Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1...
Transcript of Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1...
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Spring 2014
Lecture Note 8-1 Hydraulic Systems
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Spring 2014 2
Vehicle Model - Brake Model
Brake Model
BrakePedal
VacuumBooster
MasterCylinder
ProportionnigValve
FontWheel
RearWheel
Brake Pedal
Vacuum Booster
Master Cylinder
ProportioningValve
Fundamental structure of a hydraulic brake
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Spring 2014
Conservation of Mass, Force and Pressure
mi mom q q= −
1 1 1
2 2 2
22 1 1 2
1
1 1 23 2 1
2 2 1
)
( )
iii f p Af p A
Af f P PAL L Af f fL L A
==
= ≈
= =
Force
1 1 2 2
12 1
2
)i Volume A dx A dxAdx dxA
=
→ =
2 1) Prii essue p p ghρ= +
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Spring 2014
Hydraulic Excavator
Boom Up
Boom Down
Arm Dump
Arm Crowd Bucket Crowd
Bucket Dump
Swing(선회)
Travel(주행)
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Spring 2014
유압굴삭기 회로도
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Spring 2014
Hydraulic Brake Systems
Brake System
1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light Switch (Mechanical) 6 ) Front/Rear Balance Valve 7 ) Pressure Differentiavl Valve 8 ) Brake Warning Lamp 9 ) Brake Fluid 10) Brake Pad 11) Master Cylinder
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Spring 2014 7
Vehicle Model - Brake Model
Brake Model
BrakePedal
VacuumBooster
MasterCylinder
ProportionnigValve
FontWheel
RearWheel
Brake Pedal
Vacuum Booster
Master Cylinder
ProportioningValve
Fundamental structure of a hydraulic brake
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Spring 2014
• Pneumatically controlled dexterous hand
• Hydraulically powered dexterous arm
Applications of Fluid Power • Space shuttle Columbia
• Space shuttle vehicle
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Spring 2014
Applications of Fluid Power • Hydraulically powered Sky-tram
• Hydraulic power brush drive
• Hydraulically driven turntable
• Oceanography
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Spring 2014
유압기술의 응용 – 자동변속기 유압제어회로
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Spring 2014
유압기술의 응용 - 판금 프레스
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Spring 2014
선형 액츄에이터(Linear Actuators)의 응용
비행기 조종익
Press Motion Simulator
지게차
Robot
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Spring 2014
Landing gear system of AIRBUS A330
Hydraulic Systems : Landing Gear System
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Spring 2014
1P 2P
Tank
Load
Control valve
)( 21 PPAF P −⋅=
(70 ~ 210 )Hydraulic actuator bar
Hydraulic Systems
Hydraulic pump
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Why hydraulic ? Internal combustion Engine Turbine Electric motor Hydraulic actuator ……
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Why hydraulic ? 1. smaller and lighter horsepower to weight ratio > 2 hp/lb 2. heat/lubrication – long component life 3. no saturation and losses - saturation and losses in magnetic materials of electrical machine - torque limit only by safe stress levels 4. high natural frequency/high speed of response/high loop gains - electrical motors, a simple lag device from applied voltage to speed 5. dynamic breaking with relief valve without damage
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Disadvantages 1. not so readily available 2. small allowable tolerances result in high costs 3. hydraulic fluids imposes upper temperature limit. 4. fluid contamination: dirt and contamination 5. basic design procedures are lacking and difficult, complexity of hydraulic
