Industrial Control

Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology

Winter 2010
Tehran, Iran

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Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric ow
A-Variable v , voltage p, pressure
Dissipator resistor orice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

Behzad Samadi (Amirkabir University) Industrial Control 2 / 17

Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric ow
A-Variable v , voltage p, pressure
Dissipator resistor orice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve

The uid is assumed to be incompressible.

[Macia and Thaler, 2004, Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 2 / 17

Hydraulic Dissipator

dArcys Law
For a thin tube:
p = Rf q

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Hydraulic Dissipator

dArcys Law
For a thin tube:
p = Rf q

For a sudden change in area, such as an orice or valve:

p = q 2 sgn(q)

is a constant.
[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 3 / 17

Hydraulic Capacitor

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Hydraulic Capacitor

g t

mg g
p= = V = q( )d
A A A 0
p =pressure at the bottom of the tank
V =volume of the uid in tank
A =cross section area of the tank
=density of the uid

Behzad Samadi (Amirkabir University) Industrial Control 4 / 17

Hydraulic Capacitor

g t

mg g
p= = V = q( )d
A A A 0
p =pressure at the bottom of the tank Hydraulic Capacitor
A
V =volume of the uid in tank Cf = g
A =cross section area of the tank
=density of the uid
[Ljung and Glad, 1994]

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Hydraulic Inductor

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Hydraulic Inductor

dv
F =ma = (lA)
dt
F dv
p= = l
A dt
q =Av

Behzad Samadi (Amirkabir University) Industrial Control 5 / 17

Hydraulic Inductor

dv
F =ma = (lA)
dt
F dv l dq dq
p= = l p = = Lf
A dt A dt dt
q =Av

Behzad Samadi (Amirkabir University) Industrial Control 5 / 17

Hydraulic Inductor

dv
F =ma = (lA)
dt
F dv l dq dq
p= = l p = = Lf
A dt A dt dt
q =Av

Hydraulic Inductor
Lf = Al
[Ljung and Glad, 1994]

Behzad Samadi (Amirkabir University) Industrial Control 5 / 17

Hydraulic Junction

i Qi = 0 (KCL)

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Hydraulic Junction

Qi = 0 (KCL) p4 = p1 + p2 + p3 (KVL)
i

[Ljung and Glad, 1994]

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Hydraulic Transformer

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Hydraulic Transformer

p1 Q1 =p2 Q2
p1 =p2
1
Q1 = Q2

A2
=
A1
[Ljung and Glad, 1994]

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Hydraulic Servomechanism

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Hydraulic Servomechanism

xm : maximum displacement

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Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0

Behzad Samadi (Amirkabir University) Industrial Control 9 / 17

Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps

Behzad Samadi (Amirkabir University) Industrial Control 9 / 17

Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps
Pa = 12 ( xxm + 1)Ps

Behzad Samadi (Amirkabir University) Industrial Control 9 / 17

Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps
Pa = 12 ( xxm + 1)Ps
Pb = 12 ( xxm + 1)Ps

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Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps
Pa = 12 ( xxm + 1)Ps
Pb = 12 ( xxm + 1)Ps
Pa P1 = Rq q

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Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps
Pa = 12 ( xxm + 1)Ps
Pb = 12 ( xxm + 1)Ps
Pa P1 = Rq q
Pb P2 = R q q

Behzad Samadi (Amirkabir University) Industrial Control 9 / 17

Hydraulic Servomechanism

xm : maximum displacement
{
Pa = Ps
x = xm
Pb = P0 = 0
{
Pa = P0 = 0
x = xm
Pb = Ps
Pa = 12 ( xxm + 1)Ps
Pb = 12 ( xxm + 1)Ps
Pa P1 = Rq q
Pb P2 = R q q
q = Ay

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Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )

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Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1
P1 = Pa Rq q = 21 ( xxm + 1)Ps Rq Ay

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1
P1 = Pa Rq q = 21 ( xxm + 1)Ps Rq Ay

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1
P1 = Pa Rq q = 21 ( xxm + 1)Ps Rq Ay

M y + B y + Ky =A(P1 P2 )
=A(2P1 Ps )
x
=A(( + 1)Ps 2Rq Ay Ps )
xm

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1
P1 = Pa Rq q = 21 ( xxm + 1)Ps Rq Ay

M y + B y + Ky =A(P1 P2 )
=A(2P1 Ps )
x
=A(( + 1)Ps 2Rq Ay Ps )
xm

x
M y + (B + 2Rq A2 )y + Ky = APs
xm

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Servomechanism

M y + B y + Ky = A(P1 P2 )
P1 + P2 = Ps P2 = Ps P1
P1 = Pa Rq q = 21 ( xxm + 1)Ps Rq Ay

