Modeling of Hydraulic

Systems
Zakarya Zyada, Taibah University
ME 441
 Hydraulic Actuator
• A useful actuator for the linear
positioning of a mass is the hydraulic
actuator shown in Figure.
• The hydraulic actuator provides a
large power amplification.
• A downward input displacement x
moves the control valve; thus, fluid
passes into the upper part of the
cylinder, and the piston is forced
downward.
• A small, low power displacement of
x(t) causes a larger, high-power
displacement, y(t).
 Hydraulic Actuator
• Assumptions:
o constant pressure source
o negligible compressibility
• The volumetric fluid flow rate q is
related to the input displacement x(t)
and the differential pressure across
the piston as q = f(x, pl). Using the
Taylor series linearization, we have:
𝜕𝑞 𝜕𝑞
𝑞(𝑡) = 𝑥(𝑡) + 𝑝𝑙 (𝑡)
𝜕𝑥 𝑥0 ,𝑝𝑙0
𝜕𝑝𝑙 𝑥0 ,𝑝𝑙0
 Mathematical Model
𝜕𝑞 𝜕𝑞
•𝑞 𝑡 = 𝑥 𝑡 + 𝑝𝑙 𝑡
𝜕𝑥 𝑥0 ,𝑝𝑙0 𝜕𝑝𝑙 𝑥 ,𝑝
0 𝑙0
• 𝑞 𝑡 = 𝐶𝑥 𝑥 𝑡 − 𝐶𝑝 𝑝𝑙 𝑡
𝑑𝑦
• 𝐴𝑝 = 𝑞(𝑡)
𝑑𝑡
𝑑2 𝑦 𝑑𝑦
• 𝑀 2 +b = 𝐴𝑝 𝑝𝑙
𝑑𝑡 𝑑𝑡
Mathematical Model
𝑄 𝑠 = 𝐶𝑥 𝑋 𝑠 − 𝐶𝑝 𝑃𝑙 𝑠
𝐴𝑝 𝑠𝑌(𝑠) = 𝑄(𝑠)

𝑀𝑠 2 + 𝑏𝑠 𝑌(𝑠) = 𝐴𝑝 𝑃𝑙 (𝑠)

𝑋 𝑠
𝑄 𝑠 𝑌(𝑠)
𝐶𝑥 1/𝐴𝑝 𝑠
_

𝑃𝑙 (𝑠)
𝐶𝑝 𝑀𝑠 2 + 𝑏𝑠 / 𝐴𝑝
Find x(t) as a function of z(t) and y(t).
𝑙2 𝑙1
•𝑥 𝑡 = 𝑧 𝑡 − 𝑦 𝑡
𝑙1 +𝑙2 𝑙1 +𝑙2
Mathematical model
𝑙2 𝑙1
•𝑥 𝑡 = 𝑧 𝑡 − 𝑦 𝑡
𝑙1 +𝑙2 𝑙1 +𝑙2
• 𝑞 𝑡 = 𝐶𝑥 𝑥 𝑡 − 𝐶𝑝 𝑝𝑙 𝑡
𝑑𝑦
• 𝐴𝑝 = 𝑞(𝑡)
𝑑𝑡
𝑑2 𝑦
• 𝑀 2= 𝐴𝑝 𝑝𝑙
𝑑𝑡

𝑙2 𝑙1
𝑋 𝑠 = 𝑍 𝑠 − 𝑌 𝑠 M
𝑙1 +𝑙2 𝑙1 +𝑙2
𝑄 𝑠 = 𝐶𝑥 𝑋 𝑠 − 𝐶𝑝 𝑃𝑙 𝑠
𝐴𝑝 𝑠𝑌(𝑠) = 𝑄(𝑠)
𝑀𝑠 2 𝑌(𝑠) = 𝐴𝑝 𝑃𝑙 (𝑠)
Mathematical model
𝑙2 𝑙1
𝑋 𝑠 = 𝑍 𝑠 − 𝑌 𝑠
𝑙1 +𝑙2 𝑙1 +𝑙2
𝑄 𝑠 = 𝐶𝑥 𝑋 𝑠 − 𝐶𝑝 𝑃𝑙 𝑠
𝐴𝑝 𝑠𝑌(𝑠) = 𝑄(𝑠)
𝑀𝑠 2 𝑌(𝑠) = 𝐴𝑝 𝑃𝑙 (𝑠)

𝑋 𝑠
𝑍 𝑠 𝑙2 𝑄 𝑠 𝑌(𝑠)
𝐶𝑥 1/𝐴𝑝 𝑠
𝑙1 + 𝑙2 _ _

𝑃𝑙 (𝑠)
𝐶𝑝 𝑀𝑠 2 / 𝐴𝑝
𝑙1
𝑙1 + 𝑙2