Selection of Hydraulic Actuator ‘Servoralve Selection Electrohydraulieservovalves are universally rated or sized by the load flow obtainable at full stroke and with a valve drop of 1000 ps (30 psi across each orifice of the common critical center four way spool valve), ‘The important considerations in determining servovalve size were discussed in Sections 7-6 and $8. Henee, we need only summarize these Factors: 1. Asillustrated in Fig. 83, the pressue-flow curve for maximum stroke should encompass all load flow and load pressure points sucl that P< 4P,. This assures that adequate flow and horsepower is delivered to the hydraulic actuator and i the basic factor in servovalve sizing, ‘Two basic considerations govera the size (ie, piston area or motor isplacement) selected for the power output device ofa hydraulic system: 1. The size should be large enough to handle the loads expected during ‘a duty cycle: This i often the prime purpose of an actuator and requires ‘an analysis of typical duty cycles to obtain horsepower and Fore or torque Toad requirements 2, Closed loop response of a serve is limited by the lowest open loop resonance (see Section 82}. Because this is usually the motor-oad hy- dravlic natural frequency, it must be large enough to permit acceptable servo response, Hence, the aetutor size should be large enough so that the associated hydraulic natural frequency is adequate. ‘As-an example, suppose the output devie i 9 piston piston arca may be found by solving (6-34). Therefore M(dts,{d?) + BdaJa) + Kz, + Fy Pr ‘The required en is of the most stringent duty cycle will give values for maximum sceeleration and velocity which may be assumed to oscar simultaneously ‘8 a first approximation. Using the $P, value for P,, there is adequate flow gnin control and the power required for maximum load is transferred in an optiaum manner. If the dyaamic specifications for the system are stringent, the allowable valve position error ean be multiplied by the pres- sure Sensitivity of the servovalve to determine a value for Py, IFthis value ‘is used, maximum load would be handled within the specified error. How- ‘ever, the piston area would be large and would require large flows for ‘maximum velocity but may be warranted in extreme cases, Referring to (637), we find thatthe hydraulic natural frequency for & servovalye-piston combination is n= et 68) and must be large enough for adequate dynamic response, ‘Theoretically, fn analysis of the most demanding input signal and the desired response ill give the significant Frequency spectrum which the servo must pass and establish the required bandwidth frequency. As indicated in Section &-2, in Section 62, the hydraulic natural frequency vaties with stroke and is ‘usually lowest when the piston is at midstroke for doubleacting pistons and at fll stroke for single-acting pistons. Care must be taken to ensure adequate natural frequency with the large contained volumes of oil. If this frequency is to0 low, the piston area should be increased with the artendent disadvantage of high oil low required for maximum velocity, fF a rolary motor might be used in the application with a ball serew oF ‘ack and pinion arrangement used to convert rotary to linear motion. 2, Asexplained in Section 4, the flow gain shouldbe reasonably linear “This foct makes rectangular ports preferable 3, The pressure sensitivity should be large. A value of 10" pain, per 1000 psi of system supply pressure is often specified. ‘This igure is inde pendent of valve ize as discussed in Section 5-3, 44 Leakage flow should be limited to a reasonable percentage of rated Nlow to prevent unnecessary power los. 5. Threshold and null shits with temperatures and pressures should be Rn rete chosing es Figue 83 Pressures cure at maximum ave stoke 6. The servovalve bandwidth should be higher than the hydraulic natural frequency of the actuator and load. Otherwise the servovalve dynamics wil init the response of the serv. Other factors such as servovalve stability (he servovalve itself may ‘oscillate and cause undesirable low fuctutions), sensitivity to contami ‘nation, dither requirements, electrical power requirements weight, rei- ability, and cost may eonteibute to the final seletion, “The two factors mentioned thus far are by no means the only considers~ tions in actustor sizing, When lage ition loads are present it may be desirable to choose actuator size so that the error required to overcome frition loads is tolerable: that i, the tolerable ervor times the pressure Semi of the servovalve produces a pressure drop across the motor hich is suiient to overcome th sition load [2]. Other actuator per- formance characteristics which might be important are speed range, sill ness, smoothness (ie, absence of velocity variations at operating speeds), reliability, lie, backlesh, pressure rating, and eos 82 ELECTROHYDRAULIC POSITION CONTROL SERVOS Figese SOME p= Lei emcee Figure £4 Schematic ofan elstrofydrale pion conta evo, Eleonie and Inydzule power supplies ae not shown. ‘The transfer function from power ampliler input voltage to servovalve spool postion was shown in Chapter 7 tobe of the Form e+e 24s) 19) where A; in/volt isthe servovalve and amplifier gain constant. ‘The lags at oy and orale stem from the inductive time constant (LR) ofthe {orgue motor armature and from the erossover frequency of the spool position loop. The natural froqueney cy i due t the spriagemassresone ance ofthe torque motor.en here Ti the lod torgue st the outpt shalt. The load inertia must be propcly rected in computing the hydraulic natural feguensy os The motor and Lad sped are related by the gear eto. Thus Bot ne 19) Stability Analysis ‘The Bode dgram isa plot ofthe open lop gain function which, see FE tS bgienby - Oey Sa) “ whore Km K KKK DX) S0 isthe open loop gin constant (0 calles the veloity constai). The fre in the denominatotindctes an iteration so that this serve loop is type | and has Zero postion etror. ‘The steady-state error for constant eocty inp is simply the input velocity divided by K. This foop gun function is very