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Procedia Engineering 206 (2017) 936–943

International Conference on Industrial Engineering, ICIE 2017

International Conference on Industrial Engineering, ICIE 2017
Installations Criterion of Deceleration Device in Volumetric
Installations Criterion Hydraulic
of Deceleration
Drive Device in Volumetric
Hydraulic Drive
V. Sokolov, O. Krol*
V. Sokolov, O. Krol*
Volodymyr Dahl East-Ukrainian National University, 59-A, Central Avenue, Severodonetsk 164500, Ukraine
Volodymyr Dahl East-Ukrainian National University, 59-A, Central Avenue, Severodonetsk 164500, Ukraine

Abstract
Abstract
A criterion for the installation of the deceleration device in the executive mechanism in volumetric hydraulic drive with inertia
loading
A is proposed.
criterion For this purpose,
for the installation the positioning
of the deceleration of theinexecutive
device mechanism
the executive realized
mechanism on the rigidhydraulic
in volumetric support, which is theinertia
drive with inner
surfaces
loading isofproposed.
the side covers
For thisofpurpose,
the hydraulic cylinder, of
the positioning is the
considered.
executiveThe deceleration
mechanism process
realized occurs
on the rigiddue to thewhich
support, displacement of
is the inner
the working fluid from the end clearance between the side surfaces of the piston and the cover. The criterion
surfaces of the side covers of the hydraulic cylinder, is considered. The deceleration process occurs due to the displacement of is based on the
evaluation
the workingoffluid
the deceleration
from the endforce whenbetween
clearance the hydraulic
the sidemotor is stopped.
surfaces To form
of the piston and the
the condition
cover. Thefor the installation
criterion is based onof the
the
deceleration
evaluation ofdevice of the executive
the deceleration mechanism
force when to the two-position
the hydraulic drive, the
motor is stopped. To following approach is
form the condition forused: in the absence
the installation of
of the
special requirements,
deceleration device ofthe thebrake device
executive must be installed
mechanism if the maximum
to the two-position drive, force at stopping
the following the hydraulic
approach is used:motor
in theonabsence
the rigid
of
support exceeds 0.2 ...the
special requirements, 0.5brake
of thedevice
limiting static
must be force on the
installed piston
if the of the hydraulic
maximum cylinder. the
force at stopping Thehydraulic
criterion includes
motor onsuchthe basic
rigid
parameters of the0.2
support exceeds hydraulic
... 0.5 ofdrive: the massstatic
the limiting of moving
force onparts
thetransferred to the
piston of the rod, thecylinder.
hydraulic initial speed of the piston
The criterion movement,
includes the
such basic
nominal
parameterspressure,
of the the kinematic
hydraulic viscosity
drive: the massof the workingparts
of moving fluidtransferred
and the piston diameter.
to the rod, the initial speed of the piston movement, the
© 2017 The
nominal Authors.
pressure, the Published
kinematic by Elsevier
viscosity of B.V.
the working fluid and the piston diameter.
© 2017 The
Peer-review Authors.
under Published
responsibility by
of Elsevier
the Ltd.
scientific
© 2017 The Authors.
Peer-review under Published by
responsibility of Elsevier
the B.V. committee
scientific committee
of the International Conference on Industrial Engineering.
of the International Conference on Industrial Engineering
Keywords:hydraulic
Peer-review under drive; pressure rating;
responsibility of thehydraulic
scientificcylinder; deceleration
committee force.
of the International Conference on Industrial Engineering.
Keywords:hydraulic drive; pressure rating; hydraulic cylinder; deceleration force.

1. Introduction
1. Introduction
The use of hydraulic drive in mechanical engineering and special technological equipment makes it possible to
simplify
The use theof kinematics of machine
hydraulic drive tools, engineering
in mechanical reduce metal andconsumption and improve
special technological accuracy,
equipment makesreliability
it possibleand
to
automation
simplify thelevel [1-6].Theofwide
kinematics use oftools,
machine hydraulic drives
reduce in machine-building
metal consumption andequipmentis determinedreliability
improve accuracy, by a number
and
of their significant
automation advantages
level [1-6].The over
wide useother types ofdrives
of hydraulic drivesinand, above all, the possibility
machine-building equipmentisof determined
obtaining greater efforts
by a number
of their significant advantages over other types of drives and, above all, the possibility of obtaining greater efforts

* Corresponding author. Tel.: +38-095-521-66-51.

E-mail address:author.
* Corresponding krolos@yandex.ru
Tel.: +38-095-521-66-51.
E-mail address: krolos@yandex.ru
1877-7058 © 2017 The Authors. Published by Elsevier B.V.
Peer-review
1877-7058 ©under
2017responsibility
The Authors. of the scientific
Published committee
by Elsevier B.V.of the International Conference on Industrial Engineering.
Peer-review under responsibility of the scientific committee of the International Conference on Industrial Engineering.

