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Mikota J. (2002) : Contributions To The Development of Compact and Tuneable Vibration Compensators For Hydraulic Systems. PHD Thesis, Johannes Kepler University of Linz, Austria.
Mikota J. (2002) : Contributions To The Development of Compact and Tuneable Vibration Compensators For Hydraulic Systems. PHD Thesis, Johannes Kepler University of Linz, Austria.
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Preface
This dissertation was prepared during my work as research and teaching as-
sistant at the Department of Foundations of Machine Design at the Johannes
Kepler University of Linz.
First and foremost I would like to thank Prof. Dr. Rudolf Scheidl for his ideas
and advise during this work. I also had excellent discussions with my colleagues
Michael Garstenauer, Siegfried Grammer, Gudrun Hametner, Norbert Krim-
bacher and Bernhard Manhartsgruber. They made my work at the department
a pleasure. Furthermore, I would like to thank Prof. Dr. Klaus Zeman for thor-
oughly revising my work and Herbert Reiter for doing the design of the third
prototype and lots of experimental work.
The following companies and institutions provided support for this project:
• Bosch Rexroth AG, Lohr, produced the first prototype and offered their
test facilities to me.
• Bosch Rexroth GmbH., Pasching, provided facilities for the testing of the
third prototype.
I would like to thank all these companies and institutions for their support and
cooperation.
Last but not least, I would like to thank my parents Josef and Elfriede, my
brothers Alfred, Andreas, Reinhold and Markus and my friends for their sup-
port during that time. Thank you!
i
Abstract
The present thesis deals with vibration compensators for the attenuation of
fluid flow pulsations in hydraulic systems. After a problem definition and an
overview of conventional devices, several novel designs of vibration compen-
sators, such as multi degree-of-freedom mass-spring oscillators, devices based
on plate/shell elements and compact λ/4 side-branch resonators are presented
and discussed. Wherever possible, the theoretical description of these devices
is supplemented by simulation models, application examples etc.
ii
Zusammenfassung
Der Hauptbeitrag dieser Dissertation ist jedoch ein kompakter und verstellba-
rer Feder-Masse Resonator, welcher eine neuartige hydraulische Feder einsetzt.
Die Hauptvorteile dieser Konstruktionsvariante sind:
• Die Frequenzstellung des Resonators ist sowohl passiv als auch aktiv
leicht möglich.
Nach einer Beschreibung des Funktionsprinzipes und der Diskussion von Phäno-
menen, welche besonders bei höheren Frequenzen zum Tragen kommen, wer-
den experimentellen Untersuchungsergebnisse präsentiert, welche die Stärken
des Konzeptes verdeutlichen.
iii
Contents
1 Introduction 1
1.1 Sources of hydraulic noise . . . . . . . . . . . . . . . . . . . . . 2
1.1.1 Positive displacement pumps/motors . . . . . . . . . . . 2
1.1.2 Switching type converters . . . . . . . . . . . . . . . . . 3
1.2 Conventional devices . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Vibration compensation 7
2.1 Historical development . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Mathematical foundations . . . . . . . . . . . . . . . . . . . . . 8
2.2.1 Mechanical oscillator with vibration absorber . . . . . . 8
2.2.2 Analogy between mechanical and hydraulic systems . . . 9
2.2.3 Duality between mechanical and hydraulic systems . . . 11
2.3 Mechanical oscillator and vibration absorbers . . . . . . . . . . 12
2.3.1 Mechanical oscillator without vibration absorber . . . . . 12
2.3.2 Mechanical oscillator with one absorber . . . . . . . . . . 13
2.3.3 Mechanical oscillator with two absorbers . . . . . . . . . 14
2.3.4 Implementation of a mechanical band-stop filter . . . . . 17
iv
CONTENTS v
6 Further work 91
7 Conclusions 95
A Design drawings 97
B FE models 100
B.1 Acoustic analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 100
B.1.1 Channel length lC = 5 cm . . . . . . . . . . . . . . . . . 100
B.1.2 Channel length lC = 0 cm . . . . . . . . . . . . . . . . . 102
D Notation 108
Introduction
1
CHAPTER 1. INTRODUCTION 2
Qtot = Qi . (1.4)
i=1
5 0
P i s t o n 1
4 0 P i s t o n 2
P i s t o n 3
P i s t o n 4
P i s t o n 5
P i s t o n 6
]
3 0
i n
P i s t o n 7
P i s t o n 8
[ l / m
P i s t o n 9
T o t a l F l o w
Q
2 0
1 0
0 p / 2 p 3 / 2 p 2 p
j [ r a d ]
A spectral analysis of the pump flow (see Fig. 1.2 and [Bac94]) reveals that
the first harmonic of the pump flow is given as
(
2 nP ist n if nP ist is an odd number
f1 = (1.5)
nP ist n otherwise.
0 . 3 5
s t
0 . 3 1 o r d e r h a r m o n i c s
0 . 2 5
]
i n
0 . 2
[ l / m
e
d
l i t u
p
0 . 1 5
m
A
2
n d
o r d e r h a r m o n i c s
0 . 1
r d
3 o r d e r h a r m o n i c s
t h
4 o r d e r
0 . 0 5
h a r m o n i c s
0
0 2 0 0 4 0 0 6 0 0 8 0 0 1 0 0 0 1 2 0 0 1 4 0 0 1 6 0 0 1 8 0 0 2 0 0 0
F r e q u e n c y [ H z ]
Q A
, p A
C o m p e n s a t o r
Q P
, p P P m
Q , p T
T T
c
S V
x , v
However, as can be seen in Tab. 1.1 most conventional devices have one or
more of the following shortcomings:
Accumulator V a l v e
available C a s i n g
b
o
l o
n
c k
n e c t i o n
ing t
⊖ tuned to attenuate 1 P u m p L o a d
harmonic only
low frequencies
λ/4 Side branch resonator
⊕ simple device
⊖ attenuation of odd or-
l = l / 4
low frequencies
Multiple volume resonator
⊕ fairly simple device
⊕ may be tuned in such a
way to attenuate inte- O R
harmonic t y p e s i d e b r a n c h H e l m h o l t z
r e s o n a t o r r e s o n a t o r
⊖ complex frequency
tuning
Chapter 2
Vibration compensation
7
CHAPTER 2. VIBRATION COMPENSATION 8
m 2
S e c o n d a r y ( c o m p e n s a t o r y )
s y s t e m
c 2
x 2
m 1
P r i m a r y ( e n g i n e e r i n g )
s y s t e m
x 1
c 1
x
E x c i t a t i o n 0
x 0
( t ) = X 0
c o s ( W t )
The equations of motion [Zie91, p. 449] for this system may be written as
for the steady state solution of the equations of motion, the amplitudes X1 and
X2 of the masses m1 and m2 respectively are given as
−(−m2 Ω2 + c2 ) c1 X0
X1 = (2.3a)
−m1 Ω4 m2 + m1 Ω2 c2 + c1 m2 Ω2 − c1 c2 + c2 m2 Ω2
−c2 c1 X0
X2 = . (2.3b)
−m1 Ω m2 + m1 Ω c2 + c1 m2 Ω2 − c1 c2 + c2 m2 Ω2
4 2
A closer look at the numerator of Eq. (2.3a) makes clear that a properly
tuned secondary system, i. e. the natural frequency
r
c2
ωC = =Ω (2.4)
m2
X1 = 0 (2.5a)
c1 X0 c1
X2 = − 2
= − X0 . (2.5b)
Ω m2 c2
Furthermore, the mechanical system Fig. 2.2 may be associated with its
analogue hydraulic system depicted in Fig. 2.3.
