Pemodelan Sistem

Hidrolik
Dosen Pengantar
Syamsul Arifin
Departemen Teknik Fisika
FTI ITS
Properties of hydraulic fluids
The properties of hydraulic fluids have an important effect on
the performance of hydraulic systems. Besides serving as a
power transmitting medium, a hydraulic fluid must minimize
the wear of moving parts by providing satisfactory lubrication.
In practice, petroleum-based oils with proper additives are
the most commonly used hydraulic fluids, because they give
good lubrication for the moving parts of a system and are
almost incompressible. The use of a clean, high-quality oil is
required for satisfactory operation of the hydraulic system.
Properties of hydraulic fluids
Viscosity, the most important property of a hydraulic fluid, is
a measure of the internal friction or the resistance of the fluid
to flow. Low viscosity means an increase in leakage losses,
and high viscosity implies sluggish operation. In hydraulic
systems, allowable viscosities are limited by the operating
characteristics of the pump, motor, and valves, as well as by
ambient and operating temperatures. The viscosity of a liquid
decreases with temperature.
Properties of hydraulic fluids
The resistance of a fluid to the relative motion of its parts is called
dynamic, or absolute, viscosity. It is the ratio of the shearing stress
to the rate of shear deformation of the fluid. The SI units of
dynamic viscosity are N-s/m2 and kg/m-s. The cgs unit of
dynamic viscosity is the poise (P) (dyn-s/cm2 or g/cm-s). The SI
unit is 10 times larger than the poise. The centipoise (cP) is one-
hundredth of a poise. The BES units of dynamic viscosity are
-s/fi2 and slug/ft-s. Note that
Ibf
Hydraulic System
Hydraulic circuits composed of:
a. pumps,
b. pressure control valve,
c. direction control valve,
d. flow control valve,
e. Actuators (Hydraulic motors, pistons),
f. Reservoir and accessories, and
g. their composition according to objectives and
specifications.

Figure 7.2.1 Fluid system symbols.

Properties of
hydraulic fluids
Dashpots
The dashpot (also called a damper) shown in Figure 7-11(a) acts as a differentiating element.
Suppose that we introduce a step displacement into the piston position x. Then the displacement y
becomes momentarily equal to x. Because of the spring force, however, the oil will flow through the
resistance R, and the cylinder will come back to the original position. The curves of x versus t and y
versus tare shown in Figure 7-11(b).
Dashpots
Dashpots
Dashpots
Advantages of hydraulic systems
1. Hydraulic fluid acts as a lubricant, in addiAon to carrying away heat generated in the
system to a convenient heat exchanger.
2. ComparaAvely small hydraulic actuators can develop large forces or torques.
3. Hydraulic actuators have a higher speed of response, with fast starts, stops, and
reversals of speed.
4. Hydraulic actuators can be operated under conAnuous, intermiHent, reversing, and
stalled condiAons without damage.
5. The availability of both linear and rotary actuators lends flexibility to design.
6. Because of low leakages in hydraulic actuators, drops in speed when loads are applied
are small.
Disadvantages of hydraulic systems
1. Hydraulic power is not readily available, compared with electric power.
2. The cost of a hydraulic system may be higher than that of a comparable electrical
system performing a similar funcAon.
3. Fire and explosion hazards exist, unless fire-resistant fluids are used.
4. Because it is difficult to maintain a hydraulic system that is free from leaks, the
system tends to be messy.
5. Contaminated oil may cause failure in the proper funcAoning of a hydraulic system.
6. As a result of the nonlinear and other complex characterisAcs involved, the design of
sophisAcated hydraulic systems is quite involved.
7. Hydraulic circuits have generally poor damping characterisAcs. If a hydraulic circuit is
not designed properly, some unstable phenomena may appear or disappear,
depending on the operaAng condiAon of the circuit.
A Hydraulic Brake System
■ Problem
Figure 7.1.1 is a representation of a hydraulic brake
system. The piston in the master cylinder moves in
response to the foot pedal. The resulting motion of
the piston in the slave cylinder causes the brake pad
to be pressed against the brake drum with a force f3.
Obtain the expression for the force f3 with the force
f1 as the input. The force f1 depends on the force f4
applied by the driver’s foot. The precise relation
between f1 and f4 depends on the geometry of the
pedal arm.

