Page 581 - Mechatronics with Experiments

Printer: Yet to Come
October 9, 2014 8:41 254mm×178mm
JWST499-Cetinkunt
JWST499-c07
ELECTROHYDRAULIC MOTION CONTROL SYSTEMS 567
y 1 × 10 6 P (head-end pressure)
he
0.2 2
0 1
–0.2 0
0 5 10 15 0 5 10 15
y 2 × 10 6 P (rod-end pressure)
re
0.2 2
0 1

–0.2 0
0 5 10 15 0 5 10 15
y Load force
0.5 3 10 000

0 5000

–0.5 0
0 5 10 15 0 5 10 15

FIGURE 7.106: Simulation results: hydraulic cylinder connected to a flexible base and load.
The position of each mass, pressure, and flow rate on both sides (head-end and rod-end) of the
cylinder.

where V (0), V (0) are the initial conditions of the head-end and rod-end volume of the
he re
cylinder when y (0) = y (0) = 0.0
1 2
Simulation results for the following model parameters and initial conditions are
shown in Figure 7.106. The model parameters used in the numerical simulations are

m = 1000 kg (7.652)
1
m = 100 kg (7.653)
2
m = 1000 kg (7.654)
3
5
k = 10 N∕m (7.655)
1
6
k = 10 N∕m (7.656)
3
c = 1000 N∕(m∕s) (7.657)
1
c = 1000 N∕(m∕s) (7.658)
3
8
= 7.0 ⋅ 10 N∕m 2 (7.659)
A = 0.01 m 2 (7.660)
he
A = 0.005 m 2 (7.661)
re
C A (x (t)) = 0.01 ⋅ (x − x ) (7.662)
d1 he1 s s db
C A (x (t)) = 0.01 ⋅ (x − x ) (7.663)
s
db
s
d1 re1
C A (x (t)) = 0.01 ⋅ (x − x ) (7.664)
s
d2 he2
db
s
C A (x (t)) = 0.01 ⋅ (x − x ) (7.665)
db
s
s
d2 re2
x db = 10% deadband in percentage of (7.666)
maximum spool travel (7.667)