4th Lecture Automatic Control I Dr.

Qasim Abbas

Hydraulic System:
The widespread use of hydraulic circuitry in machine tool applications, aircraft
control systems, and similar operations occurs because of such factors as
positiveness, accuracy, flexibility, high horsepower-to-weight ratio, fast starting,
stopping, and reversal with smoothness and precision, and simplicity of
operations. The operating pressure in hydraulic systems is somewhere between 1
and 35 MPa. In some special applications, the operating pressure may go up to
70 MPa. For the same power requirement, the weight and size of the hydraulic
unit can be made smaller by increasing the supply pressure. With high pressure
hydraulic systems, very large force can be obtained. Rapid-acting, accurate
positioning of heavy loads is possible with hydraulic systems. A combination of
electronic and hydraulic systems is widely used because it combines the
advantages of both electronic control and hydraulic power.

Advantages and Disadvantages of Hydraulic Systems:

There are certain advantages and disadvantages in using hydraulic systems
rather than other systems. Some of the advantages are the following:
1. Hydraulic fluid acts as a lubricant, in addition to carrying away heat generated
in the system to a convenient heat exchanger.
2. Comparatively small-sized hydraulic actuators can develop large forces or
torques.
3. Hydraulic actuators have a higher speed of response with fast starts, stops, and
speed reversals.
4. Hydraulic actuators can be operated under continuous, intermittent, reversing,
and stalled conditions without damage.
5. Availability of both linear and rotary actuators gives flexibility in design.
6. Because of low leakages in hydraulic actuators, speed drop when loads are
applied is small.

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4th Lecture Automatic Control I Dr. Qasim Abbas

On the other hand, several disadvantages tend to limit their use:

1. Hydraulic power is not readily available compared to electric power.
2. Cost of a hydraulic system may be higher than that of a comparable electrical
system performing a similar function.
3. Fire and explosion hazards exist unless fire-resistant fluids are used.
4. Because it is difficult to maintain a hydraulic system that is free from leaks, the
system tends to be messy.
5. Contaminated oil may cause failure in the proper functioning of a hydraulic
system.
6. As a result of the nonlinear and other complex characteristics involved, the
design of sophisticated hydraulic systems is quite involved.
7. Hydraulic circuits have generally poor damping characteristics. If a hydraulic
circuit is not designed properly, some unstable phenomena may occur or
disappear, depending on the operating condition.

Hydraulic System Modelling:

K C

Drain
Cylinder
Q
Piston
Supply
y
CV

Q
Drain
x
Valve

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4th Lecture Automatic Control I Dr. Qasim Abbas

Case one: Light load

1. Valve:
𝑋(𝑡) 𝑄(𝑡)
𝑄(𝑡) = 𝐶. 𝑋(𝑡) (1) 𝐶

Where Q(t): flow rate (m3/sec)

2. Cylinder
𝑄(𝑡) 1 𝑦(𝑡)
𝑄(𝑠) = 𝐴𝑦̇ 𝐴𝐷
1
𝑦(𝑡) = 𝑄(𝑡) (2)
𝐴𝐷
𝑿(𝒕) 𝑸(𝒕) 𝟏 𝒀(𝒕)
𝑪
𝑨𝑫

The overall block diagram

Case two: Heavy load Q(t)
x(t)
𝐶1
1. Valve _
𝑄(𝑡) = 𝐶1 . 𝑥(𝑡) − 𝐶2 . 𝑃(𝑡) (1) P(t)
𝐶2

2. Cylinder
𝑄(𝑡) 1 𝑌(𝑡)
𝑄(𝑡) = 𝐴. 𝑦̇
𝐴𝐷
1
𝑌(𝑡) = 𝑄(𝑡) (2)
𝐴𝐷

𝑪𝒚̇ 𝑲𝒚
3. Mechanical system
𝑃(𝑡). 𝐴 = 𝐹(𝑡) = (𝑀𝐷2 + 𝐶𝐷 + 𝐾). 𝑦(𝑡) M
F
𝑚𝐷2 + 𝐶𝐷 + 𝐾
𝑃(𝑡) = 𝑦(𝑡)
𝐴 𝑦(𝑡) 𝑀𝐷2 + 𝐶𝐷 + 𝐾 𝑃(𝑡)
𝐴

x(t) Q(t) 1 𝑦(𝑡)

𝐶1
_ 𝐴𝐷

P(t) 𝑀𝐷2 + 𝐶𝐷 + 𝐾
𝐶2
𝐴
Overall block diagram

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4th Lecture Automatic Control I Dr. Qasim Abbas

Example (1): Plot overall block diagram of the servo-hydraulic system shown
below?
15 25
45

K
2C 3K
C C
M

Drain Q

Supply
y
Drain
X2
e
25 25

35 X1
30

Solution:
𝑋2 35 35
= → 𝑋2 = 𝑋1 X2
𝑋1 30 30 X1 35 X2 35 30
30
𝑒1 25 25 X1
= → 𝑒1 = 𝑋
𝑋2 50 50 1
𝑒2 25 25 X2 25 e1 X2 e1
= → 𝑒2 = 𝑦 25 25
𝑦 50 50 50 𝑦=0

1 1
𝑒 = 𝑒1 − 𝑒2 = 𝑋2 − 𝑦
2 2 y 25 e2
25 25
𝑋2 = 0
e2
𝑄 = 𝐶1 𝑒 − 𝐶2 𝑃 50 y

1
𝑦= 𝑄
𝐴𝐷 X2 1 e1 e e 𝑪𝟏 Q
2
- - p
e2 𝟏 y 𝑪𝟐
𝐹 − 3𝐾(𝑦 − 𝑦1 ) = 𝑀𝑦̈ 𝟐

3𝐾(𝑦 − 𝑦1 )
Q 1 y
∴ 𝑃𝐴 = 𝐹 = (𝑀𝐷2 + 3𝐾)𝑦 − 3𝐾𝑦1
𝐴𝐷 M
2𝐶𝐷𝑘
𝑧= 𝐹 = 𝑃𝐴
2𝐶𝐷 + 𝑘

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 4th Lecture Automatic Control I Dr. Qasim Abbas

𝑦2 25 25
= → 𝑦2 = 𝑦 45 15 y2
𝑦1 15 15 1 25

y3 y1

𝑦3 60
= → 𝑦3 = 4𝑦1 45 15 25
𝑦1 15

2𝐶𝐷𝑦3 3K(y − 𝑦1 ) 𝑧𝑦2

15 × 3𝐾(𝑦 − 𝑦1 ) − 25 × 𝑧𝑦2 − 60 × 2𝐶𝐷𝑦3 = 0

625
∴ 45𝐾𝑦 − 45𝐾𝑦1 − 𝑧𝑦 − 480𝐶𝐷𝑦1 = 0
15 1
45𝐾
𝑦1 = 𝑦
45𝐾 + 41.666𝑧 + 480

45𝐾
(𝑀𝐷2 + 3𝐾) − 3𝑘 ( )
∴𝑃= 45𝐾 + 41.666𝑧 + 480𝐶𝐷 𝑦
𝐴

X1 𝟑𝟓 X2 𝟏 e1 e Q 𝟏
𝑪𝟏 y
𝟑𝟎 𝟐 𝑨𝑫
- e2 -
𝟏
𝑪𝟐
𝟐
45𝐾
p (𝑀𝐷2 + 3𝐾) − 3𝑘 ( )
45𝐾 + 41.666𝑧 + 480𝐶𝐷
𝐴
y
y

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