Hydraulic Actuators and Motors

Teaching hours:05 At the end of this chapter student should be able to:
1. 2. 3. 4. 5. 6. Explain working principle of linear as well as rotary actuators. Demonstrate Mechanics of Hydraulic Cylinder Loading. Discuss Cylinder cushioning with sketch. Solve problems on motors to determine discharge, power, torque and efficiency. Hydrostatic transmission. Evaluate volumetric, mechanical and overall efficiency of motors.

Lesson schedule
Linear Hydraulic Actuators (Cylinders) Mechanics of Hydraulic Cylinder Loading Cylinder cushioning, Hydraulic Rotary Actuators Gear Motors, Vane Motors, Piston Motors Hydrostatic Transmission open and close circuit Performance of motors

Linear Hydraulic Actuators (Cylinders)

Fluid energy Hydraulic cylinder or Linear actuators Hydraulic motor or Rotary actuator Cylinder or Rotor Mechanical energy

ex: Piston & cylinder arrangement

ex: Gear motor

Single acting cylinder-

Exerts force in only extending direction Retraction not hydraulic Double acting cylinder Extension & retraction hydraulically

Cylinder mountings

Force, velocity and power analysis

Output force and piston velocity not equal for extension and retraction Cross sectional area for same flow rate Cross sectional area for same flow rate 1/ velocity

output force

Need to consider weight of piston, inertia, friction

Extension stroke F = p * Apiston v = Qin / Apiston

Retraction stroke F = p * (Apiston Arod) v = Qin / (Apiston Arod) Power during extension = power during retraction Power = F * v = p * Qin

 Double rod cylinder Same force and velocity at both end for both extension and retraction steps

Telescopic cylinder Multiple cylinders slide inside each other Long work stroke Consumes less space

Cylinder loading through mechanical linkages

Usually load does not act along axis of cylinder i.e non-axial loading

 First class lever system If cylinder side lever is greater than load side lever Fcyl < Fload , but Stroke cyl > Stroke load
Second class lever system Smaller Fcyl is required for same load compared to First class, so smaller cylinder-piston area But smaller load stroke Third class lever system Fcyl > Fload, but load stroke is more

Hydraulic cylinder cushions

To slow the piston speed near the end of stroke and to prevent excessive impact Deceleration starts when tapered plunger enters opening in cap Now oil must exhaust through an adjustable opening Check valve to allow free flow to piston during direction reversal Maximum pressure developed by cushions at ends of cylinder

Hydraulic shock absorbers

Brings a moving load or shock to a gentle rest using metered hydraulic fluid Filled completely with oil and can be spring return Accumulator accommodates oil displaced by piston rod, as the rod moves inward Multiple orifice Moving piston pushes oil through series of holes Piston progressively shuts off these orifices as it moves inward So total orifice area continually decreases and load decelerates uniformly, hence no bounce back (like springs)

Hydraulic motors
Fluid energy into mechanical energy to perform useful work Rotary actuator or less than one complete revolution Oscillating motor (limited rotation) Produce high instantaneous torque in either direction Require small space Simple mounting Hydraulic motor - continuous rotation

Applications of rotary actuators

Analysis of torque capacity

Rr outer radius of rotor Rv outer radius of vane L width P - hydraulic pressure F hydraulic force acting on vane face A surface area of vane in contact with oil VD volumetric displacement T torque F = P*A = P*(Rv-Rr)*L T = F* radius = F*(Rv+Rr)/2 = PL(Rv2-Rr2)/2

OR
VD = *(Rv2-Rr2)*L T = PVD/2 = PL(Rv2-Rr2)/2

Gear motor
Develops torque due to hydraulic pressure acting on the surfaces of gear teeth Direction of rotation of motor can be reversed by reversing direction of flow Displacement volume is fixed Pressure is not balanced, so Unbalance motor Simple design and low cost Symbolic representation

Vane motor
Hydraulic pressure acting on the exposed surface of vane Rotor connected to drive shaft Springs placed between vanes and rotor Can be Balance or Unbalance motor

Piston motor (swash plate)

Fixed or variable displacement Generates torque by pressure acting on the ends of pistons reciprocating inside a cylinder block It generates a force against an angled swash plate This causes cylinder block to rotate with a torque Swash plate mounted in a swinging yoke Torque capacity is directly proportional to Swash plate angle i.e if the swash plate angle is increased, the torque capacity is increased, but the drive shaft speed is reduced

Bent axis design

Speed and torque depends on angle between cylinder block and drive shaft Larger the angle, greater displacement and torque but smaller speed Piston motors are most efficient

Motor torque, power & flow rate

P pressure VD - displacement N speed Theoretical torque TT = VD *p/2 Power = TT * N = VD *p* N/2 Flow rate, Q = VD * N

Hydrostatic transmission
Consists of variable displacement pump and a fixed or variable displacement motor, operating together In CLOSED circuit, fluid from motor outlet flows directly to pump inlet without returning to tank In OPEN circuit, fluid from motor outlet flows to tank.

 Control of the variable displacement pump is the key to controlling the vehicle Prime mover power is transmitted to pump, so when operator moves the control lever, the swash plate in the pump is tilted Fluid flows from pump to motor. Volume of fluid flow is depends upon the tilt of swash plate ( controlled by operator ) If discharge from pump to motor is increased, the motor rotation speed increases

Hydraulic motor performance

Performance depends upon precision of its manufacture and operating conditions Gear motor 70-75% Vane motor 75-85% Piston motor 85-95%

o = v * m
v = Theoretical flow rate motor should consume = QT Actual flow rate consumed by motor QA Its inverse of that for a pump , because pump does not produce as much as it should theoretical due to leakages Whereas motor uses more flow than it should theoretically, due to leakages

 QT = VD * N m = Actual torque delivered by motor = TA Torque motor should theoretically deliver TT Its inverse of that for pump, because pump requires a greater torque than it should theoretically , due to friction Whereas motor produces less torque than it should theoretically, due to friction TT = VD * P 2 TA = actual power delivered by motor / speed in rpm o = Actual power delivered by motor Actual power delivered to motor o = TA * N P*QA