C 1
C 2
Q 0
Q 1
Q 2
L 1
L 2
p 1
p 2
As can be seen above, the equations describing the mechanical system may
be led over into the equations describing the hydraulic system by making the
following transformations
c ⇒ 1/C
m ⇒ L.
Mechanical system
dW = F ds (2.11)
Z Z s2
W = dW = F ds (2.12)
s1
d ds
P = W =F =F v (2.13)
dt dt
|{z}
v
Hydraulic system
dW = p dV (2.14)
Z Z V2
W = dW = p dV (2.15)
V1
d dV
P = W =p =pQ (2.16)
dt dt
|{z}
Q
Analogy →
Mechanical system Hydraulic system
F p
Duality ↓
v Q
CHAPTER 2. VIBRATION COMPENSATION 12
the vicinity of the natural frequency ω, where the resonance frequencies of the
systems with/without damping are
r
c
ω0 = (2.21)
m
p
ω = 1 − ζ 2 ω0 . (2.22)
15
No absorber
10
0
|G(s)| [dB]
−5
−10
−15
−20
0 0.5 1 1.5 2 2.5 3
Ω
m m 1
m 2
1
F c , d c , d F
c 1
d 1
1 1 2 2
m m
- x - x - x 2
1 1
- x c d - x c d
x x
m ẍ + (d + d1 + d2 ) ẋ + (c + c1 + c2 ) x =
c1 x1 + c2 x2 + d1 ẋ1 + d2 ẋ2 + F (2.27)
m1 ẍ1 + d1 ẋ1 + c1 x1 = c1 x + d1 ẋ (2.28)
m2 ẍ2 + d2 ẋ2 + c2 x2 = c2 x + d2 ẋ, (2.29)
where
√
d1 = 2 ζ1 m1 c1 (2.30)
p
ω1 = c1 /m1 (2.31)
√
d2 = 2 ζ2 m2 c2 (2.32)
p
ω2 = c2 /m2 . (2.33)
20
No absorber
µ=1
µ=10
10
0
|G(s)| [dB]
−10
−20
−30
−40
0 0.5 1 1.5 2 2.5 3
Ω
(a) ζ1 = 0.01
20
No absorber
µ=1
µ=10
15
10
5
|G(s)| [dB]
−5
−10
−15
−20
0 0.5 1 1.5 2 2.5 3
Ω
(b) ζ1 = 0.1
Figure 2.6: Normalised frequency plot: System (m = 10, c = 10, ζ = 0.1) with
one absorber (ω = 1)
CHAPTER 2. VIBRATION COMPENSATION 16
20
No absorber
Two absorbers
15
10
0
|G(s)| [dB]
−5
−10
−15
−20
−25
−30
0 0.5 1 1.5 2 2.5 3
Ω
(a) ζ1 = ζ2 = 0.01
15
No absorber
Two absorbers
10
0
|G(s)| [dB]
−5
−10
−15
−20
0 0.5 1 1.5 2 2.5 3
Ω
(b) ζ1 = ζ2 = 0.1
Figure 2.7: Normalised frequency plot: System (m = 10, c = 10, ζ = 0.1) with
two absorbers (ω1 = 1, ω2 = 2, µ1 = µ2 = 10)
CHAPTER 2. VIBRATION COMPENSATION 17
20
No absorber
Four absorbers
15
10
0
|G(s)| [dB]
−5
−10
−15
−20
−25
−30
0 0.5 1 1.5 2 2.5 3
Ω
(a) ζ1 . . . ζ4 = 0.01
15
No absorber
Four absorbers
10
0
|G(s)| [dB]
−5
−10
−15
−20
0 0.5 1 1.5 2 2.5 3
Ω
(b) ζ1 . . . ζ4 = 0.1
d a m p i n g b e t w e e n
m
m a s s m a n d c y l i n d e r w a l l
c
c d
P u m p L o a d
19
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 20
The equation of motion and the dimensionless damping ratio ζ for the
(homogeneous) system depicted in Fig. 3.1 are given as
0 = m ẍ + d ẋ + c x (3.1)
d
ζ = √ . (3.2)
2 mc
M ẍ + D ẋ + C x = F (3.9)
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 21
z = 0 . 0 1
2
1 . 8
1 . 6
1 . 4
1 . 2
z
e
= 1
s
n
1
o
p
s
e
R
0 . 8
0 . 6
0 . 4
z = 0 . 1
0 . 2
0
0 1 2 3 4 5 6 7 8 9 1 0
T i m e [ s ]
B o d e D i a g r a m
4 0
z = 0 . 0 1
z = 0 . 1
2 0
z = 1
)
B
( d
e
0
d
i t u
n
g
- 2 0
a
M
- 4 0
- 6 0
- 5 0
)
g
e
( d
e
- 1 0 0
s
a
h
P
- 1 5 0
- 2 0 0
- 1 0 1
1 0 1 0 1 0
F r e q u e n c y ( r a d / s e c )
c d
1 1
c d 2
2
c d 3
3
m 1
m 2
m 3
c 1
d 1
m 1
3
c
d
2
m
3
2
m
3
d
c
c 1
m 1
c 2 d 3
m 2
c 3
m 3
m 3
d 3
F ( t )
m m 2
1
E x c i t a t i o n
c c 2
c 3
1
| − ω 2 M + C| = 0. (3.10)
¡ ¢
A closer look at Eq. (3.10) reveals that the characteristic matrix −ω 2 M + C
has tri-diagonal structure and may be written as
−ω2 m1 +c1 +c2 −c2 0
−c2 −ω 2 m2 +c2 +c3 −c3
... ... ...
. (3.11)
−cN −1 −ω 2 mN −1 +cN −1 +cN −cN
0 −cN −ω 2 mN +cN
Ω1 = Ω (3.12)
Ω2 = 2 Ω (3.13)
..
.
ΩN = N Ω, (3.14)
m1 = m (3.15)
m2 = m/2 (3.16)
..
.
mN = m/N (3.17)
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 24
Although a formal proof for arbitrary N cannot yet be given, the mass-
spring allocation scheme was made plausible in MAPLE up to an order of
N = 8. According to this analysis, the characteristic polynomial has the form
N µ ¶
N
Y −ω 2 2
m + iΩ , (3.22)
i=1
i
However, although the results of numerical simulations (see Sec. 3.4) indi-
cate a good noise attenuation performance for both single and multiple DOF
systems, some problems hindering the practical utilisation of these devices re-
main:
1. What sort of spring would be particularly suitable and how big would it
have to be to withstand the static pressure in hydraulic systems?
2. Is there a cheap and robust way of frequency tuning for these devices in
a semi-active or even active way?
These and other questions relating to a practical implementation of vibra-
tion absorbers will be discussed in Chapter 4.
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 25
1 5 0
S i n g u l a r i t i e s o f u n d a m p e d s y s t e m
1 0 0
z = 0
5 0
z = 0 . 0 1
]
B
[ d
i n
a
G
z = 0 . 1
- 5 0
- 1 0 0
1 0 4 * 1 0 6 * 1 0
3
2 * 1 0 8 * 1 0
3 3 3 3
1 0
4
F r e q u e n c y [ r a d / s ]
Figure 3.6: Normalised bode diagram of a 3rd order system featuring damping
ratios ζ̄ ∈ {0, 0.1, 0.01}
2 a
2 a
z
h r
r
P u m p L o a d
where the specific mass, the radius and the flexural rigidity of the plate are
denoted by ρ, a and D respectively.
