2° Wuternational Bhurbar Conference on Applied id Technology, Whurhan, Pakistan June 16-21, 200% Science viathen atical Modeling of a Position Control Ele rohydraulic Servo-System eb Jehan Z National Engineering and Scientific Commission, P.O. Box 2801 Islamabad, Pakistan Email: zeb_jehan@ hotmail.com \asTRACT vs paper, using analytical method, mathematical modeting of an electrohydraulic sn control servo system hus een described. The paper is concerned to control nical load and will di various factors affecting the performance of @ cai position servo and pressions for sormance factors. estimating the more important sey Words: EHSS, Servovel INTRODUCTION -irohydraulic Servo System (151455) 18 closed loop control system, which is usually soled as an actuator unit to drive an object such as a rudder or vane. Depending om rable to be controlled, it can be a position, velocity or force control system rohydraulic servo system has the advantages of, precise and fine control, high poreer oht ratio, small size, good load matching, high environmental snes, et namic performances and wide adjustable speed range. LatBe inti ad tee loads be handled with high accuracy and very rapid response, AUT these sean ble for aerospace and missile applications LECTION OF COMPONENTS 5 ved in Selectity ction we will discuss the clors: involved in - g cll uning the size of ser yovalve and of hydraulic we 2 the supply pressure or far a Serve SYST “| Supply Pressure Selection soot Supply — caomurot syste is te soloet SUPT first steps in design of « hydraulic control 8 + peat oe wert be pron considerations favor a harge SUPPLY PIES ve uupply pressure is ie ler pump, lines, valvess 0! Ne hecause of smal pressune af pressute et oy provide gen eased, Fens [ow 1 Feaqivene 1 provide @ BOTT . atten em atbito, Falster WSPOIS E oa sens igh pprossete 1 oil auine xd higher bulk arettias, Ehes LUD oil volume 4ind reduce size of the components ang , | HSS improves power to weight ratio a ol 24 ory BASS improv evelopment of aerospace, aviation and ba thneloay Pedi ral weight. The deve a ind multi redundant and in’ se ayT small volume, high pressure, high power s inteligen control 2.2 Servovalve Selection cae serv) The following pont are considered Sa ve |. The principal method of sizing sy ing * Tinge enough that flow-pressure curve at full stroke (for maximum cus encompasses all load flows and load pressure points (load power curve) b. The flow gain should be effectively linear. sitivity should be large. a pores “Tow should be limited to a reasonable percentage of rated flow rs event unnecessary power loss. Threshold and null shifts with temperatures and pressures should be minimum ‘The servovalve bandwidth should be higher than the hydraulic natural frequeney of the actuator and load, Otherwise the servovalve dynamics will limit the response of the servo. Other factors such as servovalve stability, sensitivity to contamination, dither requirements, electrical power requirements, weight, reliability, and cost may contribute to the final selection. 2.2 Selection of Hydraulic Actuator Actuator is the key component of hydraulic servo system. Its size should be large enough not only to handle the loads expected during duty cycle but »!so ensure the required load velocity. However, it is also important not to oversize aci for maximum velocity is kept to a minimum. Otherwi becomes bulky with large no load power losses, Thu matched to the output of the system. Load matching effec of hydraulic source and improves performance of the syster so that the flow required hydraulic power supply oad should be properly utilizes the output power Other actuator performance characteristics, which might ¥ stiffness, smoothness (.e., absence of velocity variations at o life, backlash, pressure rating and cost. important, are speed range. operating speeds), reliability 3 BLECTRO HYDRAULIC POSITION CONTROL SYSTEM Figure I shows a schematic diagram of a t s ‘am of a typical electrohydraulic position servo system. It consists of electronic driver, electrohydraulic servo valve, ae actuator and Pesiton transducer, Figure 2 represens the Corresponding block diagram of the system a get te transfer funetion of the system, first we shall et transfer function for each ico get transfer function foFigute | Schematic diagram of positional conser ona contol ser ‘o system, ==] ile Figure 2 Block diagram of positional contol servo system. 