Figure 7.1.1 A hydraulic brake system.

 A Hydraulic Brake System
■ Solution
The forces are related to the pressures and the piston areas as
follows: f1 = p1 A1 and f2 = p2 A2. Assuming the system is in
static equilibrium after the brake pedal has been pushed, we see
that p1 = p2 + ρgh, where h is the height between points 1 and 2.
Thus, if h is small, that is, if the pressure ρgh is negligible
compared to p2, then p1 = f1/A1 = p2 = f2/A2. The forces are
therefore related as f2 = f1 A2/A1, and if the area A2 of the slave
piston is greater than the area A1 of the master piston, the force f2
will be greater than the force f1. So we see that this system serves
to amplify the pedal force.

The force f3 can be obtained from the lever relation f3 = f2L1/L2,

assuming static equilibrium or negligible lever inertia.

The tradeoff for force amplification is that the master piston must
move a distance greater than that of the slave piston. We may see
this effect by equating the fluid volume displaced by each piston.
volume = A1x1 = A2.x2 Figure 7.1.1 A hydraulic brake system.
Thus x2 =x1A1/A2, and so x2 <x1 if A1<A2.
Liquid-Level System with a Pressure Source
■ Problem
The tank shown in cross section in Figure 7.4.1 has a
bottom area A. A pressure source ps is connected through
a linear resistance to the bottom of the tank, where ps (t )
is a given function of time. The outlet resistance is linear
and the outlet discharges to atmospheric pressure pa.
Develop a model of the liquid height h.
Liquid-Level System with a Pressure Source
 A Hydraulic Cylinder
A common hydraulic actuator is the piston-and-cylinder
actuator used on many types of heavy equipment, such as the
backhoe shown in Figure 7.1.3. When the operator moves a
handle, hydraulic fluid under high pressure is sent through the
line to the cylinder. The fluid acts on the piston within the
cylinder and produces a force that is equal to the pressure times
the piston area. This large force moves the linkage. Example
7.1.3 develops a simple model of such a device.

Figure 7.1.3 A backhoe.

■ Problem
Figure 7.1.4a shows a cylinder and piston connected to a load mass m, which slides on a frictionless surface. Part (b) of
the figure shows the piston rod connected to a rack-and-pinion gear. The pressures p1 and p2 are applied to each side of
the piston by two pumps. Assume the piston rod diameter is small compared to the piston area, so the effective piston
area A is the same on both sides of the piston. Assume also that the piston and rod mass have been lumped into m and that
any friction is negligible. (a) Develop a model of the motion of the displacement x of the mass in part (a) of the figure,
assuming that p1 and p2 are given functions of time. Also, obtain the expression for the mass flow rate that must be
delivered or absorbed by the two pumps. (b) Develop a model of the displacement x in part (b) of the figure. The inertia
of the pinion and the load connected to the pinion is I .
A Hydraulic Cylinder
Figure 7.1.4 A hydraulic cylinder
for (a) translating a mass and for
(b) rotating a pinion gear.
A Hydraulic Cylinder
Figure 7.1.4 A hydraulic cylinder
for (a) translating a mass and for
(b) rotating a pinion gear.
Linier Hydraulic Dampers
■ Problem
A damper exerts a force as a result of a velocity difference across it. Figure 7.4.4 shows the principle used in
automotive shock absorbers. A piston of diameter W and thickness L has a cylindrical hole of diameter D. The piston
rod extends out of the housing, which is sealed and filled with a viscous incompressible fluid. Assuming that the flow
through the hole is laminar and that the entrance length Le is small compared to L, develop a model of the relation
between the applied force f and x ,̇ the relative velocity between the piston and the cylinder.

