Experiment No: 7

Experiment Name: Modelling of a hydraulic actuator.

Objective: To find the output displacement in an hydraulic actuator.
System figure:

Fig1: Hydraulic actuator system

Here flow rate is q . And we can define flow rate as the function of input displacement and differencial
pressure.
So we can write,
𝑞 = 𝑞(𝑥, 𝑃𝐿 ) ----------(i) and here PL=P1-P2
So from equation (i) , we can write in differencial form,
𝜕𝑞 𝜕𝑞
⟹ 𝑑𝑞 = × 𝑑𝑥 + × 𝑑𝑃𝐿
𝜕𝑥 𝜕𝑃𝐿
Now integrating both sides we can write,
𝜕𝑞 𝜕𝑞
⟹ 𝑞 = ( )𝑥 + ( ) 𝑃𝐿 ----------(ii)
𝜕𝑥 𝜕𝑃 𝐿
As for our system flow rate with respect to internal displacement and also with respect to differential
pressure has to remain constant in a case of a particular flow rate ,so we can write,
𝜕𝑞 𝜕𝑞
(𝜕𝑥 ) = 𝑘1 And also consider (− 𝜕𝑃𝐿
) = 𝑘2
So equation (ii) becomes,
⟹ 𝑞 = 𝑘1 𝑥 − 𝑘2 𝑃𝐿 ---------(iii)
Now if the piston displacement is dy in time dt, so the flow rate in main cylinder will be,
𝑑𝑦
𝑞 = 𝐴 × 𝑑𝑡 ----------(iv)
Now comparing (iii) and (iv) we get ,
𝑑𝑦
𝐴× = 𝑘1 𝑥 − 𝑘2 𝑃𝐿
𝑑𝑡
𝑑𝑦
⟹ 𝑘2 𝑃𝐿 = 𝑘1 𝑥 − 𝐴 ×
𝑑𝑡
1 𝑑𝑦
⟹ 𝑃𝐿 = { 𝑘1 𝑥 − 𝐴 × }
𝑘2 𝑑𝑡
Now multiplying both sides with A , then we get,
𝐴 𝑑𝑦
⟹ 𝐴 𝑃𝐿 = 𝑘 { 𝑘1 𝑥 − 𝐴 × 𝑑𝑡
} --------------(v)
2
Now we know that force F applied to the load having mass ‘M’ and coefficient of viscous friction 𝜂 then ,
We can write,
𝑑2 𝑦 𝑑𝑦
𝐹=𝑀 + 𝜂 ----------(vi)
𝑑𝑡 2 𝑑𝑡

Now we also know that , force = pressure × Area,

So comparing (v) and (vi) , we can write,
𝑑2 𝑦 𝑑𝑦 𝐴 𝑑𝑦
𝑀 2+ 𝜂 = { 𝑘1 𝑥 − 𝐴 × }
𝑑𝑡 𝑑𝑡 𝑘2 𝑑𝑡
𝑑2 𝑦 𝑑𝑦 𝐴 𝑑𝑦
⟹ 𝑀 2 = −𝜂 + { 𝑘1 𝑥 − 𝐴 × }
𝑑𝑡 𝑑𝑡 𝑘2 𝑑𝑡
𝑑2 𝑦 𝐴 𝑑𝑦 𝐴2 𝑑𝑦
⟹ 𝑀 2= 𝑘1 𝑥 − 𝜂 − × }
𝑑𝑡 𝑘2 𝑑𝑡 𝑘2 𝑑𝑡
𝑑2 𝑦 𝐴 𝑑𝑦 𝐴2
⟹ 𝑀 2= 𝑘1 𝑥 − {𝜂+ }
𝑑𝑡 𝑘2 𝑑𝑡 𝑘2
𝑑2 𝑦 𝐴 𝑑𝑦 𝜂 𝐴2
⟹ = 𝑘 𝑥 − { + } … … … … … … … … . . (𝑣𝑖𝑖)
𝑑𝑡 2 𝑀 𝑘2 1 𝑑𝑡 𝑀 𝑀 𝑘2
Now the given data , mass(M)=1 k.g
Area of the piston , A=100 cm2=0.01 meter2
Coefficient of viscous friction (𝜂)=0.1
Displacement of the valve position , x= 0.05 meter
And constant k1=1 and k2=1

Now putting these values in equation , we get ,

𝑑 2 𝑦 0.01 𝑑𝑦 0.1 (0.01)2
⟹ = × 1 × 𝑥 − { + }
𝑑𝑡 2 1 × 1 𝑑𝑡 1 1×1
𝑑2 𝑦 𝑑𝑦
⟹ 2
= 0.01𝑥 − 0.1001 … … … … … … … . . (𝑣𝑖𝑖𝑖)
𝑑𝑡 𝑑𝑡
Using this equation we will build the simulation circuit.

Fig2: Simulation circuit of the system

Now we are getting the following curve from the simulation,

Fig3: Output response of the system .

