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In this work, the dynamic behaviors of a complex pneumatic reducer valve have been studied through the pseudobond graph modeling technique. This modeling approach graphically describes the
energy and mass flows among pneumatic valve components during
real operational conditions. State equations have been derived
from the pseudobond graph model and have been numerically
solved by MATLAB-SIMULINK. To validate the accuracy of the model,
simulation results are compared with the real data of an experimental setup and good agreements between them are reported. The
main advantage of the proposed model over other conventional
approaches such as fluid dynamics theories is that it provides a
physical model which accurately predicts the systems dynamic
responses without any need to run huge computer programs or establish expensive experimental setups. [DOI: 10.1115/1.4023666]
Keywords: pseudobond graph, pneumatic valve, dynamic
analysis, energy systems
Introduction
each other. As presented in Fig. 2, the first part is in the right side
of the valve and consists of the main adjusting screw (21), the
adjusting spring (19), and a flexible shock boot (20). By manually
twisting the adjusting screw, an initial compression is made in the
connected spring (19). The main role of this part is to adjust the
outlet pressure equal to the desired value. The second part is in
the left side and designed to eliminate the effects of external disturbances and reduce undesirable oscillations produced by gas
flow variations. The main part of the pneumatic valve is the third
part, which reduces the pressure of the inlet gas flow. It consists
of the feedback pipe (13), filter (2), spindle (12), control orifice
(14), and the outlet chamber (4). The spindle movement changes
the cross-sectional area of the control orifice (14). Thus, the gas
pressure can be reduced by moving the spindle toward the right
side. The control orifice has the most important role among all of
the components: to reduce the inlet gas pressure by changing its
Fig. 2
effective area. A relief valve (5) is installed near the outlet part (4)
to decrease undesirable oscillations produced at the starting time.
The relief valve (5) consists of a spring (17), adjustable screw
(22), and a piston (16).
As shown in Fig. 2, after the inlet gas enters into the chamber
(3) and passes through the control orifice (14), its pressure will
drop. The gas flow then circulates into the three available directions, including the relief direction of the chamber (5), the feedback line (13), and the outlet direction (4). By passing the gas
flow into the feedback pipe, the spindle is pushed to the right side
and thus, the adjusting spring (19) will be compressed. The shock
boot (20) is keeping the inside pressure (11) equal to the atmosphere pressure. The pressure of chamber (4) is adjusted by regulating the area of the control orifice (14). In order to eliminate
undesirable oscillations of the spindle, high viscose oil is circulated into the chamber (9) by using the piston (15). The high viscose oil is operating similar to a viscose damper. The piston (15)
is inserted to separate these two different circuits of oil and gas
circulations. Now, assume that the pressure of the inlet flow (1)
entering into the pneumatic system is initially dropped. As a result
of decreasing the flow pressure in chamber (3), the pressure of
chamber (4) and, subsequently, the pressure of chamber (10) will
drop and the spindle will be forced to move to the right side. In
the new balance condition, the control orifice area increases and,
therefore, the effect of the initial pressure drop is cancelled out.
Consequently, the outlet pressure of the pneumatic valve is tuned
to the predetermined value.
In order to investigate the heat and mass transitions among different components of the pneumatic valve, the pseudobond graph
method is proposed. Applying the pseudobond graph method to
this case study not only provides more accurate results over the
energy bond graph approach (the conventional approach), but also
computes the physical quantities such as the process enthalpy and
entropy. Furthermore, it has the advantage of linear relations
between its effort and displacement or flow when the specific heat
Fig. 3
(1)
(2)
a p47 b p53
I47
I53
(3)
Table 1
Symbol
q1
q2
q3
q10
q11
q12
q29
q30
q31
q32
q35
q36
q40
q43
q44
q48
p47
q54
p53
Volume of chamber 1
Energy of chamber 1
Mass of gas in chamber 1
Volume of chamber 3
Energy of chamber 3
Mass of gas in chamber 3
Energy of chamber 4
Mass of gas in chamber 4
Energy of chamber 10
Mass of gas in chamber 10
Volume of chamber 4
Volume of chamber 10
Energy of chamber 5
Mass of gas in chamber 5
Volume of chamber 5
Position of the relief valves orifice
Momentum of relief valves orifice
Spindle position
Spindle momentum
(14)
(15)
c p47
I47
(4)
d p53
I53
(5)
(6)
(7)
Energy of chamber 4:
q_ 29
a p47 b p53
_
E16 p4
I47
I53
_
_
_
Eh19 Eh27 Eh20
(8)
p5 cp47
I47
p10 p53 d
Energy of chamber 10: q_ 31 E_ h21
I53
(9)
(10)
(III) State equations describing the mass pneumatic gas in different chambers
Mass of gas in chamber 1: q_ 3 Sf 59 m_ 1
(11)
(12)
K54
q_ 30 m_ 14 m_ 4 m_ 5 m_ 13
(13)
(18)
(19)
All of the preceding parameters are explained in Table 1. Each parameter index denotes the corresponding bond number displayed
in the pseudobond graph scheme of Fig. 3. The mass flow rate values of the state equations are computed using the thermodynamical relations of Ref. [4]. The variable areas of the control
orifice and relief valve are obtained in terms of their positions as
p
D2 x2h sin2 2a
(20)
Aco
4 cosa co
Arv pDr y
(21)
(22)
1
k48
(23)
C54
1
k54
(24)
where k48 is the capacitance module of the relief valve spring and
k54 is the equal capacitance module of the shock boot, adjusting
spring, and auxiliary spring. Considering the different elastic elements of the pneumatic valve, the equivalent capacitance module
of the valve is obtained as
Kws xmax dws KSy1 xmax Kaxs daxs xmax Kws xmin dws KSy1 xmin Kaxs daxs xmin
xmax xmin
(17)
p_ 53 b p4 d p10 0:01
Chamber 5 with a variable volume: q_ 44
p53
I53
(16)
(25)
cedure is depicted in Fig. 4. The system parameters, state variables, and effort/flow sources are inputs to the solution procedure.
