Measurement and Control Technology

LINIER
HYDRAULIC
ACTUATORS
BY:
Agus Dwy Bramastha4214101005
Rika Citra
4214101006
Rizal Saputra
4214101007
Desta Rifqi Aldara
4214101008
M. Amin Sentosa
4214101009
Rivaldi Clarence Tjoa 4214101010

SPOOL-VALVE CONTROLLED LINIER

ACTUATOR

FLOW CHART

Actuato
r
Analysi
s

Linier

Mathematic

Hydraulic

Modeling for find

Actuator

the Xo/Xv equation

SpoolAnalysis

4.5
3

valve
Analysi

Xo/Xv
equatio
n

Force to
accelerat
e the
mass
Analysis

4.5
5

ANALYSIS TO MATHEMATIC MODELS

Actuator analysis

The continuity equation for the chamber may be written

Q Q
in

out

(rateof changeof chambervolume)

(rateof changeof oil volume)

(4.30)

The rate of change of chamber volume is due to the piston movement i.e .The rate of
change of oil volume is due to compressibility effects, i.e :
Bulk modulus of oil, = Volumetric stress /Volumerric strain

Hence

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

Giving,when differentiated with respect to time

Then the equation :

ANALYSIS TO MATHEMATIC MODELS

For chamber (1) ,the equation may be express as

And for the chamber (2)

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

Now ,from the assumtion we know that =

Q1 Q2
2

dV1 V1 dP1
dV V dP2
Qleak

Qleak 2 2

dt dt
dt dt
QL
2

1
dV dV V dP1 V2 dP2

QL 2 Qleak 1 2 1

2
dt
dt dt dt

QL

1 dV1 dV2
1
dP
dP
QL Qleak

V1 1 V2 2
2 dt
dt 2
dt
dt

(4.35)

If leakage flow rate is laminar , then

Q leak C p PL
SPOOL-VALVE CONTROLLED LINIER ACTUATOR

(4.36)

ANALYSIS TO MATHEMATIC
MODELS

ANALYSIS TO MATHEMATIC MODELS

1 dV1 dV2
1
dP
dP
QL Qleak

V1 1 V2 2
2 dt
dt 2
dt
dt

1 dVo dVo
1
dP1
dP2
QL C p PL

o
2 dt
dt 2
dt
dt

dV
V d
P1 P2
QL C p PL o o
(4.38)
dt 2 dt

Where

dVo
dX
V
A o and Vo t
dt
dt
2
Then the equation is

QL C p PL A

dX o Vt dPL

dt
4 dt

(4.39)

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

Linearized spool-valve analysis
Assume that spool-valve ports are rectangular in from ,and have area

Where W is the width of the port,the from orifice theory

2
Ps P1

(4.41)

2
P2 0

(4.42)

Q1 CdWX v
And

Q 2 CdWX v

Where Cd is coefficient of discharge and

density
SPOOL-VALVE CONTROLLED LINIER ACTUATOR

is the fluid

ANALYSIS TO MATHEMATIC MODELS

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

ANALYSIS TO MATHEMATIC MODELS

ANALYSIS TO MATHEMATIC MODELS

(4.45)

(4.46)

ANALYSIS TO MATHEMATIC MODELS

Equation (4.45 ) can be linearized using Linearization of nonlinear function for small
perturbation.If qL,xV,and pL are small pertubartions of parameters QL,XV, and PL about
some point a,then from equation(4.46) .
Example :

z f ( x, y )
at poin ( xo , yo , zo )thelinier equation(tangensial)
z zo m( x xo ) n( y yo )
where
z
z
m and n
x
y

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

Then at

QL F ( X v , PL )
F ( X v , PL ) CdWX v

2 Ps PL

The linier equation ( tangential ) is

q L mxv np L
where :
z zo qL
x xo xv
y yo pL

ANALYSIS TO MATHEMATIC MODELS

Then the value of m and n is

QL
X v

QL
X v

CdWX v
a

QL
X v

C dW
a

2 Ps PLa

2 X v

2 Ps PLa

ANALYSIS TO MATHEMATIC MODELS

QL
PL

QL
PL

CdWX v
a

QL
PL

2 Ps PLa

2 PL

CdWX va
2

1
Ps PLa

Then

q L mxv npL

q L CdW

CdWX va
2 Ps PLa
x

2
2

1
pL
Ps PLa

ANALYSIS TO MATHEMATIC MODELS

then the equation of qL is

q L K q xv K c p L

(4.48)

