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Checeout 2013 Embeds Wareet, Cicknere {http fe ubmalectronies comn/20v3Embedded embedded ceacrmsucamracnan ~ suns ro umetaron cavnancaet pL ime Finer ere reir login Auth ogin?returnurie/2F designt2F configu systematraooesasi2r Usingstmutaton fod Elecivo-Hydraulle-ServerAetuator Designa-Partt) regitor{authLoginroturnUreyatdesign'atconfigurable systerne}atda0eoubetUsing-simulatignssoftware-tommpliySP- edeecrosyaulcderronctatorSongnetoe DEVELOPMENT ~ ESSENTIALS & EDUCATION ~ COMMUNTY ~ ARCHIVES - ABOUTUS ~ Search Using simulation software to MOST READ simplify DSP-based Electro- sesame ic Servo Actuator Designs: understanding anaiog to digital Sonverter specifications itt embeddedcom/ design /configurable- sms/4025078/Understandin ‘analog-to-digital-converter- FlchardPoley, Texas instruments ‘pecifications) ‘ase study of PID controlinan FPGA wee Ee rene FPGA systems/4712241/Case-Study-of- pratt eublect-Using simulation software co smality DSP-pased Elecree Hydraulic Serve Acustor Sesign: Part bod htoleedegcom/Sesigriconfigurble-sstems/400668/Usng casas Bee inderstanding cascade Understand ded integratorcomb filters (nttp://embedded.com/design/configurable. ‘Abasic building black of many emedided control applications, the elecr- ssystems/4006446/Understanding- hydraulic serve system ' used ina wide range of envienments. These include ae eet eee manufacturing systems, materials test machines active suspension systems, sascadedtntegrator-comb filters) Imining machinery favigue testing gh simulation, paper machines, sips ang tlectremagneve marine engineering injection moviding machines, robotics, and $teel and slumnum mil equipment Hysraue systems ae also conan icra, were thei high powerto-weigh rao EMBEDDED (/HOME/VIDEOS) ‘and precise contol makes them an deal choice for actuation of ight surfaces, TV UHOMENIDEOS) Hysrauc actuators are charaterae by their ably to moar larg forces atigh sp00ds and aroused many industrial oton systems, h apleations where good ‘yname pefoeranee is nportant iis commen ta contin the actual a sero bop ‘compcsing 2 feedback vansducer and election canter. The major of lactone servo-contoles used in thes systoms aro analog based implerantatons of the wolk known PND (Proporiona:lnteratve: Derivative httien wikipedia oralwiKiPAD controle) ype ‘The most base ang obvious requcement of euch systms fs that ne deica mus be able to compute the corto algorth swt enough to Keep up wt the reaLtme demands of ‘olavoly silo. The vast majrty of lecroni dosed loop controls are based on simple analog ctcuit designs ofering robust low ost implementations ofthe wl sown PD contol strategy. Moving beyond MCU-based PID contra \Wihite cis appreach warks well in systems with simple topelegy an limited bancwidn,n many cases the simple McU-based PID contre up wily cinkcdsled.comm/7o00/00 9/00" SZeard hime nov enough Te innlement more complex contol strategies where eis often necessary ta performaudditional precessor tasks, mare CPU bandwadth is required. Here tis das\rablete Selec: a processor whieh optimizes to perferm realtime computations. A mult: bus architecture and rich inatrucson set makes DSPs wel suites to executing demanding realtime control algorthms “The use of cipal signa processor based console in such applications is sometimes voided becavse itis assured thal he et rom he well understood MCLLbased 2D imathodologies 1 one based an OSP wl require leering now programing languages, ‘8 walle dealing win cif in esng and de-buggng the code owevor, resent developments in simulation sofware such make t posse to bypass ‘onpled and un on the tgs processor dey rom he sllation environment ‘This hardware io-the-loon, htt ww embedded. comfstoryOEG20011128S0054" approach onabls tho ‘conto alr generated bythe modell be exseued on fal larg processor ‘uring siruation, and nereases te eel af design confdence. The sabe wth which onto alr canbe created and mecifed in this manner can save manths of ‘evelopment te and leads oats erordelecton compared wih racinal hand Irth series of ets wel over the basics of lactro-nydraule servo syste, pointing out whore DSP-based conta oops woul be uss, ané dese tho Simulink (htp:Iwnew mathworks.comoroductalslmulink Also deacbed Nereis & ‘ase aucy ofa nya contro yee, ting eal ato the model to valiate ts behavior, The processor used to provide the basi cons the TMSS200% (Figure 1, below), wih 232 Bf point DSP oor. To optnz fer such ‘sdensive Inraryofoptimand convolalgoitne Code Secuity 16Kw-63Kw | 6-18Kw) Flash ci Per Mattiplier 28H \@ Tine 8 | S55 Time | Register STAG “ile ‘The basis ofeloctro-hydraulle servo contro! ‘Although slecreal motors are someliras used in rary of sere conta sppheations, Imation conta syst requiring ether very high fore or wise bandwith re often ‘cressed more eficanty wih elecre-aydraute rather than electtomagnete means. 