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Hyd Formelsammlung en PDF
Hyd Formelsammlung en PDF
Formulary Hydraulics
Hydraulic Formulary
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Sales Industry Sector Metallurgy
Formulary Hydraulics
CONTENTS
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Formulary Hydraulics
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Formulary Hydraulics
Density Gram/ g
1
g kg t
=1 3 =1 3 =1
g
cm3 cm3 dm m ml
Cubic centimeter
Force Newton N kg m J
1N = 1 =1
Weight s2 m
1daN = 10N
cm 2 kp
1 = 0,981bar
cm 2
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Formulary Hydraulics
Acceleration Meter/ m
1
m
=1
N
s2 s2 kg
per square second
1g = 9,81 m/s2
Power Watt W Nm J kg m m
1W = 1 =1 =1 2
Newton meter/ second Nm/s s s s s
Joule J
Kilowatt hour kWh 1kWh = 1.000 Wh = 10003600Ws = 3,6106Ws
Kilo joule kJ = 3,6103kJ = 3600kJ = 3,6MJ
Mega joule MJ
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Formulary Hydraulics
[Bar]
Specific Heat at 20C 2,1 3,3 4,2 1,3-1,5
[kJ/kgK]
Thermal Conductivity at 20C 0,14 0,4 0,6 0,11
[W/mK]
Optimal Temperatures 40-50 35-50 35-50 35-50
[C]
Water Content 0 40-50 80-97 0
[%]
Cavitation Tendency low high very high low
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Formulary Hydraulics
F = 10 p A
F = p A 10 F = piston pressure force[N]
d2
p = fluid pressure[bar]
A= A = piston surface[cm2]
4 d = piston diameter[cm]
= efficiency cylinder
4 F 0,1
d=
p
4 F
p = 0,1
d2
Piston Forces
Figure Equation / Equation Variations Symbols / Units
F = pe A 10
F = pe A 10 F = piston pressure force[N]
pe = excess pressure on the piston[bar]
d2 A = effective piston surface[cm2]
A=
4 d = piston diameter[cm]
(D2 d 2 )
A=
4
Hydraulic Press
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Formulary Hydraulics
Continuity Equation
Figure Equation / Equation Variations Symbols / Units
Q1 = Q 2
Q1,2 = Volume flows [cm3/s, dm3/s, m3/s]
Q1 = A 1 v 1 A1,2 = Area surfaces [cm2, dm2, m2]
v1,2 = Velocities
Q2 = A 2 v2
[cm/s, dm/s, m/s]
A 1 v1 = A 2 v 2
Piston Speed
Figure Equation / Equation Variations Symbols / Units
Q1
v1 =
A1
v1,2 = Piston speed [cm/s]
Q Q1,2 = Volume flow [cm3/s]
v2 = 2 A1 = Effective piston surface (circle) [cm2]
A2
A2 = Effective piston surface (ring) [cm2]
d2
A1 =
4
(D2 d 2 )
A2 =
4
Pressure Intensifier
Figure Equation / Equation Variations Symbols / Units
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Formulary Hydraulics
Hydro Pump
Hydro Motor
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Formulary Hydraulics
n max
n=
i
Md
p = 20
Vg mh
Vg n
Q=
1000 vol
Vg n vol
QP =
1000
Q p
P=
600 ges
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Formulary Hydraulics
n max
n=
i
Md
p = 20
Vg mh
Vg n
Q=
1000 vol
Vg n vol
QP =
1000
Q p
P=
600 ges
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Formulary Hydraulics
VG = Displacement [cm3]
V
( G )2
2 E 2 0 = Intrinsic angular frequency [1/s]
0 = f0 = Intrinsic frequency [Hz]
J red VG
( + VR )
2 Jred = Moment of inertia red. [kgm2]
El = 1400 N/mm2
f0 = 0 VR = Volume of the line [cm3]
2
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Formulary Hydraulics