The numerical integration method of ODE 45 is used to compute
the state variable values from the state differential equations. Profiles of the gas pressure moving into chambers (1), (3), (4), and
Transactions of the ASME
Fig. 5
Fig. 6
Fig. 7
Fig. 8
P1
R q2
;
Cv q1
P3
R q11
;
Cv q10
P4
R q29
;
Cv q35
P10
R q31
Cv q36
(26)
Fig. 9 Profile of the gas inlet pressure passing into chamber (3)
opens the valve completely. Then, the gas pressure will drop until a
balance condition is provided among the different components.
Profiles of the gas flow rate in different chambers of the pneumatic valve are presented in Fig. 7, where m_ 1 ; m_ 4 ; m_ 13 ; and m_ 14
denote gas flow rates in the valve inlet, outlet, feedback line, and
control orifice, respectively. As demonstrated, the flow rate of the
outlet gas remains in an appropriate range during the operational
period. It is important to note that after opening the pneumatic
valve, there is a high amount of gas flow rate. Profiles of the temperature variations in different chambers are also depicted in
Fig. 8. As demonstrated in Fig. 8, the temperature profiles significantly increase at the starting time. However, after producing a
balance condition among the valve components, the temperature
profiles will remain constant. The initial increment in the temperature profiles is the result of the gas accumulation in the pneumatic
chambers. The parameters T1, T3, T4, and T10 of Fig. 8 are related
to the system state variables as
T1
1 q2
1 q11
1 q29
1 q31
; T3
; T4
; T10
Cv q3
Cv q12
Cv q30
Cv q32
the reservoir tanks and the main tank, respectively. To run the experimental setup, first the start valve and the discharge valve are
closed. Then the charge valve is opened to provide the reservoir
tanks with the expected pressure. The charge valve is closed when
the collector pressure approaches 300 bars. Then the discharge
valve is opened to increase the height of the water existing in the
main tank. During the main tank evacuation, the pressure of air
within the main tank, which is called ullage, should be kept
constant. If the test starts without a proper volume of the ullage,
severe oscillations may occur in the mechanical components of the
valve. For these tests, the initial volume of the ullage is 15 liters.
Before starting the experiment, the ullage pressure is about 5
bars. In order to regulate the initial pressure of the ullage, a low
pressure air capsule is installed in the test rig. In the next step, the
discharge valve and, subsequently, the start valve, will be opened.
An initial shock that is produced by opening the start valve is then
eliminated using the damper. Now the pneumatic valve is ready to
(27)
The profile of the gas inlet pressure passing into chamber (3) is
depicted in Fig. 9. It is assumed that the inlet flow remains at a
constant temperature. The inlet pressure is actually a step function, where the pneumatic valve is used to reduce it with a constant slope.
Experimental Setup
To validate the accuracy of the pseudobond graph model, an experimental setup is designed. A schematic representation of this
experimental setup is depicted in Fig. 10. It consists of the main
tank, five reservoir tanks, the start valve, electrical servo-valves,
the investigated pneumatic valve, the damping valve, an equal orifice, pressure gauges, air flow meter, and a capsule. Each of the
five reservoir tanks has a volume of 30 liters and is under 300 bars
pressure. Electrical servo-valves are used to charge and discharge
Journal of Dynamic Systems, Measurement, and Control
Fig. 10
dynamically regulate the outflow pressure. To model the resistance characteristics of the components located after the pneumatic
valve, an equal orifice is designed and installed after the flow meter. The experiment is performed in approximately 150 s, which is
034502-8 / Vol. 135, MAY 2013
the time required to evacuate the five reservoir tanks from 300
bars to 30 bars.
Having captured the experimental results, it is possible to compare them with the pseudobond graph results. Most of the
Transactions of the ASME
Conclusion
Nomenclature
a
Aco
Acr
Afb
Arv
Ae
b
c
Cp
Cv
C48
C54
d
D
Dco
Df
Doutco
Dp
Dr
e
E_ h
I47
I53
Kaxs
KSy1
Kws
K54
K48
L
m_ i
Pi
pi
qi
R55
Sei
Sfi
Ta
Ti
x
y
a
c
d
daxs
dws
l
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