R. Zanasi (UNIMORE) - MCEMS 2020/21 1. POG Modeling 10.

Electro Hydraulic Pump

• The considered physical system and the corresponding POG block scheme:

Accumulator P0
V Q0
La Ra Ia DC Motor
Ia
Qu 9

Jm ωm 8
Va Vr Em
Qα
bm αp
5
1 2 3 4 Pump 6 7 Tank

Filter

Ia Cm Cp P0
Ia  - - -- Km - -     Kp     - P0
6 6
ṗ 6
?
1 1
? 1 ?
La C0
s
6φ Ra αp 6V
p
? bm
1 1 1
s Jm 6 s
6φ̇
Qα 6
? ? V̇
Va -     Km  ? - - -- Kp - - - -  Q0
Vr Em ωm Qu
Motor Motor Energy Motor Motor Energy Hydraulic Hydraulic
inductance resistance conversion inertia friction conversion leak accumulator
EL-MR MR-ID
1 2 3 4 5 6 7 8 9

• The corresponding POG physical scheme obtained using the POG modeler:
La Ra

Ia
Vra Tm
Jm T b Tp Qp K0Qd Qb

V0 Em w1 bm P0 d0 Pb
T = Km G = Kp

Electric domain Rot. Mechanical domain Hydraulic domain

R. Zanasi (UNIMORE) - MCEMS 2020/21 10. Electro Hydraulic Pump 10.2

• System parameters:
-- Matlab commands ---- (POG_Electro_Hydraulic_Pump_NL_SLX_m) -------------
%%%%%%%%%%%% SYSTEM PARAMETERS %%%%%%%%%%%%%%%%%%%%%%%%%%
L_a=0.3*mHenry; % 2. Inductance. Internal parameter.
R_a=1*Ohm; % 3. Resistance. Internal parameter.
K_m=0.5; % 5. Parameter. Transformer/Gyrator.
J_m=1*cm^2*1*kg; % 6. Inertia. Internal parameter.
b_m=0.02*Nm/(100*rpm); % 7. Angular friction. Internal parameter.
K_p=5e-06; % 9. Parameter. Transformer/Gyrator.
K_0=100*atm/((10*cm)^3); % 10. Hyd. Capacitance. Internal parameter.
d_0=(4*mm)^3/sec/(10*atm); % 11. Hyd. Conductance. Internal parameter.
P_0=5*atm; % Pressure of the hydraulic capacitor when V=0
V_0=(15*cm)^3; % Volume of the hydraulic capacitor
%%%%%%%%%%%% INPUT VALUES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
V_a=24*Volt; % 1. Voltage. Input value.
Q_0=(4*cm)^3/sec; % 12. Volume Flow rate. Input value.
t_0=30*sec; %
---------------------------------------------------------------------------

• Simulation results (POG Electro Hydraulic Pump NL SLX.slx) in presence of

nonlinearities:
Armature current Motor angular velocity
25 400

20
300
w_1 [rpm]
I_a [Amp]

15
200
10

100
5

0 0
0 20 40 60 0 20 40 60

Output pressure Ouput volume flow rate

25 4
Q_0 [liters/minutes]

20 3
P_0 [atm]

15 2

10 1

5 0
0 20 40 60 0 20 40 60
Time [s] Time [s]
R. Zanasi (UNIMORE) - MCEMS 2020/21 10. Electro Hydraulic Pump 10.3

• Simulink block scheme (POG Electro Hydraulic Pump Rele SLX.slx) of the
system controlled using a relay with hysteresis:

• Simulation results obtained by using the relay-controlled system:

Armature current Motor angular velocity
12 400

10
300
8
w_1 [rpm]
I_a [Amp]

6
200
4

2
100
0

−2 0
0 20 40 60 80 0 20 40 60 80

Output pressure Ouput volume flow rate

12 6

11 5
Q_0 [liters/minutes]

10
4
P_0 [atm]

9
3
8
2
7

6 1

5 0
0 20 40 60 80 0 20 40 60 80
Time [s] Time [s]