control analysis 6. not so flexible, linear, accurate, and inexpensive as electronic and/or
electromechanical devices
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Hydraulic Systems 장점
무게당 동력의 크기가 크다. (고압 사용, 시스템의 크기가 작다.) 제어의 용이성과 정확도 (허용오차: 1/10,000인치) 응답이 빠르다. 윤활성, 방청성 우수, 보수 용이 내부 발생 열 제거 용이, 내열성 우수
단점 오일의 유속에 제한 --> 액츄에이터의 속도 한계 누유(leakage)로 인해 시스템이 불결 작동유에 기포가 흡입되면 (aeration) 압축성이 커져 작동 불량 캐비테이션(cavitation)이 발생하면 기기 파손, 소음 발생, 고장
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Primary Functions of a Hydraulic Fluid
유압 동력 전달
유압동력의 전달과정
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Spring 2014
Conservation of Mass, Force and Pressure
mi mom q q= −
1 1 1
2 2 2
22 1 1 2
1
1 1 23 2 1
2 2 1
)
( )
iii f p Af p A
Af f P PAL L Af f fL L A
==
= ≈
= =
Force
1 1 2 2
12 1
2
)i Volume A dx A dxAdx dxA
=
→ =
2 1) Prii essue p p ghρ= +
![Page 21: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/21.jpg)
Spring 2014
Gear Pumps (External) – fixed displacement pump – uses spur gear (teeth are parallel to the axis of the gear) – noisy at relatively high speeds
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Spring 2014
Internal Gear Pump
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Spring 2014
Internal Gear Pump
• Gerotor Pump
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Spring 2014
Internal Gear Pump
• Lobe Pump
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Spring 2014
Simple Vane Pump
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Spring 2014
Balanced Vane Pump
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Spring 2014
Piston Pump (Swash Plate Type)
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Spring 2014
Piston Pump
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Spring 2014
Pump
Electric Motor or Engine
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Spring 2014
Hydraulic Pump
– the heart of a hydraulic system – converts mechanical energy into hydraulic energy – 유압공학에서 다루는 펌프는 hydrostatic pump – 밀어내기식, 용적식 (positive displacement) 펌프 – 작동 cycle
• 흡입(빨아들임), 공간차단, 압축 및 토출(밀어냄), 공간차단 – Displacement (배제용적)
• the amount of fluid ejected per revolution • unit: cm3/rev, cc/rev, cm3/rad, cc/rad
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Spring 2014
Pump 구동에 필요한 Torque • Mechanical power supplied to pump
• Hydraulic power delivered by pump
• 두 관계식으로부터
: :
pH PQP pressure rise across the pumpQ delivery rate
=
th th p
th p
T PQ P DT PDω ω= =
=
mH Tω=
]/3[ : radmDp 배제용적펌프여기서
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Spring 2014
Hydraulic Motors and Actuators
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Spring 2014
Hydraulic Systems : Valve-motor Combination
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Spring 2014
Application of Hydraulic Motors
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Spring 2014
Gear Motors
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Spring 2014
Gear Motors
• 구조는 기어 펌프와 거의 동일 • 탱크로 연결되는 드레인(drain) 라인이 있다.
• 장점
– 구조 간단 – 값이 싸다 – 유압유 중의 이물질에 의한 고장이 생기기 어렵다. – 가혹한 운전 조건에 비교적 잘 견딜 수 있다.
• 단점 – 누설 유량이 많다. – 토크 변동이 크다. – 베어링 하중이 크므로 수명이 좀 짧다.
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Spring 2014
Valve-piston combination
Hydraulic Systems : Valve-piston Combination
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Spring 2014
Hydraulic Excavator
Boom Up
Boom Down
Arm Dump
Arm Crowd Bucket Crowd
Bucket Dump
Swing(선회)
Travel(주행)
![Page 39: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/39.jpg)
Spring 2014