9 ‘general, appleatons wih bandwiths of grater than about 20 Azer contol power ‘Aart rom the ably to delver higher forces at fast speeds, servo-yéraue systoms ‘fer sveral othr benefits over tor slectalcourtrparts, For amo, hyaraule systoms are mechancaly“sife’, esting im higher machine frame resonant frequencies fr a gen power ave, igher loop gan and improved dynamic performance. They age have the portant beneftofbelng se-caoke since the deving {uid efecvely acs a5 a cooling medium caryng heat aay rom tho actuator an fw conta components. Unfrunatly hyraui syst alo xh sevoralinheront no: ‘Typleal Hydraulle System. A ypical poston cantratedhysraule system consists of @ power supply fow conto valve, Inear actuate, diplacerent transducer, and electronic ferve-conolls. The serv conor compares he signal ram the feedback ‘Saplacoment vansavear wih an npul dear to determine te poston ear, sh produces a command egnaltodrve th ow contol valve, The convol vata adits the ‘twat pressuriand oto move the actuator unl ts destod postions attained: a ‘condtioninszated by the error signal fing fo zr0. A force contol hyraulic system ‘operate ina eeilar way, except thal he ow ia adusted o seve an ouput oe, ‘MOST COMMENTED. Currently no items RELATED CONTENT D control ‘hegp//embedded,com/collections/4397108/P1D- control Hydraulic Servo Actuator Sinulatonsaftwarsteima. DsP-basedeElectro-Hydraulice Servo-Actuator Designs Part.2) Using simulation software to simplify DSP-based Electro- Hydraulic Serve Actuator m/design/r ‘applications/400s694/Using- ‘simullation-software-to-simplify- DSP-based-Flectro-Hydraulic- Serva-Actuator-Designs-Part-3) ‘The basics of control system ‘design: Part 1-Moving beyond D time-and- ‘performance/4007563/The-basics- of-controLsystem-design-Part-1- ‘Moving-beyond-ID) Wescott. txt (nttp://embedded.com/design/embedded/sourc ‘code/4700383/Wescott-txt) ithout a PhD ‘and-development/4211211/P1D- withoutsa-PhD) Case study of PID control in an FPGA (nttp://embedded.com/design/configurable. Pib-ControL-in-an.FPGA) Rethinking PID usein the age of ‘MEMS (nttp://embedded.com/electronics- blogs/eole= bin/43015#8/Rethinking PID-use- ‘The basics of control system ‘design: Part2-Tuninga Proportional Controller ‘heep://embedided.com/design/system=‘A shown Figure 2, below, all hydrate serv systems conan a thet core sixhasie bullcing blocks ths hydrate power supply, the flow contol vale, the Ines nyrac ‘state, lsplaceranansdcer, and servo contra. Hydraule Power supply. Sym cilpressure depends on varus facors. Low pressure means less leakage, bu physical larger components are required a develop 1 gen force. High pressure systems sue rom more leakage, but have bear dynanie performance and are both smaller and Ightar:sgnfcant advantages Inmebe an erat appleators. In many high performance systams 3,000 ps (approx 210 bart a standard choice of yee pressure is drawn roma rservoe (tank ito a rotary vane or piston pur, divan at constant speed by an elecre motor. The ols drven at constant Now ale into an adjustable the reservoe once a predetines pressure threshold hasbeen reached Preseurlsdhydraul als cared tothe sero-ale through a system of gor flee Piping, possibly fed wt slecrcallyoporatad shut-of vahs to contol hyaraul tar pressure ret pipe hic son fed wih anne neal exhanger for temperature regulation ofthe ol Flow control valve. The elecko-hyauli lw contl vv acs a high gin ‘lectalohyaraule wansaucer, the input to whens an sacral votage af cent, ‘andthe outout a varaba fool. The vale consis of epoal wih lands machined ito moving wahin a yldral sleeve. The lands are aged wth apetiras cut inthe sloowe suer hal movement af he spoa progressively changes the exposed aperture I a e a > Bm x a <= Pe x Figure 3 above shove tho spool coniguraton of atypicl8-4 lw control valve. The ports are holed P pressure), T Yank), and