The induced bending moments per unit length due to a constant pressure
distribution at the bottom surface in radial and tangential direction, M r and
Mϕ respectively, are given as
1
Mr = p a2 [1 + ν − (3 + ν)α2 ] (3.27)
16
1
Mϕ = p a2 [1 + ν − (1 + 3 ν)α2 ] (3.28)
16
where α = r/a.
At the circumference r = a, above equations simplify to
1
Mr = − p a2
8
ν
Mϕ = − p a 2
8
and result in maximum stresses at the bottom/top layer of
6 Mr 6 Mϕ
σr = and σϕ = . (3.29)
h2 h2
These stress components σr and σϕ respectively may be combined to an
equivalent stress σE according to the “von Mises”hypothesis
q
σE = σr2 − σr σϕ + σϕ2 . (3.30)
- 0 . 5
w = W
- 1
1 1 3
0 l l l l
4 2 4
0 . 5
w = 3 W
0
l=λ /4 - 0 . 5
- 1
1 1 3
0 l l l l
4 2 4
x 1
0 . 5
w = 5 W
0
Pump Load - 0 . 5
- 1
1 1 3
0 l l l l x
4 2 4
Figure 3.8: Arrangement and pressure mode shapes for a λ/4 side branch
resonator
long pipes are required for the attenuation of low frequency pulsations (typi-
cally λ/4 ≈ 1.1 m for a resonance frequency of 300 Hz in hydraulic oil). In the
following paragraphs, the influence of wall flexibility, as well as the influence
of flexible elements in the resonator chamber will be discussed and how these
effects may be exploited to build more compact resonators.
I n f l u e n c e o f w a l l
f l e x i b i l i t y c o n s i d e r e d
d p
I n f l u e n c e o f w a l l
f l e x i b i l i t y n e g l e c t e d
l = l / 4
Figure 3.9: λ/4 side branch resonator considering the influence of wall flexibility
BOil
BT′ ot = , (3.34)
1 + EBTOil d
ube s
c l o s e d e n d
o i l
f l e x i b l e e l e m e n t / 4
l
c o n n e c t i o n t o
t h e h y d r a u l i c c i r c u i t
w ( x )
E , I y
Figure 3.10: λ/4 resonator with flexible elements in the resonator chamber
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 30
VOil ∆p VElem ∆p
∆VT ot = ∆VOil + ∆VElem = +
BOil EElem
(3.37)
VOil ∆p
= ,
BT′ ot
where
∂p 1
EElem = 1/βElem and βElem = . (3.38)
VElem ∂V
Provided that membrane stresses may be neglected and also neglecting the
influence of the boundaries at y = 0 and y = λ/4, the deformation of the
element due to a pressure p may be approximated using simple beam theory.
Doing so, the deflection of an element due to p is
2 3 x4
1 p b l4 ( xl2 − 2 xl3 + l4
)
w(x) = , (3.39)
24 E Iy
where
b h3
Iy = . (3.40)
12
Thus the displaced volume V of one “half-element” due to p is
Z l
b p l5
V =b w(x) dx = (3.41)
x=0 60 E h3
and the coefficient of compression βElem for the element may be written as
1 ∂V b l5
βElem = = . (3.42)
V0Elem ∂p 60 V0Elem E h3
This approach is particularly vivid if we assume that the flexible elements
are shaped according to the deformation due to a static pressure pStat . In that
case, the un-deformed volume of one half-element is
b pStat l5
V0Elem = (3.43)
60 E h3
and hence the value of EElem = 1/βElem is simply given by
1
EElem = = pStat . (3.44)
βElem
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 31
δ
BT′ ot = δ 1
. (3.46)
BOil
+ pStat
Since the value of δ is crucial for BT′ ot , the qualitative behaviour of BT′ ot
over δ is depicted in Fig. 3.11. As can be seen in this figure, particularly
compact resonators may be accomplished by small ratios δ = VOil /VOElem
which, on the other hand, results in increased damping within the resonator.
Since this problem is rather complicated2 , further work is required. As in the
previous paragraph, the required length of the resonator l for a given resonance
frequency f may be calculated using Eq. (3.35).
4
x 10
2
1.5
[bar]
1
Tot
δ → ∞: B’Tot → BOil
B’
0.5
0
0 100 200 300 400 500 600 700 800 900 1000
δ
Detail
3000
2500
δ =1: B’Tot = pStat
2000
B’Tot [bar]
1500
1000
500
0
1 2 3 4 5 6 7 8 9 10
δ
VOil
Figure 3.11: Combined bulk modulus BT′ ot over δ = V OElem
for BOil =
16000 bar and pStat = 300 bar
Since the flexible elements, as well as the surrounding resonator tube are
exposed to the hydraulic system pressure, the mechanical stresses in these
2
The influence of damping in fluids in combination with movement of components is still
a challenging problem for both analytical and numerical methods.
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 32
elements are of interest. Again making use of the beam theory, the maximum
normal stress in the flexible element due to the system pressure pSys is
pSys l2
σmax = . (3.47)
2 h2
However, since the shape of the tube surrounding the resonance chamber
may be non–circular, the stresses in this element due to pSys require a more
detailed investigation.
C o m p e n s a t o r
R L
9 P i s t o n p u m p
n = 1 4 5 0 r p m C
N o m p S y s
Q N o m
= 5 0 l / m i n
H y d r . l i n e
a mass m = 0.6 kg, the masses m1 = m, m2 = m/2 and m3 = m/3 are given
accordingly. Since the base harmonic f = 435 Hz (see Eq. (1.5) and Tab. 3.1)
and hence Ω = 2πf = 2733 rad/s, the spring stiffness cN = c (see Eq. ((3.20)))
is fixed to c = Ω2 m = 4.482 kN/mm with c3 = c 3 , c2 = 2c and c1 = 3c.
Since no experimental work was carried out for this system, a simulation
study was performed in order to estimate noise attenuation characteristics of
this device. For this purpose, a model was developed in MATLAB/SIMULINK
(see Fig. 3.13 and [Mat96]).
For the motion of the piston, the sealing gasket acts as a damper assuming
Newtonian behaviour of the hydraulic fluid in the gap between mN and the
cylinder surface. The damping ratio d due to the sealing gap is
D π lGap DCyl − DP iston
d3 = ρ νF luid where sGap = . (3.48)
| {z } sGap 2
ηF luid
Because the magnitude of the damping ratio d3 is crucial for the perfor-
mance of the compensator, the influence of different dimensionless damping
ratios ζ̄ (see Eq. (3.2)) has been investigated.
3
This stiffness is equivalent to the combined stiffness of six screw-springs with a diameter
of D = 36 mm, a wire diameter of d = 10 mm and a spring length of l = 67 mm.