Hydraulic Excavator
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Spring 2014
Automotive Application
Active Suspension
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Spring 2014
선형 액츄에이터(Linear Actuators)의 응용
비행기 조종익
Press Motion Simulator
지게차
Robot
![Page 42: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/42.jpg)
Spring 2014
Rough terrain forklift driven by hydraulic cylinders
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Spring 2014
유압 실린더의 종류
• 단동형(Single acting) 복동형(Double acting)
• 단로드형(Single rod) 양로드형(Double rod)
• 축심고정형/ 축심회전형 – foot type – flange type – trunnion type – clevis type
플런저 램형 (단동식) 피스톤형 (단동식)
단로드형 (복동식) 양로드형 (복동식)
•속도는 일반적으로 10m/min 이내, 5m/min 이상이면 쿠션장치 필요
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Spring 2014
Double-acting Cylinder Design
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Spring 2014
Cylinder Construction
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Spring 2014
Hydraulic Valves • 밸브의 정의
– 유체동력원(fluid power source)의 흐름 방향, 유량, 압력을 제어하기 위하여 기계적인 운동(mechanical motion)을 사용하는 장치
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Spring 2014
Types of Valves: shearing elements
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Spring 2014
Types of Valves: seating elements
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Spring 2014
Directional Control Valve
• 방향제어 밸브 (Directional control valve) – 회로 내에서 작동신호에 따라 유체의 경로 결정
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Spring 2014
Schematic of a single stage electrohydraulic servovalve connected to a motor with inertia load
Hydraulic Systems : Single Stage Electrohydraulic Servovalve
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Spring 2014
Solenoid-Actuated Valves
Solenoid-actuated, three-position,
spring-centered, four-way,
directional control valve
Single solenoid-actuated, two-position,
spring-offset, four-way,
directional control valve
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Spring 2014
Operation of Solenoid to Shift of Valve
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Spring 2014
Schematic of a two-stage electrohydraulic servovalve with force feedback controlling a motor with inertia load
Hydraulic Systems : Two-stage Electrohydraulic Servovalve
![Page 54: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/54.jpg)
Spring 2014
Solenoid-controlled, Pilot-operated Valve
![Page 55: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/55.jpg)
Spring 2014
Servo Valve Structure Moog 760 Series
Moog 30 Series
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Spring 2014
N N
S S
N S
Operation of Servo Valve
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Spring 2014
Operation of Servo Valve: Torque Motor Torque Motor
Hydraulic Amplifier
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Spring 2014
Operation of Servo Valve: Valve Spool
Valve Spool
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Spring 2014
Hydraulic Servo Systems
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Spring 2014
Hydraulic Excavator
Boom Up
Boom Down
Arm Dump
Arm Crowd Bucket Crowd
Bucket Dump
Swing(선회)
Travel(주행)
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Spring 2014
Valve-piston combination
Hydraulic Systems : Valve-piston Combination
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Spring 2014
Operation of Solenoid to Shift of Valve
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Spring 2014
PV 11 PV 22
mRTPV =
1
,
V PV
where Compressibility
β
β
∆= ∆
=
1 2 2 1
1
, ( )
1 ;
1 1 1
1
B
B
B
PV
VP dP V V V V V dV
dPV K Bulk modulusdV
dP dV K dVV V