A and B load control ports. The spool shown asplaced 2 smal distance (x) 382 re8u of @contrand fore apled to one ‘ond, and roms at each portindzae the drocton of uid Now ach rsa ‘ith no conenan free appted (20) the spouecenralzd and allpare ere dosed ‘ffoy the lands resulting inno lad flow. the conte of hydrauesevo-systers, Now ‘conto valves fal roa nto two main categories: proportanal vee ana servo valves Proportonal vals use dec actston ofthe spool roman electcal olanoi o torque too, wereas serve-ales ae a les one intermediate hydraulic ample lage botwoon the cecal torque motor andthe spool integration/4007564/The-basics- ‘Tuning-3-Proportional-controllet Achieving maximum motor ffficiency using dual core ARM SOCEPGAS (http://embedded.com/design/configurable. systems/4402474/Achieving- maximum-motorefficlency- PARTS SEARCH Datasheets com ‘hater datashests.com) powered by Datasheets.com KNOWLEDGE CENTER[Amajor advantage of proportona valves that hey are largely unalfete by changes ‘n supply pressure and al icoaty. However the relatvely large armature mass and large ira constantareocated win te cal mean tat these valves general have poorer dynamic performance comparad wth sero-vales of equivalent ow characterises, bo racent year, “serv-propotons valves have begun to appear wn ahorterspoo! ‘Seplacements and igter spooks, ging dynamic prformanco which approaches that of true servowaves but at a much lower cot, ‘Ta base servo-vave produces canto ow proportional inpul erent fora constant ed. Whlo the dynamic performance ofa servo-vale s intuenced somewhat ‘by operating conditions (supply presse, np sna lve, id and abont temperature an so 0) major advantage i tat loa nari dono foc sabiy, nthe single stage proportional valves. Sere valves usualy havo superir aynamic response, altough her dose ioral ‘machining tbrances make them rave expensive and susceptible lo eortaiation ot hays a, “Two tage servosvales may be furber vied ino ozs pper and jet poe p68 ‘Both soa sinlar design of slocromagnot torque moter, but the hyéraulc ampli oul are racial diferent Nozzoapper type servovalve ae currently 3 fa te ‘most common in high perfomance servo applications and the description vlc follows |sbased on tis ype of valve. (duration courtany foo ‘cross sectional view ot yplcl noze-apper ype servo~atve i shown in igure 4 ‘above. Hah pressure nyraulisol i supplos at tho inlet prossure por (P, anc ow ‘pressure rata Inet the olreservots connec tothe tank pod (7). The Mo ‘pyraute contol pots (Aand 8) eat the convo ove to an om he load etal. near Hydraulle Actuator. Ahyeraule actuator ia device which conver hyeraule ‘energy inte mechanical foes or mation, Actuators maybe dived ino those wi near ‘movement (sonetires calles rane, elders otc), and those kh rlary mover (tary actors and notrs). Linear actuators may be frhar sub-divided ino thse in which hyravl pressure is applies o on side of he piston only single acing) and are capable of movement only ‘none drecton, ana those in wie preseure i applied lo both soe of the Psion (coubie acing) and ae therefore capable of contoted movement in sath erections Linear actuators may also be assfled as singl-enced,n hich the piston has an ‘tension on ane end only, of the double-ended type which have rs on Both ands. SSngle-ended actuators are useful in space coratralned applcton, but unequal areas ‘on each sido ofthe piston results asyreetical flow gan which can complica the contra problem. Double-ended actuators have the advantage that thay natural produce equa foe ‘and speed in both crecons, an forthe reason are eoretnes called sym or “yrchronang eyinders. Hyrule motos area soparat clas of actuator, n when the speed and diacton ofa rotating output shafts regulte by th flaw contol va.