1877-7058 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the scientific committee of the International Conference on Industrial Engineering.
10.1016/j.proeng.2017.10.575
 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943 937
2 V.S okolov, O. Krol / Procedia Engineering00 (2017) 000–000

and capacities with limited dimensions of hydraulic motors. Hydraulic drives provide a wide range of stepless speed
control (with good smoothness of motion), the ability to work in dynamic modes with the required quality of
transient processes, protect the system from overload and accurately control the operating forces.In modern
equipment and flexible production systems with a high degree of automation, many different movements are
required. Compact hydraulic motors can easily be integrated into machine mechanisms and connected with pipelines
with a pumping unit. Such a system opens up wide opportunities for automation of work processes; it is easily
amenable to modernization and consists mainly of unified products. Hydraulic drive has a sufficiently high value of
efficiency, increased rigidity and durability.

2. Formulation of the problem

In most cases, the engine and machinery with hydraulic drive uses a simple hydraulic motors reciprocating or
swinging movement, control of which is carried out by way of a relay control valves [7-9]. At this actuating
mechanism during operation typically has only two fixed positions, i.e. drive is a two-position [2, 8]. If the choice of
control method in the literature there are recommendations based on the efficiency and reliability of the drive [4, 7,
10], the need for installation of a decelerating device is usually solved intuitively, based on the subjective experience
of the design of such drives. Develop a criterion installation of the decelerating device in a volumetric hydraulic
drive with inertial load is the purpose of the article.

3. Criterion of deceleration and control of hydraulic drive

Consider a typical volumetric hydraulic drive (Fig. 1), with a reversible two-position valve.

Fig.1. Scheme typical volumetric hydraulic drive.

Positioning of the actuating mechanism is carried out on the fixed supports, which is the inner surface of the
sideof the hydraulic cylinder covers. The results can be easily extended to other driving circuits.
Deceleration process is carried out by displacing the working fluid from the end clearance between the piston and
the side surfaces of the cover. Diagram of the fluid in the gap shown in Fig. 2.

Fig.2. Design scheme.

938 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943
V.S okolov, O. Krol / Procedia Engineering 00 (2017) 000–000 3

In view of the axial symmetry of the flow in the gap using a cylindrical coordinate system, by placing the Z axis
along the axis of the piston. We make a basic assumption - the flow is radial, i.e. components uφ speed and uz are
zero and ur = u is a function of the coordinates z and r. Also neglect the inertia of the flow, the compressibility of
the fluid, the influence of mass forces and believe for laminar [11,12].

In view of the assumptions made for the elementary volume of liquid (see Fig. 2) we have a differential equation
of uniform motion:

(  d )ds   ds ( P  dP )(r  dr )d d  Pr d  dz (1)

where ds  rd d  - elementary area, which operates the tangential stress P– hydrostatic pressure; τ –tangential
stress; dP, dτ, dz, dr, dφ - increment variables and coordinates.
Neglecting terms of higher order of smallness, simplify the expression (1)

rd
 drd Pdzdrd  rdPdzd 

and we obtain the following differential equation

d P dP
  (2)
dz r dr

Integrating (2) over Z in the range from zero to the size of the gap h in view of the fact that dP / dz = 0, we have

 z h  z 
0 P dP
  (3)
h r dr

To calculate the tangential stress on the piston and the cover, the velocity distribution is required for the clearance
height. To do this, we use the expression (2), substituting the Newtonian law of fluid friction [13-15]

du
   (4)
dz

where ρ, ν - density and kinematic viscosity of the fluid.

Then

d 2u P dP 
     (5)
dz 2  r dr 

Since dP / dz = 0, we have

d 2u
A (6)
dz 2

where A - the parameter that does not depend on the coordinate z.

Consequently, the velosityepure is a parabola whose equation can be written as:
 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943 939
4 V.S okolov, O. Krol / Procedia Engineering00 (2017) 000–000

 z  z
6u0 1 
u  (7)

 h  h

There u0- average speed over height clearance, and the sign "-" indicates the direction of the velocity to the
coordinate axes.
Consumption of liquid excluding compressibility through the annular gap area is equal to consumption, being
squeezed the piston in the area , so

u0 

V  D2 / 4  r 2 V  D2 
r
 (8)

2 rh 2h  4r 

where V, D - the speed and the diameter of the piston.

Then,

3V  D2  z  z
u
   r  1   (9)
h  4r   n  n

According to (3), we define

du 3Vpv  D 2 
 z 0 
pv z 0 
 2   r , (10)
dz h  4r 

du 3Vpv  D 2 
.  z  h pv
  z h 2 
 r . (11)
dz h  4r 

Having substituted (10), (11) in (2), we have the differential equation of the first order:

dP 6Vpv  D 2  P
 2 
r (12)
dr h  4r  r

which will integrate with the initial condition: p=0 at r=d0/2, where d0 - diameter of removal for a liquid from a
drain cavity of the cylinder.
We have

6Vpv  D 2  d 0  r 2  d 03  
p  1    1  3   (13)
h 2  4  2r  3  8r  

Knowing pressure distribution, we find force of decelerating:

2 D/2
Fт   d  Pr dr (14)
0 d0 / 2

Integrating (14), we receive

940 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943
V.S okolov, O. Krol / Procedia Engineering 00 (2017) 000–000 5

pvVD 4
Fт  K D (15)
h3

where KD - the dimensionless factor depending on the relation of diameters d0/D:

3  1  d0  2 1  1  d 04  d 03  d 0   
K
D  1     1  4   3 1    (16)
4  2  D  3  4  D  D  D   

Now we will consider process of decelerating of the piston, moving with initial speed Vo, having taken into
consideration only force of resistance due to the fluid crowding out of the end clearance. Such approach is the
approximation as at uniform movement, force of pressure is counterbalanced not only loading on a rod, but also
resistance of the system, depending on speed of movement [16-18].
At the same time, such analysis allows to estimate influence of the inertiafor moving mass on size of force of
deceleration. Based on the above, we can write down the equation of motion of the piston:

dv
m   Fт (17)
dt

where t - time; m - the weight of moving parts led to a rod.