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 34
T o W o r k s p a c e 2
Q 0
Q - K -
T o W o r k s p a c e 1
A P is t o n
Q E f f
F E f f
x 1 ' [ m / s ]
p C
n M o t o r [ r p m ] Q [ l/ m i n ]
x 1 [ m ]
E / 6 0
1 x 2 ' [ m / s ]
S t e p
S u m 1 - K - F [ N ]
S u m 5 x 2 [ m ]
p C [ b a r ]
9 P is t o n E / 6 0 s
x 3 ' [ m / s ]
P u m p I n t e g r a t o r
A P is t o n 2
x 3 [ m ]
P r o d u c t
3 M a s s
O s c illa t o r
A P is t o n 1
V C V o lu m e n - K -
V L in e [ l ]
p B a c k p B a c k [ b a r ]
S u m 2
R H
1 / L H R H
m ^ 3 / s - > l / m in
1
6 0 e 3 - K -
Q H I n t e g r a t o r 1
may be achieved even with fairly high damping ratios ζ̄, where Qi is the at-
tenuated pulsation at the ith harmonic (compensator in operation) and Qi ref
is the pulsation without compensation.
LQ [dB]
ζ̄ = 0.01 ζ̄ = 0.1
Ω1 -38.7 -19.3
Ω2 -44.6 -25.1
Ω3 -33.7 -15.4
4
Due to the linearity of the system behaviour, the attenuation performance is independent
of pSys .
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 35
Evaluation
⊖ Expensive
Evaluation
The frequency condition in Eq. (3.35) may be fulfilled by making the length
of the resonator tube to
CHAPTER 3. NOVEL VIBRATION COMPENSATORS 36
Evaluation
O i l l a y e r
4
]
]
m
m
[ m
[ m
4
n
n
t i o
t i o
3
a
a
r m
r m
P r e - d e f o r m a t i o n
3
f o
f o
e
e
D
o f e l e m e n t
2
1
1
0 0
1 0 2 0 3 0 4 0 1 0 2 0 3 0 4 0
x [ m m ] x [ m m ]
p S y s
= 2 0 0 b a r p S y s
= 4 0 b a r
Figure 3.14: Element shape and oil layer for pSys ∈ {40, 200} bar
Evaluation
Vibration compensators
featuring a hydraulic spring
1
F ( t )
p ( t )
2
V H S
x
A P
The device depicted in Fig. 4.1 is connected to the main hydraulic system
(1). A working piston (3) with mass m is excited by the pressure pulsation
p(t) in the main system. Furthermore, the neck of the working piston seals off
(e.g. by a gap seal between the piston (3) and the housing (0) as depicted in
Fig. 4.1) the hydraulic volume (2) – also called the hydraulic spring – from the
main system (1) and permits only the (slow) balancing of the mean pressures
between (1) and (2).
In order to keep the working piston (3) in a centered position after the
mean pressure compensation, two centering springs (4) may be used.
Due to the pressure pulsation p(t) in the main system or the excitation
38
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 39
force
F (t) = (p(t) − pHS (t)) AP (4.1)
respectively, the piston (3) is accelerated and a displacement x(t) of the piston
(3) takes place. In effect, this yields an increased pressure pHS in the hydraulic
spring (2).
Neglecting the cross flow between the hydraulic spring (2) and the main
system (1) and assuming that VHS ≫ AP x, the equation for ṗ may be simplified
to
BT′ ot B′
ṗ = AP ẋ ≈ T ot AP ẋ, (4.2)
VHS − AP x VHS
Accordingly, a displacement ∆x of the piston yields an increase in pressure
∆pHS in the hydraulic spring
BT′ ot
∆pHS = AP ∆x. (4.3)
VHS
Multiplying Eq. (4.3) by the piston area AP yields the stiffness of the hy-
draulic spring cHS
B ′ A2
∆F = AP ∆p = T ot P ∆x. (4.4)
VHS
| {z }
cHS
The behaviour of the system represents a resonator with mass m (the mass
of the working piston (3)1 ), stiffness cHS (due to the stiffness of the hydraulic
spring2 (2)) and damping d due to the shear stresses in the fluid and leakage,
where BT′ ot represents the combined bulk modulus of hydraulic oil consider-
ing the flexibility of the surrounding enclosure, AP represents the area of the
working piston and VHS represents the oil volume in the hydraulic spring.
As already outlined in Chapter 2, a properly tuned resonator called the
vibration compensator may be used to greatly attenuate the effects of an ex-
citation of the primary system if the frequency of excitation Ω is close to the
natural frequency ω of the vibration compensator. In our case, the excitation
is given by the flow pulsation, the vibration compensator is represented by the
presented device and the primary system is the main hydraulic system.
1
Neglecting both the proportionate mass of the oscillating oil column in the hydraulic
spring and the proportionate mass of the centering springs.
2
For simplicity, neglecting the stiffness of the centering springs.
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 40
Linear damping
Assuming linear damping in the vibration absorber (see also Sec. 3.1.1 and
Fig. 4.2), the resonance frequency ω of the device may be written as
r
cHS
ω0 = (4.7)
m
p
ω = 1 − ζ 2 ω0 (4.8)
, where
d
ζ= √ . (4.9)
2 m cHS
Since the influence of leakage between the piston and the housing does ap-
pear as additional damping, only the influence of shear stresses in the sealing
gap between the housing and the piston will be investigated in this paragraph
(see Sec. 4.3.1 for a detailed investigation of leakage). The coefficient of damp-
ing due to the shear stresses between the piston and the housing may be written
as (see also Eq. (3.48))
lGap η D π
d= , (4.10)
sGap
since F = d v = D π lGap τ and
∂v (4.11)
τ =η .
∂z
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 41
z l G a p
s G a p
where
u1 ES
nx = + µpR nθ = Rp (4.18)
L
1
2
Rp − µRp Rp − 21 µRp
ǫx = ǫθ = . (4.19)
ES ES
Consequently, the deformation of the cylinder in radial and axial direction
wCyl and uCyl result as
where D is given in Eq. (3.24). Using a Ritz formalism for the plate deformation
w with
³ ¡ r ¢2 ´
w(r) = A2 1 + α22 (4.23)
a
and making use of the boundary conditions
the parameters A2 and α22 follow accordingly. The work of the external forces
is
where wCyl is the radial deformation of the cylinder defined in Eq. (4.20). The
sum of W and U may now be combined and, according to Eq. (4.13), must
satisfy the criterion
∂(U + W )
=0 (4.28)
∂u1
∂(U + W )
=0 (4.29)
∂u2
which results in two linearly independent equations. These equations may be
solved for u1 and u2 which also fully specifies ∆VCyl and ∆VP late as
¡ ¢
∆VCyl = (R + wCyl )2 − R2 πL (4.30)
Z r1
∆VP late = 2rπw(r) dr. (4.31)
0
Mechanical system Using the common notation for the wave number k,
the speed of wave propagation v and the wave resistance Z (see Secs. C.1–C.2)
ω
k= (4.32)
vr
cSpring
v=L (4.33)
mSpring
√
Z= µ v = cSpring mSpring , (4.34)
|{z}
mSpring
L
the equations for the complex amplitudes of force F (x) and velocity u(x) re-
spectively may be written as
F (x) = A∗ ei k x + B ∗ e−i k x (4.35)
1
u(x) = (A∗ ei k x − B ∗ e−i k x ). (4.36)
Z
5
Although most texts do not consider damping in combination with wave propagation, a
combined treatment makes particularly sense if one is interested in the quantitative response
close to resonance and not just in the natural frequency.
