Scribd
Upload
120 views18 pages

Industrial Control Systems - 04 Hydraulics

The document discusses modeling hydraulic systems using an electrical analogy. It describes how hydraulic components like dissipators, capacitors, inductors and junctions are analogous to their electrical counterparts. Dissipators follow Darcy's law relating pressure and flow, capacitors relate pressure and volume, and inductors relate pressure and rate of change of flow. The document also compares hydraulic, pneumatic and electrical systems for distributed control.

Uploaded by

Behzad Samadi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
120 views18 pages

Industrial Control Systems - 04 Hydraulics

The document discusses modeling hydraulic systems using an electrical analogy. It describes how hydraulic components like dissipators, capacitors, inductors and junctions are analogous to their electrical counterparts. Dissipators follow Darcy's law relating pressure and flow, capacitors relate pressure and volume, and inductors relate pressure and rate of change of flow. The document also compares hydraulic, pneumatic and electrical systems for distributed control.

Uploaded by

Behzad Samadi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 18

Industrial Control

Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology

Winter 2009
Tehran, Iran

Behzad Samadi (Amirkabir University) Industrial Control 1/9


Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

Behzad Samadi (Amirkabir University) Industrial Control 2/9


Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

The fluid is assumed to be incompressible.


[Macia and Thaler, 2004, Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 2/9


Hydraulic Dissipator

d’Arcy’s Law
For a thin tube:
p = Rf q

Behzad Samadi (Amirkabir University) Industrial Control 3/9


Hydraulic Dissipator

d’Arcy’s Law
For a thin tube:
p = Rf q

For a sudden change in area, such as an orifice or valve:

p = Hq 2 sgn(q)

H is a constant.
[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 3/9


Hydraulic Capacitor

Behzad Samadi (Amirkabir University) Industrial Control 4/9


Hydraulic Capacitor

Z
mg ρg ρg t
p= = V = q(τ )dτ
A A A 0
p =pressure at the bottom of the tank
V =volume of the fluid in tank
A =cross section area of the tank
ρ =density of the fluid

[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 4/9


Hydraulic Inductor

Behzad Samadi (Amirkabir University) Industrial Control 5/9


Hydraulic Inductor

dv
F =ma = (ρlA)
dt
F dv
p= = ρl
A dt
q =Av

Behzad Samadi (Amirkabir University) Industrial Control 5/9


Hydraulic Inductor

dv
F =ma = (ρlA)
dt
F dv l dq dq
p= = ρl ⇒ p =ρ = Lf
A dt A dt dt
q =Av

Behzad Samadi (Amirkabir University) Industrial Control 5/9


Hydraulic Inductor

dv
F =ma = (ρlA)
dt
F dv l dq dq
p= = ρl ⇒ p =ρ = Lf
A dt A dt dt
q =Av

Hydraulic Inductor
Lf = ρ Al
[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 5/9


Hydraulic Junction

P
i Qi = 0 (KCL)

Behzad Samadi (Amirkabir University) Industrial Control 6/9


Hydraulic Junction

P p4 = p1 + p2 + p3 (KVL)
i Qi = 0 (KCL)

[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 6/9


Hydraulic Transformer

Behzad Samadi (Amirkabir University) Industrial Control 7/9


Hydraulic Transformer

p1 Q1 =p2 Q2
p1 =αp2
1
Q1 = Q2
α

A2
α=
A1
[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 7/9


Comparison

Electrical Hydraulic Pneumatic


Energy source Usually from outside Electric motor or diesel Electric motor or diesel
supplier driven driven

Energy storage Limited (batteries) Limited (accumulator) Good (reservoir)

Distribution system Excellent, with minimal Limited, basically a lo- Good, can be treated as
loss cal facility a plantwide service

Energy cost Lowest Medium Highest

Rotary actuators AC and DC motors. Low speed. Good con- Wide speed range. Ac-
Good control on DC trol. Can be stalled. curate speed control
motors. AC motors difficult
cheap

Linear actuators Short motion via Cylinders. Very high Cylinders. Medium
solenoid. Otherwise via force force
mechanical conversion

Points to note Danger from electric Leakage dangerous and Noise


shock unsightly. Fire hazard

[Parr, 1999]

Behzad Samadi (Amirkabir University) Industrial Control 8/9


Analogy Summary

[Macia and Thaler, 2004]

Behzad Samadi (Amirkabir University) Industrial Control 9/9


Ljung, L. and Glad, T. (1994).
Modeling of Dynamic Systems.
Prentice Hall PTR, 1 edition.
Macia, N. F. and Thaler, G. J. (2004).
Modeling and Control of Dynamic Systems.
Delmar Learning.
Parr, A. (1999).
Hydraulics and Pneumatics: A Technicians and Engineers Guide.
Butterworth-Heinemann, 2 edition.

Behzad Samadi (Amirkabir University) Industrial Control 9/9

You might also like