complicated and a simpler expression hic sl retains information esential #0 stably, is desirable Becaus, servovalves have fast response, the hydraulic natural frequency of ‘bully the lowest break frequency inthe loop and dominates dynamic as) Figure 86. ode agra of poo oct oop performance. Hence the loop grin can be approximated by k A.) a (6.20) fetes 4i) Figuce 86 shows the Bode diagram of (8-20). If he resonant peak of the quadratic ries above unity gain, then the stem becomes unstable ‘esanse the crt! point of the N}quist diagram would be encircled. From ‘the geomety ofthe asymptotic diagram, note tha the crossover frequency seduction Motor and load dynamics (ag!) Aude) Ke vi) inal | snd %, 2 Mee +E Power ampliier and servovalve dynamics ¢ Figure 8-5 Block diagram of electrohydraulic position control servo. ‘Amplifer ‘and dserimirator ain ‘in Synchroisapproximatly equal tothe velocity constant (astaly somewhat higher, that, ok, 2 ‘he gain level of the asymproti dram i8 Ayjey atthe frequency ey ‘This levels ample bythe factor 1/2, which the ampliation factor ofthe quadratic at rsonanee. Thus, the gain level atthe resonant pes |s A200, and must Be les than unity for stability. Hence, the stably Kean 2 “srt dato ymax ad cn ie On dn! yom te hres eg (62D; an sping Rea say cin, Boas tinge Srotando Sue chancc fete ty ca td S30 foaty of hyae rl Rogan Pas peo tet hm lo Sng pss Bess Kans eer inact aca gee pile soe feces Tro aby save wath wos omer ue tare hyn ntl esl apg Bol of thes itso he ous sae ce. Asda inseam oy she compu iene bt be ‘rvs nba Campmor on ‘hora loving wn a ote fe ts 1, Servorave underlp and friction forces ia the sctustor and fod set to increase damping. Internal friton tongue in rotary motors contibute considerable damping especially at nll (ce, ear zero velit; however this ete ciminihes wath velocity inresie because a pectubaton fh Selocty wil not ease a veri in velocity and te assoeaed reversal ia Friction tau 2, The tdeney toward presure saturation, thats P, approaching increases inthe viiity of rosonange for simasoidal inputs Hence, the flow pun decreases and causes the resonant peak tobe sttemted. This ‘ues the impression of higher damping ratce when analyzing test data 3. Damping ratio is propertional to |x| (see Sexton 7). Hence an nreased damping rts so be expected at higher veloc of the ouput ‘his ara has not een fully explored and needs study to itnprove the prediction of damping sais. It shouldbe clear however, that (22) has ‘sound physical and mathematical basi eventhough computed damping ‘tis eannc be wholly relies upon, following techniques ave been or ar being wed 10 increase damping and permit larger ratios of Kyl, to be obtained. 1 A capillry or aed rie i placed aeross the actuator lings, This leakage path acts to increase damping especially at spool neutral where itis often lovest. However, such paths decease stati sites of the setutor and contrbute fo power lowes 2. Feedback of actuator pressure dference in subsidiary loops acts (© Increase damping ratio and extend servo bandwidth. Thi it beease Py tends to Become large near resonance and feedback of this quality wil reduce the gain which redoces the resonant pesk. ‘This eet cam also be schieved by using dynamic presse feedback (DPF) servvalves, 3 Electrical network, such ss antirsonant circuits, having characters: {ich which cancel or extend the motor-load dynamis, are often considered, “However, the resonant poaks mus be closely matched to be effective, and this is dificult to achieve because the hydraulic damping i low and varies ‘wih temperature and spool valve position. Ths technique fs unreliable because frequen adjustment mould be nesessry Leakage shorts and pressure fcdback are the most common methods “The third technique must be iened as aa extreme measure boots the added elements reduce reliability and make the servo dificlt to adjust snd service, In ether case, oustanding results should not be expected, Response to Reference and Lead Torque Inputs that taprnene spy es & a QP eee 2 “The denominator ofthis expresion i the system characteristic equation, ‘which isa cubic- Because this eubic ean be rapeaseted by a lneur sn 2 quadratic factor, we ean write we CS where cy i the break frequency of the ina factor, oe is the natura Trequeney ofthe quart factor onetime called he clos top natal 2H frequency), and @,, isthe damping ratio ofthe quadratic actor. Given the open loop parameters Kay, and dy the closed loop parameters oa and ‘n,n be obtained from these charts, For low valves of dad Ky. the following approximations, useful in preliminary design ealeulations, can be made: 05, ~ ty oy ~ Ky ad 205, ~ 245 — Ko Hence, the ‘closed loop break frequencies are roughly equal t0 the hydraulic nator frequeney end to the crosiover frequency. However, etact values ca alvays be obtained fom the cube solution charts The closed loop frequen response function (824) is plated in Fig, “This curve a mewure of servo response capably. The ecept of Fandwth fas been developed in an effort to reduce the meaningful in- formation inthis carve toa sinle numerial valu. Several measures of Dandwith canbe sed. These are 1. The most common measure of bandvidth is the fequency st which the amplitude ratio fll 00.707 @ db down) of Tow Lequeney valve. rat saie we Figure #11 Clos oop frequency response of postion control sv. From Fig. 11 this occurs approximately ato, Because Fip. 88 shows ‘that, slighty grater han unity and since K, *), we can conclude that this measure Of bandwidth (w,) is somewhat greater (pechaps 15 times) than the crossover Frequency of the loop. 3 Another frequently used micaure of bandwidth isthe Frequency at whi the phae Tag is 90" This frequency wil also be somewhat larger than 0 3 The closed loop natural frequency. is sometimes wed as 8 band- width inde, but this msasure has ot found bread aceplancs, From any of these measures we can conclude that stem response is fundamentaly limited bythe atwator dynamic, that by and dy. IF fr certain system bundyidth i required, one cam work back to establish the needed crossover frequency