41 Electronics Controller 4s the dynamics of electronics controller are negligible as compared with the hydro- mnechanical components, proportional control will be assumed, i. i= Kuee a Where ic= control current K,,= unsaturated gain of the amplifier. 32Servovalve 2valve can be approximated by a first order or The dynamic response of flow con's » about 50 Hz), a first order approximation second order loop. For low frec nay be sufficient: Q) 2 i Where Q = output flow, W/sec, = input current, amp (= servo valve static flow gain at zero load pressure drop, /sec/amp t = Time constant, sec A second order approximation can be used if it is necessary to represent the dynamics ‘sponse up to a frequency range of about 270 Hz. B) Where 595,2 damping ratio van be obtained from manuf ster functions C20 a ea se tase EO CO Be easonly Boe cence ions for servo valve dyn cion simple, we neglect seryoyaj.” rod response; TO Mey stage. Servovalve transfer function cay be inl yo potion 6 BY ne = Kile : sr second, $y ‘= natural frequeney in rad Pe The se These approx! ements Power ee of. control element (valve) and an actuation elemeyy Hgdutie power element OSS ain the dynamic erorMAnNCEeaUaOn oF yy (cota we need three basie dynamic equations Performance equation of hydraulic ic valve a Control flow of b. Flow continuity equation ©. Force balance equation 3.3.1 Control Flow Equation of Hydraulic Valve With the assumption that valve orifices are matched and symmetrical, the pressure Py ang Pr will ise above and below Py2 by equal amounts so that the pressure drop across the two valve orifices are identical. Assuming constant supply pressure and return pressure P, = 0, the linearized equations for load flow can be written as Q, = Kak, KeP © Where Q, = Load Flow, m*/sec, K, = Valve flow gain, liter/sec/m, Ke = Valve flow pressure co-efficient, liter/sec/MPa x)= Valve displacement from neutral position, m ~ P:= Load pressure difference, Mpa Ai "gure 3 Valve cylinder combination of a hydraulic system Flow Continuity Equation ‘ng the law of continuity to each of n chi yields he law of continuity t Piston chamber yield: i 596exsure co-elTicien and is alle total How” DFE 9), the Function is KAKO, ions (5). (7) anil ( aan be drawn as shown in block diag From eq are 4. The control t yal A And the disturbance transfer function 18 81¥e2 by y, Sad FM By 4h BA decreases as F', increases. The negative sign shows that Xp Figure 4 Block diagram of valve-cylinder combination 3.4 Transfer function simplification If the valve piston combination is a power output device, very often there is no spring load i.e., K= 0; the transfer function can be written as re 5 Kat og, A A 48K. re aoe «3 9 4 Kal UB 50 44 Key, Bay A BA, ‘The third term in the denominator can be written as Bike Bike Bihe et PAL ASX, so; 14 BK So; 14154 = and equation (13) can be writen as 598a4) (5) Where ABA, 2/— and is called hydraulic na o, fe tural frequency or hydraulic frequency and aM, , 8 |v andisca 4 i aa V BM, is called hydraulic damping coefficient. ror input and output of position transducer the following relationship applies ies ep = KXp. " (16) 4,5 Analysis of Transfer Function Including the transfer functions of all components the block diagram of the system can be dretyn as shown in. Assuming Fi, = 0, the open loop transfer function ofthe system can be written as G(s)= ——_5- ay sys? 224540) , a, a K Where K,=—"~- is the open loop gain of the system. It shows that the system 1s nal is step signal, the steady state error of the system i input sig by I/Ky. cady state error is given ausfer function of the system 1s given by of type 1, and wh zero. For ramp in The closed loop tr (as)the system with transfer function of each component Figure 5 Block diagram of m will be stable if <2... From open Applying Routh’s stability criterion, the systet mr ystem it can be seen that the crossover frequency jg loop Bode plot for the 5} Cag eee approximately equal to the open loop gain or v« @,=K, chara f systems, the open loop gain is ci g ratios of 0.1 and 0.2 are characteristic