Professional Documents
Culture Documents
• Interconnection Relationships
– Compatibility Law
– Continuity Law
The analogy between the hydraulic system and the electrical system will be used
often. Just as in electrical systems, the flow rate (current) is defined to be the
time rate of change (derivative) of volume (charge):
d
q V V
dt
The pressure, p, used in this chapter is the absolute pressure. You need to be
careful in determining whether the pressure is the absolute pressure or gauge
pressure, p*. Gauge pressure is the difference between the absolute pressure and
the atmospheric pressure, i.e.
p* p patmospheric
Basic Modeling Elements
• Fluid Resistance
Describes any physical element with Ex: The flow that goes through an orifice or a
the characteristic that the pressure valve and the turbulent flow that goes
drop, Dp , across the element is through a pipe is related to the pressure
proportional to the flow rate, q. drop by
q k p12
p1 + Dp p2 + Dp
p1 p2 Find the effective flow resistance of the
q element at certain operating point ( q , p12).
R R q q
Dp p1 p2 p12 R q q
1 1
q Dp p12
R R
p12
p12
1 dq k
– Orifices, valves, nozzles and
R d p12 q , p 2 p12
friction in pipes can be modeled 12
p1 + Dp p2 + Dp q
p1 p2 A
q L
I q Start with force balance: F = ma
I
Dp p12 ( p1 p2 ) I
d
dt
q I q F F F 1 2 A p1 p2 Ap12
m LA
dv d q
Ap12 AL AL
– Long pipes are examples of fluid dt dt A
F m
inertances. L dq a
p12
A dt
I
L
I
A
Basic Modeling Elements
Voltage Source
• Pressure Source (Pump)
– An ideal pressure source of a pS +
p1 p2
hydraulic system is capable of
pS
maintaining the desired pressure, q
regardless of the flow required for
what it is driving. p21 p2 p1 pS
A C q1 q2
pr
q1 q2 qo
pr1 p12 p2 r 0 qo
Modeling Steps
• Understand System Function and Identify Input/Output Variables
• Draw Simplified Schematics Using Basic Elements
• Develop Mathematical Model
– Label Each Element and the Corresponding Pressures.
– Label Each Node and the Corresponding Flow Rates.
– Write Down the Element Equations for Each Element.
– Apply Interconnection Laws.
– Check that the Number of Unknown Variables equals the Number of
Equations.
– Eliminate Intermediate Variables to Obtain Standard Forms:
• Laplace Transform
• Block Diagrams
In Class Exercise
Derive the input/output model for the following fluid system. The pump supplies
a constant pressure pS to the system and we are interested in finding out the
volumetric flow rate through the nozzle at the end of the pipe.
pr
Valve
ps C qc Ip
q1 q2 Rp
pS pr
pr
Ro pc p1 p2 R p3 R N
v
Q: Can you draw an equivalent electrical circuit of this hydraulic system ? Note that pressure is
analogous to voltage and flow rate is analogues to electric current. (Please refer to the previous slide)
Motion Control of Hydraulic Cylinders
Hydraulic actuation is attractive for applications
when large power is needed while maintaining a
reasonable weight. Not counting the weight of M
the pump and reservoir, hydraulic actuation has
the edge in power-to-weight ratio compared with
other cost effective actuation sources. Earth
moving applications (wheel loaders, excavators,
mining equipment, ...) are typical examples
where hydraulic actuators are used extensively.
A typical motion application involves a RV RV
hydraulic cylinder connected to certain
mechanical linkages (inertia load). The motion
pS
of the cylinder is regulated via a valve that is
pr
used to regulate the flow rate to the cylinder. It
is well known that such system chatters during
sudden stop and start. Can you analyze the cause
and propose solutions?
Motion Control of Hydraulic Cylinders
v A C
Let’s look at a simplified problem: M
The input in the system to the right is the pr pL
input flow rate qIN and the output is the B
velocity of the mass, V.
A: Cylinder bore area qIN
C: Cylinder chamber capacitance RV
B: Viscous friction coefficient between pS
piston head and cylinder wall. pSr
pr
• Derive the input/output model and transfer
function between qIN and V.
• Draw the block diagram of the system. pL
v
• Can this model explain the vibration when we i fc
qIN qc
suddenly close the valve? q1 M
C
B
pr
Motion Control of Hydraulic Cylinders
Element equations and interconnection equations:
Hydraulic system Hydraulic-Mechanical Mechanical system
d
qc C pLr f c ApLr
dt Mv f c Bv
q1 Av
qIN q1 qc
Take Laplace transforms:
Qc s CsPLr s Fc s APLr s
MsV s Fc s BV s
QIN s Q1 s Qc s Q1 s AV s