Secondary controlled systems

and transformers

Karl-Erik Rydberg
Karl-Erik.Rydberg@liu.se

Fluid and Mechatronic Systems

Linkpings universitet, Sweden

Rydberg K-E Secondary control and transformers TMMS 10

Machine and Valve controlled systems

Primary control Secondary control
Acc.

E Jt E Jt

Rotating
Motion Throttle control
Mt
Secondary control
Mt
Acc.
Control
Losses Transformer

Primary control Secondary control

Acc.

E Jt E Jt
Linear
Motion Throttle control Secondary control
Mt Mt
Control Acc.

Losses Transformer

Rydberg K-E Secondary control and transformers TMMS 10 2

1
Secondary controlled systems
Gran Palmgren, LiU-Tek-Lic-1988

Constant pressure system with primary and secondary control

Rydberg K-E Secondary control and transformers TMMS 10 3

Hydro--mechanical speed control

Hydro
Gran Palmgren, LiU-Tek-Lic-1988

Rydberg K-E Secondary control and transformers TMMS 10 4

2
 Winch drive with secondary control

Gran Palmgren, LiU-Tek-Lic-1988

Rydberg K-E Secondary control and transformers TMMS 10 5

Dynamics of secondary controlled system

qp qL Controller mref
p Acc.
m +
m

Jt TL
np
p0 m
Bm

Constant system pressure (p0) gives the torque eq.:

m Dm p0 TL
m Dm p0 = (J t s + Bm ) m + TL Transfer function: m =
J
Bm 1 + t s
Bm
Open loop block-diagram:
TL
-
mref 1 m 1 / Bm m 1 m
Dm p0
1+ m s + J s
1+ t s
Controller Bm
dynamics

Rydberg K-E Secondary control and transformers TMMS 10 6

3
Transformer concepts

Rydberg K-E Secondary control and transformers TMMS 10 7

Transformer working principle

Rydberg K-E Secondary control and transformers TMMS 10 8

4
Conventional transformers
(Motor) (Pump)
I DI D
Lifting: p0 = II II ( p A p0 )
2 2
D
p A = I I + 1 p0
II DII

I DI D
p0 = II p A
2 2
D
p A = I I p0
DII
Rydberg K-E Secondary control and transformers TMMS 10 9

Transformers in secondary controlled systems

Innas transformer concepts

Rydberg K-E Secondary control and transformers TMMS 10 10

5
Efficiencies of different transformer concepts
Required displacement

High efficiency regions,

> 80% above the lines

Rydberg K-E Secondary control and transformers TMMS 10 11

Hydraulic fork
fork--lift system with transformer

Rydberg K-E Secondary control and transformers TMMS 10 12

6
Transformer unit (HAB) for hydraulic boom control

Hydraulic
Accumulator
Balancing
(HAB) unit
tested at
Tampere Univ.

Rydberg K-E Secondary control and transformers TMMS 10 13

The Eco Mate system and excavator appl.

Eco Mate used in a

45 ton crawler
excavator, CAT

Rydberg K-E Secondary control and transformers TMMS 10 14

7
Transformer dynamics in different installations
Load Load
Acc Acc
p1 xp
p L Ap
Motor
q1 qL Control
e1 e2

Tm

1 wm
CE 1
2 2

s X p D2m / Ap 1 / Bm B
= m = (1D1 p1 2 D2 pL ) ; tf = m
2 s 2
2 h 1+
s Jm
+ s +1
2
h h tf

Rydberg K-E Secondary control and transformers TMMS 10 15

Hydraulic
accumulators

p 1/ n
1/ n
V = V1 V2 = V1 1 1 => p
p2 V2 = V1 1
p2
p1 p0
V Adiabatic or
isothermal V1 = V0
p0 p1
V0 = 1/ n
n = 1,5 2,5 process

p
1 1
p2
Rydberg K-E Secondary control and transformers TMMS 10 16

8
Hydraulic accumulator - Characteristic

Pressure rises
Temperature
rises

H
H

Rydberg K-E Secondary control and transformers TMMS 10 17

Hydraulic accumulator - Characteristic

Thermal losses

Start point

Disturbance flow:

Rydberg K-E Secondary control and transformers TMMS 10 18

9
Polytropic exponent for real nitrogen
( = 20oC)

Max working pressure:

p2 = p1 + 10 MPa

( = -25oC)

Rydberg K-E Secondary control and transformers TMMS 10 19

Accumulator thermal efficiency

1 1
Critical frequency: c w = 1 . 0 c = [rad/s] and f c = [Hz]
w 2 w
Rydberg K-E Secondary control and transformers TMMS 10 20

10