flow Rate Characterization Purposes Toyama.Proceedings of the 7th JFPS International Symposium on
Fluid Power.September 15-18, 2008, pp.225-230.
[7] PRABEL, R. - SCHINDELE, D. - ASCHEMANN, H.: Nonlinear Control of an Electro-Pneumatic Clutch for
Truck Applications using Extended Linearisation Techniques.The Twelfth Scandinavian International
Conference on Fluid Power. Tampere, Finlad, May 18 20, 2011, vol. 1, pp. 125-136 , ISBN 978-952-152518-6.
[8] NEVRL, J.: Introduction to the modelling pneumatic systems (Original Czech title - vod do modelovn
pneumatickch systm). esk strojnick spolenost, stedn odborn sekce Hydraulika a
pneumatika. Praha, 2003,1. Vydn nklad 40 vtisk, pp. 79, ISBN 80-02-01549-5.