TMHP02

Fluid Power Systems

Liselott Ericson
Fluid and Mechatronic Systems

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Disney Research develops a humanoid robot that
can play catch

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 Hydraulics in an excavator

http://www.youtube.com/watch?v=2dNqqJrc8z8

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Injection molding machine

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 What is hydraulics?
• Force transmission and power transmission
with fluid
• Mechanical device utilizing fluid as the
working medium
• Hydrostatics
– Treats energy transfer with fluids under pressure
• Hydrodynamics
– Treats energy transfer with fluids in motion

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Hydraulics in a car

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Hydraulics in an airplan

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 Why is hydraulics good to use?
• High power density
• Good controllability
• Easy to move energy
• Perfect for linear motion
• Fail safe
• Easy to cool

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 Hydraulics vs pneumatics
• Hydraulics • Pneumatics
– Oil, water i.e. fluids – Air, i.e. gases
– High pressure, max 45 – Low pressure, max
MPa 2 MPa
– Large power density – Hard to control
– Good controllability – Suitable for on/off
– Must not leak control
– Must have a return – Outlet direct to
line surroundings

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 TMHP02
Fluid Power Systems

Agenda:
• Course information
• Basic components
• Basic equations
• Pascal
• Continuity eq.
• Orifice eq.
• Bulk modulus 10
 Literature
• Basic Fluid Power - Components and Systems, Liselott
Ericson and Karl-Erik Rydberg (Kårallen from
Wednesday)
• Basic Theory for Pneumatic System Design, Rydberg K-
E, LiU, (Lisam)
• Collection of example for the course Fluid Power
Systems, LiTH, 2002 (Lisam and Bookshop in kårallen)
• Formula Book, Hydraulic and Pneumatics, LiTH, 2016
(Bookshop in Kårallen)
• Lab-PM (Lisam)
• The lecture’s powerpoints will be available on Lisam
(Lisam)
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 Teachers
• Lecturer and examiner: Dr. Liselott Ericson
(LE), liselott.ericson@liu.se
• Lecturer: Karl-Erik Rydberg (KER)
• Lesson assistant: Viktor Larsson (VL)
• Lab. assistants: Students

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 Exam
• Exam: 2018-10-22 at 08.00–12.00
• 4 hours and contains both theory and
calculations
• Answers in English or Swedish
• Aids during exam
– Kårallen bought Formula book: Hydraulic and
Pneumatics, no notes.
– No dictionaries
– Calculator with empty memory

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 Laboratory Works
• 3 practical labs
– Flumes laboratory facilities, entrance 13A, C-corridor.
– The computer lab according to Timeedit.
– Registration is done on the course website on Lisam.
– All four laboratories are mandatory to pass the course.
– Lab-PM can be down-loaded at Lisam.
– Bring an own printed version of the Lab-PM to all practical laboratory works.
– Completed the lab-PM preparatory tasks.
• Computer lab
– There are 5 levels of the computer labs.
– Level 1-4 are connected to Quizzes in Lisam.
– Quiz: Level 1-2 for students who are not familiar with Hopsan (not mandatory).
– Quiz: Level 3-4 individual mandatory quizzes, preparation for the lab.
– The computer lab according to Timeedit.
– Registration is done on the course website on Lisam.
– Pair of two students for level 5
– Level 5 includes a written report uploaded in the submission folder in Lisam.
• When the registration link opens will be announced on Lisam.
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 Design task
• Design a hydraulic system for lorry crane.
• This assignment will be introduced at the first lesson.
• The description for the design task is available on
Lisam.
• There are two quizzes connected to the design task to
help self-correct your own code.
• These quizzes are mandatory.
• The task includes a peer-review procedure.
• There are several important deadlines connected to
the design task, see the description for the design task.

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 Cheating and plagiarism
• Are not accepted.
• Use data, graphs or text from another person / group is
cheating and will be reported to the Disciplinary Board.
• You are allowed to discuss laboratory work and design
task results with another person/group (this we like)
but all examination properties, laboratory work and
design task, should be the individual’s or the group’s
own work.
https://www.student.liu.se/studenttjanster/lagar-
regler-rattigheter/disciplinarenden/fusk?l=en&sc=true

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 Schedule
• First lecture September 5th (Group 1) and
September 10th (Group 2)
– Design task kick-off
– Wednesday September 12th (15-17) and
September 14th will be a “catch up time”.
• The laboratory works will start on September
13th

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 TMHP02
Fluid Power Systems

Agenda:
• Course information
• Basic components
• Basic equations
• Pascal
• Continuity eq.
• Orifice eq.
• Bulk modulus 18
 Basic components
Orifice
p1 p2
 Pressure drop ∆p=p1-p2
q
 The flow will always move from high pressure
to low pressure, always a pressure drop.
Variable orifice
p1 p2
 Restriction area can be
varied, smaller area gives q
smaller flow with same
pressure drop.
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 Basic components
Check valve
p1 p2
 Only flow in one direction, if
p1>p2 the flow q=0 q
Directional control valve
 2/2 - valve

Number of ports Number of positions AB

 4/3 - valve
PT
 A and B are common terms for load ports
Line shows that the
 P – High pressure port valve can be
operated
 R eller T – Tank or return port continuously
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 Orifices - Valves
• Orifice p1 p2
q

• Resistor

p1 p2
• Variable orifice q

• Transistor
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 Valve
AB
• Proportional direction
PT
control 4/3 valve

• H-bridge or four transistors

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 Basic components
Cylinder Tank

Pump p2
Indicates flow 2 pressure side
direction and
2 flow direction
pressure side
p1
 A pump increases the pressure, i.e. p2>p1.
p2
Motor The arrow indicate
the motor is
 A motor decreases the pressure variable.
i.e. p2>p1. 23
p1
 Electric System

HBridge Linear actuator

Motor
Generator

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 Hydraulic System
Cylinder
4/3 Valve

Motor

Pump

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 Hydraulic systems

Open pump controlled Closed pump

system controlled system

Open valve controlled Closed pump and motor controlled

system system
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 Hydraulic systems

Inertial Inertial
load load

Meter-in controlled
motor Meter-out controlled
motor

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 Analogies
Domain Power Power Storage Storage Dissipative
variable variable element element element
Translational Mass, M Spring, K Damper, B
Rotational Inertia, J Spring, K Damper, B
Electrical Inductor, L Capacitor, C Resistor, R
Fluid power Inertance, I Capacitor, C Resistance, R

i.e. Mass of the i.e Volume

Current, I Torque, T fluid in a pipe

Velocity, v Force F

Voltage, U Flow, q

Pressure, p Velocity, w
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