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Modelling and Simulation of Mechatronic Systems
Modelling and Simulation of Mechatronic Systems
Hydraulic systems
dm = dms + dmt = 0
d
( .S .v ) = 0
ds
Q = S .v = const .
v2 p
+ + g.h = const.
2
WK Kinetic energy
WP Potential energy due to pressure
Wh Potential energy - due to gravity
WK + W p + Wh = const .
wK =
WK 1 2
= v
m
2
= g.h
v2
p
+
+ h = const
2g g
wh =
WP
= g .h
m
p1
S1.v1 = S 2 .v2
v1 =
v22
hZ = .
2g
S1
S2
S 2 .v 2
S1
v2, p2
g.h +
p2 v22
v22
1 S 2 2
+ . .v2 + g.h =
+ + g. .
2 S1
2
2g
p1
p1
v 2 = 2.
p1 p 2
S
1 + 2
S1
For the small opening area S2 in comparison with the cross-section area of
the tank can be obtained:
g.h +
v = 2.
p1 p 2
1+
p p2
. 2. g.h + 1
1+
=0
p p2
vt = 2. g.h + 1
Atmospheric
pressure
p0, S1
v2 = 2.g.h
v1
dh
v1 =
dt
p0, S2
v2 ,Q2
dh
S1 . = S 2 . 2.g .h
dt
The liquid level h by the gravitational outflow from the tank is described using
the homogenous nonlinear first order differential equation:
dh S 2
+
2g . h = 0
dt S1
h0
1
S1
Q2
h(t)
h(t)
S2 2g
dh
=Q1 Q2
dt
S1 .
dh
=Q1 S 2 . 2 gh
dt
Q1
p0,S1
dh S 2
1
+ . 2 g . h = .Q.1
dt S1
S1
h(t)
S2
Q
. 2g . h = 1
S1
S1
h =
Q12
2gS 22
p0
Q1
Q1
h0
1
S1
Q2
S2
v2, Q2
h(t)
h(t)
S2 2g
Q1 = 0
hW
Reg
Q1=Q(u)
S1
h(t)
pro u = 0
S2
emin
emax e
Q1=Q1(u)
h0
Q1
1
S1
Q2
h(t)
S2 2g
h(t)
Q2
1.1
1.05
KQ
Step
Relay
Inlet
flow
Flow difference
h
[m]
1/S1
Liquid surface
s
level h
0.95
0.9
S2*sqrt(2*g)
Outlet flow
MATLAB
Function
0.85
sqrt
0.8
0.75
0
10
20
30
40
50
60
t[s]
70
80
90
100
P = Q.p
=0
i =1
II. The sum of the actual pressure drops around any closed loop is equal to
zero.
n
=0
i =1
The transmission of the pressure energy is not without losses. The pressure
energy of the fluid is changed into the other forms of energy dissipation of
the energy, mainly into the thermal energy, kinetic energy and deformation
energy.
The basic system elements in an engineering system can be
divided into two groups: energy storage elements and energy
dissipation elements.
Fluid resistor R (fluid resistance)
Fluid inertor H (fluid inertance, fluid inductance)
Fluid capacitor C, (Fluid capacitance) or resistance against the
deformation D
R
H
D
Hydraulic resistance
R=
p
Qn
p
Q
[RL ] = Nm 5 s
p = RL .Q
p
Q2
Turbulent flow
p = RN .Q 2
Reynolds number:
Re =
Laminar flow
Re Re krit = 2320
Re Re krit
[RN ] = Nm 8 s 2
v .d
Hydraulic resistance
l v2
p = . . .
d 2
Laminar flow
Flow velocity
p =
v=
Q 4.Q
=
S .d 2
128..l.
.Q
4
.d
Turbulent flow
Friction coefficient
RL =
B =
0,3164
4
Re
l v2
l 1 Q
8..l.
p = . . . = . . . . = 2 5 .Q 2
d 2
d 2 S
.d
64 64.