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 45
x
L
F 0
m S p r i n g
, c S p r i n g
x
L
F 0
M V , B , r A
O i l P
The differential equation for the motion of the mass M including damping
may be written as
Using this notation, the complex amplitudes for linear wave propagation
are simply
yields
The differential equation for the mass M is similar to Eq. (4.41) and may
be written as
M (−i ω) u(−L) + d u(−L) = F0 − p(−L) AP ,
√|{z} (4.53)
2 ζ M cSpring
where
B A2P B AP
cSpring = = . (4.54)
AP L L
Hence, the complex amplitude A∗ and the amplitudes of velocity u(−L)
and displacement ξ(−L) may be written as
F0
A∗ = √ (4.55)
M M cSpring
−2 ω Z sin(k L) − 4 i ζ Z sin(k L) + 2 cos(k L) AP
2 F0 i sin(k L)
u(−L) = − √
M M cSpring
Z(−2 ω Z sin(k L) − 4 i ζ Z sin(k L) + 2 cos(k L) AP )
(4.56)
2 F0 sin(k L)
ξ(−L) = √
M M cSpring
Z ω(−2 ω Z sin(k L) − 4 i ζ Z sin(k L) + 2 cos(k L) AP )
(4.57)
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 48
D C
F 0
p 0
m C
L
E
L
N
E
N
N
L C
A
A ,
N
r C
H
A
C
H
C
- x C
m
R
m
O
R
T
O
A
T
c
A
- x
N
S
H S
E
c
N
H S
E
M
P
O
M
C
O
C
The natural frequencies of the coupled system Eq. (4.58) may be calculated
as the square-root of the eigenvalues of the characteristic matrix A∗ , where
A∗ = C · M−1 . (4.64)
Radiation damping
Perhaps the most involved issue to be discussed in this section is commonly
referred to as radiation damping. A brief description of the phenomenon may
be found in Carlstone [Car92]:
. . . In this case the primary spring (in our case the hydraulic
spring) is considered to possess mass and an infinitely long (sec-
ondary or radiating) spring is considered to be attached to the mass.
Thus, if the mass is set in motion, the infinite spring is excited and
energy is carried out of the system. The mechanical wave in the
secondary spring is analogous to radiation and is referred to as me-
chanical radiation . . .
E
x
c i t a t i o
n
x 1
C o m p e n s a t o r
A u , p , Z M e
i k x
e
- i k x u , p , Z
P 1 1
x F
1
L x 0
x
M
2
2
S
e m
E x c i t a t i o n
i - i n
f i n
u * , p * , Z *
e
- i k x
i t e
u * , p * , Z *
s p
r i n
g
A P
The complex amplitudes of the solution of the basic wave equations (see also
Sec. 4.2.2) for system I (vibration absorber) and system II (radiation spring)
are
System I:
p(x1 ) = A∗ ei k x1 + B ∗ e−i k x1 (4.65)
1
u(x1 ) = (A∗ ei k x1 − B ∗ e−i k x1
) (4.66)
Z
System II:
p∗ (x2 ) = C ∗ e−i k x2
∗
(4.67)
1 k ∗ x2
u∗ (x2 ) = ∗ (−C ∗ e−i ). (4.68)
Z
Considering the boundary condition
Z = Z∗ (4.72)
k = k∗ (4.73)
and making use of the fact that the displacement of the mass M needs to be
continuous yields
1 1
u(−L) = u∗ (0)
−i ω −i ω (4.74)
⇒ 2 A∗ i sin(k L) = C ∗ .
Application example
The influence of different phenomena described in Sec. 4.2.2 shall be discussed
in an application example which roughly uses the data for a vibration absorber
with a nominal resonance frequency of f0 = 500 Hz (see Tab. 4.1).
Basic model Neglecting the stiffness of the centering springs, the natural
frequency of the resonator according to Eq. (4.5) is f0 = 501.3 Hz. Basic
consideration of the stiffness cHS of the centering springs yields f = 502.6 Hz.
Since the system depicted in Fig. 4.4(b) is just a simplification of the system
used, i.e. VHS 6= AP lHS , the length lHS of the device needs to be adapted to
lHS = VHS /AP to give meaningful results. The frequency plot for the hydraulic
system considering nominal damping (ζ = 0.02) is depicted in Fig. 4.8.
6
The resonance frequency
q of a mechanical system considering the spring mass m HS may
be calculated as ω = m+c1HSm = 477.6 Hz.
3 HS
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 53
x [ m ]
f [ H z ]
x [ m ]
f [ H z ]
Channel length
f1 = 486 Hz (4.83)
f2 = 7644 Hz. (4.84)
x [ m ]
f [ H z ]
dP
D
4 (1-1/Ö2)
dP
6
dP dP
6 2
D
4 (1-1/Ö2)
D
2 (1-1/Ö2)
H
D
Ö2
ing that the height of the hydraulic spring is equal to the diameter, H = D 8 ,
the mass m, the volume of the hydraulic spring VHS and hence also the res-
onance frequency of the absorber9 ω0 are fully expressed as functions of the
independent parameters.
However, since the resonance frequency ω0 of the absorber is defined by two
parameters, another equation needs to be found to fully constrain the system.
s G a p
A P
p S y s
p H S
l G a p
where
Eq. (4.89) may now be used to both optimise the sealing gap geometry and
to fully constrain the dimensioning of the absorber.
4.3.3 Dimensioning
Assuming a purely sinusoidal motion of the piston with frequency ω, the flow Q
taken-up by the displacement of the compensator due to the pressure pulsation
p̂Sys may be written as
3. For a given diameter dP of the piston, read the mass of the piston m (see
chart b) and the volume VHS of the hydraulic spring (see chart d)
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 58
f [ H z ]
| G ( s ) |
[ m m / b a r ]
s [ m ]
l G a p
[ m ] G a p
| G ( s ) |
[ m m / b a r ]
s G a p
[ m ]
Figure 4.12: Optimisation of sealing gap geometry (Parameters see Tab. 4.1,
Basic Data) at f = 450 Hz
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING
2 1 5 0 0
1 . 8
Q P u l s a t i o n
= 0 . 6 l / m i n
1 . 6
a t Q N o m
= 1 0 0 l / m i n
1 . 4
1 0 0 0
]
1 . 2
i n
[ l / m
]
[ g
1
n
t i o
s s
a ) b )
l s a
a
0 . 8
M
u
P
5 0 0
Q
0 . 6
0 . 4
0 . 2
0 0
0 5 1 0 1 5 2 0 2 5 3 0 3 5 0 5 1 0 1 5 2 0 2 5 3 0 3 5
d [ m m ] d [ m m ]
P P
2 5 0
8 0
7 0
2 0 0
]
m
6 0
[ m
g
r i n
1 5 0
³ ]
5 0
s p
c ) d )
[ c m
r .
y d
4 0
h
S
f
H
1 0 0
o
t
e
3 0
h
m
i g
l u
e
o
H
V
2 0
5 0
1 0
0 0
0 5 1 0 1 5 2 0 2 5 3 0 3 5 0 5 1 0 1 5 2 0 2 5 3 0 3 5
d [ m m ] d [ m m ]
P P
59
Figure 4.13: Dimensioning of compensator with fRes = 450 Hz (assuming Bapp = 12000 bar and p̂Sys = 2 mbar)
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING
1 5 0 0
1 . 5
1 0 0 0
]
i n
[ l / m
]
[ g
a ) b )
n
t i o
s s
1
l s a
a
M
u
P
5 0 0
Q
0 . 5
0 0
0 5 1 0 1 5 2 0 2 5 3 0 3 5 0 5 1 0 1 5 2 0 2 5 3 0 3 5
d [ m m ] d [ m m ]
P P
2 5 0
8 0
7 0
2 0 0
]
m
6 0
[ m
g
r i n
³ ]
1 5 0
5 0
c ) d )
s p
[ c m
r .
y d
4 0
h
S
f
H
1 0 0
o
t
e
3 0
h
m
i g
l u
e
o
H
V
2 0
5 0
1 0
0 0
0 5 1 0 1 5 2 0 2 5 3 0 3 5 0 5 1 0 1 5 2 0 2 5 3 0 3 5
d [ m m ] d [ m m ]
P P
60
Figure 4.14: Dimensioning of compensator with fRes = 225 Hz (assuming Bapp = 12000 bar and p̂Sys = 2 mbar)
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 61
The following sections Sec. 4.4 to Sec. 4.4.3 are taken from a joint pub-
lication with my colleague Bernhard Manhartsgruber (see [MM01]) and were
presented at PTMC10 at Bath University, UK in September 2001.
