Industrial Control
Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology
Winter 2009
Tehran, Iran
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Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve
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Hydraulic Systems
Electrical Analogy
Type of System Electrical Hydraulic
T-Variable i, current q, volumetric flow
A-Variable v , voltage p, pressure
Dissipator resistor orifice
Storage (A-Type) capacitor storage tank
Storage (T-Type) inductor long pipe
Unidirectional diode check valve
The fluid is assumed to be incompressible.
[Macia and Thaler, 2004, Ljung and Glad, 1994]
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Hydraulic Dissipator
d’Arcy’s Law
For a thin tube:
p = Rf q
Behzad Samadi (Amirkabir University) Industrial Control 3/9
Hydraulic Dissipator
d’Arcy’s Law
For a thin tube:
p = Rf q
For a sudden change in area, such as an orifice or valve:
p = Hq 2 sgn(q)
H is a constant.
[Ljung and Glad, 1994]
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Hydraulic Capacitor
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Hydraulic Capacitor
Z
mg ρg ρg t
p= = V = q(τ )dτ
A A A 0
p =pressure at the bottom of the tank
V =volume of the fluid in tank
A =cross section area of the tank
ρ =density of the fluid
[Ljung and Glad, 1994]
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Hydraulic Inductor
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Hydraulic Inductor
dv
F =ma = (ρlA)
dt
F dv
p= = ρl
A dt
q =Av
Behzad Samadi (Amirkabir University) Industrial Control 5/9
Hydraulic Inductor
dv
F =ma = (ρlA)
dt
F dv l dq dq
p= = ρl ⇒ p =ρ = Lf
A dt A dt dt
q =Av
Behzad Samadi (Amirkabir University) Industrial Control 5/9
Hydraulic Inductor
dv
F =ma = (ρlA)
dt
F dv l dq dq
p= = ρl ⇒ p =ρ = Lf
A dt A dt dt
q =Av
Hydraulic Inductor
Lf = ρ Al
[Ljung and Glad, 1994]
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Hydraulic Junction
P
i Qi = 0 (KCL)
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Hydraulic Junction
P p4 = p1 + p2 + p3 (KVL)
i Qi = 0 (KCL)
[Ljung and Glad, 1994]
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Hydraulic Transformer
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Hydraulic Transformer
p1 Q1 =p2 Q2
p1 =αp2
1
Q1 = Q2
α
A2
α=
A1
[Ljung and Glad, 1994]
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Comparison
Electrical Hydraulic Pneumatic
Energy source Usually from outside Electric motor or diesel Electric motor or diesel
supplier driven driven
Energy storage Limited (batteries) Limited (accumulator) Good (reservoir)
Distribution system Excellent, with minimal Limited, basically a lo- Good, can be treated as
loss cal facility a plantwide service
Energy cost Lowest Medium Highest
Rotary actuators AC and DC motors. Low speed. Good con- Wide speed range. Ac-
Good control on DC trol. Can be stalled. curate speed control
motors. AC motors difficult
cheap
Linear actuators Short motion via Cylinders. Very high Cylinders. Medium
solenoid. Otherwise via force force
mechanical conversion
Points to note Danger from electric Leakage dangerous and Noise
shock unsightly. Fire hazard
[Parr, 1999]
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Analogy Summary
[Macia and Thaler, 2004]
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Ljung, L. and Glad, T. (1994).
Modeling of Dynamic Systems.
Prentice Hall PTR, 1 edition.
Macia, N. F. and Thaler, G. J. (2004).
Modeling and Control of Dynamic Systems.
Delmar Learning.
Parr, A. (1999).
Hydraulics and Pneumatics: A Technicians and Engineers Guide.
Butterworth-Heinemann, 2 edition.
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