=
Re v .d
128.v.l.
.d 4
8..l.
2 .d 5
Hydraulic Inductance
The hydraulic inductance can be derived from the motion equation
Newton`s law for the piston of the hydraulic cylinder. The piston and
load mass is m:
p
x, v, a
p
S
2
m.
dv
= ( p1 p 2 ).S .
dt
p =
m S dv
. .
S S dt
p =
m dQ
.
S 2 dt
H=
m
S2
m .l.S .l
H= 2 = 2 =
S
S
S
p
1
V
;m
;
v
p
2
p
dQ
dt
kg Ns 2
[H ] = 4 = 5
m
m
Hydraulic Capacitance
The hydraulic capacitance CH describes the fact that by the change of the
pressure - difference p - the fluid changes the volume the difference V.
p.CH = V
Hydraulic capacitance
p = D.V
p =
K
.V
V
t
V = Q( )d
0
D=
p
t
Q( )d
0
Q=
1 dp
.
D dt
CH =
V
p
D=
p
V
[D] =
N
m5
Hydraulic circuit
The hydraulic circuit consists
o f t h e b a s i c h y d ra u l i c
elements:
Pump (gear, piston, vane
pump), relief valve, control
valve proportional valve or
servovalve which control the
direction and velocity of the
motion, hydraulic cylinder,
load and moved mass,
pipelines, filter and tank.
SA
Differencial
Cylinder
SB
x,v
Load Force
F
pA
pB
Directional
Control Valve
u
Filter
Pump
QHG
M
Relief Valve
p0
Pump
Symbol, resistance circuit and static characteristic of the pump
Qt
Gp =
1
Rp
Qs
Q
Qz
p
Qs = Qt Qz = Qt
= Qt G p p
Rp
1
RP= G
P
p Qt
Qt = Vt n
Vg =
Qs
p
Qt
Qz
hi =
d p2
4
D p sin
K HG =
y max
u HG max
GHG ( s) =
K HG
THG s 2 + 2 HGTHG s + 1
Pump
Block diagram of the controlled pump
KHG T
uHG
HG
Hydrogenertor
HG
yHG
K
QG
Q
HG
1/C H
ps
GHG
0
1
0
y HG 0
y! HG
0
K
1
v! =
v +
0Q
HG
HG
0
u
HG
HG
HG
s
THG
THG
THG
p s
p! s
1
K
0
G
QG
0
HG
C
C H
H
Hydraulic pipeline
The structures of the different models of the piece of the pipeline.
The number of the
used elements can
be achieved using
the condition:
l f
l f
< n < 10
c0
c0
L - element
pi
Qi
pi
RHi
T - element
Qi
L Hi
CHi
p I+1
pi
Q i+1
Qi
RHi
L Hi
LHi
C Hi
- element
pI
Qi
p i+1
R Hi Q L Hi
i
C Hi
C Hi
Q i+1
R Hi
p i+1
Q i+1
1
(Q Qi )
C Hi i 1
1
Q! i =
( p RHii Qi pi +1 )
LHi i
p! i =
pi
RHi
pi
LHi
Qi-1
pi+1
Qi
RH1 Q
1
p1
Q0
CH1
pi+2
Qi+1
CHi+1
CHi
p1
RHi+1 Q
i+1
pi
LH1
p2
pn
Q1
Qn-1
RHn Q
n
pi
LHn
pn+1
Qn
CHn
Qn+1
CHn+1
State Model
1
QA =Q0
CH1
p1
LH1
Q1
0
p$ 1
Q$ 1
1 LH 1
p$ 2 0
$
Q2 =
p$ 3
! !
p$
n
$
Qn 0
1
CH 1
RH 1
LH 1
1
CH 2
1
LH 1
"
0
!
CH 2
#
#
1
C Hn
"
0
1
LH 1
1
C Hn
RHn
LHn
1
C Hn +1
0 p
1
1 C H 1
0 Q1
0
0
0
p 2
Q2 0
+
p3 0
0 ! !
