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Nader Sadegh
George .W. Woodruff School of Mechanical Engineering Georgia Institute of technology
Fluid Systems
As the most versatile medium for transmitting signals and power fluid (gas or liquid) have wide usage in industry. In engineering terms
ME3015, System Dynamics & Control
hydraulic describes fluid systems that use liquids (e.g., oil or water) pneumatic applies to those using air or other gases.
Industrial processes often involve systems consisting of liquid-filled tanks connected by pipes having orifices, valves, and other flow restricting devices. Therefore, it is important to develop a systematic method to mathematically model different types of fluid systems.
Fluid Capacitor
A fluid capacitor is an energy storage element, analogous to capacitor in electrical systems. Fluid Capacitance: C = Change in Stored Fluid Volume
C=
Vc Pc
1 & Pc = q c C
Liquid Tank
Flowrate= rate of change of volume
& & q c = V c = A hc
ME3015, System Dynamics & Control
1 & hc = q c A
qc A hc
& g q Pc = c A
Pc
Fluid Inertance
Fluid inertance is due to fluid inertia such as that in a long pipe. It is define as
I=
ME3015, System Dynamics & Control
1 & qI = PI I
Long pipe: I=L/A, =fluid density, L=pipe length, A=cross-sectional area If head differential (hI=PI/g) is used instead of PI then, I=L/gA, I.e., dqI/dt=(gA/L)hI
Fluid Resistance
A fluid resistor is a dissipative fluid element representing a valve or other flow restricting connections. Fluid Resistance: Laminar Flow: hR=RqR hR Turbulent flow: hR=f(qR) R=df(qR)/dqR qR hR qR
R=
Mathematical Modeling
1. Identify the basic elements within the system and write the corresponding constitutive relationship (i.e., elemental equation) for each element with respect to a certain equilibrium level (Usually nonzero)
ME3015, System Dynamics & Control
2. Write the applicable interconnection equations, such as pressure or flow balance equations. 3. Assemble the resulting equations to form a system of ordinary differential equations with the same number of unknown variables as the number of equations. 4. Apply Laplace transform if transfer function or further reduction of the equations are required.
3. Liquid-Level System including a long pipe (inertance effect) to be discussed in class (next slide) 4. Linerization of nonlinear systems (section 54). Examples 5-3 and 5-4.
Q+qi H+hc C
A
H+ho L
Q+qo
Tank model: Cdhc/dt=qi-qo, Valve: ho=Rqo Long Pipe: Idqo/dt=hc-ho=hc-Rqo, I=inertance=L/gA Substituting for hc from the 2nd eq. Into 1st gives:
& IC && o + RC q o + q o = q i q
They have high power to weight ratio, and fast starting, stopping, and reversal actions. They often operate under a wide pressure range (145psi-5000psi). Power/weight ratio can be increased by increasing operating pressure
Modeling an Orifice
q p
ME3015, System Dynamics & Control
Hydraulic Servomotor/Amplifier
Modeling objective: relate output y to input x: Basic flow-pressure relationship: q1=C(ps-p1)1/2x
ME3015, System Dynamics & Control
p0
ps
p0
Simple Model
Assume: Incompressible flow q1=q2=Ady/dt No fluid leakage q1=q2 also implies that ps-p1=p2-p0ps=p1+p2 Letting p=p1-p2 then p1 and p2 can be expressed as
ME3015, System Dynamics & Control
Linearizing about
q1 = K 1x , K1 = C
p0
ps
p0
q2
q1 p1
p2
mdv/dt+(b+A2R)v=ARK1x
Step response
vss= ARK1/(b+A2R)
T=m/(b+A2R)