of te thumb useful for design purposes and as K, and @.are approximately equal, this rule also ives the permissible crossover frequency. If Ky= 1, equation can be written as i (19) sere ista ttl Kay Ka, ‘The denominator of this equation can be represented by a ii given below Ts) and a quadratic factor, as 1 : (20) oo ( £ ui] ee + on 1 my Koy } Where a is the break frequency of the linear factor, aj, the natural frequency of the quadratic factor, and ¢< is the damping ratio of the quadratic factor. Given the open loop Parameters K,, ab, and ¢, ake and &. can be calculated, For low values of é, and K,/, the following approximations, useful for preliminary design can be made = Ky ly, = 00, and 26, =26, KY : Hence, the closed loop break frequencies are rough! raulie: natural frequency and to the cross over frequency. ghly equal to the hydraulic natu Another characteristic useful is the closed loop compli : : function, which can be written as P compliance or disturbance transfer 600” aot MLK, ‘ = VM, . (ae inn a sting this function and patting, 4/LK,, mit = 2 0,0 the clasei { force required 4 ‘ viva Me closed Yop dynamic stiffness junto vied 6 cause 4 potion eto) iaony at (ut ined as, (22) k frequencies a and 2E yan, | jpecause the brea 'e approximately same, th frequencies eancel cach other, Closed loop stiffness is lowest at w= ma womens where its valve is approximately given by eee’ BG) 2 KAL K, (23) steady state stiffness of the system is given by sal _ KAR XO) Ky (24) Decreasing Kee stiffness of the system can be increased but the damping ratio is decreased 4 Accuracy is the bus juirement for all servo systems. In general, servo error results from many factors oor due to input position, velocity, and acceleration, (b) errors due to disturbances noise and force loads, (c) System internal error due to drifts. tolerances, change sponents parameters, and nonlinearities suchas backlash and friction and (d) Tri orvor. 4,1 Steady State reve ie system shows that the position control servo The open loop tanser function oF th For a step input the steady state error ts Zero. For system is of type-| having an integrator ramp input steady stale error Is | (Qs where Ky is the velocity constant and can be found as K, =limsG(s) sa (26) O01602 oad Error (eg) Error caused by the load or external disturbances is given by V0 80, (SF, (8) = thus For step disturbanee F,(s cg = Him 50, (s 4.3 Internal Disturbance Error (ein) Anomalies in servovalve and drive system can cause inaccuracies even in the absen, force disturbances. Servovalve has several non-ideal properties. the most critical are null shift, threshold and hysteresis. Threshold is a measure of internal friction» ents the amount of valve current change necessary to.» the servovalve and repre: corresponding change of servovalve output. Hysteresis is caused by friction servovalve as well as electromagnetic properties of the torque motor. 4 undesirable properties cause a position error. Normally these parameters are exps '~10%) of servovalve rating current, which represent the steady state percentag required to nullify the effects of these errors. 4-4 Transducer Error The position errors discussed thus far have been those. which can be minimized b servo loop (high gain). Even if infinite loop gain were achievable, the accuracy will depend upon the accuracy of transducer. The most important types of resolution and linearity inaccuracies are repeatability 3 CONCLUSION In this paper using analytical method. a mathematic: control servo system has been derived. By omitti effects. electrohydraulic position control servo sys of type 1. System accuracy depends upon open loop g2: loop gain, smaller will be the error. rohydraulic ervo valve d third order ang stem. Greater the opes References [1] Merritt, HE., Hydraulic Control Systems, Wi [2] McCloy D, and Martin, H.R. The Control of Fluid > an, Lon [3] Stringer, .D,, Hydraulic system Analysis, An Intro.dnc 5 WH] R. Keller, Hydraulic System Analysis, Publi Pneumatics Magazine, 1974 5] _ Anderson saver Minnesora, Controlling Eletrohydraulis Ss York, 1988. : 16] Yeaple, F, Fluid Power design Handbook, Marcel Decker, N Fork, 2995 17) Walter, R. 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