Hydro Cylinder
Q th
Q=
vol. FS
Ah
V= [l]
10000
A h6
t= [s]
Q 1000
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Differential Cylinder
dK
2 va = Extending speed [m/s]
= ve = Retracting speed [m/s]
(d K d St )
2 2
400
QSt
ve =
6
(d K d St )
2 2
400
QK
va =
6
dK
2
400
Vol p = d St h
2
4 10 6
Vol F = h (d K d St )
2 2
4 10 6
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Formulary Hydraulics
400
Vol p = d St h
2
4 10 6
Vol FA = h (d K d StA )
2 2
4 10 6
Vol FB = h (d K d StB )
2 2
4 10 6
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Formulary Hydraulics
Cylinder in Differential Control
400
Extension: QP = Pump flow [l/min]
QP va = Extending speed [m/s]
va =
6 ve = Retracting speed [m/s]
d St
2
400
QSt=QP
QP d K
2
QK =
(d K d St )
2 2
Vol p = d St h
2
4 10 6
Vol F = h (d K d St )
2 2
4 10 6
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d
2 AK = Piston surface [cm2]
AK = K AR = Piston ring surface [cm2]
4
100 dK = Piston diameter [mm]
dSt = Piston rod diameter [mm]
(d d St )
2 2
AR = K dRK = NW- piston side [mm]
4
LK = Length of piston side [mm]
100
dRSt = NW-rod side [mm]
d L
2
VRK = RK K LSt = Length of rod side [mm]
4 1000 h = Stroke [cm]
d L VRK = Volume of the line piston side [cm3]
2
VRSt = RSt St
4 1000 VRSt = Volume of the line rod side [cm3]
mRK = Mass of the oil in the line piston side [kg]
VRK l
mRK = mRSt = Mass of the oil in the line rod side [kg]
1000
hK = Position at min intrinsic frequency [cm]
V l
mRSt = RSt f0 = Intrinsic frequency [Hz]
1000
0 = Angular frequency
A h V
R + RSt RK
V
A3 AR
3
AK
3
hk = R mred
01 = 0
(
1
+
1
) mlred + mred
AR AK
01
f 01 =
1 A EL
2
AR El
2
2
0 = ( K + )
m A h A ( h hK )
K K
+ VRK R
+ VRSt
10 10
0
f0 =
2
4
d 1 400 A R
mlred = mRK K + mRSt
d RK d RSt
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Formulary Hydraulics
Cylinder Intrinsic Frequency at Double Acting Cylinders
(d d St )
2 2 AR = Piston ring surface [cm2]
AR = K dK = Piston diameter [mm]
4
100 dSt = Piston rod diameter [mm]
dR = NW [mm]
d L
2
VR = RK K LK = Length of the piston side [mm]
4 1000
h = Stroke [mm]
V l VR = Volume of the line [cm3]
mR = R
1000 mR = Mass of the oil in the line [kg]
f0 = Intrinsic frequency
2 E l
2
AR
0 = 100 ( ) 0 = Angular frequency
m red AR h
+ VRSt
10
Equation applies only to the middle position of the
double rod cylinder
Natural frequency of any position can be calculated
using the equation for the differential cylinder (as shown
on page 17, however AK = AR)
0
f0 =
2
4
1 400 A R
mlred = 2 mRK
dR
mred
01 = 0
mlred + mred
01
f 01 =
2
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Formulary Hydraulics
d
2 AK = Piston surface [cm2]
AK = K dK = Piston diameter [mm]
4
100 dR = Diameter of the piping [mm]
LK = Length piston side [mm]
d L
2
VR = K K LR = Length of the line [mm]
4 1000
h = Stroke [mm]
V l VR = Volume of the line [cm3]
mR = R
1000 MR = Mass of the oil in the line [kg]
2 f0 = Intrinsic frequency
E AK
0 = 100 l ( )
mred AK h + VRSt 0 = Angular frequency
0
f0 =
2
4
d
m lred = 2 mR K
dR
mred
01 = 0
mlred + mred
01
f 01 =
2
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Formulary Hydraulics