Considering linear movement on coordinate Х (fig. 3) for X <0, and taking into consideration (15), we receive

dv V
m  K D pvD 4 3 (18)
dt x

Fig. 3. Calculated scheme.

Considering, that

dv dv dx dv
  V (19)
dt dx dt dx

We reduce (18) to the differential equation:

K D pvD 4 dx
dv  (20)
m x3

For entry condition V=V0 at Х = - ∞, we have:

 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943 941
6 V.S okolov, O. Krol / Procedia Engineering00 (2017) 000–000

 K pvD 4 1 
V V0 1  D
  (21)
 2mVD x 2 

Using (18), we find acceleration:

dv K D pvD 4 V0  K D pvD 4 1 

  1   (22)
dt m x2  2mVD x 2 

According to (22), the maximum absolute value of acceleration is reached at

5 pvK D
x*   D 2 (23)
6mV0

Also makes up

5
V0 2 m
a max  0,526 2
(24)
D K D pv

Thus the maximum force of decelerating

3 5
m 2V0 2
Fт max m
 a max 0,526 (25)
D 2 K D pv

Accuracy of preliminary hydraulic calculation of the drive which is carried out for the purpose of a choice of the
pump, executive mechanisms, distributive, regulating, safety equipment and pipelines is insignificant. This results
from the fact that forces of a friction in gasket of executive mechanisms and pumps can change over a wide range
depending on working conditions, operation terms, change also hydraulic, volume and mechanical efficiency of
pump and hydraulic engine [19,20]. Even the specified calculation of a hydrodrive taking into account hydraulic
characteristics of pump unit and system leads to an error of definition of speed of the executive mechanism and
working pressure ~ 10  15 % at the due to the same factors. Therefore usually the safety factor at a choice of
pumps and drive engines makes size 1,2  1,5.
All listed above gives the basis to assert, that if the maximum force of deceleration calculated under the formula
(25) will make 20  50 % of the force developed by the hydrocylinder, it will not lead to infringement of work of a
drive as all its elements are chosen with a stockpile (calculation on durability of a detail of the hydrocylinder is
conducted with safety factor 2  3 [6-8]).
Thus, it is possible to formulate a condition of necessity of installation of a deceleration device of the executive
mechanism of an two position drive: in the absence of special requirements the brake device needs to be established,
if the maximum force at a hydraulic engine stop on a rigid emphasis exceeds 0,2  0,5 limiting static efforts to the
hydrocylinder piston:

2
Fт max  0, 2...0,5 рn D (26)
4

Or at condition performance:
942 V. Sokolov et al. / Procedia Engineering 206 (2017) 936–943
V.S okolov, O. Krol / Procedia Engineering 00 (2017) 000–000 7

3 5
0, 67 m 2V0 2
KC  0, 2...0,5 (27)
D 4 рn K D  v

In this expression рn - nominal pressure in drive system.

On fig. 4 it is resulted nomogram for definition of parametre Kc, calculated for typical parametres of two position
drives of manipulators and tool’s equipment (ν =30.10-6m2/s; ρ =900 kg/m3; KD=0,2; рn=6,3.106Pa).
To use nomogram it is recommended as follows.
Proceeding from reasons of durability or requirements to the technological equipment are set by value KC from a
range 0,2 0,5. Further, find a point with ordinate KCm/1000 and an absciss mV0. If the point lays below a curve
corresponding to diameter of the piston, it is necessary to establish a brake device.
Condition (27) and nomogram (fig. 4) for brake device installation are nevertheless insufficiently convenient in
practical use. Thereupon, is correct to enter into consideration more simple and objective criterion. If to analyse a
range of values of density of a working liquid ρ, typical values of factor KD on the basis of (27) it is possible to offer
the following criterion of installation of a brake device of the executive mechanism in a volume hydraulic drive with
inertial loading:

mV02 mV0
CSK  10 (28)
pn D 4 

Fig. 4. Nomogram for definition of parameter KC (m - kg; V0 - m/s): 1 - D=0,04 m; 2 - D=0,05 m; 3 - D=0,063 m; 4 - D=0,08 m; 5 - D=0,1 m

4. Conclusions

Thus, the objective criterion of installation of a brake device for the executive mechanism in a volumetric
hydraulic drive with inertial loading is offered. In a criterion basis comparison of force of deceleration is necessary
at a stop of the hydrocylinder and the maximum static effort to the piston.

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