Page 560 - Mechatronics with Experiments

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JWST499-Cetinkunt
JWST499-c07
5 October 9, 2014 8:41 254mm×178mm

4
3

2
Qr p_s 1
w_shaft Qp
Dp 4 2500 2000 1500 1000 500 150 100 Qv 0 Ar 100 Av
6 2 0 0 50 50 0 2.5 ×10 1.5 0.5 0 0

Soope

[D_p] From [w_shaft] From 1 [Q_p] From 2 [Q_v] From 3 [Q_r] From 4 [A_v] From 5 [A_r] From 6 [p_s] From 7

[p_s] Goto 7 Saturation: 0 to 100
1 s Integrator 2 1 s Integrator 1

1.5*10 3/0.001 beta/V_hose 200 “{u(2)/100.0}” sqrt{u(1)/6895} Q_v 200 “{u(2)/100.0}” sqrt{u(1)/20000} Q_v1 1 s 1/m_r Integrator 100 c_r 100 k_r 5.

[Q_r] Goto 4 + – – 1/0.1 Case
[Q_v] Goto 3 + – – for

[Q_p] Goto 2 [A_r] Goto 6 A_fb results
2.0 simulation

[w_shaft] Goto 1 X Q_p Lookup table: A_r
[D_p] Goto [A_v] Goto 5 Lookup table: pressure circuit

+ – Hydraulic
1/60 Scale + –
7.98:
Signal 1 D_p 2000 w_shaft 100 p_t [kPa] 0 A_v 20000 p_max[kPa] FIGURE

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