Notice of Retraction

After careful and considered review of the content of this paper by a duly
constituted expert committee, this paper has been found to be in violation of
IEEE's Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to
remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by
contacting TPII@ieee.org.
 2010 Second International Workshop on Education Technology and Computer Science

The model and simulation of an asymmetric valve-

controlled cylinder velocity control system based
on PID
WANG Dan, JIANG Jinguo, WANG Jietao
Faculty of Mechanical & Electronic Information
China University of Geosciences
Wuhan, China
e-mail:cugwangdan@gmail.com
jiangjg@cug.edu.cn

Abstract The dynamic properties of valve-controlled hydraulic

cylinder system are analyzed. The transfer function on load flow
and pressure is established. We also establish the simulation
model of piston velocity based on PID, using MATLAB. The
accuracy of the velocity is proved by simulation results. This
research can realize high accuracy of the velocity control by PID
controller. It has a certain practical meaning.

Keywords- PID controller, simulation, valve-controlled cylinder,

velocity control system, MATLAB

I. INTRODUCTION
Comparing asymmetric hydraulic cylinders with symmetric
hydraulic cylinders, we know that the former one has its own
characteristics, such as smaller working space, simpler
structure, and so on [1]. The two effective areas of the
asymmetric hydraulic cylinders piston are asymmetric, which
cause the nonlinearization of the systems dynamic Figure 1. The schematic diagram of the four-way
characteristics [2, 3]. The dynamic response contains the valve-controlled hydraulic cylinder
steady-stable error, response time, and the overshoots of the
step response. The aim of controlling system design is to
realize the ideal dynamic response. Process of the mathematical modeling based on Fig. 1 is
shown below.
Here it is very important to choose the suitable control
strategy of piston velocity. The electro-hydraulic proportional
control is more simple and stable than the common ones. But A. two parameters of the working parameters of the valve-
the disadvantage is steady-state error, though it response very controlled cylinder velocity control system [4]
quickly. We can use the PID controller to reach the high Load pressure:
resolution control and no stable state error by choosing the
suitable proportional coefficient, differential coefficient, and PL = F/A1 = P1 - nP2 = P1 - P2 (A2/A1) 1
the integral coefficient. The model and simulation is settled up
in the MATLAB. And the result of simulation shows that using Load flow:
MATLAB for simulating valve-controlled cylinder velocity QL = ( Q1 + nQ2 ) / ( 1 + n2 ) = Q1 2
control system based on PID has a good result.
In this formula, n=A2/A1;
II. MATHEMATICAL MODELING p1 - pressure of the infill oil cavity, Pa
p2 - pressure of the return oil cavity, Pa
A1- effective action area of the infill oil cavity, m2;

978-0-7695-3987-4/10 $26.00 2010 IEEE 499

DOI 10.1109/ETCS.2010.370
 A2-effective action area of the return oil cavity, m2;
QL 2 ps
Q1- the flow of the infill oil cavity, m3/s K q10 = = Cd , m2/s;
xv 1 + n3
Q2- the flow of the return oil cavity, m3/s Kc1 is the flow-pressure coefficient
And the flow-pressure coefficient of zero position Kc10=0,
(m3/s)/Pa.
B. throttle equation Then the linearization of the flow equation is
QL=Kq1-Kc1pL (13)
2
Q1 = Cd xv ( ps p1 )
3
C. Flow continuity equation
2
Q2 = Cd xv p2 Flow continuity equation of non-rod chamber,
4 dV1 V1 dp1
Q1 Cec p1 Cic ( p1 p2 ) = +
Where is the area-grads of orifice, m; Cd is the flow dt e dt (14)
coefficient of the orifice; xv is the displacement of the valve And
core, m. When the piston moves in constant velocity, we can V1=V01+A1y
ignore the compressibility of the oil, we show that
We assume that the initial volume of the piston is
Q1 = A1 y Vt V V
5

V01 = V02 = V0 = , A1y << t , A2y << t
Q2 = A2 y 2 2 2
6 The (14) can be simplified
dy V dp

