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229
M
M
Q
12
Q
e2
V2
V1
p2
p1
Q
e1
Q
i
Q
e
+ z-
Qp
230
The flow rates through the pump and the leakage between
the cylinder chambers, to the exterior and the leakage of the
pump are taken to account. So, the equations which describe
the hydraulic cylinder functioning are the following:
dp1
dz
= Q1 Qe1 Q12 Q p1 S , (1)
dt
dt
dp
dz
(V02 Sz ) 2 = Q2 Qe1 + Q12 Q p 2 + S . (2)
dt
dt
(V01 + Sz )
Q12 = c12 ( p1 p 2 )
Qe1 = c1 p1 ,
(4)
Qe 2 = c1 p 2 ,
(5)
Q p1 = c 2 p1 ,
(6)
Q p 2 = c2 p2 ,
(7)
Q pump = D ,
(8)
d2 z
dz
= ( p 2 p1 )S f
kz Fu .
2
dt
dt
(9)
dp1
dz
1 , (10)
= S + D c12 ( p1 p 2 ) c1 p1 c2 p1
dt
dt
V1
dp 2 dz
1 . (11)
= S D + c12 ( p1 p 2 ) c1 p 2 c 2 p 2
dt
dt
V2
If the movement is studied around the neutral point then
V1= V2 and from (10) and (11) we obtain
d(p1 p 2 )
dz
1
= 2 S
+ 2 D ctp ( p1 p 2 )
dt
dt
(12)
di
= Ri k e + U ,
dt
d
J
= k t i B M .
dt
(13)
(14)
where
M =D
1
2 t
p .
(15)
We used the following notations: L - coil inductance, R coil resistance, ke - back-EMF constant, J - rotor momentum, kt
torque constant, B friction coefficient, M resistant
moment, t - total efficiency of the pump.
Using these equations a simulation scheme in SIMULINK
was obtained.
For the control loop two variants of controller were studied.
One classical proportional controller and one fuzzy controller.
The input of the system is one voltage and the output is the
movement of the aerodynamic surface. The control loop is
closed through the reaction voltage received from the position
transducer of the aerodynamic surface.
231
20 kg
10000 Ns/m
108979,9 N/m
Hydraulic cylinder:
-piston section S
-stroke l
-pipes volume V0
-leakage constant between chambers c12
-leakage constant to exterior c1
7,510-4 m2
13,710-2 m
0,3910-6 m3
210-13 m3/(Pas)
1,6810-13 m3/(Pas)
Pump parameters:
- displacement D:
- pump leakage constant c2
0,16910-6 m3/rad
210-13 m3/(Pas)
45
40
35
amplitude [10-3 m]
amplitude [10-3 m]
2.5
1.5
30
25
20
15
10
0.5
5
0
0
0.05
0.1
t [s]
0.15
0
0
0.2
0.1
0.2
0.3
0.4
t [s]
0.5
0.6
0.7
0.8
0.7
0.8
0.7
0.8
60
60
50
50
U [V], I [A], n [102 rpm]
40
30
20
10
40
30
20
10
0
0
0.05
0.1
t [s]
0.15
0
0
0.2
0.1
0.2
0.3
0.4
t [s]
0.5
0.6
b
b
16
90
14
80
12
70
10
60
18
8
6
4
50
40
30
20
2
0
0
10
0.05
0.1
t [s]
0.15
0.2
0
0
0.1
0.2
0.3
0.4
t [s]
0.5
0.6
232
50
45
2.5
40
35
amplitude [10-3 m]
amplitude [10-3 m]
1.5
30
25
20
15
10
0.5
5
0
0
0.05
0.1
0.15
0.2
0.25
0.3
0
0
0.35
t [s]
0.2
0.4
0.6
0.8
t [s]
a
-3
50
50
45
U [V], I [A], n [102rpm]
40
30
20
10
40
35
30
25
20
15
10
5
-10
0
0.05
0.1
0.15
t [s]
0.2
0.25
0.3
0
0
0.35
0.2
0.4
t [s]
0.6
0.8
0.8
b
b
pressure variation - step 310-3
m
14
12
60
p1 -p2 [105 Pa]
10
8
6
4
40
30
20
2
0
0
50
10
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0
0
0.2
0.4
0.6
t [s]
t [s]
233
8
amplitude [10-3 m]
6
4
2
0
-2
-4
-6
-8
-10
0
0.2
0.4
0.6
t [s]
0.8
1.2
1.4
a
motor parameters - sinusoidal regime
50
40
U [V], I [A], n [102 rpm]
30
20
10
Qe
-10
-20
Qi
Vg
ph
+z-
Vl
-30
Q1
-40
-50
0
0.2
0.4
0.6
t [s]
0.8
1.2
Q2
Q3
Q4
1.4
b
Pressure variation sinusoidal regime
20
15
10
5
0
-5
-10
-15
-20
0
0.2
0.4
0.6
t [s]
0.8
1.2
= 0 (1 + p )
1.4
c
Fig. 9 System behaviour sinusoidal regime
(16)
234
Q p 2 m = 2 Q p 2 = 2 c2 p2 ,
(27)
c ( p1 p2 ), p1 p 2
Q ppim = 1 3
.
