HYDRAULIC CONTROL SYSTEMS
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1 HYDRAULIC CONTROL SYSTEMS Noah D. Manring Mechanical and Aerospace Engineering Department University of Missouri-Columbia WILEY John Wiley & Sons, Inc.
2 vii Preface Introduction xiii XV FUNDAMENTALS 1 Fluid Properties Introduction / 3 Fluid Mass Density / Equation of State / Density-Volume Relationship / 5 Fluid Bulk Modulus / Definitions / Effective Bulk Modulus / Measuring the Fluid Bulk Modulus / 21 Thermal Fluid Properties / Fluid Vapor Coefficient of Thermal Expansion / 25 Thermal Conductivity / 30 Specific Heat / 31 Viscosity / 32 Definitions / 32 Viscous Drag Coefficient / 35 Viscosity Charts and Models / 35 Pressure / 37 Chemical Properties / 38 Fluid Types and Selection / 39 Petroleum Based Fluids / 39 Synthetic Fluids / 39 Biodegradable Fluids / 39 Water / 40 Fluid Selection / 40 Conclusion /
3 viii 1.10 References / Homework Problems / 41 2 Fluid Mechanics 2.1 Introduction / Governing Equations / Navier-Stokes (N-S) Equations / High-Reynolds-Number Flow / Low-Reynolds-Number Flow / Turbulent versus Laminar Flow / Control-Volume Analysis / Fluid Flow / The Reynolds Number / Bernoulli Flow and the Orifice Equation / Poiseuille Flow and the Annular Leakage Equation / Pipe Flow / Pressure Losses / Major Losses / Minor Losses / Pressure Transients / Hydraulic Conduits / Water Hammer / Pressure Rise Rates within a Varying Control Volume / Hydraulic Energy and Power / Fluid Power / Heat Generation in Hydraulic Systems / Lubrication Theory / Conclusion / References / Homework Problems / 99 3 Dynamic Systems and Controls 3.1 Introduction / Modeling / General / Mechanical Systems / Hydromechanical Systems / Electromechanical Systems / Summary /
4 ix Linearization / General / The Taylor Series Expansion / Examples of Linearization / 109 Dynamic Behavior / First-Order Response / 111 Second-Order Response / 116 Higher-Order Response / 129 State-Space Analysis / Block General / 129 State-Space Equations / 130 Characteristic Equation / 131 Diagrams and the Laplace Transform / 131 General / 131 Laplace Transform / 132 Partial Fraction Expansion / 135 Block Diagrams / 139 Stability / General / 150 Stability Criterion / 150 Summary / 154 Compensation / General / 154 Controller Design / 155 P Control / 156 PI Control / 157 PID Control / 159 Control Gain Selection / 160 Summary / 162 Conclusion / 162 References / 162 Homework Problems / 163 II HYDRAULIC COMPONENTS Hydraulic Control Valves Introduction / 169 Valve Flow Coefficients / Overview / Linearized Flow Equation / 172
5 Valve Porting Geometry / Summary / 177 Two-Way Spool Valves / Overview / Efficiency / Flow Forces / Pressure-Relief Valves / Summary / 194 Three-Way Spool Valves / Overview / 194 Efficiency / 197 Flow Forces / 199 Hydromechanical Valves / 201 Summary / 204 Four-Way Spool Valves / Overview / 205 Efficiency / 209 Flow Forces / 211 Two-Stage Electrohydraulic Valves / 213 Summary / 223 Poppet Valves / Overview / 224 Efficiency / 226 Flow Forces / 227 Pressure-Relief Valves / 228 Summary / 233 Flapper Nozzle Valves / Overview / 234 Efficiency / 236 Flow Forces / 236 Two-Stage Electrohydraulic Valves / 240 Summary / 252 Conclusion / 252 References / 252 Homework Problems / Hydraulic Pumps 5.1 Introduction / Overview / Hydrostatic Pump Types / Summary / Pump Efficiency / Overview / Efficiency Definitions /
6 XI Modeling Pump Efficiency / Measuring Pump Efficiency / Summary / Gear Pumps / Overview / Pump Flow Characteristics / Pump Control / Summary / Axial-Piston Swash-Plate Pumps / Overview / Pump Flow Characteristics / Pressure-Controlled Pumps / Displacement-Controlled Pumps / Summary / Conclusion / References / Homework Problems / Hydraulic Actuators 6.1 Introduction / Actuator Types / Linear Actuators / Rotary Actuators / Linear Actuators / Overview / Efficiency / Actuator Function / Summary / Rotary Actuators / Overview / Efficiency / Actuator Function / Summary / Conclusion / References / Homework Problems / HYDRAULIC CONTROL SYSTEMS 7 Valve-Controlled Hydraulic Systems 7.1 Introduction /
7 XII Four-Way Valve Control of a Linear Actuator / Description / Analysis / Design / Control / Summary / 344 Three-Way Valve Control of a Linear Actuator / Description / Analysis / Design / Control / Summary / 363 Four-Way Valve Control of a Rotary Actuator / Description / Analysis / Design / Control / Summary / 381 Conclusion / 382 References / 383 Homework Problems / Pump-Controlled Hydraulic Systems 8.1 Introduction / Fixed-Displacement Pump Control of a Linear Actuator / Description / Analysis / Design / Control / Summary / Variable-Displacement Pump Control of a Rotary Actuator / Description / Analysis / Design / Control / Summary / Conclusion / References / Homework Problems / INDEX 427
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