1.

3 Modelling Pneumatic System

Example 1 A rigid container (or capacitor) is supplied with a through restrictor ( or pneumatic resistor) as shown Fig.P1.1 under steady conditions (typically 0.6 bar) the pressure on both side of the restrictor is p. when a small pressure change pi takes place on the left hand side of the restrictor a change p0 takes place in the container. btain a transfer function relating p0 and pi. Solution Assume the mass flow rate of air through the resistor can be written &= K1 ( pi po ) m !here "1# represent the characteristics of the restrictor. $he mass of air in the container is gi%en by pV m= = K& p RT

!here ' is the %olume of the container# R is the characteristics constant for air and T the absolute temperature of the air. !hen the pressure of the air in the container is (p(po) the mass of the air will be. m + m s = K & ( p + p0 ) !here ms is the increase of air stored. )ifferentiating with respect to time gi%es & & m s = K & p0 &= m & & *ince m and p are constants .+ow m s or K & ( pi p0 ) = K & p0 & K1 pi = K & p 0 + K 1 p0 $aken ,aplace transform with -ero initial condition K1 Pi ( s ) = K & sP0 ( s ) + K1 P0 ( s ) P0 ( s ) K1 = Pi ( s ) K & s + K1

Example 2 A bellows is supplied with air through a restrictor and has its e/pansion opposed by a spring as shown in Fig. p1.&. btain a transfer function relating pi on the supply side of the restrictor to the a/ial motion x0 of the bellows. *olution Assume the initial pressure in both side of the restrictor 0 p 1hange in pressures in bellows from pi to be p0

2ass flow rate of air through the restrictor is &= K1 ( pi po ) m !here "1# represent the characteristics of the restrictor. $he mass of air in the bellows is gi%en by pV m= = K & pV RT

(1)

!here ' is the bellows %olume at pressure p, when the pressure of the air in the bellows is (p(po) the mass of the air will be. m + m s = K & ( p + p0 ) ( V + Ax ) !here A# is the effecti%e bellows area and x the a/ial displacement of the bellows# hence & & & m (&) s = K & ( p0V + pAx ) $he term poAx is neglected because pox is a second order 3uantity. For e3uilibrium of top mo%ing surface of the bellows p0 A + K 4 x = 0 K 4 spring constant (4) 1ombining e3uations (1)# (&) and (4) sM = K1 ( pi p0 ) (5) sM s = K &Vsp0 + K & pAsX (5) p0 A K 4 X = 0 And (6) $han K1 ( pi p0 ) = K &Vsp0 + K & pAsX &= m & *ince m s . 6liminating p0 by e3uation 6

+ote X = X ( s)# P0 = P0 ( s ) and Pi = Pi ( s) K1 pi ( s ) = K1 K 4 X ( s ) K X ( s) + K &Vs 4 + K & pAsX ( s ) A A A K4 X ( s) AK1 = = & pi ( s) ( K 4 K &V + K & pA ) s + K1 K 4 & K &V K1 pA + 1+ 1 K V 4

1.3.2 Flapper-No le and Pneumatic relay

A flapper and no--le is used to produce large pressure changes for small flapper mo%ements (15 lbf8in& pressure change for a 0.001in change of flapper no--le separation of 90bar8mm is readily a%ailable) A relay is used to control the pressure of air supplied to a pneumatic de%ice which needs a greater air supply than the no--le can produce and a greater pressure. $he relay shown in has a pressure amplifying capacity (due to the difference in area of the diaphragms) and a flow amplifying capacity due to the characteristics of the high and low pressure supply restrictors. :t is the pneumatic e3ui%alent of the electronic amplifier which has a milli%olt# milliamp input and a %olt# milliamp output.

1.! HYBRID C !TR " SYST#M. :t is common to ha%e a mi/ture of both logic and continuous systems. An e/ample is a simplified model of a large boiler;generator system. !hile all the generators produce

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continuous;time data# the computer recei%es those data and processes them in discrete form. $his kind of systems is known as $%&ri' (ontrol s%st)m. 1.!.1 "ybrid System Model

A typical hybrid system is represented in the block diagram(figure 1.5).

Figure 1.5 $he 2odel of =ybrid *ystem Almost any hybrid control system can be modeled by this two;layer structured block diagram. $he layers communicate through the interface

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