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Exercise 3

1. Derive a simulation model of the hydraulic circuit shown in the next page. Assume ideal
constant pressure source (pump port pressure of the directional valve is constant 240 bar).
The 4/3-directional valve is controlled by a proportional magnet. Its spool has cylindrical
orifices. Valve is assumed symmetrical and leakless with zero overlap. In the maximum
opening position of the valve the pressure drop from P-A, A-T, P-B, B-T is 10 bar with flow
40 l/min. The –45o bandwidth of the valve is 5Hz. The maximum opening of the valve
spool is achieved by 10V. The diameter of cylinder is 80 mm, diameter of piston rod 63
mm, the maximum stroke 1200 mm and mass 5000 kg. The friction of cylinder is assumed
to be viscous (b=3500 Ns/m). The steel pipe volumes are: 1.5 l between the directional valve
port and the cylinder. The pipe volume between cylinder and counter balance valve is 0.3 l
and the volume between counter balance valve and directional valve port 0.4 l. The bulk
modulus of oil is 1400 MPa and its density 860 kg/m3. There is no undissolved air in the
oil.

The initial parameters for the counter balance valve are as follows
Diameter D=23 mm
Diameter d=20 mm
Diameter Dx=20 mm
Diameter dx=4 mm
Half of the cone angle of the poppet =400
Spring constant kj=800 kN/m
m3
Damping orifice coefficient k0=2.27e-8 (corresponding diameter A0 in the figure)
s Pa


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2. Simulate the work cycle with Simulink, where the initial position of cylinder is 1100 mm,
from which after starting the simulation at time 2 s it is driven downwards 3.0 s with the
valve input voltage 1 V and then stopped.
3. Repeat the simulation with valve parameter Dx=8 mm and 6 mm.
4. Write a report, in which the model of the circuit is given by equations and simulink-
diagram. Present the simulated piston position, cylinder speed counter balance valve poppet
position and cylinder pressures.

Remember to set the lower limit of the counter balance valve position into x=0. Set the
preloading compression of valve spring x0 such that the opening pressure will be 10% larger
than the load pressure caused by the mass. Because the load is only driven downwards in the
simulation, it is not necessary to model the check valve.

.
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Exercise 2.
Analyze the dynamics of a hydraulic circuit with a constant pressure pump, 4/3-proportional
directional valve and an asymmetric cylinder. Build a simulation model for the circuit in
SIMULINK. Simulate a work cycle starting when the piston is at half of its maximum stroke.
The work cycle is 2 sec upwards and 3 sec downwards. Vary the control signal into the
proportional valve from +6V to -6V by a step function at time t=5. Maximum simulation time
is 10s. Plot the cylinder position and speed, pressures flows etc. The maximum proportional
valve input Uin is +-10V, while its positive overlap in 40%. The spool has triangular groves as
a cross-section area. This makes the flow to have a parabolic dependency on the input Uout-
Ud, where Ud is 4V. With maximum input 10V and pressure drop 10bar over the control edge
the proportional valve flow is 40l/min. The time constant of the proportional valve spool is
100ms.

The principle of cylinder and its connection to fluid power circuit are shown below. It has
spring type of end-dampers, whose spring constants Ks =2e6
N/m, and y0 =10mm. The friction force m is simplified to be an
ideal viscous friction.
y0

H
A
Xs
sS

y0
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In valve ports assume the flow to be:

𝑄 = 𝐶𝑣 (𝑈𝑜𝑢𝑡 − 𝑈𝑑 )2 √∆𝑝

while not in the overlap area (please mind the correct signs). Cv you can calculate from the
previously given parameter values. Constraints for the pump controller need not to be taken
into account. Create a first order delay between valve Uin and Uout to describe the
dynamics of the proportional solenoid.
Additional parameter and initial values for variables needed
Kp=(1.e-3)/(10e5)%flow-pressure-coefficient of pump
tau=30e-3%pump time constant
Be=1300e6%effective bulk modulus of volume 1
V=3e-3%physicel volume 1
pref=180.e5%reference pressure of pump
BeA=1200e6% Effective bulk modulus of volume 2
VA=5.e-4%physical valume 2
BeB=1500e6%effective bulk modulus of volume 3
VB=5.e-4%physical volume 3
D=80e-3%piston diameter
d=63e-3%rod diameter
A1=(pi*D^2)/4%piston area 1
A2=pi*(D^2-d^2)/4% piston are 2
H=1%maximum piston position
m=5000%mass
b=5000%viscous friction coefficient (only viscous friction b*xdot is
%considered)
g=9.81%gravitational acceleration
T=1e-4 %integrator time step
SIMTIME = 5 %simulation time
pp0=180.e5 %initial value of pressure pp
pA0=1.e5 %initial value of pressure pA
pB0=1.e5 %initial value of pressure pB
x0=0.5 %initial value of piston position
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Exercise 1.

1 Make a model of the following direct operated pressure relief valve

2. Simulate the step responses of the valve by using SIMULINK in the following circuit with three
preload settings of the spring (pressure settings 50, 120 and 200bar)
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3. Repeat the calculations by using 0.5 times smaller damping orifice coefficient. Compare the
results.

The following parameters are used:

Parameter values:

Diameter D2= 24mm

Diameter D1= 16 mm

Half of the cone angle of the poppet = 40o

Spring constant Kj = 400kN/m

Damping orifice kd = 2.27e-8

Displacement of the pump Vp = 50 cm3

Laminar leakage coefficient of the pump is 5 l/min/200bar (Note that the pump model is (Qp=ωVp-
kL*p1), use SI-units

Rotation speed of pump shaft n=1450 r/min

Effective bulk modulus Be = 1300 MPa

Pipe volume V = 1dm3