Hydraulic control systems

401 Pages·2020·26.008 MB·English

by  Noah D. Manring, Roger C. Fales

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HYDRAULIC
CONTROL SYSTEMS
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HYDRAULIC
CONTROL SYSTEMS
Second Edition
Noah D. Manring
Roger C. Fales
UniversityofMissouri–Columbia
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Thiseditionfirstpublished2020
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LibraryofCongressCataloging-in-PublicationData
Names:Manring,Noah,author.|Fales,Roger,author.
Title:Hydrauliccontrolsystems/NoahDManring,UniversityofMissouri,
MO,US,RogerCFales,UniversityofMissouri,MO,US.
Description:Secondedition.|Hoboken:Wiley,2020.|Includes
bibliographicalreferencesandindex.
Identifiers:LCCN2019023875(print)|LCCN2019023876(ebook)|ISBN
9781119416470(cloth)|ISBN9781119416487(adobepdf)|ISBN
9781119416494(epub)
Subjects:LCSH:Hydrauliccontrol.
Classification:LCCTJ843.M21852020(print)|LCCTJ843(ebook)|DDC
629.8/042—dc23
LCrecordavailableathttps://lccn.loc.gov/2019023875
LCebookrecordavailableathttps://lccn.loc.gov/2019023876
CoverDesign:Wiley
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Toourparents,whoinspiredusfromthebeginning!
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CONTENTS
PrefacetotheSecondEdition xv
PrefacetotheFirstEdition xvii
Introduction xix
I FUNDAMENTALS 1
1 Fluid Properties 3
1.1 Introduction / 3
1.2 FluidMassDensity / 3
1.2.1 EquationofState / 3
1.2.2 Density-VolumeRelationship / 4
1.3 FluidBulkModulus / 5
1.3.1 Definitions / 5
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1.3.2 EffectiveBulkModulus / 7
1.3.3 MeasuringtheFluidBulkModulus / 16
1.4 ThermalFluidProperties / 19
1.4.1 CoefficientofThermalExpansion / 19
1.4.2 ThermalConductivity / 23
1.4.3 SpecificHeat / 24
1.5 FluidViscosity / 25
1.5.1 Definitions / 25
1.5.2 ViscousDragCoefficient / 27
1.5.3 ViscosityChartsandModels / 27
1.6 VaporPressure / 29
1.7 ChemicalProperties / 29
1.8 FluidTypesandSelection / 30
1.8.1 Petroleum-BasedFluids / 30
1.8.2 SyntheticFluids / 30
1.8.3 BiodegradableFluids / 30
1.8.4 Water / 31
1.8.5 FluidSelection / 31
1.9 Conclusion / 32
1.10 References / 32
1.11 HomeworkProblems / 32
1.11.1 FluidMassDensity / 32
1.11.2 FluidBulkModulus / 33
1.11.3 ThermalFluidProperties / 33
1.11.4 FluidViscosity / 34
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viii CONTENTS
2 Fluid Mechanics 35
2.1 Introduction / 35
2.2 GoverningEquations / 35
2.2.1 Navier-StokesEquations / 35
2.2.2 HighReynoldsNumberFlow / 36
2.2.3 LowReynoldsNumberFlow / 38
2.2.4 TurbulentversusLaminarFlow / 41
2.2.5 ControlVolumeAnalysis / 42
2.3 FluidFlow / 47
2.3.1 TheReynoldsNumber / 47
2.3.2 BernoulliFlowandtheOrificeEquation / 48
2.3.3 PoiseuilleFlowandtheAnnularLeakageEquation / 50
2.3.4 PipeFlow / 56
2.4 PressureLosses / 60
2.4.1 MajorLosses / 60
2.4.2 MinorLosses / 60
