Identification and Design of Closed loop Hydraulic system with 4/3 Servo valve

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In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05,.46-467. Inenaional Jounal of Avance Reseach in cience an Technology jounal homeage: www.ijas.

1 In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Inenaional Jounal of Avance Reseach in cience an Technology jounal homeage: IN (Pin) IN 30 6 (Online) Ienificaion an Design of Close loo Hyaulic sysem wih 4/3 evo valve Rajesh Kuma Mahaaa *, Jagaish Chana Pai, Giijaanka Rah an Piyabaa Biswal 3 Deamen of Elecical Engineeing, C.V.Raman College of Engineeing, Bhubaneswa, Inia. Deamen of Alie Eleconics & Insumenaion, C.V.Raman College of Engineeing, Bhubaneswa, Inia. 3 chool of Mineals, Meallugical an Maeials Engineeing, Inian Insiue of Technology, Bhubaneswa, Inia. *Coesoning Auho s ajeshavi@gmail.com A R T I C L E I N F O Aicle hisoy: Receive Accee Available online 09 Nov. 05 Nov Nov. 05 Keywos: Ienificaion, Mechaonics, Elecohyaulic sevo valve, Tansien esonse, Tansfe funcion, Boe Plo, PID conol PAPER-QR CODE A B T R A C T Flui owe acuaos lay a vial ole in he fiel of mechaonics. The conolling of elecohyaulic acuaion sysem is imoan in he view of nonlineaiy chaaceisics of hyaulic valves. In oe o conol he oeaion of valves, he conolle shoul be esigne as well as ienificaion of he sysem is necessay o know he behavio of he sysem. This ae ovies he eivaion of ansfe funcion fo a elecohyaulic sevo sysem by using ansien esonse of he cyline wih esec o iffeen se oin wih iffeen loas.the efomance of he sysem is analyze using oen loo wihou loa, oen loo wih loa, close loo wih loa an i is obseve ha he efomance of he sysem woks bee using close loo. Also, in his ae he ienificaion of he elecohyaulic sevo sysem is one using ansien esonse aamees an using Boe lo. I has been foun ha he oles & zeos of he sysem eemine by he ansien esonse & Boe s Plo ae nealy equal. Fo he ansfe funcion eive fom iffeen coniions such as oen loo, close loo, wih vaiable loas, he PID conolle is also esigne an he efomance chaaceisics hol goo wih heoeical asecs. 05 Inenaional Jounal of Avance Reseach in cience an Technology (IJART). All ighs eseve. Ciaion: Rajesh Kuma Mahaaa. e. al. Ienificaion an Design of Close loo Hyaulic sysem wih 4/3 evo valve,in. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Inoucion: The ange of alicaions of elecohyaulic sevo sysem inclues manufacuing sysems, heavy uy maeial esing evices, hyaulic mini ess machine, oboics, seel an aluminium mill equimen. In case of elecohyaulic acuaion sysem, hyaulic owe in conjuncion wih a sevo valve is use o ovie he esie foces an moion. The esie moion is achieve hough a close loo feeback conol sysemha senses he acual eflecion an coecs i unil he esie osiion is achieve []. This ae eos ienificaion of elecohyaulic sevo sysem o which iffeen sinusoial inus wih consan amliue 0.0vol a vaious fequencies anges fom Hz, Hz, 5Hz, 0Hz, 0 Hz, 00Hz, 500Hz, khz ae alie. The ansfe funcion fo he elecohyaulic sevo sysem was eive by using naual fequency ω n an aming aio ζ wih vaious se oins as well as oviing iffeen loas such as Kg, 5Kg, an 0Kg. Also, he fequency esonse in ems of Boe s lo a iffeen loa coniions is obseve. Then fo given ansfe funcion he PID conolle has been inouce an efomance chaaceisics in ems of ise ime, seling ime an eak ime ae iscusse. Elecohyaulic evo ysem: When close-loo hyaulic conol sysems aeae in inusy, ue o he equiemen of vey high efomance fo iffeen alicaions, whee he oeaos ae emaning geae ecision, fase oeaion an simle ajusmen [7]. Rajesh Kuma Mahaaa. e al Page 46

In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05,.46-467.

Inu ignal evo Con olle Hyaulic Powe uly Flow Conol Linea Acua Ouu L o a Fig. 3:Oen loo Block iagam fo elecohyaulic sevo valve wih acuao connece o loa Dislacemen Fig.

Though i ovies many avanages i exhibis nonlineaiy [3]. In oe o know he inu-ouu elaionshi of comonens, i is equie o eive he ansfe funcion.

This ae uses boh he ime omain aoach & fequency omain aoach fo ienificaion of elecohyaulic sevo sysem.