Domain I F = cI s (4.94)
Domain II F = FSW 1 +cII (s − sSW 1 ), (4.95)
| {z }
sSW 1 cI
10
Annual workshop on Power Transmission and Motion Control.
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 62
m m m
c = m a x
s p r i n g s s p r i n g s
v a r i a b l e
c a c t i v e i n - a c t i v e
c l a m p i n g
c = m i n p o s i t i o n
A A I A I A
C o n n e c t i o n t o
}
c = 4 c
E n g i n e e r i n g s y s t e m
M a x
where FSW 1 and sSW 1 (see Fig. 4.16) are respectively the force and the dis-
placement of the spring at the time where the modification of the stiffness, e.g.
the clamping of the spring, takes place.
F
I I
c
F
I I
S w 1
c I
I
s
s S w 1
Control strategy
In general, the reference signal for the resonance frequency of a vibration ab-
sorber connected to a hydraulic system may be deduced from the following
information11 :
m o d e l b a s e d u p o n
V i b r a t i o n
Z i e l k e - S u z u k i - M e t h o d
c o m p e n s a t o r
2 1 n o d e s
s e e [ Z i e 6 8 , S T S 9 1 ]
I d e a l i s e d f l o w s o u r c e S h a r p e d g e d
V V
Q = Q 0
+ Q 1
c o s ( W t ) H H o r i f i c e
Q = Q0 + Q1 cos(Ω t) (4.96)
The effect of a linear frequency rise of the flow pulsation was modelled by
F = Ω/(2 π) rising from 120 Hz to 240 Hz within a time t = tRise .
∗
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 65
5 0
Q M e a n
C o n s t a n t 1
0 . 5 A m p l i t u d e
Q A m p
O u t 1
F l o w p u l s a t i o n
A n g l e [ r a d ]
C o n s t a n t 2
Q T o t a l
S i n u s G e n e r a t o r
f [ H z ] o m e g a [ r a d / s ] 1
- K -
s
R a m p S a t u r a t i o n G a i n 1 I n t e g r a t o r
Q [ l / m i n ] p [ b a r ]
C a p a c i t y
p
p _ L [ b a r ] Q _ L [ l / m i n ]
Q [ l / m i n ] p [ b a r ] d p [ b a r ] Q D r [ l / m i n ]
p _ R [ b a r ] Q _ R [ l / m i n ]
C a p a c i t y 1 O r i f i c e
p i p e - m o d e l d u e t o Z i e l k e , S u z u k i , e t . a l .
2 5 0
2 0 0
]
z
[ H
F
1 5 0
- 0 . 2 0 0 . 2 0 . 4 0 . 6 0 . 8 1 1 . 2
T i m e [ s ]
2 0 4
r ]
2 0 2
a
[ b
s
y
S
2 0 0
P
1 9 8
- 0 . 2 0 0 . 2 0 . 4 0 . 6 0 . 8 1 1 . 2
T i m e [ s ]
5 0
Q M e a n
C o n s t a n t 1
0 . 5 A m p l i t u d e
Q A m p
O u t 1 Q T o t a l
F l o w p u l s a t i o n
A n g l e [ r a d ]
C o n s t a n t 2
Q T o t a l
S i n u s G e n e r a t o r
Q T o t a l
1
I n t e g r a t o r
s
o m e g a [ r a d / s ] Q
p
p W i t h
( 1 8 0 * 2 * p i ) ^ 2 * m a s s e c
G a i n 1
- K -
S y s w i t h C o m p e n s a t o r
C o n s t a n t
f [ H z ]
f [ H z ]
S a t u r a t i o n
p
Q p
p W i t h o u t
S y s w i t h o u t C o m p e n s a t o r
R a m p
2 5 0
2 0 0
z ]
[ H
F 1 5 0
- 0 . 0 2 0 0 . 0 2 0 . 0 4 0 . 0 6 0 . 0 8 0 . 1 0 . 1 2
T i m e [ s ]
2 0 1 . 8
2 0 1 . 6
r ]
2 0 1 . 4
a
[ b
y s
S
2 0 1 . 2
P
2 0 1
0 0 . 0 2 5 0 . 0 5 0 . 0 7 5 0 . 1
T i m e [ s ]
Figure 4.21: Simulation results: System with passive absorber (tuning fre-
quency f = 180 Hz, tRise = 0.1 s)
Table 4.4: Simulation results: System with passive absorber (tuning frequency
f = 180 Hz)
tRise [s] Fi∗ [Hz] pi [bar] pRefi [bar] LPi [dB]
a
120 0.29 0.26 0.95
a
0.1 180 0.035 2.7 -38
240a 0.34 0.69 -6.1
a
Transient considered
tRise [s] pM ax [bar] pRef M ax [bar]
1 0.33 2.7
0.1 0.34 2.7
0.01 0.41 2.7
2 5 0
2 0 0
z ]
[ H
F
1 5 0
- 0 . 0 2 0 0 . 0 2 0 . 0 4 0 . 0 6 0 . 0 8 0 . 1 0 . 1 2
T i m e [ s ]
0 . 0 5
r ]
a
[ b
0
y s
S
P
D
- 0 . 0 5
0 0 . 0 2 5 0 . 0 5 0 . 0 7 5 0 . 1
T i m e [ s ]
0 . 3
c c
0 . 2 S p r i n g 1 4 0 S p r i n g 1 8 0
0 . 1
r ]
a
[ b
0
s
y
S
- 0 . 1
P
D
- 0 . 2
c S p r i n g 1 8 0
c S p r i n g 2 2 0
0 0 . 2 5 0 . 5 0 . 7 5 1
T i m e [ s ]
0 . 3
c S p r i n g 1 2 0
c S p r i n g 1 8 0
0 . 2
r ]
0 . 1
a
[ b
0
s
y
S
- 0 . 1
P
D
- 0 . 2
c S p r i n g 1 8 0
c S p r i n g 2 4 0
0 0 . 2 5 0 . 5 0 . 7 5 1
T i m e [ s ]
a
First case of Fig. 4.23 featuring spring rates of cSpring 140 , cSpring 180 and cSpring 220 .
b
Transient considered.
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 71
c [kN/mm]
3
1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07
0.02
∆pSys [bar]
−0.02
the pipeline dynamics. A simple lumped parameter model with one degree of
freedom replaces the distributed parameter model (method of characteristics).