2 c3 ( p1 p2 ), p1 < p2
Q ppi
Q p1
(28)
Q p2
m
,
V
(17)
Qe1m = 1 c1 p1 ,
(29)
Qe 2 m = 2 c1 p 2 ,
(30)
1 m
p =
1 .
0 V
c ( p1 p 2 ), p1 p2
Q12 m = 1 12
.
2 c12 ( p1 p 2 ), p1 < p 2
(18)
V1 = V10 + S z ,
(19)
V2 = V20 S z .
(20)
Relations (19) and (20) were although used in (1) and (2).
In order to calculate the liquid mass in each chamber we
will note Qtm the mass flow ratio conveyed by the pump. This
flow may be calculate using
D , > 0
Qtm = 2
.
1 D , < 0
(21)
(22)
(23)
c p h p 2 , p 2 < 1 bar
Q2 m = h 5
,
0, p 2 1 bar
c p h p1 , p1 < 1 bar
Q3m = h 5
.
0, p1 1 bar
ph =
(24)
0
t
(34)
(35)
p0 h V0 g
Vg
(36)
(25)
Vg = Vt Vl ,
In (24) and (25) Qim and Qem result from (22) and (23).
The external leakage of the pump may be calculate with
Q p1m = 1 Q p1 = 1 c2 p ,
(26)
(33)
(32)
(31)
(37)
235
Vl =
ml
(38)
4000
3500
3000
n [rpm]
2500
2000
1500
(39)
1000
500
0
0
0.5
1
t [s]
1.5
1.5
1.5
1.5
a
140
120
100
4,60410-8 m3/(s
5,27610-8 m3/(s
z [10-3 m]
80
60
40
20
Pa )
0
0
0.5
1
t [s]
Pa )
12
10-3 m3
510-4 m3
107 Pa
p1 [10 Pa]
10
0
0
0.5
1
t [s]
c
12
10
p2 [105 Pa]
1050 kg/m
0
0
0.5
1
t [s]
236
1
0.8
160
0.6
140
120
0.2
p1 [105 Pa ]
Q1 [kg/min]
0.4
0
-0.2
-0.4
100
80
60
-0.6
40
-0.8
20
-1
0
0.5
1
t [s]
1.5
2
0
0
0.2
0.4
0.6
12
0.8
1
t [s]
1.2
1.4
1.6
1.8
1
t [s]
1.2
1.4
1.6
1.8
c
12
10
10
8
P2 [105 Pa ]
Q2 [kg/min]
4
4
2
2
0
0
0.5
1
t [s]
1.5
0
0
0.2
0.4
0.6
0.8
f
d
Fig. 12 Hydraulic subsystem behaviour at step of motor angular speed
(f = 0, k = 0)
100
100
90
80
80
60
Input, output[10-3 m]
70
40
Input, output [10-3 m]
60
50
40
30
20
0
-20
-40
20
-60
10
-80
0
0
0.2
0.4
0.6
0.8
1
t [s]
1.2
1.4
1.6
1.8
-100
0
0.5
1.5
2.5
3.5
5
4
3
u[10 V],i [10 A],n[1000 rpm]
2
t [s]
2
1
0
-1
-2
-3
-4
0
0
0.2
0.4
0.6
0.8
1
t [s]
1.2
1.4
1.6
1.8
-5
0
0.5
1.5
2
t [s]
237
2.5
3.5
VII. CONCLUSION
250
p1 [105 Pa]
200
150
100
50
0
0
0.5
1.5
2
t [s]
2.5
3.5
2.5
3.5
c
250
p2 [105 Pa]
200
150
100
50
0
0
0.5
1.5
2
t [s]
d
12
10
Q1 [kg/min]
REFERENCES
2
0
0
[1]
0.5
1.5
2
t [s]
2.5
3.5
[2]
e
12
[3]
10
[4]
Q2 [kg/min]
[5]
[6]
[7]
0
0
0.5
1.5
2
t [s]
2.5
3.5
[8]
238