Piping
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Formulary Hydraulics
Nomenclature
Parameters Symbols Units
Acceleration / deceleration A m/s2
Cylinder surface A1 cm2
Ring surface A2 cm2
Aspect ratio =A1/A2 -
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Calculation:
Layout:
210 38,1 + 1,4 2 [4450 + (5,25 38,1)]
FT = Fa+FR+FC+FE [daN] p1 = = 120bar
38,1(1 + 1,4 3 )
Given Parameters 210 120
p 2 = 5,25 + = 52bar
FT = 4450 daN 1,4 2
PS = 210 bar
PT = 5,25 bar
A1 = 53,50 cm2
A2 = 38,10 cm2 Q= 0,0653,530=96 l/min
= 1,40
vmax = 30,00 cm/s
==> p1 und p2 35
Q N = 96 = 60l / min
p S A2 + R [ FT + ( pT A2 )]
2
210 120
p1 = bar
A2 (1 + 3 )
p p
p2 = pT + S 2 1 bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
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Formulary Hydraulics
Differential Cylinder Retracting with Positive Load
Layout: Calculation:
FT = Fa+FR+FC+FE [daN] (210 38,1 1,42 ) + 4450 + (5,25 38,1 1,4)]
p2 = = 187bar
38,1(1 + 1,43 )
Given Parameters
FT = 4450 daN p 1 = 5,25 + [(210 187)1,4 2 ] = 52bar
PS = 210 bar
PT = 5,25 bar
A1 = 53,50 cm2
A2 = 38,10 cm2 Q= 0,0638,130=69 l/min
= 1,40
vmax = 30,00 cm/s
==> p1 und p2
35
( p A 3 ) + FT + ( pT A2 )] Q N = 96 = 84l / min
p2 = S 2 bar 210 187
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2
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Formulary Hydraulics
Calculation:
Layout:
175 61,3 + 1,32 [2225 + (0 61,3)]
FT = Fa+FR-G [daN] p1 = = 36bar
61,3(1 + 1,33 )
Given Parameters 175 36
p2 = 0 + = 82bar
FT = -2225 daN 1,32
PS = 175 bar
PT = 0 bar
2
A1 = 81,3 cm
2
A2 = 61,3 cm
= 1,3 Q= 0,0681,312,7=62 l/min
vmax = 12,7 cm/s
==> p1 und p2
p S A2 + 2 [ FT + ( pT A2 )] Q N = 62
35
= 31l / min
p1 = bar 175 36
A2 (1 + 3 )
p p
p2 = pT + S 2 1 bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
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Formulary Hydraulics
Calculation:
Layout:
(210 61,3 + 1,32 ) 4450 + (0 61,3 1,3)]
FT = Fa+FR-G [daN] p2 = = 122bar
61,3(1 + 1,33 )
Given Parameters p 1 = 0 + [(210 122)] = 149 bar
FT = -4450 daN
PS = 210 bar
PT = 0 bar
2
A1 = 81,3 cm
2 Q= 0,0661,325,4=93 l/min
A2 = 61,3 cm
= 1,3
vmax = 25,4 cm/s
==> p1 und p2 35
Q N = 93 = 59l / min
( p S A2 ) + FT + ( pT A2 )]
3 210 122
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2
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Formulary Hydraulics
Calculation:
Layout:
(140 19,9) + 1,62 [2225 + (3,5 19,9)]
FT = Fa+FE+FS+[G(cos+sin)] daN p1 = = 85bar
19,9(1 + 1,63 )
Given Parameters 140 85
p 2 = 35 + = 25bar
FT = 2225 daN 1,6 2
PS = 140 bar
PT = 3,5 bar Q= 0,0631,612,7=24 l/min
2
A1 = 31,6 cm
A2 = 19,9 cm
2 35
Q N = 24 = 19 l/min
= 1,6 140 85
vmax = 12,7 cm/s
==> p1 and p2
p S A2 + 2 [ F + ( pT A2 )]
p1 = bar
A2 (1 + 3 )
p S p1
p2 = pT + bar
2
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
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Calculation:
Layout:
(140 19,9 1,63 ) + 1780 + [3,5 19,9 1,6)]
FT =Fa+FE+FS+[G(cos+sin)] daN p2 = = 131bar
19,9(1 + 1,63 )
35
QN = Q l/min
pS p 2
Selection of a Servo valve 10% larger than the
calculated nominal volume flow.