Result:
From the output response , we can say that the output displacement will be 0.049 meter

Now we will do the calculation manually , to check theoretical value and simulation value is same or not.
So from equation (viii) we get,
𝑑2 𝑦 𝑑𝑦
⟹ = 0.01𝑥 − 0.1001
𝑑𝑡 2 𝑑𝑡
Now taking laplace transform both side , we get,
⟹ 𝑠 2 × 𝑦(𝑠) = 0.01𝑥(𝑠) − 0.1001𝑠 × 𝑦(𝑠)
⟹ 𝑠 2 × 𝑦(𝑠) + 0.1001𝑠 × 𝑦(𝑠) = 0.01𝑥(𝑠)
⟹ (𝑠 2 + 0.1001𝑠) × 𝑦(𝑠) = 0.01𝑥(𝑠)
⟹ 𝑠(𝑠 + 0.1001) × 𝑦(𝑠) = 0.01𝑥(𝑠)
𝑦(𝑠) 0.01
⟹ =
𝑥(𝑠) 𝑠(𝑠 + 0.1001)
The above equation is the transfer function of the system.
0.01𝑥(𝑠)
⟹ 𝑦(𝑠) = … … … … … … . (𝑖𝑥)
𝑠(𝑠 + 0.1001)
Here the initial displace is 0.05meter and final displacement is 0 meter , so our step input is negative ,
So we will take x(t)=-0.05u(t) , so after taking laplace transform , it will become x(s)=-0.05/s
So now after putting the value of x(s) ,the equation will become,
0.05 0.01
⟹ 𝑦(𝑠) = − ×
𝑠 𝑠(𝑠 + 0.1001)
0.0005
⟹ 𝑦(𝑠) = − 2 … … … … … … . (𝑖𝑥 𝑎)
𝑠 (𝑠 + 0.1001)
−0.0005
Now we have to break in partial fraction , so we will get,
𝑠 2 (𝑠+ 0.1001)
−0.0005 𝐴 𝐵 𝐶
= + 2+ … … … … … … . (𝑖𝑥 𝑏)
𝑠 2 (𝑠
+ 0.1001) 𝑠 𝑠 (𝑠 + 0.1001)
−0.0005 𝐴𝑠(𝑠 + 0.1001) + 𝐵(𝑠 + 0.1001) + 𝐶𝑠 2
⟹ 2 =
𝑠 (𝑠 + 0.1001) 𝑠 2 (𝑠 + 0.1001)
⟹ −0.0005 = 𝐴𝑠(𝑠 + 0.1001) + 𝐵(𝑠 + 0.1001) + 𝐶𝑠 2 … … … … … … . (𝑥)
Now put s=-0.1001 in , we get,,
⟹ −0.0005 = 0 × 𝐴 + 0 × 𝐵 + 𝐶(−0.1001)2
⟹ 𝐶(−0.1001)2 = −0.0005
 −0.0005
⟹𝑐=
(−0.1001)2
⟹ 𝑐 = −0.049
Now put s=0 in equation (x) we get,
⟹ −0.0005 = 0 × 𝐴 + 𝐵(0 + 0.1001) + 0 × 𝐶
⟹ −0.0005 = 0.1001𝐵
⟹ 0.1001𝐵 = −0.0005
−0.0005
⟹𝐵=
0.1001
⟹ 𝐵 = −0.005
Now put the values of B and C in equation (x) we get,
⟹ −0.0005 = 𝐴𝑠(𝑠 + 0.1001) − 0.005(𝑠 + 0.1001) − 0.049𝑠 2 … … … … … … … . (xi)
Now put s=1 in equation(xi) we get,
⟹ −0.0005 = 𝐴 × 1 × (1 + 0.1001) − 0.005(1 + 0.1001) − 0.049 × 12
⟹ −0.0005 = 𝐴 × 1 × (1 + 0.1001) − 0.005(1 + 0.1001) − 0.049 × 12
⟹ −0.0005 = 𝐴 × 1.1001 − 0.0545
⟹ −0.0005 + 0.0545 = 𝐴 × 1.1001
−0.0005 + 0.0545
⟹𝐴=
1.1001
⟹ 𝐴 = 0.049
Now put the values of A,B,C in equation (ix b) , then we will get,
−0.0005 0.049 0.005 0.049
= − −
𝑠 2 (𝑠 + 0.1001) 𝑠 𝑠2 (𝑠 + 0.1001)
Now we can write from equation(ix a)
0.049 0.005 0.049
⟹ 𝑦(𝑠) = − 2 −
𝑠 𝑠 (𝑠 + 0.1001)
Now taking inverse Laplace Transform in both sides we will get
⟹ 𝑦(𝑡) = 0.049𝑢(𝑡) − 0.005𝑡 − 0.049𝑒 −0.1001𝑡 ----------------(xii)
Equation(xii) will tell us the displacement value in respective time.
Time(sec) 0 10 20 30 40 50 60 70 80 90 100

output -0.005 0.0265 0.038 0.042 0.043 0.045 0.047 0.048 0.049 0.049 0.049
Displacement
(meter)
Now plotting these data we will get a graph,

Fig4: response curve from calculated value

From the calculated value also we see that final displacement will be 0.049 meter.
Conclusion:
(i)Hydraulic actuator works on the basis of Pascal’s law.
(ii)For a small change in input , we are also getting small change in output also
(iii) Hydraulic actuators High force capabilities.
(iv) but the fluid used in hydraulic actuator may be sensitive with respect to temperature change.