ANALYSIS TO MATHEMATIC MODELS

Note that
and
are the values of
and
at the operating point a. The
relationship between
,
and
, from equation (4.45), together with the
linearized relations
,
and
are shown in Figure 4.20.
Equation (4.39) is true for both large and small perturbations, and so can be written

Equating (4.48) and (4.51) gives

ANALYSIS TO MATHEMATIC MODELS

Taking Laplace transforms (zero initial conditions), but retaining the lower-case small
perturbation notation gives

(4.53)

ANALYSIS TO MATHEMATIC MODELS

The force to accelerate the mass m is shown in

From Figure

Take Laplace transforms with zero initial conditions and using lower-case notation

APL m x o

L ApL L m x o

2 xo
L ApL L m 2
t

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

ANALYSIS TO MATHEMATIC MODELS

ApL ( s) m( s xo ( s ) sxo (0) xo (0))

2

ApL ( s) ms 2 xo ( s)
ms 2 xo ( s )
pL ( s)
A

(4.55)

Inserting equation (4.55) into (4.53) gives

V
K q xv ( s) Asxo ( s ) C p K c t
4

m 2
s xo ( s )
A

V m 2
K q xv ( s) As C p K c t s
s xo ( s )
4 A

Kq
xo
( s)
xv

V m 2
As C p K c t s
s
4

Kq
xo
( s)
xv
V m 2
m
As C p K c s 2 t s
s
A
4

ANALYSIS TO MATHEMATIC
MODELS
xo
( s)
xv
xo
( s)
xv

Kq

As C p K c

m 2 Vt m 3
s
s

A
4

Kq

V
m
As 1 C p K c 2 s t
A
4

Kq
xo
A
( s)
xv

V
m
s 1 C p K c 2 s t
A
4

m 2
2 s
A

m 2
s
2
A

Equation (4.56) may be re-arranged to give the transfer function relating x o(s)and
xv(s)
K
q

xo
A
( s)
xv

V m
m
s 1 C p K c 2 s t 2 s 2
A
4 A

(4.56)

EXAMPLE

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

EXAMPLE

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

SOLUTION
Kq
xo
A
(s)
xv
mVt 2 C p K c

ms

A 2

4A

Kq
xo
A
(s)
xv
mVt 3 C p K c
ms 2 s

s
2
2
A
4A

mVt

C p Kc
ms 2 s z
2
A

s
If
4A

and
Then the equation is :
2

xo
y
(s)
xv
z
xv
z
(s)
xo
y
SPOOL-VALVE CONTROLLED LINIER ACTUATOR

The value of xo is

b
a
xi (t )
xo (t )
a

b
a

L xv (t ) L
xi (t ) L
x o (t )
ab

ab

xv (t )

b
a
xi ( s )
xo ( s )
a

b
a

1
x v ( s ) xi x o
2
xi x o
z
( s)
2 xo
y
xv ( s )

xi
1 z
( s)
2 xo
2 y
xi
2z y
( s)
2 xo
2y
xo
y
( s)
xi
2z y

SOLUTION
Kq
xo
A
(s)
xi
mVt 3 C p K c
Kq
2
2

ms s
2
4 A2 s

A
A

10
xo
0.01
(s)
xi

3 6 10 9 6 10 9
50 4 10 3
10
2
2

50
s

4 1.4 10 6 0.012
0.01
0.012

xo
500
(s)
xi
0.357 10 6 s 3 6 10 3 s 2 s 500

SPOOL-VALVE CONTROLLED LINIER ACTUATOR

POWER STEERING
Pump is moved by engine or electrical motor. Both of them
have same purpose to increase the hydraulic pressure which
use to move piston on cylinder.
Some car has power steering with special equipment
installed in the gear housing. The sensor used is a vehicle
speed sensor, where vehicle speed detected by speed sensor
and fluid pressure acting on the pump will be changed based
on Power
speed sensor.
steering which uses a sensor attached to a vane
pump is a type of power steering with engine rotation (RPM)
sensor. In this type of engine rpm sensing, at above certain
speed the volume of fluid flow will be lowered so that the
pressure acting on the pump will be reduced.

 The input or command signal is the

turning of the steering wheel.

This moves the valve sleeve, which

ports oil to the actuator (steering

cylinder).
The piston rod moves the wheels via

the steering linkage.

The valve spool is attached to the

linkage and thus move with it.

When the valve pool has moved far

enough, it cuts off the oil flow to the

cylinder. This stops the motion of this
actuator.
Mechanical feedback recenter (nulls)

POWER STEERING

the valve to stop motion at the

desired point as determined by the
position of the steering wheel.
5
Additional motion of the steering