Scientific Bulletin of the The 6th International Conference on

Politehnica University of Timisoara Hydraulic Machinery and Hydrodynamics

Transactions on Mechanics Special issue Timisoara, Romania, October 21 - 22, 2004

MATHEMATICAL MODELLING AND DIGITAL SIMULATION OF ASYMMETRIC HY-

DRAULIC MOTORS FITTED WITH DYNAMICS COMPENSATING
MECHANICAL-HYDRAULIC NETWORKS

Ioan CRISTIAN, Professor*

Economic Engineering and Manufacturing Systems Department
“Transilvania” University of Braşov
*Corresponding author: Str. Mihai Viteazul 5, 500174, Braşov, Romania,
Tel.: (+40) 477113, Fax: (+40) 477113, Email: icristian@unitbv.ro

ABSTRACT with the mathematical model of the hydraulic motor

with two ways, present in a flow-rate comparator. The
This paper gives an analysis of the asymmetric
flow-rate comparator highlights the fact that in a tran-
hydraulic motors equipped with dynamics compen-
sient work condition the flow supplied by the ser-
sating mechanic-hydraulic networks. The methodol-
vovalve is divided between the hydraulic motor and
ogy of deduction of the mathematical models of the
the mechanic-hydraulic network:
component subsystems is presented and the mathe-
matical model of the system is deducted. Mathe- QA = QAv − QAc (1)
matical models are given for the time range and for
where Q A v is the flow rate delivered from the booster
the complex range, for the associated block and
structural diagrams, respectively. valve, Q A is the flow rate that enters the circular
In conclusion, an interpretation is given of the re- chamber of the motor and Q A c is the flow rate that
sults obtained following numerical experiments per- enters the mechanic-hydraulic network .
formed with the Matlab - Simulink program. The
Simulink drawn simulation diagram is presented and
actual applications of the shock absorbing cylinder
and pneumatic-hydraulic accumulators placed onto
the motor are analyzed.

KEYWORDS
Differential hydraulic cylinders, compensated dy-
namics, mathematical modelling, numerical simula-
tion.
1. INTRODUCTION
The dynamics of hydraulic motors can be improved
if the motors are fitted with dynamics compensating
mechanic – hydraulic networks. From the functional
point of view, the hydraulic motor features two ways
for the connection to the control servovalve and two
ways for the connection to the dynamics compen-
sating mechanic-hydraulic network. The mathemati-
cal model of the asymmetric hydraulic motor with
four ways (Figure 1) is obtained through association
Fig.1. Structural diagram: Motor – 4 ways
The dynamics compensating mechanic hydraulic
networks act like high pass filters and their time con-
stant can be calculated from the functional-constructive
parameters of the network.
2. MATHEMATICAL MODELLING OF THE
ASYMMETRIC HYDRAULIC MOTOR
WITH COMPENSATED DYNAMICS
Figure 2 presents an asymmetric hydraulic motor
with one damper cylinder. The Figure illustrates the
stage where the dynamics compensating network ab-
sorbs the pressure wave forming in the circular
chamber of the motor. The system can be broken
down into two subsystems:

597
 cous friction coefficient of the motor and C HM e – the
equivalent hydraulic capacity of the asymmetric hy-
draulic motor.
The mathematical model of the dynamics compen-
sating mechanic-hydraulic network used as a high pass
filter is represented by the equation:
Ts
Qic ( s ) = QeA ( s ) = K PLe ( s ) (3)
Ts +1