dP dVKdt V dt
β
β
β
∆=∆
∆ = ∆ = − = − − = −
= − =
= − ⋅ = −
= − ⋅ ⋅
Hydraulic Servo System : Compressibility
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Spring 2014
Bulk Modulus 체적탄성계수
– 비 압축성의 척도 – 체적탄성계수가 클수록 유체는 더 큰 강성을 갖고 있어 압축되기가 어렵다.
– 전형적인 유압유의 체적탄성계수: 250,000psi (1,720MPa)
종류 압축률 [cm2/kgf]
체적탄성계수[kgf/cm2]
비고
석유계작동유 6.0 X 10-5 5.2~7.2 X 10-5
1.7 X 104 1.4~1.9 X 104
항공작동유 (MIL H 5606A)
5.0 X 10-5 2.0 X 104 압력 40~60kgf/cm2
각종 연료유 5.0 X 10-5 2.0 X 104
수-글리콜 W/O형 에멀젼 인산에스테르
2.9 X 10-5 4.4 X 10-5 3.3 X 10-5
3.5 X 104 2.3 X 104 3.0 X 104
20oC, 700kgf/cm2
VVP
VVP
∆∆
−=∆∆
−=/
β
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Spring 2014
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Spring 2014
Basic Modeling of Dynamic Cylinder • Generalized Flow - Continuity equation
+ 부호를 그림과 같이 설정하고, 위의 식을 단순화함. • Equation of motion
dtdPV
dtdVQ
e
1111 0
β+=−
dtdPV
dtdVQ
e
22220
β+=−
dtdPVuAQ
e
1111 β+=
dtdPVuAQ
e
2222 β
+−=−
LfbvdtdvmAPAP ++=− 2211
v
load
1Q 2Q
1P 2P
1A 2A1V 2V
Lf
mass m
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Spring 2014
0P SP 0P
2Q 1Q
2P 1P
:SP supply pressure
piston
servosystem
21 1
2 ( ) /
: , :
: , :
d S
d
Q C a x P P m s
a area gradient x displacement
density C discharge coefficient
ρ
ρ
= ⋅ ⋅ −
spool
2 2 0
2 0
2 ( )
2 ( 0)
d
d
Q C a x P P
C a x P P
ρ
ρ
= ⋅ ⋅ −
= ⋅ ⋅ ≈
Hydraulic Servo System
x
y
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Spring 2014
no leakage, no compressibility
1 2 1 2 1 2
1 2 1 2
1 2
1 2
2 , 2
,2 2
22
s s
L S L S L
S L S L
S Ld S L
Q Q P P P P P P
P P P P P P P P P P
P P P PP P
P PQ Q Q C a x C x P Pρ
= → − = → = +
= ∆ = − → + = − =
+ −→ = =
−= = = ⋅ ⋅ = ⋅ −
P S L
S L
dyQ A C x P Pdt
dy C x P Pdt
= ⋅ = ⋅ −
= ⋅ −
Hydraulic Servo System
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Spring 2014
, , ,
( , ) ( ) ( )
1 1( ) ( ) ( )2
L L
S L L L L
L L Lx P x PL
S L L L
S L
d y C x P P y y y x x x P P Pdt
dy f ff x P x x P Pdt x P
d y C P P x x C x P Pdt P P
= ⋅ − = + ∆ = + ∆ = + ∆
∂ ∂= + ⋅ − + ⋅ −
∂ ∂
= + − ⋅ − + − ⋅ −−
1
1
0, 0 , 0
( ).( )
L
S
d yif x Pdt
dy C P x K xdt
KY sT FX s S
= = =
= ⋅ = ⋅
∴ = =
Hydraulic Servo System
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Spring 2014
0P
1Q 2Q
SP
12 11 21 22
Ap
0P
1P2P
:sP supply pressure
x
ypA
0
11 0 1
12 0 1
1 11 12
0 ,
2( ) ( )
2( ) ( 0 )
d S
d
x A A
Q C A ax P P
Q C A ax P
Q Q Q
ρ
ρ
= =
= + −
= − −
= −
21 0 2
22 0 2
2 22 21
2( ) ( )
2( ) ( 0)
d S
d
Q C A ax P P
Q C A ax P
Q Q Q
ρ
ρ
= − −
= + −
= −
Hydraulic Servo System
Flow equations :
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Spring 2014
Assume no leakage 21 QQ =
11
1 21 2
1 2
0,
1 1
1 1 ( )
0,
1 1 1 1( ), ( )p P
y
dP dVdt V dt
QV
y
dp dpQ A y Q A ydt V dt V
β
β
β β
=
= − ⋅ ⋅
= − −
≠
= − = − +
1 2
1 2
( )
( )p
p
my A p p by
my by A p p
= − −
+ = −
Equation of motion :
Hydraulic Servo System
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Spring 2014
Hydraulic Servo System Model
1 2
11
1
22
2
1 11 12 0 1 0 1
2 22 21 0 2 0 2
1 2
( )
1 1 ( )
1 1 ( )
2 2( ) ( ) ( ) ( 0 )
2 2( ) ( 0) ( ) ( )
p
p
P
d S d
d d S
my by A p p
dp Q A ydt V
dp Q A ydt V
Q Q Q C A ax P P C A ax P
Q Q Q C A ax P C A ax P P
Q Q
β
β
ρ ρ
ρ ρ
+ = −
= −
= − +
= − = + − − − −
= − = + − − − −
=
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Spring 2014
1 2 1 2
0 1 2 0 1 2
1 2 1 2
0 1 2 1 2
0
2 2 2 2( ) ( ) ( ) ( )
0,
2 2 2 2( ) ( )
2 2 2 2( ) ( ) 0
d S d S
d S S
d S S
Q Q Q Q
C A ax P P P C A ax P P P
when x
C ax P P P P P P
C A P P P P P P
To make an identical equati
ρ ρ ρ ρ
ρ ρ ρ ρ
ρ ρ ρ ρ
= ⇒ − =
+ − − − − − −
=
− − + − −
+ − − − + − =
1 2 1 2 1 2
1 2 1 2
, ,
, ,2 2
s s s
