Page 575 - Mechatronics with Experiments

October 9, 2014 8:41 254mm×178mm
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JWST499-c07
JWST499-Cetinkunt
ELECTROHYDRAULIC MOTION CONTROL SYSTEMS 561
c_v = 0.60 ; % damping ratio of the valve spool motion
tau_a = 0.01 ; % sec
K_a = 1.0 ; % current amp gain
K_t = 1.0 ; % current to torque gain
Q_rv = 1.0 ∗ 10ˆ-3 ; % mˆ3/sec
p_r = 6.895 ∗10ˆ6 ; % Pa = N/mˆ2
beta = 1.5 ∗(10ˆ9) ; % Bulk modulus
V_hose_pv = 0.001 ; % [mˆ3]
V_hose_va = 0.001 ; % [mˆ3]
V_hose_vb = 0.001 ; % [mˆ3]

A_a = 0.001 ;
A_b = 0.0005 ;
l_cyl = 1.0 ; % [m]
m_p = 10 ; % kg
m_l = 990 ; % kg
c_p = 100.0 ;

% PID controller parameters and initialization

K_fb = 1.0 ;
K_p = 3.0 ;
K_i = 0.0 ;
K_d = 0.0 ;
u_i = 0.0 ;
% Input conditions

w_shaft = 3000/60 ; % rev/sec
F_load = (m_p + m_l) ∗ 9.81 ; % kg m/secˆ2 = N

% Initial conditions on head and rod-end volume of cylinder.

i_v = 0.0 ;
x_v = 0.0 ;
xdot_v = 0.0 ;
y = 0.2 ; % Initial cylinder position
ydot = 0.0 ; % Initial cylinder velocity
y_d = 0.2 ;
ydot_d = 0.0 ;
% Initial pressures, atmospheric pressure: 101 kPa
p_p = 101 ∗ 10ˆ3; % Pump pressure: Pa
p_a = F_load/A_a ;
p_b = 101 ∗ 10ˆ3 ;
p_t = 101 ∗10ˆ3 ; % kPa Tank pressure
Q_r = 0.0 ;
Q_v = 0.0 ;

% Simulation over a time period: [t_0, t_f]
t_0 =0.0;
t_f =5.0 ;