Q1 = A1 + 0 1 +Cec + Cicp1 Cic p2
Where y the velocity of piston, m/s. dt e dt (15)
We can conclude that
And for the same reason
1
ps = 2 p2 + p1 dy V0 dp2
n Q2 = A2 Cec + Cicp2 + Cic p1
7 dt e dt (16)
Furthermore, Where Vt is the effective volume of the hydraulic cylinder, m3;
2 ps p L e is the modulus of elasticity of the hydraulic oil, Pa; Cec is
Q1 = Cd xv the external leakage coefficient of the hydraulic cylinder,
1 + n3 8 (m3/s)/Pa; Cic is the internal leakage coefficient of the
hydraulic cylinder, (m3/s)/Pa; V1 is the capacity of the non-rod
2 n 2 ( ps p L ) chamber, m3V2is the capacity of the rod chamber, m3; V01 is
Q2 = Cd xv the initial volume of the non-rod chamber, m3; V02 is the initial
1 + n3 9 volume of the rod chamber, m3;
Equation (2) gives,
Combination of (2) (8) (9),
Q1 + nQ2 dy Vt dpL Cec + Cic np p
QL = = A1 + + pL + 1 2 2 Cic
2 ps p L 1 + n2 dt 2(1 + n 2 ) e dt 1 + n2 1+ n
QL = Cd xv
1 + n3 10 dy Vt dpL (17)
Linearization of the (10), = A1 + + Ctc pL + Ctc1 ps
dt 2(1 + n 2 ) e dt
QL 2 ps p L 1+ n
K q1 = = Cd Where Ctc = Cic +
1
Cec
xv 1 + n3 (11) 1+ n 3
1 + n2
2 ps p L n 2 (n 2 1)
Ctc1 = Cic
(1 + n 2 )(1 + n3 )
Q 1 + n3
K c1 = L = Cd xv
pL 2( ps pL ) 12
Where Kq1 is the flow coefficient,
And the flow coefficient of zero position

500
D. Equilibrium equation of the Cylinder 1+ n 1 1 + 0.75
Ctc = Cic + Cec = 3 1011
d2y dy (18) 1 + n3 1 + n2 1 + 0.753
A1 p1 A2 p2 = A1 pL = M 2 + Bc + Ky + F
dt dt = 3.692 10 11 (m 3 / s )Pa
Where Bc is the impedance coefficient, Ns/m.
rc 2 3.14 0.0471 (5 10 5 )2
K c1 = =
32 32 391 10 4
E. the transfer function of the hydraulic power mechanism = 0.296 10 9 (m 3 / s )/ Pa
Using the Laplace transform to the (13), (17), (18), we
have IV. DEAD ZONES OF THE SYSTEM
QL=Kq1Xv-Kc1pL (19)
There are zero-position dead zones of the proportional
Vt valves, which can both cause the steady-stable error [5].
QL = A1 sY + sp L + C tc p L (20)
( )
2 1+ n2 e Furthermore, the dead zones can also reduce the sensitivity of
the valves.
A1pL= (Ms2+Bcs+K) Y+F (21)
Then we choose
e0=0.2
Using (19) (20) (21), we get the block diagram of the
actuating unit of the valve-controlled cylinder (Fig. 2); the v is
Table I. The parameters of the valve-controlled cylinder.
the velocity of the piston.
Parameters Value Unit
A1 (effective area of the non-rod 5.024h
m2
chamber) 10-3
A2 (effective area of the rod 3.768h
m2
chamber) 10-3
n (Area ratio) 0.75
Figure 2. The block diagram of the power mechanism L (Maximum stroke) 4000 mm
of the valve-controlled cylinder. M (Mass) 200 kg
8
e (The elastic modulus of Liquid) 6.85h10 Pa
III. DETERMINING THE PARAMETERS OF THE SYSTEM Cd ( flow coefficient) 0.71  
Hydraulic cylinder: (The oil density) 883 kg/m3
We choose the HSG construction hydraulic cylinder. The
diameter of the cylinder is 80mm; the diameter of the piston c (The radial gap between
5h10-5 m
rod is 40mm. And the effective volume of the cylinder is valve sleeve and the valve core)
Vt =17.2h10-3m3 ps (energy pressure) 2.5h106 Pa
p0 (pressure of the oil return) 0 Pa
Direction valve:
We choose the 4WRE10 type electro-hydraulic proportional F (load force) 1500 N
direction valve. There is an electrical feedback in the valve, Bc ( damping coefficient) 1000 Ns/m
which can control the spool displacement. The amplifier is the
( area-grads) 0.0471 m
VT-5002S20/R5, and the maximum output current is 1.5A, the
corresponding maximum spool displacement, xv, is 3mm. Then K ( spring stiffness) 0 N/m
Kv is 0.002m/A. The 4WRE10 type electro-hydraulic Cic (internal leakage coefficient) 3h10 -11
(m3/s)/Pa
proportional direction valve is regarded as the proportional
unit (Kv). Cec (external leakage coefficient) 0 (m3/s)/Pa
( dynamic viscosity) 391h10-4 Pas
Substitute the data from the Table 1 into the equations
below,
2 Ps 2 2.5 106
K q10 = Cd = 0. 71 0. 0471 = 2.11m 2 / s
1 + n3 883 1 + 0.753
V. PID CONTROLLER
The popularity of PID controllers can be attributed partly to
Vt 17.2 103
= = 0.804 1011 their robust performance in a wide range of operating
( )
2
( )
2 1 + n e 2 1 + 0.752 6.85 108 conditions and partly to their functional simplicity, which
allows engineers to operate them in a simple, straightforward