The amplifying coefficient K and time constant T

Fig.2. Motor + damper cylinder
of the network depend on the constructive parame-
• the 4 way asymmetric motor with the following ters of each type of network.
ratio of the useful areas K A = AM a M , For the dynamics compensated hydraulic motor
• the dynamics compensation mechanic-hydraulic the input value is represented by the flow rate Q A v
network. delivered from the control servovalve and the motor
The coupling of the two subsystems is achieved speed v M is considered as output value. By associ-
by means of a flow rate comparator, described by ating equation (2) and (3) which represent the com-
equation (1). Further on, we shall include the flow posing subsystems we obtain the mathematical model
rate comparator in the mathematical model of the of the asymmetric hydraulic motor with compensated
hydraulic motor. In the case of the asymmetric hy- dynamics:
draulic motor the input value is the flow Q A which
⎧Q A ( s ) = Q A v ( s ) − Qe A ( s )
enters the driving chamber of the hydraulic motor ⎪
while the output value is represented by the motor ⎪Q ( s ) = K T s P ( s )
displacement speed v M . In the complex field, the ⎪ eA T s +1
Le
⎪
mathematical model of the four way asymmetric hy- ⎪Qc ( s ) = Q A ( s ) − Q( s )
⎪
draulic motor is described by the following equation ⎨Q( s ) = K 1 vM ( s ) (4)
system [3]: ⎪
⎪ PLe ( s ) = 1 Qc ( s )
⎧QA ( s ) = QA v ( s ) − QA c ( s ) ⎪ T1 s
⎪
⎪ ⎪v ( s ) = K 3 [K P ( s ) − F ( s )]
⎪Qc ( s ) = QA ( s ) − Q( s ) ⎪⎩ M T2 s + 1
2 Le RM
⎪Q( s ) = K v ( s )
⎪ 1 M
⎪ The block diagram (Figure 3) of the system, ob-
⎨ (2) tained by means of equation system (4) highlights
⎪P ( s ) = 1 Q ( s ) the presence of the crossing loop with negative
⎪ Le
T1 s
c
⎪ feedback.
⎪
⎪vM ( s ) = T s + 1 [K 2 PLe ( s ) − FRM ( s )]
K3
⎩ 2

where Q c is the compressibility flow rate, Q - the

useful flow rate to the hydraulic motor, PLe = K A PA − PB -
the load equivalent differential pressure, v M - the
motor speed, FR M - the resistant force of the motor.
The dynamic parameters of the partial transfer func-
tions are calculated by means of the relations:
1 Fig.3. Bloc diagram of the system
K 1 = K A aM ; K 2 = aM ; K 3 = ;
cM Further on, the speed of the compensated hydrau-
M RM lic motor result from the form:
T1 = C HM e ; T2 = .
KM (T s + 1)
cM
vM c( s ) =
A3 s + A2 s2 + A1 s + 1
3
[QAv( s ) −TF s FRM( s )] (5)
where the following notation has been used: M R M –
reduced mass of the hydraulic motor, c M – the vis- where:

598
 T1 + K T ( T2 + 1 ) a filtering hydraulic resistor placed in each chamber
A1 = of the hydraulic motor. Given these conditions, the
K1 K 2 K 3
final expression of the damping factor of the com-
T1 T2 + T ( T1 + K T2 ) T T1 T2 pensated hydraulic motor:
A2 = ; A3 = .
K1 K 2 K 3 K1 K 2 K 3 c M ( C H M e + 0. 5 C H a ) + a M
2
Rh f C H a
ζMc ≅ (7)
It can be noticed that the hydraulic motor com- 2 a M M R M ( C H M e + 0.5 C H a )
pensated by a network representing a high-pass filter
has the same amplification as the uncompensated indicates an additional damping introduced by the
hydraulic motor and the variation of the motor resis- compensation network consisting of pneumatic-
tance force determines the same compressibility flow hydraulic accumulators and filtering hydraulic resis-
CH M o tors. The higher the hydraulic capacity of the accu-
rate QcF = FRM . The difference lays in the fact mulators and hydraulic resistances is, the higher the
aM damping effect.
that in relation with the controlled input value QA v If the load disturbing frequencies are higher than
the motor behaves like a derivative - proportional 1 1
the filtering frequency ω f = = introduced
element of order 3 delay ( PD )3 . T Rh f CH a
To highlight the damping effect introduce by the by the network, they are filtered and the oscillation
compensation network we shall neglect factor A3 pressures in the motor chambers are strongly attenu-
which is of a much lesser rank than the other factors. ated.
By this approximation, relation (5) can be written as
follows: 3. NUMERICAL SIMULATION OF THE
HYDRAULIC MOTOR WITH COMPENSATED
KM ( T s + 1 )
vM c ( s ) ≅ 2 ζM c
[QAv ( s ) − TF s FR M ( s )] (6) DYNAMICS
s
+2 s +1 The numerical simulation was achieved by means
ωM c
2
ωM c of the simulation diagram shown in Figure 4 and which
was prepared with the Matlab-Simulink program on
1 A1 the grounds of the block diagram in Figure 3.
ωM c = ; ζ M c = 0.5 .
A2 A2 Further on, the results obtained by numerical simu-
lation are presented and interpreted for two types of
To construe an actual case we shall refer to a high- dynamics compensating networks: damper cylinder
pass filter materialised by a compensation network and pneumatic-hydraulic accumulators placed on the
consisting of a pneumatic-hydraulic accumulator and motor.
t
0.
Clock To Workspace
K2
FRM 100
5.219e-2s t=0.5
5.
5.219e-2s+1 -K-
RcM_5 K
K3
- 1 - 1e-2
+ + 1. + Mux
- 4.406e- 0.3s+1
QM 5e-4 Su Sum1 Sum
13s FdT K1 FdT1
t=0.005 m 2 Mux
Scope

