MESB374

System Modeling and Analysis

Hydraulic (Fluid) Systems

Hydraulic (Fluid) Systems
• Basic Modeling Elements
– Resistance
– Capacitance
– Inertance
– Pressure and Flow Sources

• Interconnection Relationships
– Compatibility Law
– Continuity Law

• Derive Input/Output Models

Variables
• q : volumetric flow rate [m3/sec] ( current )
• V: volume [m3] ( charge )
• p : pressure [N/m2] ( voltage )

The analogy between the hydraulic system and the electrical system will be used
often. Just as in electrical systems, the flow rate (current) is defined to be the
time rate of change (derivative) of volume (charge):
d
q V V
dt
The pressure, p, used in this chapter is the absolute pressure. You need to be
careful in determining whether the pressure is the absolute pressure or gauge
pressure, p*. Gauge pressure is the difference between the absolute pressure and
the atmospheric pressure, i.e.
p*  p  patmospheric
Basic Modeling Elements
• Fluid Resistance
Describes any physical element with Ex: The flow that goes through an orifice or a
the characteristic that the pressure valve and the turbulent flow that goes
drop, Dp , across the element is through a pipe is related to the pressure
proportional to the flow rate, q. drop by
q  k p12
p1 + Dp  p2 + Dp 
p1 p2 Find the effective flow resistance of the
q element at certain operating point ( q , p12).
R R q q
Dp  p1  p2  p12  R  q q
1 1
q Dp  p12
R R
p12
p12
1 dq k
– Orifices, valves, nozzles and  
R d p12  q , p  2 p12
friction in pipes can be modeled 12

as fluid resistors. 2 p12 2q

R  2
k k
 Basic Modeling Elements
Ex: Consider an open tank with a constant
• Fluid Capacitance cross-sectional area, A:
Describes any physical element
with the characteristic that the rate pr
of change in pressure, p, in the
element is proportional to the  gh h
difference between the input flow pC
rate, qIN , and the output flow rate, qIN qOUT
qOUT .
pref + pCr 
pC   gh  pr  pCr   gh
pC qOUT
qIN d d
qIN - qOUT
C qIN  qOUT  Volum    Ah   Ah
C dt dt
pCr   gh
C
d
c
dt  
h
pC  pref  C  p Cr  qIN  qOUT
 C
qIN  qOUT

Ah

A
pCr pCr  gh  g
– Hydraulic cylinder chambers,
tanks, and accumulators are
examples of fluid capacitors.
Fluid Capacitance Examples
Ex: Calculate the equivalent fluid capacitance Ex: Will the effective capacitance change if in
for a hydraulic chamber with only an inlet the previous open tank example, a load
port. mass M is floating on top of the tank?
pr
pr
pC
qIN M
chamber volume
C V
h
Recall the bulk modulus (b ) of a fluid is
pC
defined by: qIN qOUT
 dpCr 
 dt 
b V
dpCr
V   pC   gh  pr  Mg  pCr   gh  Mg A
dV dV 
dt  qIN  qOUT  d d
A
Volum    Ah   Ah
dt dt
 pCr   gh
qIN  qOUT Ah A
V  d  C  
q  pCr pCr  gh  g
b
  dt
C
 Basic Modeling Elements
• Fluid Inertance (Inductance) Ex: Consider a section of pipe with cross-
Describes any physical element with the sectional area A and length L, filled
characteristic that the pressure drop, Dp , across with fluid whose density is  :
the element is proportional to the rate of change
(derivative) of the flow rate, q. F1  Ap1 p1 + Dp  p2 F2  Ap2
F  Ap1 1

p1 + Dp  p2 + Dp  q
p1 p2 A
q L
I q Start with force balance: F = ma
I

Dp  p12  ( p1  p2 )  I
d
dt
q  I  q F  F  F 1 2  A  p1  p2   Ap12
m   LA
dv d q
Ap12   AL   AL  
– Long pipes are examples of fluid dt dt  A 
F m
inertances.  L dq a
p12 
A dt
I
L
 I
A
Basic Modeling Elements
Voltage Source
• Pressure Source (Pump)
– An ideal pressure source of a  pS +
p1 p2
hydraulic system is capable of
pS
maintaining the desired pressure, q
regardless of the flow required for
what it is driving. p21  p2  p1  pS

• Flow Source (Pump) Current Source

– An ideal flow source is capable of p1 p2
delivering the desired flow rate, qS
q
regardless of the pressure
required to drive the load. q  qS
 Interconnection Laws
• Compatibility Law • Continuity Law
– The sum of the pressure drops – The algebraic sum of the flow rates
around a loop must be zero. at any junction in the loop is zero.
– Similar to the Kirchhoff’s voltage – This is the consequence of the
law. conservation of mass.
– Similar to the Kirchhoff’s current
 Dp j  p ij 0
law.
Closed
Loop
Closed
Loop 
Any
qj  0
Node
p1 p2
B or q IN  qOUT