2.5 PressureTransients / 66
2.5.1 HydraulicConduits / 66
2.5.2 WaterHammer / 68
2.5.3 PressureRiseRatesWithinaVaryingControl
Volume / 70
(cid:2) 2.6 HydraulicEnergyandPower / 72 (cid:2)
2.6.1 FluidPower / 72
2.6.2 HeatGenerationinHydraulicSystems / 73
2.7 LubricationTheory / 74
2.8 Conclusion / 77
2.9 References / 78
2.10 HomeworkProblems / 78
2.10.1 GoverningEquations / 78
2.10.2 FluidFlow / 78
2.10.3 FluidPressure / 79
2.10.4 FluidPower / 79
3 Dynamic Systems and Control 81
3.1 Introduction / 81
3.2 Modeling / 81
3.2.1 General / 81
3.2.2 MechanicalSystems / 82
3.2.3 HydromechanicalSystems / 83
3.2.4 ElectromechanicalSystems / 84
3.2.5 Summary / 85
3.3 Linearization / 85
3.3.1 General / 85
3.3.2 TheTaylorSeriesExpansion / 86
3.3.3 ExamplesofLinearization / 87
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CONTENTS ix
3.4 DynamicBehavior / 88
3.4.1 First-OrderResponse / 88
3.4.2 Second-OrderResponse / 92
3.4.3 Higher-OrderResponse / 102
3.5 StateSpaceAnalysis / 103
3.5.1 General / 103
3.5.2 StateSpaceEquations / 103
3.5.3 CharacteristicEquation / 104
3.6 BlockDiagramsandtheLaplaceTransform / 104
3.6.1 General / 104
3.6.2 LaplaceTransform / 104
3.6.3 PartialFractionExpansion / 107
3.6.4 BlockDiagrams / 110
3.7 Stability / 119
3.7.1 General / 119
3.7.2 StabilityCriterion / 119
3.7.3 Summary / 123
3.8 FeedbackControl / 123
3.8.1 General / 123
3.8.2 PIDControllerDesignintheTimeDomain / 125
3.8.3 ControlDesignintheFrequencyDomain / 130
3.8.4 DigitalControl / 138
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3.8.5 Controllability and State Feedback Controller
Design / 148
3.8.6 ObservabilityandStateEstimation / 150
3.8.7 Summary / 152
3.9 Conclusion / 152
3.10 References / 152
3.11 HomeworkProblems / 153
3.11.1 Modeling / 153
3.11.2 Linearization / 153
3.11.3 DynamicBehavior / 153
3.11.4 BlockDiagramsandtheLaplaceTransform / 154
3.11.5 FeedbackControl / 154
II HYDRAULIC COMPONENTS 155
4 Hydraulic Valves 157
4.1 Introduction / 157
4.2 ValveFlowCoefficients / 158
4.2.1 Overview / 158
4.2.2 LinearizedFlowEquation / 159
4.2.3 ValvePortingGeometry / 160
4.2.4 Summary / 163
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4.3 Two-WaySpoolValves / 163
4.3.1 Overview / 163
4.3.2 Efficiency / 164
4.3.3 FlowForces / 165
4.3.4 PressureReliefValves / 172
4.3.5 Summary / 176
4.4 Three-WaySpoolValves / 176
4.4.1 Overview / 176
4.4.2 Efficiency / 180
4.4.3 FlowForces / 181
4.4.4 HydromechanicalValves / 182
4.4.5 Summary / 185
4.5 Four-WaySpoolValves / 185
4.5.1 Overview / 185
4.5.2 Efficiency / 188
4.5.3 FlowForces / 190
4.5.4 Two-StageElectrohydraulicValves / 191
4.5.5 Summary / 199
4.6 PoppetValves / 200
4.6.1 Overview / 200
4.6.2 Efficiency / 202
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4.6.3 FlowForces / 202
4.6.4 PressureReliefValves / 203
4.6.5 Summary / 207
4.7 FlapperNozzleValves / 208
4.7.1 Overview / 208
4.7.2 Efficiency / 209