501
manner. To implement such a controller, three parameters
must be determined for the given process: proportional
coefficient, integral coefficient, and derivative coefficient [6] .
The PID controller has the transfer function
1 system overshoot. The system can also eliminate the steady-
W ( S ) = K p (1 + + TD s )
TI s
Where Kp is the proportional coefficient; TI is the
integral coefficient; TD is the derivative coefficient.
Where the proportional coefficient can reduce the response
time of the system; the integral coefficient can eliminate the
steady-stable error of the system; the derivative coefficient can
enhance the ability of the anti-interferences, and eliminate the
system overshoot.
VI. THE SIMULATION AND ANALYSIS OF THE SYSTEM
Fig. 3 shows the block diagram of the simulation
Figure 3. The simulation model of the piston velocity
Kp =2.65 TI = 0.048 TD= 0.022
The result of simulation (See Fig.4)
502
Figure 4. The response curve of the piston velocity
The result of the simulation shows the electro-hydraulic
proportional valve-controlled cylinder velocity control system
based on PID can reduce the response time, and eliminate the
stable error. The system is very stable, and the simulation is
reliable. When input is 1 and the output is 1 too. The specific
performance of the system output is achieved.
VII. CONCLUSIONS
The result of the simulation suggests that the better
hydraulic control system which based on PID is more
practicable and generally than before. This system can be used
in the drilling and transporting materials at constant velocity,
and so on.
ACKNOWLEDGMENT
The authors thank Fan Shan and Yan Baoyong for their
assistance.
REFERENCES
[1] Zhanlin W. Developments of Hydraulic Control.
Beijing: China Machine Press 1997. (in Chinese)
[2] Yao B, Bu F, Chiu GTC. Nonlinear adaptive robust
control of electro-hydraulic servo systems with discontinuous
projections. Proceedings of the IEEE Conference on Decision
and Control. 1998;2: 2265-2270.
[3] Yao B, Bu F, Chiu GTC. Non-linear adaptive robust
control of electro-hydraulic systems driven by double-rod
actuators. Int J Control. 2001;74: 761-775.
[4] Zhiquan X, Jifeng X, Likun P. Further Study of Load
Flow and Load Pressure. Machine Tool & Hydraulics. 2007;
35: 130-133. (in Chinese)
[5] Sanding L, Lei S, Sha S. Mathematical Modeling and
Simulation of Steel Bar Splitting Control System Based on
Visual Feedback. Computer Measurement and Control. 2006;
14: 1175-1177. (in Chinese)
[6] Yang F. Hydraulic Control Systems Design. Lanzhou:
Lanzhou University Press 2004.