M y + B y + Ky =A(P1 P2 )
=A(2P1 Ps )
x
=A(( + 1)Ps 2Rq Ay Ps )
xm

x
M y + (B + 2Rq A2 )y + Ky = APs
xm
s AP
Y (s) xm
=
X (s) Ms 2 + (B + 2Rq A2 )s + K

Behzad Samadi (Amirkabir University) Industrial Control 10 / 17

Hydraulic Integrator
If M = K = B = 0 then
Y (s) APs 1
=
X (s) 2xm Rg A2 s

[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Hydraulic Integrator
If M = K = B = 0 then
Y (s) APs 1
=
X (s) 2xm Rg A2 s
Hydraulic integrator

[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Hydraulic Proportional Controller

Behzad Samadi (Amirkabir University) Industrial Control 12 / 17

Hydraulic Proportional Controller

Y (s) bK b
=
E (s) (a + b)s + aK a

[Ogata, 1997]

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Hydraulic Damper

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Hydraulic Damper

A(P1 P2 ) = ky

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Hydraulic Damper

A(P1 P2 ) = ky
P1 P2
q= R

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Hydraulic Damper

A(P1 P2 ) = ky
P1 P2
q= R
qdt = A(dx dy )

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Hydraulic Damper

A(P1 P2 ) = ky
P1 P2
q= R
qdt = A(dx dy )

Behzad Samadi (Amirkabir University) Industrial Control 13 / 17

Hydraulic Damper

A(P1 P2 ) = ky
P1 P2
q= R
qdt = A(dx dy )
Y (s) 1
= 1
X (s) 1 + Ts
[Ogata, 1997]

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Hydraulic Proportional Integrator Controller

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Hydraulic Proportional Integrator Controller

Y (s) K
X (s) = s

Behzad Samadi (Amirkabir University) Industrial Control 14 / 17

Hydraulic Proportional Integrator Controller

Y (s) K
X (s) = s
Z (s) 1
Y (s) = 1
1+ Ts

Behzad Samadi (Amirkabir University) Industrial Control 14 / 17

Hydraulic Proportional Integrator Controller

Y (s) K
X (s) = s
Z (s) 1
Y (s) = 1
1+ Ts

Behzad Samadi (Amirkabir University) Industrial Control 14 / 17

Hydraulic Proportional Integrator Controller

Y (s) K
X (s) = s
Z (s) 1
Y (s) = 1
1+ Ts ( )
Y (s) b 1
1+
E (s) a Ts
[Ogata, 1997]

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Hydraulic Proportional Derivative Controller

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Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s

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Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s
k(y z) = A(P1 P2 )

Behzad Samadi (Amirkabir University) Industrial Control 15 / 17

Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s
k(y z) = A(P1 P2 )
Z (s) 1
Y (s) = Ts+1

Behzad Samadi (Amirkabir University) Industrial Control 15 / 17

Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s
k(y z) = A(P1 P2 )
Z (s) 1
Y (s) = Ts+1

Behzad Samadi (Amirkabir University) Industrial Control 15 / 17

Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s
k(y z) = A(P1 P2 )
Z (s) 1
Y (s) = Ts+1

Behzad Samadi (Amirkabir University) Industrial Control 15 / 17

Hydraulic Proportional Derivative Controller

Y (s) K
X (s) = s
k(y z) = A(P1 P2 )
Z (s) 1
Y (s) = Ts+1
Y (s) b
(1 + Ts)
E (s) a
[Ogata, 1997]

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Comparison

Electrical Hydraulic Pneumatic

Energy source Usually from outside Electric motor or diesel Electric motor or diesel
supplier driven driven

Energy storage Limited (batteries) Limited (accumulator) Good (reservoir)

Distribution system Excellent, with minimal Limited, basically a lo- Good, can be treated as
loss cal facility a plantwide service

Energy cost Lowest Medium Highest

Rotary actuators AC and DC motors. Low speed. Good con- Wide speed range. Ac-
Good control on DC trol. Can be stalled. curate speed control
motors. AC motors dicult
cheap

Linear actuators Short motion via Cylinders. Very high Cylinders. Medium
solenoid. Otherwise via force force
mechanical conversion

Points to note Danger from electric Leakage dangerous and Noise

shock unsightly. Fire hazard

[Parr, 1999]

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Analogy Summary

[Macia and Thaler, 2004]

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 Ljung, L. and Glad, T. (1994).
Modeling of Dynamic Systems.
Prentice Hall PTR, 1 edition.
Macia, N. F. and Thaler, G. J. (2004).
Modeling and Control of Dynamic Systems.
Delmar Learning.
Ogata, K. (1997).
Modern Control Engineering.
Prentice Hall, 3 edition.
Parr, A. (1999).
Hydraulics and Pneumatics: A Technicians and Engineers Guide.
Butterworth-Heinemann, 2 edition.

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