The optimisation criterion (cost functional) is to minimise the time integral
of the squared pressure pulsation. The time interval of the optimization model
covers one period of oscillation at 120 Hz, the linear frequency rise from 120
Hz to 240 Hz within 0.05 s and four periods of oscillation at 240 Hz. The state
values at t = 0 and at the end of the first period are constrained to match
each other and the control input is zero during the first period. Thus, the opti-
mization model starts with the steady state system answer. The optimization
interval is divided into 720 subintervals each having a constant rate of change
of absorber stiffness. Special attention has to be paid to the constraints on
the control input. Constraining the maximum absolute value of the stiffness
change rate results in a bang-bang type control input. Therefore, the abso-
lute stiffness change, i.e. the integral of the absolute value of its change rate,
has been constrained to the difference between the steady state optimum at
120 Hz and the optimum at 240 Hz. The result of this optimization is given
in Fig. 4.24. The optimal control function is very similar to the steady-state
solution even at this high rate of change of the excitation frequency.
In the following sections, some tuning principles for absorbers featuring a
hydraulic spring will be investigated.
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 72
3 2
SV2
4
SV1
D1
6 0 0
1 2 . 5
5 0 0
1 0
]
4 0 0
]
[ %
m
d
7 . 5
y
/ m
H
c
[ N
3 0 0
/
c
2 0 0
2 . 5
1 0 0
0 0
0 2 0 0 0 4 0 0 0 6 0 0 0 8 0 0 0 1 0 0 0 0 1 2 0 0 0
P [ N ]
c
Figure 4.28: Spring stiffness c and ratio cHS vs. compression force P (Rectangular beam: length = 20 mm, with = 20 mm,
2
height = 1.1 mm and E = 210000 N/mm ; cHS see Tab. 4.1)
75
CHAPTER 4. COMPENSATOR WITH HYDRAULIC SPRING 76
The stresses in the beam element may be found by combining the stationary
stress σC due to the stationary compression force P with a dynamic bending
stress σB due to the movement of compensator mass at x = L. These stresses
may be written as
P P
σC = = (4.104)
A wh
Mh ∂2w h
σB = = 2
E . (4.105)
I 2 ∂x 2
According to the laws of strength of materials [Sch99], the combination of
stationary stresses and a dynamic stresses needs to be below the fatigue limit
of materials.
Chapter 5
77
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS 78
pressure side with pSys = 160 bar and the tank side. Between the servo-valve
and the compensator, a hydraulic line with length l = 250 mm and an internal
diameter of d = 12 mm was used. This type of line with a length of l = 300 mm
was also used to connect the compensator to the load, which was represented
by a sharp edged adjustable orifice. After the adjustable orifice, a cavity with
a volume of V = 0.75 l was used to reduce pressure pulsations in the tank line.
Servo−valve Orifice
Compensator
0.14
0.12
0.1
s (t)
0.08
0.06
0.04
0.02
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
t [s]
2
This is mainly due to the non-linear flow characteristics of the servo-valve and the
adjustable orifice. In the servo-valve also the effects of over- or underlap may add significant
non-linearities.
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS 80
160
158
156
154
152
[bar]
Sys
p
150
148
146
With absorber
144
Without absorber
142
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
t [s]
157
156
With absorber
Without absorber
155
154
153
[bar]
152
Sys
p
151
150
149
148
147
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
t [s]
153
152
151
150
[bar]
Sys
p
149
148
147
With absorber
Without absorber
146
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
t [s]
Figure 5.4: Experimental data: Pressure signals pSys (t) with/without absorber
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS 81
O u t 1
M A T L A B
E x c i t a t i o n
F u n c t i o n
u [ 1 ] x V e n t [ 1 ]
O r i f i c e
1 6 0 p P [ b a r ] Q P [ l / m i n ]
x V a l v e
p T [ b a r ] Q T [ l / m i n ]
p S y s
p 1
p A [ b a r ] Q A [ l / m i n ] Q 1 [ l / m i n ] Q 2 [ l / m i n ]
p
0 p 2 [ b a r ] p 1 [ b a r ]
3 / 3 S e r v o - v a l v e
S i m p l e l i n e
C o n s t a n t 1
( w i t h b l o c k )
x ' [ m / s ] A K
x '
- K - F [ N ] x [ m ]
A P i s t o n 3
p K [ b a r ]
A P i s t o n 2
C o m p e n s a t o r
1 0
E x p e r i m e n t a l r e s u l t s
5
S i m u l a t i o n r e s u l t s
- 5
]
B
[ d
s
- 1 0
s
l o
n
r t i o
- 1 5
e
s
I n
- 2 0
- 2 5
- 3 0
- 3 5
0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0
F r e q u e n c y [ H z ]
• Sealing gap between piston and housing was optimised for f ≈ 150 Hz.
• The pressure pulsations generated by the gear pump were very low com-
pared to experimental setup 1.
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS 84
Compensator Orifice
B e f o r e c o m p e n s a t o r
A f t e r c o m p e n s a t o r
- 5
]
- 1 0
B
[ d
s
s
l o
n
r t i o
- 1 5
e
s
I n
- 2 0
- 2 5
2 1 0 2 2 0 2 3 0 2 4 0 2 5 0 2 6 0 2 7 0 2 8 0
F r e q u e n c y [ H z ]
The main differences between the initial design and the novel design were:
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS 86
• The volume of the hydraulic spring VHS and hence the resonance fre-
quency of the device are easily adjustable (see Sec. 4.4.4).
• Both the form of the piston and the form of the hydraulic chamber itself
were designed “more smoothly” (i.e. trying to avoid sharp edges. . . ),
therefore reducing the damping in the hydraulic spring.
- 5
- 1 0
]
B
[ d
I L
- 1 5
- 2 0
1 s t H a r m o n ic
- 2 5
2 n d H a r m o n ic
3 r d H a r m o n ic
- 3 0
1 1 0 0 1 2 0 0 1 3 0 0 1 4 0 0 1 5 0 0 1 6 0 0 1 7 0 0
n [ 1 / m i n ]
3 2 0 3 4 0 3 6 0 3 8 0 4 0 0 4 2 0 4 4 0 4 6 0 4 8 0 5 0 0 5 2 0
f [ H z ]
89
CHAPTER 5. NUMERICAL AND EXPERIMENTAL RESULTS
1 . 6
F F T ( c o m p e n s a t o r a c t i v e )
F F T ( c o m p e n s a t o r i n a c t i v e )
1 . 4
1 . 2
1
r ]
a
[ b
0 . 8
n
t i o
a
l s
u
P
p
0 . 6
0 . 4
0 . 2
0
0 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0
f [ H z ]
90
Chapter 6
Further work
Although a quite broad variety of systems was covered in the previous chapters,
much work remains to be done.
Ω1 = Ω (6.1)
Ω2 = 2 Ω (6.2)
..
.
ΩN = N Ω, (6.3)
1
The influence of damping in fluids in combination with movement of components is still
a challenging problem for both analytical and numerical methods.
91
CHAPTER 6. FURTHER WORK 92
m1 = m (6.4)
m2 = m/2 (6.5)
..
.
mN = m/N (6.6)
c1 = N c (6.7)
c2 = (N − 1) c (6.8)
..
.
cN = c = Ω2 m. (6.9)
Figure 6.1: Multi DOF compensators with hydraulic spring (Centering springs
not depicted for clarity)
However, although the concept is very simple and allows the attenuation of
more than one harmonic in a single device, experimental work is required to
investigate the usefulness of the concept.