Figure 7.4.4 A damper.

Linier Hydraulic Dampers
Linier Hydraulic Dampers
HYDRAULIC ACTUATORS
Hydraulic actuators are widely used with high pressures to obtain high forces for moving large loads
or achieving high accelerations. The working fluid may be liquid, as is commonly found with
construction machinery, or it may be air, as with the air cylinder-piston units frequently used in
manufacturing and parts-handling equipment.

Hydraulic Piston and Load

■ Problem
Figure 7.4.5 shows a double-acting piston and cylinder. The device moves the load mass m in response to the
pressure sources p1 and p2. Assume the fluid is incompressible, the resistances are linear, and the piston
mass is included in m. Derive the equation of motion for m.

Figure 7.4.5 A double-acting piston and cylinder.

HYDRAULIC ACTUATORS
Hydraulic Piston and Load
HYDRAULIC ACTUATORS
Hydraulic Piston and Load
HYDRAULIC ACTUATORS
Hydraulic Piston with Negligible Load
HYDRAULIC ACTUATORS
Hydraulic Motor

■ Problem
A hydraulic motor is shown in Figure 7.4.6.
The pilot valve controls the flow rate of the
hydraulic fluid from the supply to the cylinder.
When the pilot valve is moved to the right of its
neutral position, the fluid enters the right-hand
piston chamber and pushes the piston to the left.
The fluid displaced by this motion exits through
the left-hand drain port. The action is reversed
for a pilot valve displacement to the left. Both
return lines are connected to a sump from which
a pump draws fluid to deliver to the supply line.
Derive a model of the system assuming that
mx ̈ is negligible.
Figure 7.4.6 A hydraulic motor.
HYDRAULIC ACTUATORS
Hydraulic Motor

Figure 7.4.7 Pressures in a

hydraulic motor.
HYDRAULIC ACTUATORS
Hydraulic Motor

Figure 7.4.7 Pressures in a

hydraulic motor.
Hydraulic System
Consider the hydraulic system shown in Figure 7-26. The left-
hand side of the pilot valve is joined to the left-hand side of the
power piston by a link ABC. This link is a floating link rather
than one moving about a fixed pivot. The system is a hydraulic
controller.
The system operates in the following way: If input e moves the
pilot valve to the right, port I will be uncovered and high-
pressure oil will flow through that port into the right-hand side
of the power piston, forcing it to the left. The power piston, in
moving to the left, will carry the feedback link ABC with it,
thereby moving the pilot valve to the left. This action continues
until the pilot valve again covers ports I and II.
Derive the transfer function Y(s)IE(s).

Figure7-26
Hydraulicsystem.
Hydraulic System

Figure7-26
Hydraulicsystem.
Hydraulic System

Figure7-26
Hydraulicsystem.

Thus the transfer function between y and e becomes a constant. The hydraulic system shown in Figure 7-26 acts as a
proportional controller, the gain of which is Kp. This gain can be adjusted by effectively changing the lever ratio b/a.
(The adjusting mechanism is not shown in the diagram.)
A Liquid-Level System with a Pump
■ Problem
Figure 7.4.9 shows a liquid-level system with a pump input and a drain whose
linear resistance is R2. The inlet from the pump to the tank has a linear resistance
R1. Obtain a linearized model of the liquid height h.

Figure 7.4.9 A liquid-level system with a pump.

A Liquid-Level System with a Pump
A Liquid-Level System with a Pump
A Liquid-Level System with a Pump
Figure 7.4.10 Graphical
solution of the pump model.
A Liquid-Level System with a Pump

Figure 7.4.10 Graphical solution

of the pump model.
Liquid-level system
Liquid-level system
Solution
Liquid-level system
Selamat belajar,
sukses selalu
Dosen Pengantar
Syamsul Arifin
Departemen Teknik Fisika
FTI ITS