2 In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, A sevo o a sevomechanism is a conol sysem which measues is own ouu an foces he ouu o quickly an accuaely follow a comman signal an can be esigne o conol almos any hysical quaniies, e.g. moion, foce, essue, emeaue, elecical volage o cuen. Inu ignal evo Con olle Hyaulic Powe uly Flow Conol Linea Acua Ouu L o a Fig. 3:Oen loo Block iagam fo elecohyaulic sevo valve wih acuao connece o loa Dislacemen Fig.:Block iagam fo elecohyaulic sevo sysem Ienificaion an Conol of Elecohyaulic evo ysem: Hyaulic sevo sysems ovie lage iving foce as well as oque an highe see of esonse wih fase moion. Though i ovies many avanages i exhibis nonlineaiy [3]. In oe o know he inu-ouu elaionshi of comonens, i is equie o eive he ansfe funcion. The ienificaion echnique may involve ime omain analysis in ems of ansien esonse an fequency omain analysis. This ae uses boh he ime omain aoach & fequency omain aoach fo ienificaion of elecohyaulic sevo sysem. Hee, he elecohyaulic sevo sysem consiss he flow conol valve, linea acuao, sevo conolle which can be an amlifie o gain an o he linea acuao vaious loas ae given so ha cyline o osiion in ems of ansien esonse can be obseve. By aking sevo valve & linea acuao as a lan as well as a se oin of 0. vol is given o he sevo valve, he block iagam shown in fig. can be esigne as an oen loo block which is in fig.. In oen loo case, he loas ae no connece o he linea acuao an he cyline o osiion has been obseve. Then iffeen loas like kg, 5 kg an 0 kg ae given o he cyline an heequie block iagam eesenaion is shown in fig.3. Fig. :Oen loo Block iagam fo elecohyaulic sevo valve wih linea acuao Fig. 4:Close loo Block iagam fo elecohyaulic sevo valve wih linea acuao Fig. 5: Close loo Block iagam fo elecohyaulic sevo valve wih acuao connece o loa By connecing he ouu o he inu wih uniy feeback, he oen loo sysem shown in fig. an fig.3 can be esigne ino close loo sysem shown in fig.4 an fig.5 esecively. Fom he close loo esonse, he ansien an seay sae esonse has been analyze by calculaing maximum eak ime, aming aio an naual fequency wih vaying loas. The ansien an seay sae eo analysis cuve is shown in fig.6 which shows he chaaceisics such as ise ime, seling ime [4]. Fig. 6: Tansien & seay sae esonse analysis The ime esonse c( ) can be as follows [4]. c( ) e cos an (cos sin sin ) 0 () () Rajesh Kuma Mahaaa. e al Page 463

3 In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Now, he ise ime can be calculae using equaion-3 an Peak Time T P (3) o each he fis eak of c() c( ) sin 0 (sin 0 Maximum oveshoo M n m ex eling Time is given by ) n e n (4) (5) (6) 0 obaine by fining amliue esonse-elaionshi beween ouu an inu amliue wih esec o exciaion fequency. Fom he eak value, naual fequency ω n & aming aio ζ wee eemine wih iffeen loa coniion wih he assumion ha he sysem is a secon oe sysem.the esonan fequency ω an he esonan eak M fo caying ou boe lo can be calculae using equaion-8 [5]. j) n n Whee ω n is naual fequency ζ is he aming aio. (8) Wih he eive ansfe funcion fo he elecohyaulic sevo sysem, he 3-em conolle o inege PID conolle imlemene an he efomance of he sysem in ems of ise ime, eak ime an seling ime has been iscusse. The ansfe funcion fo PID conolle in -omain is given in equaion-9 an he block iagam fo he sysem is shown in fig.7. c( ) sin an n The oen loo ansfe funcions have been eive using equaion- o equaion-7 an ae given in able.. Table:.Oen loo ansfe funcion Loa (Kg) Oen-loo Tansfe Funcion (7) 04. ) 4.8 G ( ) ) G ( ) 3 4 ) Then he ienificaion echnique involves analysis of fequency esonse of he sysem a iffeen loa coniions as well as o eemine oe of he sysem fequency chaaceisics of he sysem wih feeback a iffeen loa coniion wee efome an he Boe slo esene. In his ae he Boe iagam is Fig. 7: Block iagam fo he PID conolle imulaion an Resul: The elecohyaulic sevo sysem shown in fig. has been esigne an simulae using MATLAB- imulink an is shown in fig.8 [7].I is simulae wihou feeback, wih feeback & wih loa coniion (mass is acing as loa). I was obseve when he inu is moe han 0. u() vols; he seay sae esonse oesn go o 0.m, i is ue o limiaion of acuaing cyline an is shown in fig.9. The soke lengh is limie o 0.3 mee an he sysem is quick nonlinea. The oen-loo esonse of he sysem wih 0,, 5,0kg loa ae esene in fig.0.thee was no oscillaion in esonse a no loa coniion, wheeas he oscillaion was obseve wih loa coniion. ince loa (mass) behaves as an inuco, oen-loo ansfe funcion wih loa aeas o have secon oe comlex oles. Bu wihou loa i behaves as only secon oe ye- sysem an fo he sysem wih loa he naual fequency is esene in able no.. Rajesh Kuma Mahaaa. e al Page 464

In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05,.46-467. Fig.