(datrationeoureny af Hos) “The desertion veh follows i asad an a Kner, daube-actng, dauble-ended _ctuate, a ype used n many ndustial applcatons, A cross secton of such an actustor 's shown n Figuro 6, The actual: consats ofa rod and osntralannuls, and Incorporates bm fcton seals fited othe piston annulus and at each ofthe eylnder end ‘aps to minimize lesage. Cartel pots ae led each end af the ender to alow Phyraute ful to Now im and out fhe two cambers. ‘The positon ofthe piston is detrined by the hydraule Mid pressures in the chambers ‘on ethers a the conel annul, and may be aduste by foring ido one conta port whl allowing tt escape tom the aver. nhe lagram above, hyaraule ‘uid is shown entering control port Awhile escaping fom port ‘This causos an crease in hid pressure inthe chamber to th ef ofthe paton ‘annuus, and a decrease in pressure inthe right chamber. The net pressure ference ‘verte a foreson the acve ares ofthe annule ution moves the piston to the rant a8 | ‘shown. Adusimant of piston positon is therefor a matter of controling th deren of ow betwoen fhe te actuator eontl pots. Displacement Transducer, Poston tranecucers ar usually collocated wh the ‘scaler and often atiaenes rectly oe piston rod Varous tyes of feedback ‘ranadcer ate use, inducing inezementalor absolut encoder, inductive naar ‘variable ferential ranstonmer(LVDT's) and vtary variable aire transformer (RVDTS), tosar and rtary potentiometers, and resolver. ndustal apaestons ‘employing linear displacement conto, the LYDT is acorn choice of fedoack Iraraducer ave toe accuracy and robustness, ‘The wansduer Is usualy selectd such thats bandh ten res o higher than that he servo-alve and actuator ands often omtd froma fet analysis ofthe stom. =. gre 7. lck Dingrm of the algun Contraer ‘Servo Contraller. the Figure 7 above ofthe layout he serv-contlle block, he ‘21or arpifercontnwously montors the mput reference signal (uy) ana compares ‘sins he actustor poston (Up) raasured bya placement wansacer to yl an ‘rrr gna (Uy).‘generate a command signal (4) ave te hydra tw con valve, Most, conventona electo-hydaule servo-sytems use PID form of contol sczasonaly ‘enhanced wn velty feedback, The processing ofthe eror signal in such a contrat Ss. function of me proprtonal, agra, enddetvave gan compensation setings according to the contllaw Ut) = Kptlelt) + K, i ug ate ‘hore Kp. Ki and Ka ae he PID constants, us the emo signal and yi the With a coaridoaof the basic olocto-mecharical bung blocks and thelr relationship to ‘one another, we are now ready to develop te base mathonaicl dato the hydrauke componente and rake use ofthe muting modelling software {ita mathworks comaraducts/simullnkl For The Marwerks ino ‘This wit be he eject of Part 2 n his soras:"Using modelling tools to simply hydrautle PID system design Richard Poley ls Feld Application Engineer at Texas ineeuments {htt com) with focus on gal control systoms, 1. Richard Poey, DSP Contato Elecwe-Hyéraute Serve Actuators, THApplcation Repor SPRAA76 (hit:re.nboso.com.cn/unlnad/200574185211328587859.n0f) 2 Herbert, Merit, Hydrate Contl Systons, Woy, 1967 3. Mukla and Aca, Hydraule Serva Systeme - Modeling, Kentileaton & Con Spenger, 2003 4 Ehtvohysraulic Vales A Technical Look, Moog Technical Paper tity moog comindustrialPapers 5. Moog 780 Saves Servovates, product datasheet {6 RHNashray are W.. Thayer. A Brit Hater of Elecrohyéraule Sovomschanisns Moog Technical Bulletin 141, ane 1978 {8 W.sThayer, Tranter Functions for Moog Servovalves, Moog Technical Buletin 103, Jauary 1965 9. JC.Jones, Developrants in Design of Eletonyautc Conte Vas, Moog Technical Pope, Noverber 1997 10, D.C Clarke, Selection & Performance Ctra for October 1969 11. MAmore and G Pellegrnet, Oseecting High-Performance Elctrohydravke Valves Machine Design (Mipstwww machinedesign conesplindsx 2492), Apr 2001 12, D.DoRos0, The Expanding Proportional and Sorvo Vale Narketolace, luld Power Journal (ip:stwwfuidpoweriourns.comlatcis htm), MarovApri 2003, 43. D.DeRose, Proportonel and Servo Vahe Technology Fuld Power Journal MariApi 2009 14. Capito, Dig Yoon Conta fr Postion ana Force Loops NEPA ttpdww nfpa com) Technical Paper B6-"1.1, Age 1996 15. B.C Kuo and F.Gahnarag, Automatic Conta Systems, Wey, 2003, 16. Scowarzentach and KF.Gll Systom Wodeling & Conta, Edwara Ama, 1992 17.48, Dabnoy and TL Hanran, Mastring Silo, Pearson Pentco Mal, 2008 18. Digital Cont Applications Wh The TMS320 Famly Selected Aspeation Noes (sPraots) 48. nplomantation of PID and Daadbeat Contos wh the TMS320 Ferny (SERA? ‘ta lw.comiscldocsipshestslabstraclappsiepra083 him) 20. Gone F. Frankin David Powell & Mitac! L. Workman, Dial Cnt of namic Systema Adaon-Wesey, 1908 21 IMs32082612 ‘iti comsctocsinshestsinendocslnst20<284 dso_ generation Hinata Manual (SRS174) 22, Signal Condonng an LVDT sing # TMS320F2@12 DSP (SPRABAS ‘todo comiscldocsipsheetalabstractlanns/spra%4é him) cronydraulis Sorvovalves, re fs Facet) a =o 12 rstorsbict-ing salen sore o sina shat ec ous See