s L s LL
Pon P P P P P P P P
P P P Plet P P P P P
− = = − ⇒ = +
+ −= + ⇒ = =
Hydraulic Servo System : Linearization
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Spring 2014
Operating point :
1 11 1 0, 0 0, 0
10, 0 1
10, 0 0 2
1 2 2
1 21 2
0, 0
( , ) (0,0) ( 0) ( 0)
12
1
,
L L
L
L
L
L x p x p LL
x p d S
x p dL S
L L
LL
x p
Q QQ x p Q x px p
Q C a p Kx
Q C A Kp p
Q K x K p Q Q
dp dp dpp p pdt dt dt
ρ
ρ
= = = =
= =
= =
= =
∂ ∂= + − + − +
∂ ∂
∂= ⋅ =
∂
∂= − ⋅ = −
∂ ⋅
= − = =
= − = −
Hydraulic Servo System : Linearization
1 0 01 1( ) ( ) ( ) ( )
( , )
d s L d s L
L L L
Q C ax A P P C A ax P P
Q Q x Pρ ρ
= + − − − +
=
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Spring 2014
{ }
( )( )
11 2
1 1
21 2
2
1 2
1 2
1 1 1 1( ) ( )
1 1 ( )
1 1 (2 2 2 )
( ) ( ) :( )
p L
L p L p
L p
LL p
my by A p
dp Q A y K x K p A ydt V V
dp K x K p A ydt V
let V V
dp K x K p A ydt V
Y s cubic equation formX s
β β
β
β
+ =
= − = − −
= − − +
=
= − −
∴ =
Hydraulic Servo System
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Spring 2014
Simplification : No compressibility, No leakage
1 2 12
21
2 2
1 22 2
2 2
1 ( )
( )( ) ( 1)
,
L p
L L p L p
pp
p
p p
my by p A
Q K x K p A y p K x A yK
A Kmy b y A xK K
Y s KX s s Ts
K A mKK TK b A K b A
+ =
= − = ⇒ = −
⇒ + + =
∴ =+
= =+ +
Hydraulic Servo System
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Spring 2014
Appendix
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Spring 2014
Vehicle Stability Control systems
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79
1. Vehicle Stability Control
1.1 Electronic Stability Program (ESP)
1.2 Vehicle Stability Control Algorithm
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80
1.1 Electronic Stability Program (ESP)
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Spring 2014
예제 1: 실린더 구동 시스템 • 단로드형 복동실린더를 이용하여 테이블을 구동하고자 한다.
– 피스톤 직경은 150mm, 로드 직경은 85mm이다. – 피스톤 속도 12m/min , 가속시간은 0.4s 이다 . – 실린더 배압은 5 이다. – 피스톤행정은 1000mm이다 – 테이블의 중량은 1 ton, 마찰계수는 0.22 이다. – 실린더의 압력효율은 90%이다.
위의 조건에서 테이블을 전진시키는데 필요한 압력과 유량을 구하라.
(1) 압력 p (2) 소요유량 Q
[답] (1) 5.48 (2) 211.9 l/min 2/ cmkgf
2/ cmkgf
table
Qp,
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Spring 2014 82
Vehicle Model - Brake Model
Master cylinder
To Brake Lines
From
Vacuum Booster
Fluid Reservoir
PrimaryCircuit
SecondaryCircuit
..............
.......
.......Fout
• Equation of motion of master cylinder piston :
lossmcoutmcmccsmcmcmcmc FxsignFPAFxbxm )( −+−−−=
ppmc xx =
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Spring 2014
BrakePedal
VacuumBooster
MasterCylinder
ProportionnigValve
FontWheel
RearWheel
Brake System
Apply brake
with leak w/o leak
![Page 84: Lecture Note 8-1 Hydraulic Systems - Seoul National University · 2018. 1. 30. · Brake System. 1 ) Wheel Cylinder 2 ) Brake Light 3 ) Brake Pedal 4 ) Rear Brake Lines 5 ) Stop Light](https://reader035.fdocuments.in/reader035/viewer/2022062510/6112eb8936588d033c3b9945/html5/thumbnails/84.jpg)
Spring 2014 84
Vehicle Model - Brake Model
Vacuum Booster
Vacuum Booster Diagram
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Spring 2014 85
Vehicle Model - Brake Model
Vacuum Booster Control Valve Model
Control Valve – Apply stage
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Spring 2014 86
Vehicle Model - Brake Model
Vacuum Booster Control Valve Model
Control Valve – Hold stage
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Spring 2014 87
Vehicle Model - Brake Model
Vacuum Booster Control Valve Model
Control Valve- Release stage
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Spring 2014
End of Hydraulic systems 8-1