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Formulary Hydraulics
Calculation:
Layout:
FT = Fa+FE+FR+[G(cos-sin)] daN (210 106) + 1,22 [6675 + (0 106)]
p1 = = 131bar
106(1 + 1,43 )
Given Parameters
FT = -6675 daN Caution!!!
PS = 210 bar
Negative load is leading to cylinder cavitation.
PT = 0 bar
2 Specified parameters to be changed by means of
A1 = 53,5 cm
2 using a larger cylinder size, increasing the system
A2 = 38,1 cm
pressure or reducing the necessary total force.
= 1,4
2 2
vmax = 25,4 cm/s A1 = 126 cm A2 = 106 cm R=1,2
==> p1 und p2
210 44
p S A2 + 2 [ F + ( pT A2 )] p2 = = 116bar
p1 = bar 1,2 2
A2 (1 + 3 )
Q= 0,0612625,4=192 l/min
p S p1
p2 = pT + bar
Q N = 192
35
= 88 l/min
2 210 44
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
Selection of a Servo valve 10% larger than the
calculated nominal volume flow.
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Formulary Hydraulics
Calculation:
Layout:
(210 38,1 1,43 ) + [ 6675 + (0 38,1 1,4)]
F = Fa+FE+FR+[G(cos-sin)] daN p2 = = 107 bar
38,1(1 + 1,43 )
35
QN = Q l/min
pS p 2
Selection of a Servo valve 10% larger than the
calculated nominal volume flow.
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Formulary Hydraulics
Calculation:
Layout:
210 + 0 10 56,5
T = J+TL [Nm] p1 = + = 127bar
2 82
p 2 = 210 127 + 0 = 83bar
Given Parameters
T = 56,5 Nm
PS = 210 bar
PT = 0 bar
3 QM= 0,011082=8,2 l/min
DM = 82 cm /rad
M = 10 rad/s 35
Q N = 8,2 = 5,3 l/min
210 127
==> p1 and p2
p S + p T 10T
p1 = + bar
2 DM
p 2 = p S p1 + p T bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
QM= 0,01MDM l/min
35
QN = QM l/min
p S p1
Selection of a Servo valve 10% larger than the
calculated nominal volume flow.
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Formulary Hydraulics
Calculation:
Layout:
210 + 0 10 ( 170)
T = J-TL [Nm] p1 = + = 40bar
2 82
p 2 = 210 40 + 0 = 170bar
Given Parameters
T = -170 Nm
PS = 210 bar
PT = 0 bar
3 QM= 0,011082=8,2 l/min
DM = 82 cm /rad
M = 10 rad/s 35
Q N = 8,2 = 3,6 l/min
210 40
==> p1 and p2
p S + p T 10T
p1 = + bar
2 DM
p 2 = p S p1 + p T bar
Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
QM= 0,01MDM l/min
35
QN = QM l/min
p S p1
Selection of a Servo valve 10% larger than the
calculated nominal volume flow.
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Formulary Hydraulics
The different components (cylinder / motors ) have to be dimensioned for the layout of the
necessary forces of a hydraulic system, so that the acceleration and the deceleration of a mass is
correct and targeted.
The mechanics of the system are defining the stroke of the cylinders and motors.
Speed- and force calculations have to be carried out.
Statements with view to acceleration and its effects on the system can be made by fixing the reduced
mass of a system.
The reduced mass (M) is a concentrated mass, exerting the same force and acceleration
components as the regular mass at the correct system.
The reduced moment of inertia (Ie) has to be considered for rotational systems.
The reduced mass has to be fixed in a first step for considerations with stroke measuring systems or
for applications with deceleration of a mass!
Newtons second axiom is used for the specification of the acceleration forces.