1. y
K1_ To Workspace1

5.219e-2s+1
-K-
2.728e-3s 2+6.129e-2s+1
KM
MHLcomp_simpl 1

5.219e-2s+1
-K-
2.221e-7s 3+2.728e-3s 2
+6.129e-2s+1
KM
MHL_Comp

Fig.4. The simulation diagram of the system

599
 Figure 5 presents the numerical simulation of the For comparison, Figure 6 presents the response of
response to the step signal ∆F of a linear asymmet- the hydraulic motor equipped with a derivation net-
ric hydraulic motor ( DM = 48 [mm], d M = 34 [mm], work consisting of a hydraulic resistor in series with
ωM = 1198 [rad/s], ζ M = 5e-3) fitted with two a damper cylinder. The response is quickly damped
pneumatic-hydraulic accumulators ( Va 2 = 0.25 [l], (in approximately 0.08 seconds) and with only very
little over adjustment. This is the result of a damping
d f = 2 [mm] ,pB0 = 50 [bar], K = 3.56e-10 [ m 5 N ⋅ s ],
factor ζ M c = 0.64 obtained by using a network with
T = 1.67e-2 [s], f = 60 [Hz]).
the following parameters: K = 5.7 ⋅ 10 −11 [ m 5 N ⋅ s ],
2 MHLa + RcMa ( DelF = 500 N )
PLe
[ bar]
T = 0.03 [s] , f = 33, [Hz], ( d f = 1 [mm]). In this
PLe
7 case, too, the natural pulsation of the compensated
6
hydraulic motor dropped very little.

5
4. CONCLUSIONS
4
The mathematical modeling and numerical simu-
3 vM lation of the asymmetric hydraulic motor fitted with
dynamics compensating mechanic-hydraulic net-
2
DelF works allow us to come to the following remarks:
1 • the behaviour of the compensated hydraulic motor
0 is described by a proportional – derivative element
0.2 0.21 0.2 0.23 0.24 0.25 0.26 0.27 0.28 0.29 t [s]
with rank 2 delay;
Fig.5. The response to the step signal – Motor + • the response to the step signal of the compen-
damper cylinder sated hydraulic motor stabilises more quickly
than in the case of uncompensated motors;
1 MHla + RcMa_5 ( DelF = 500 N )
PLe • the natural pulsation of the compensated hy-
[bar]
draulic motor is approximately equal with the
7
PLe natural pulsation of the uncompensated motor
6 but with a much higher damping factor;
vM
5
• the dynamics compensating network filtering
frequency is established on the grounds of the
4
constructive parameters.
DelF
3
REFERENCES
2
1. Catană Il. (1979) Contribution to the analysis of
1
stability and to the synthesis of the electro-hy-
0 draulic systems for quick processes (in romanian).
0.15 0.2 0.25 t [s]
Ph. D. Thesis, Politehnica University of Bucharest
Fig.6. The response to the step signal – Motor + ac-
2. Catană Il. (1995) Electro-hydraulic automated
cumulators
systems – Analysis and synthesis. (in rumenish).
The over adjustment of the load differential pres- Politehnica Univeraity of Bucharest
sure is of approximately 1 bar and the oscillations 3. Cristian I. (1998) Research on the synthesis and
fade away very quickly, in approximately 0.1 of analysis by numerical simulation of a booster sta-
a second, which corresponds to a much faster damping bilising the longitudinal facing feed (in romanian).
of the compensated hydraulic motor, ζ M c = 0.494, Ph. D. Thesis, Transilvania University of Braşov
as compared with the uncompensated hydraulic motor, 4. Guillon M. (1972) L’aservissment hydraulique et
where the pressure pulsations disappear only after 3 electrohydraulique. Dunod, Paris
to 4 seconds. The natural pulsation of the compen- 5. *** Simulink 1.2 - User’ Guide. Math Work,
sated motor remains equal with the pulsation of the Natik. MA
uncompensated motor.

600