Modelling and Simulation

Modelling of Fluid System

Lecture-7

8 April 2023
Dr. Sameh Farid
Assistant Professor
Dr. Sameh Farid 1
 Lecture’s Outline
1. Dynamic Models of Hydraulic Systems.

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 Lecture’s Objectives
When you have finished this chapter, you should be able to
1) Apply the conservation of mass principle to model simple hydraulic and
pneumatic systems.
2) Determine the appropriate resistance relation to use for laminar, turbulent,
and orifice flow.
3) Develop a dynamic model of hydraulic and pneumatic systems containing
one or more fluid containers.

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 A Mixing Industrial Process
Pure water flows into the tank of volume 𝑉 = 600 𝑚3 at the constant volume rate of 5 𝑚3 /𝑠. A
solution with a salt concentration of 𝑠𝑖 𝑘𝑔/𝑚3 flows into the tank at a constant volume rate of 2 𝑚3 /𝑠.
Assume that:
• the solution in the tank is well mixed so that the salt concentration in the tank is uniform.
• the salt dissolves completely so that the volume of the mixture remains the same.
• The salt concentration 𝑠𝑜 𝑘𝑔/𝑚3 in the outflow is the same as the concentration in the tank.
• The input is the concentration 𝑠𝑖 (𝑡), whose value may change during the process, thus changing the
value of 𝑠𝑜 .
• Obtain a dynamic model of the concentration 𝒔𝒐 .
Two mass species are conserved here: water mass and salt mass.
The tank is always full, so the mass of water 𝒎𝒘 in the tank is constant, and
thus conservation of water mass gives

where 𝜌𝑤 is the mass density of fresh water, and 𝑞𝑣𝑜 is the volume outflow rate
of the mixed solution.
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 A Mixing Process
The salt mass in the tank is 𝑠𝑜 𝑉, and conservation of salt mass gives

or, with V = 600,

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 Hydraulic Piston and Load
Figure shows a double-acting piston and cylinder. The device moves the load
mass 𝑚 in response to the pressure sources p1 and p2. Assume the fluid is
incompressible, the resistances are linear, and the piston mass is included in 𝑚.
Derive the equation of motion for m.
 Hydraulic Motor
• The pilot valve controls the flowrate of the hydraulic
• fluid from the supply to the cylinder.
• When the pilot valve is moved to the right of its neutral
position, the fluid enters the right-hand piston chamber and
pushes the piston to the left.
• The fluid displaced by this motion exits through the left-hand
drain port.
• The action is reversed for a pilot valve displacement to the left.
• Both return lines are connected to a sump from which a pump
draws fluid to deliver to the supply line.

Derive a model of the system assuming that 𝑚𝑥ሷ is negligible.

 Hydraulic Example: Challenge
An electric motor is sometimes used to move the spool valve of a hydraulic
motor. In Figure, the force f is due to an electric motor acting through a rack-
and-pinion gear.
Develop a model of the system with the load displacement y as the output
and the force f as the input. Consider two cases: (a) 𝑚1 = 0 and (b) 𝑚1 ≠ 0.
Thanks for your attention

8 April 2023
Dr. Sameh Farid 9