F = m a F= force [N]
m= mass [kg]
a= acceleration [m/s2]
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Linear Drives
The mass is a concentrated mass and the rod l is weightless. The cylinder axis is positioned
rectangular to the rod l.
Relation between cylinder and rod:
vc v m ac am
= = = =
r l r l
Needed torque for acceleration of the mass:
= IX = F r
= m l 2 X I = m l2
am am
= m l2 X =
l l
= m lXa m
m l am l
==> F= = m i am i=
r r
mi can be considered as mass movement m.
l ac ac am
F = m i am = m i = m i2 a c = M a c mit =
r r l
F= cylinder force
M= reduced mass
ac= acceleration of the cylinder rod
General validity: M = mi 2
The same result can be obtained by the aid of the energy method (kinetic energy of the mass m). The
dependence of the mass movement with the cylinder movement can be specified with the help of the
geometry of the system.
Energy of the mass:
1 1
KE = I 2 = m l 2 2 (I=mi2)
2 2
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2
1 v
= m l2 c (vc=r )
2 r
1 l2
= m 2 vc
2
2 r
1
M vc
2 2
= M=mi and i=l/r
2
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Formulary Hydraulics
v
2
1
= m l2 ( =v/r)
2 r
1 l2
= m 2 v
2
2 r
1
= m i2 v
2
2
with v=vcos
1
==> KE = m i2 v 2
2
1 m i2 1
= v2 = M v2
2 (cos ) 2
2
i2
with M = m ==> M is position-depending
(cos ) 2
If: = 0 then, =1 and M=mi2
=90 then, cos=0 and M=
i2
=30 then, cos=0,866 and M = m
0,75
If a cylinder is moving a mass, as shown in the preceding figure, and the movement is situated between -30 and
+30, the acceleration- and deceleration forces have to be calculated in the center of motion with a reduced mass,
twice as large as the one in the neutral center.
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Formulary Hydraulics
When considering the same rod l with the mass m, you can here also calculate the reduced mass of
the rod.
1 1 1 1
KE = I 2 = X m l 2 2 m l2
2 2 3 3
v
2
1 1
= X m l2 ( =v/r)
2 3 r
1 1 l2
= X m 2 v
2
2 3 r
1 1
= X m i2 v
2
2 3
with v=vcos
1 1 m i2 1
= X 2
v2 = M v2
2 3 (cos a ) 3
1 m i2
M=
2 (cos a ) 2
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Formulary Hydraulics
Rotation
If considering now a rotating mass with a moment of inertia I, driven by a motor (ratio D/d).
1 1 d
KE = I 2 m = I ( ) 2 I= moment of inertia [kgm2]
2 2 D
2
1 d
= I 2 = angular acceleration [rad/s2]
2 D
1
= I i2 2
2
1
= Ie 2 Ie= Ii2
2
i=d/D
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Formulary Hydraulics
1
KE = m v2
2
1
= m ( r ) v=r
2
2
1
= m r 2 2
2
1
= Ie 2 Ie= mr
2
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Formulary Hydraulics
Hydraulic Resistances
The resistance of an area reduction is the change of the applied pressure difference p to the
corresponding volume flow change.
d (p)
R=
dQ
Orifice Equation
dB
2
2 p K = flow coefficient (0,6-0,8)
QBlende = 0,6 K
4 = 0,88 [kg/dm3]
dB = orifice diameter [mm]
p = pressure difference [bar]
Qorifice= [l/min]
Throttle Equation
r4 Qthrottle= [m3/s]
Q Drossel = ( p1 p 2 )
8 l = dynamic viscosity [kg/ms]
= l = throttle length [m]
r = radius [m]
= kinematic viscosity [m2/s]
= 880 [kg/m3]
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Formulary Hydraulics
Hydro Accumulator
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Formulary Hydraulics
The size of the heat exchangers can be defined by the calculated value p01 of the diagrams of the
different manufacturers.
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Formulary Hydraulics
Example AB-Standards:
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Layout of a Valve
( p S A2 3 ) + FT + ( pT A2 )]
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
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