4.7.3 FlowForces / 210
4.7.4 Two-StageElectrohydraulicValves / 213
4.7.5 Summary / 222
4.8 Conclusion / 222
4.9 References / 222
4.10 HomeworkProblems / 222
4.10.1 ValveFlowCoefficients / 222
4.10.2 SpoolValves / 223
4.10.3 PoppetValves / 223
4.10.4 FlapperNozzleValves / 224
5 Hydraulic Pumps 225
5.1 Introduction / 225
5.1.1 Overview / 225
5.1.2 HydrostaticPumpTypes / 226
5.1.3 Summary / 232
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CONTENTS xi
5.2 PumpEfficiency / 233
5.2.1 Overview / 233
5.2.2 EfficiencyDefinitions / 233
5.2.3 ModelingPumpEfficiency / 234
5.2.4 MeasuringPumpEfficiency / 235
5.2.5 Summary / 239
5.3 GearPumps / 239
5.3.1 Overview / 239
5.3.2 PumpFlowCharacteristics / 240
5.3.3 PumpControl / 243
5.3.4 Summary / 243
5.4 Axial-PistonSwash-PlatePumps / 243
5.4.1 Overview / 243
5.4.2 PumpFlowCharacteristics / 244
5.4.3 Pressure-ControlledPumps / 246
5.4.4 Displacement-ControlledPumps / 254
5.4.5 Summary / 258
5.5 Conclusion / 259
5.6 References / 259
5.7 HomeworkProblems / 260
5.7.1 PumpEfficiency / 260
5.7.2 GearPumps / 260
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5.7.3 Axial-PistonSwash-PlatePumps / 261
6 Hydraulic Actuators 263
6.1 Introduction / 263
6.2 ActuatorTypes / 263
6.2.1 LinearActuators / 263
6.2.2 RotaryActuators / 265
6.3 LinearActuators / 266
6.3.1 Overview / 266
6.3.2 Efficiency / 266
6.3.3 ActuatorFunction / 267
6.3.4 Summary / 270
6.4 RotaryActuators / 270
6.4.1 Overview / 270
6.4.2 Efficiency / 270
6.4.3 ActuatorFunction / 272
6.4.4 Summary / 273
6.5 Conclusion / 273
6.6 References / 274
6.7 HomeworkProblems / 274
6.7.1 LinearActuators / 274
6.7.2 RotaryActuators / 274
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xii CONTENTS
7 Auxiliary Components 275
7.1 Introduction / 275
7.2 Accumulators / 275
7.2.1 FunctionoftheAccumulator / 275
7.2.2 DesignoftheAccumulator / 277
7.3 HydraulicConduits / 281
7.3.1 FunctionofHydraulicConduits / 281
7.3.2 SpecificationofHydraulicConduits / 281
7.4 Reservoirs / 283
7.4.1 FunctionsoftheReservoir / 283
7.4.2 DesignoftheReservoir / 283
7.5 Coolers / 286
7.5.1 FunctionoftheCooler / 286
7.5.2 DesignoftheCooler / 286
7.6 Filters / 287
7.6.1 FunctionoftheFilter / 287
7.6.2 PlacementoftheFilter / 287
7.7 Conclusion / 289
7.8 References / 290
7.9 HomeworkProblems / 290
7.9.1 Accumulators / 290
(cid:2) 7.9.2 HydraulicConduits / 290 (cid:2)
7.9.3 Reservoirs / 291
7.9.4 Coolers / 291
7.9.5 Filters / 292
III HYDRAULIC CONTROL SYSTEMS 293
8 Valve-Controlled Hydraulic Systems 295
8.1 Introduction / 295
8.2 Four-WayValveControlofaLinearActuator / 297
8.2.1 Description / 297
8.2.2 Analysis / 298
8.2.3 Design / 300
8.2.4 Control / 306
8.2.5 Summary / 311
8.3 Three-WayValveControlofaSingle-RodLinear
Actuator / 312
8.3.1 Description / 312
8.3.2 Analysis / 313
8.3.3 Design / 315
8.3.4 Control / 320
8.3.5 Summary / 325
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