CHAPTER 6. FURTHER WORK 93
Utilisation of membranes
An increase in performance and hence a more compact design of the compen-
sator (see Sec. 4.3.3) appears to be possible by the utilisation of membranes as
depicted in Fig. 6.2.
• Increase in performance
In steady-state operation of the compensator, the membrane would re-
duce the damping in the device since there are no shear stresses between
the housing an the piston. The slow balancing of the mean pressures
could be fulfilled by a sealing gap between the carrier element and the
housing.
• Wear avoidance
Another big advantage of this concept would be reduced wear between
piston and housing.
Conclusions
95
CHAPTER 7. CONCLUSIONS 96
Design drawings
97
APPENDIX A. DESIGN DRAWINGS 98
FE models
In the following section, two input files for the FE software ABAQUS [HKS95]
are briefly presented, which were used in the coupled elasto-acoustic analyses
in Sec. 4.2.2.
100
APPENDIX B. FE MODELS 101
*NODE,NSET=OUT
** Node at which the excitation takes place
3, 0, 0.03
*NODE
303, 0.015, 0.03
...
*NGEN
3,16,1
...
*ELEMENT,TYPE=ACAX4,ELSET=AKUSTIK
** Acoustic channel
1, 3,103,104,4
...
*ELGEN,ELSET=AKUSTIK
1, 5,1
...
*ELEMENT,TYPE=CAX4,ELSET=SOLID
** Piston mass
1001, 8,108,109,9
...
*ELGEN,ELSET=SOLID
1001, 7,1
...
*ELEMENT,TYPE=ACAX4,ELSET=AKUSTIK
** Hydraulic spring
301, 312,412,413,313
...
*ELGEN,ELSET=AKUSTIK
401, 4,1
...
*ELEMENT,TYPE=ASI2A,ELSET=INTERFACE
** Interface elements between solids and acoustic elements
2001, 15,115
...
*MATERIAL,NAME=AKUSTIK
*DENSITY
850,
*ACOUSTIC MEDIUM,BULK MODULUS
16000e5
*MATERIAL,NAME=STAHL
*ELASTIC
2.1e11,0.3
*DENSITY
APPENDIX B. FE MODELS 102
7840
*SOLID SECTION,MATERIAL=AKUSTIK,ELSET=AKUSTIK
1,
*SOLID SECTION,MATERIAL=STAHL,ELSET=SOLID
1,
*INTERFACE,ELSET=INTERFACE
1,
*STEP
** Direct integration of the coupled system
*STEADY STATE DYNAMICS, DIRECT
400,500,100,1,1
*BOUNDARY, OP=NEW
** Pressure excitation (DOF 8)
*CLOAD,LOAD CASE=1
out, 8,1
*CLOAD,LOAD CASE=2
out, 8,1
*NODE PRINT,SUMMARY=NO,NSET=OUT
** Output: Pressure at the node where the excitation takes place
por
*END STEP
*ELGEN,ELSET=SOLID
1001, 7,1
...
*ELEMENT,TYPE=ACAX4,ELSET=AKUSTIK
** Hydraulic spring
301, 312,412,413,313
...
*ELGEN,ELSET=AKUSTIK
401, 4,1
...
*ELEMENT,TYPE=ASI2A,ELSET=INTERFACE
** Interface elements between solids and acoustic elements
2001, 15,115
...
*MATERIAL,NAME=AKUSTIK
*DENSITY
850,
*ACOUSTIC MEDIUM,BULK MODULUS
16000E5
*MATERIAL,NAME=STAHL
*ELASTIC
2.1E11,0.3
*DENSITY
7840
*SOLID SECTION,MATERIAL=AKUSTIK,ELSET=AKUSTIK
1,
*SOLID SECTION,MATERIAL=STAHL,ELSET=SOLID
1,
*INTERFACE,ELSET=INTERFACE
1,
*STEP
** Direct integration of the coupled system
*STEADY STATE DYNAMICS, DIRECT
400,600,200,1,1
*BOUNDARY, OP=NEW
** Force excitation (DOF 2)
*CLOAD,LOAD CASE=1
OUT, 2,1
*CLOAD,LOAD CASE=2
OUT, 2,1
*NODE PRINT,SUMMARY=NO,NSET=OUT
** Output: Displacement at the node where the excitation takes place
u2
APPENDIX B. FE MODELS 104
*EL PRINT,FREQUENCY=0
*END STEP
Appendix C
Mathematical foundations
m ξ¨ + d ξ˙ + c ξ = F0 cos(ωt). (C.1)
Using the shorter notations ξ0 and α for ξ0 (ω) and α(ω), the displacement ξ(t)
may be written as the real part of the function z
105
APPENDIX C. MATHEMATICAL FOUNDATIONS 106
∂u ∂F
µ =− (C.11)
∂t ∂x
∂F ∂u
κ =− , (C.12)
∂t ∂x
where µ and κ are the mass and the compliance per unit length respectively1 ,
M
µ= (C.13)
L
1
κ= , (C.14)
KL
the familiar wave equation for linear wave propagation follows as
∂ 2F ∂ 2F
= µκ (C.15)
∂x2 ∂t2
1 ∂2F
= 2 2, (C.16)
v ∂t
1
Usually, when we apply these equations to fluid and solid columns, the force refers to
unit area. The mass per unit area is then the same as the mass density ρ, and the compliance
per unit length becomes the compressibility of a fluid and the inverse of the Young’s modulus
E for solids [Ing88, p. 168].
APPENDIX C. MATHEMATICAL FOUNDATIONS 107
A∗ = A0 eiα (C.25)
∗ iα
B = B0 e . (C.26)
The general solution for the complex force amplitude F and the complex
amplitude of velocity u may then be written as
Notation
108
APPENDIX D. NOTATION 109
Curriculum vitae
Nationality: Austria
110
APPENDIX E. CURRICULUM VITAE 111
Education:
1977 - 1981 Primary school, Losenstein
1981 - 1985 Secondary school, Losenstein
1985 - 1990 College for Mechanical and Automotive Engineering,
Steyr
1990 High School Diploma (”Matura”)
1991 - 1997 Degree studies in Mechatronics, Johannes Kepler Uni-
versity Linz. Thesis: ”Non-linear control of a hydraulic
system for wheeled loaders”
1997 Graduation to Dipl.-Ing., Johannes Kepler University
Linz
1995 - 1996 M.Sc. Course ”Mechatronics and Optical Engineer-
ing”, Loughborough University, UK. Thesis: ”Com-
puter Aided Traction Control System for Wheeled
Loaders”
Employment:
1990 Military service
1997 - 1998 Development Engineer,
J C Bamford Excavators Ltd, Research Division,
Main work areas: Experimental work, Simulation of
mechanical systems, IT
since 1999 Research and Teaching Assistant,
Institute of Mechanics and Machine Design,
Department of Foundations of Machine Design,
Johannes Kepler University Linz
Appendix F
Statutory declaration
Ich, Dipl.-Ing. Josef Mikota, geboren am 24. Februar 1971 in Steyr, erkläre
hiermit, dass ich die vorliegende Dissertation selbständig verfasst habe und
keine anderen als die im Text angegebenen Quellen verwendet habe. Weiters
erkläre ich, dass ich die vorliegende Dissertation bisher an keiner inländischen
oder ausländischen Universität vorgelegt habe.
112
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