Professional Documents
Culture Documents
Systems
ME4803 Motion Control
Wayne J. Book
HUSCO/Ramirez Chair in Fluid Power and
Motion Control
G.W. Woodruff School of Mechanical
Engineering
Georgia Institute of Technology
References
1. Norvelle, F.D. Fluid Power Control Systems, Prentice
Hall, 2000.
2. Fitch, E.C. and Hong I.T. Hydraulic Component
Design and Selection, BarDyne, Stillwater, OK, 2001.
3. Cundiff, J.S. Fluid Power Circuits and Controls, CRC
Press, Boca Raton, FL, 2002.
4. Merritt, H.E. Hydraulic Control Systems, John Wiley
and Sons, New York, 1967.
5. Fluid Power Design Engineers Handbook, Parker
Hannifin Company (various editions).
Voltsamp
Electric
or IC
prime
mover
System Overview
Rpm- Pump
torque
Transmis
& valve
Flow- Motor or
press. cylinder
Rpmtorque
or
force
Coupling
mechanism
Rpmtorque
or
force
Load
Actuating solenoid
Spring return
Variable
displacement
reversible pump
Proportional Valve
Torque motor
moves spool
left
Flow
exits
Torque motor
moves spool
right
Positive motor
Negative motor
rotation
rotation
Orifice Model
Q Cd Ao
2
p
p2, q2
p1, q1
1
(p p ) (high order terms)
(x x)
x x
p x x
p p
p p
x x
p p
ps p
C
;
2
q1
p
x x
p p
x
2 2 ps p
p0
x x
p p
ps
q1
C
K1 ;
2
p
x x
p p
ps
p0
x
K2 0
p2, q2
p1, q1
Change in
volume
Change in
density
q1 K1 x K 2 p K1 x Ay
Net area Ap
If truly incompressible:
dp
dp
Bulk modulus :
dM q dt ; dp
V
q dt
1
1 d ( M / V ) 1 1 M M V
2
eff
dp
V p V p
Using this to solve for the change in pressure
eff
dp
V
dM k M dt k q dt
dv/dt
dt
dv/dt
A /m
With flapper
centered the flow
and pressure is
balanced
Feedback spring balances
torque motor force
Pressure increases
Spool is driven right
Flow gives
negative rotation
2 Sharp
edged
orifices,
symmetrical
opening
Proportional
control
May be negligible
Net flow /
displacement
pressure (stress)
Stress
Thin-walled tubes (t<0.1D)
Thick-walled tubes (t>0.1D)
Guidelines
Fluid speed
Strengths
Factors of safety (light service: 2.5, general: 3.15,
heavy: 4-5 or more)
L Q
p f D
2 Dh A
p pressure drop along the tube
f D friction factor (depends on N R )
L tube length
Dh hydraulic diameter
or
D
Q
p, N R 2000
128L
absolute viscosity
(Hagen - Poiseuille law)
u fluid velocity
4
h
Orifice Model
Q Cd Ao
2
p
Buckling
in
the
Piston
Rod
(Fitch)
Rod is constrained by cylinder at two points
(conduits or cylinders)
Thin walled cylinders (open, or where only
circumferential hoop stress is significant) (Barlow)
Thick walled cylinders
Brittle materials (based on max normal stress) use Lames
formula
Ductile (based on max strain theory)
Open end (no axial stress) (Birnie)
Closed end (cylinder bears axial stress) (Clavarino)
Stress formulas
PDi
t
2 sd
Di inside diameter
Di
t
2
sd (1 2 ) P
1
sd (1 ) P
Poisson' s ratio
sd P
1
sd P
sd (1 ) P
1
sd (1 ) P
Ia
F
tan La
Ib
Ea I a
tan Lb
F
Eb I b
0.25
64 I b
Dr
diameter of rod
The first equation may be solved iteratively
then solve for Dr
Pressure Specifications