505 0.3 0.3947 8.58 0.50 5 0.3 0.3947 8.595 0.504 0 0.3 0.395 9.60 0.50 00 0.33 0.395 8.600 0.500 500 0.38 0.3963 9.409 0.47 000 0.43 0.3985 7.300 0.393 Fig.

4 In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Fig. 8:Elecohyaulic sevo sysem in MATLAB-imulink envionmen Table-3: Naual fequency & aming faco values Loa ( kg) Maximu m oin ( max ) Peak ime (T ) Naual fequency ω n Daming faco ζ Fig. 9:Cyline osiion wih no loa in oen loo The close loo esonse of he elecohyaulic sysem wih no loa an wih vaie loa is shown in fig. an fom he esonse fo iffeen loa coniion oles & zeos of close-loo ansfe funcion wee obaine. Fig. 0:Cyline osiion wih iffeen loa w.. 0.u() in oen loo coniion Fig. :Close loo esonse of elecohyaulic sevo sysem Rajesh Kuma Mahaaa. e al Page 465

Then in oe o obain he fequency esonse of he sysem, a sinusoial signal having vaie fequency has been given o he elecohyaulic sysem a no loa as well as iffeen loas an coesoningly ouu eak amliue has

5 Then in oe o obain he fequency esonse of he sysem, a sinusoial signal having vaie fequency has been given o he elecohyaulic sysem a no loa as well as iffeen loas an coesoningly ouu eak amliue has been calculae. The ouu esonse i.e. cyline o osiion a 0Hz fequency wih feeback & no loa is shown in fig.. In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Table: 5.Gain a iffeen fequency wih kg loa Fequency in Hz Ouu amliue Gain in B Fig. : Cyline o osiion a Fequency 0Hz wih feeback & wihou loa Table: 3.Gain a iffeen fequency wih no loa Fequency Amliue of Gain in B in Hz ouu In oe o obain Boe lo, he ouu value an he gain in B w.. no loa, k.g, kg, 5 Kg an 0 Kg ae give in able no.3 able no.4, able no.5, able no.6 an able no.7 esecively. Table: 4.Gain a iffeen fequency wih kg loa Fequenc y in Hz ouu amliue Gain in B Table: 6.Gain a iffeen fequency wih 5 kg loa Fequency in Hz Ouu amliue Gain in B Table: 7.Gain a iffeen fequency wih 0 kg loa Fequency in Hz Ouu amliue Gain in B To eemine oe of he sysem fequency chaaceisics of he sysem wih feeback a iffeen loa coniion wee efome an he Boe s lo esene in fig.3 & fig.4. Rajesh Kuma Mahaaa. e al Page 466

6 In. J. Av. Res. ci. Technol. Volume 4, Issue 7, 05, Then wih eive ansfe funcions, he PID conolles fo he sysem ae esigne an ansien aamees ae obseve in he able no.9. Table: 9.Tansien aamees Fig. 3: Boe lo wih no loa coniion Fig. 4.Boe lo fo 5kg & 0 kg loa Fom he above Boe s Plo all he cone fequency ae eemine. The ζ of comlex cone fequency was eemine by aking oveshoo a he cone fequency. Table-8: Poles an Cone fequency fom Boelo Loa(Kg) Poles Cone fequency(hz) I has been foun ha he oles & zeos of he sysem eemine by he ansien esonse &Boe s Plo ae nealy equal (because of obsevaional eo). Theefoe mos exece Tansfe Funcion is Loa (in Kg) Rise ime (sec) eling ime (sec) Peak ime (ec) No loa Conclusion an Fuue Wok: This ae akes a case suy of elecohyaulic sevo valve which is connece o a cyline an efine he efomance of he sevo sysem wih vaie loas no only in oen loo case bu also in close loo case.also, fom he obsevaion i has been foun ha he sysem efomance is bee in close loo coniion an PID conolle esigne. The ienificaion of he sysem is one wih boh ime omain an fequency omain aoach.in fuue we can imove he efomance of elecohyaulic sysem wih nonlineaiy coniions as well as esign of facional oe conolle o he sysem.also, he sysem can be ienifie using facional oe synhesis. Refeences:. C.W.e ilva: Conol ensos an Acuaos, Penice Hall. New Jesey: E. Paaooulos, a sysemaic mehoology fo oimal comonen selecion of Eleco hyaulic sevo sysems Inenaional jounal of flui owe, volume 5,numbe 3, Novembe 004,age Juneng hao, Zhangwen Wang,Jianying Lin an Guihua Han, Moel Ienificaion an Conol of Eleco-Hyaulic osiion sevo sysem, Inenaional Confeence on Inelligen Human-Machine sysems an Cybenaics,.0-3, K. Ogaa, Moen Conol Engineeing.3 eiion, PHI ivae L, K.P.Ramchanan an M..Balasunaam, Mechaonics. Wiley Inia, New Delhi: Malab/imulink, Use s Manual, Mahwoks Mei, Hebe E., 967, Hyaulic Conol ysems, Wiley, New Yok. 8. Wale, R. B., Hyaulic an Eleco hyaulic Conol sysem, Cliff, Lonon, 967. ) (9) Rajesh Kuma Mahaaa. e al Page 467

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