A C q1 q2

pr
q1  q2  qo
pr1  p12  p2 r  0 qo
Modeling Steps
• Understand System Function and Identify Input/Output Variables
• Draw Simplified Schematics Using Basic Elements
• Develop Mathematical Model
– Label Each Element and the Corresponding Pressures.
– Label Each Node and the Corresponding Flow Rates.
– Write Down the Element Equations for Each Element.
– Apply Interconnection Laws.
– Check that the Number of Unknown Variables equals the Number of
Equations.
– Eliminate Intermediate Variables to Obtain Standard Forms:
• Laplace Transform
• Block Diagrams
In Class Exercise
Derive the input/output model for the following fluid system. The pump supplies
a constant pressure pS to the system and we are interested in finding out the
volumetric flow rate through the nozzle at the end of the pipe.
pr
Valve
ps C qc Ip
q1 q2 Rp
pS pr
pr
Ro pc p1 p2 R p3 R N
v

• Label the pressures at nodes and flow rates q1 Ip q2 p Rp p2

pc 1
• Write down element equations:
p Ro i
psc  q1 Ro +s qc Rv
Req p3
d
qc  C pcr _ C
dt RN
d
pc1  I p q2
dt pr
p1r  q2 Req
Equivalent electrical circuit
In Class Exercise
• No. of unknowns and equations:
psc , q1 , qs , pcr , pc1 , q2 , p1r

• Interconnection laws: we are interested in it

Loop 1: psc  pcr  psr  0  R1q1  pcr  psr  0

d
Loop 2: pc1  p1r  prc  0  I p q2  Req q2  pcr  0
dt
dPcr
Node 2: q1  qc  q2  q1  C  q2
dt
• Eliminate intermediate variables and obtain I/O model:
d
pcr  I p q2  Req q2
d 2 q2
R1CI p 2   R1CReq  I p  2   R1  Req  q2  psr
dt dq
 d  d dt dt
R1  C pcr  q2   I p q2  Req q2  psr
 dt  dt
q1 pcr

Q: Can you draw an equivalent electrical circuit of this hydraulic system ? Note that pressure is
analogous to voltage and flow rate is analogues to electric current. (Please refer to the previous slide)
Motion Control of Hydraulic Cylinders
Hydraulic actuation is attractive for applications
when large power is needed while maintaining a
reasonable weight. Not counting the weight of M
the pump and reservoir, hydraulic actuation has
the edge in power-to-weight ratio compared with
other cost effective actuation sources. Earth
moving applications (wheel loaders, excavators,
mining equipment, ...) are typical examples
where hydraulic actuators are used extensively.
A typical motion application involves a RV RV
hydraulic cylinder connected to certain
mechanical linkages (inertia load). The motion
pS
of the cylinder is regulated via a valve that is
pr
used to regulate the flow rate to the cylinder. It
is well known that such system chatters during
sudden stop and start. Can you analyze the cause
and propose solutions?
Motion Control of Hydraulic Cylinders
v A C
Let’s look at a simplified problem: M
The input in the system to the right is the pr pL
input flow rate qIN and the output is the B
velocity of the mass, V.
A: Cylinder bore area qIN
C: Cylinder chamber capacitance RV
B: Viscous friction coefficient between pS
piston head and cylinder wall. pSr
pr
• Derive the input/output model and transfer
function between qIN and V.
• Draw the block diagram of the system. pL
v
• Can this model explain the vibration when we i fc
qIN qc
suddenly close the valve? q1 M
C

B
pr
 Motion Control of Hydraulic Cylinders
Element equations and interconnection equations:
Hydraulic system Hydraulic-Mechanical Mechanical system
d
qc  C pLr f c  ApLr
dt Mv  f c  Bv
q1  Av
qIN  q1  qc
Take Laplace transforms:
Qc  s   CsPLr  s  Fc  s   APLr  s 
MsV  s   Fc  s   BV  s 
QIN  s   Q1  s   Qc  s  Q1  s   AV  s 

Block diagram representation:

QIN(s) 1
PLr  s  Fc  s  V  s X  s
1 1
- Cs A Ms  B s
Q1  s 
A V  s

Hydraulic System H-M Coupling Mechanical System

Motion Control of Hydraulic Cylinders
Transfer function between qIN and V: How would the velocity response look like
V  s A if we suddenly open the valve to reach
GQV  
QIN  s  MCs  BCs  A2
2 constant input flow rate Q for some time T
A and suddenly close the valve to stop the
 MC flow?
2
s2  B s A
M MC
2n n2 In reality, large M, small C
Analyze the transfer function:
Natural Frequency reasonable value of natural frequency
2 A
n  A MC  very small damping ratio
MC
Damping Ratio
B Oscillation cannot die out quickly
2A B C
  M B  
2n M MC 2A M Chattering !!
Steady State Gain
A
K  MC  1
2
A A
MC