1
0
p
LHn n
0 Qn 0
RH1
0
0
0
0
[Q Q ]
0 0 n +1
!
0
1
C Hn +1
p2
y1 = p1
y 2 = p n +1
CH2
CHn
LHn
Qn
RHn
1
Pipeline model
QB =Qn+1
CHn+1
pn+1
v~Q pA
Q=S
xSV
p0 p A
2
B = d
p0 p A = d ( x sv x sv 0 )
p0
p0 p A
xSV xSV0
Q = B(x sv x sv0 ) p0 p A
Valve dynamics
Tsv2 !!
x sv + 2sv Tsv x! sv + x sv = K sv usv
Qi = B abs(x sv x sv0 ) abs(pi ) sgn(pi )
for i = PA,AT,PB,BT,
QA = QPA QAT
QB = QPB QBT
Tsv2 !!
x sv + 2sv Tsv x! sv + x sv = K sv usv
Qi = B abs(x sv x sv0 ) abs(pi ) sgn(pi )
QA , p A
Q
PA
for i = PA,AT,PB,BT,
p0
Linearized model
Q A Q A0 +
Q A
x sv
Q A = K Qx x s + K Qp p
T
QBT
Q
PB
+
prac.bod
QAT
Q A
p
B
prac.bod
dic stupe
Control
unit of
the
valve
servoventilu
QB , p B
Hydraulic Cylinder
pA
SA
SB
pB
x, v
m
QA
QB
The working forces on the right side of the differential equation are the external load
force F, friction force FT and forces which depend on the pressure in the chambers A
and on the pressure in the chamber B:
Equations for the pressures in the chambers A and B can be expressed from the
description of the hydraulic capacity of the chamber A and chamber B:
QA = S A v + C A
dp A
+ QLA + QL
dt
dp A
1
[QA S Av QLA QL ]
=
dt
CA
QB = S B v C B
dp B
QLB + QL
dt
dp B
1
[S Av QB QLB + QL ]
=
dt
CB
Hydraulic Cylinder
Using the Laplace transformation the transfer function of the hydraulic
cylinder can be obtained. The symmetric cylinder with the piston in the
middle position is supposed.
Linear model transfer function
Transfer function inlet flow- position
GQx ( s) =
S
Gi b + S 2
X ( s)
=
Q( s )
mV0
V b + 2 KmGi
s
s2 + 0
s + 1
2
2
2 K Gi b + S
2 K Gi b + S
GQx ( s) =
Gi
0 s + 1
F ( s)
2 KGi
Gi b + S 2
X ( s)
G Fx ( s ) =
=
F (s)
mV0
V0 b + 2 KmGi
2
s
s
+
s
+
1
2
2 K Gi b + S 2
2 K Gi b + S
KM
s T s + 2 M TM s + 1
2
M
GFx ( s) =
S
Gi b + S 2
TM =
m V0
2 K Gi b + S 2
M =
TM b
2m
KF =
Gi
S
K F K M (1 + TF s )
s TM2 s 2 + 2 M TM s + 1
TF =
V0
2 KGi
RLA=
pA QA
QLA
1
CA
p0
pB
1
GLA
S.v
QB
1
CB
pA =
pB =
1
CA
1
CB
[Q
S A v QLA QL ].d + p A0
[S
0
v QB QLB + QL ].d + p B 0
1
RLB= G
LB
LH
QL
1
RL= G
i
QLB
F
m dv b
+ v + z = p A pB
S dt S
S
RP
RZ
Open loop control of the hydraulic drive servovalve and hydraulic cylinder
U step
Const.pump
Piston position
Piston velocity
pressures
Control signal
Load force
Piston position
Piston velocity
pressures
Control signal
Load force
Closed loop control simulation the simulation of the closed loop controlled
hydraulic drive can be analysed using the shown simulation model.
w step
P-controller
Const.pump
Piston position
Piston velocity
pressures
Control signal
Load force