Hyd Formelsammlung en

Sales Industry Sector Metallurgy
Formulary Hydraulics
Hydraulic Formulary
Author: Houman Hatami

Tel.: +49-9352-18-1225
Fax: +49-9352-18-1293
houman.hatami@boschrexroth.de
10.01.2013 1
CONTENTS
RELATIONS BETWEEN UNITS ............................................................................................................. 4
IMPORTANT CHARACTERISTIC VALUES OF HYDRAULIC FLUIDS ................................................ 6
GENERAL HYDRAULIC RELATIONS ................................................................................................... 7

PISTON PRESSURE FORCE ...................................................................................................................... 7
PISTON FORCES ..................................................................................................................................... 7
HYDRAULIC PRESS ................................................................................................................................. 7
CONTINUITY EQUATION ........................................................................................................................... 8
PISTION SPEED....................................................................................................................................... 8
PRESSURE INTENSIFIER .......................................................................................................................... 8
HYDRAULIC SYSTEM COMPONENT ................................................................................................... 9
HYDRO PUMP ......................................................................................................................................... 9
HYDRO MOTOR ....................................................................................................................................... 9
Hydro motor variable ...................................................................................................................... 10
Hydro motor fixed ........................................................................................................................... 11
Hydro motor intrinsic frequency ..................................................................................................... 12
HYDRO PISTON ..................................................................................................................................... 13
Differential piston ............................................................................................................................ 14
Double acting cylinder .................................................................................................................... 15
Cylinder in differential control ......................................................................................................... 16
Cylinder intrinsic frequency at differential cylinder ......................................................................... 17
Cylinder intrinsic frequency at double acting cylinder .................................................................... 18
Cylinder intrinsic frequency at plunger cylinder.............................................................................. 19
PIPING................................................................................................................................................... 20
APPLICATION EXAMPLES FOR SPECIFICATION OF THE CYLINDER PRESSURES AND

VOLUME FLOWS UNDER POSITIVE AND NEGATIVE LOADS ........................................................ 21
DIFFERENTIAL CYLINDER EXTENDING WITH POSITIVE LOAD ..................................................................... 22
DIFFERENTIAL CYLINDER RETRACTING WITH POSITIVE LOAD ................................................................... 23
DIFFERENTIAL CYLINDER EXTENDING WITH NETAGIVE LOAD.................................................................... 24
DIFFERENTIAL CYLINDER RETRACTING WITH NEGATIVE LOAD .................................................................. 25
DIFFERENTIAL CYLINDER EXTENDING AT AN INCLINED PLANE WITH POSITIVE LOAD .................................. 26
DIFFERENTIAL CYLINDER RETRACTING AT AN INCLINED PLANE WITH POSITIVE LOAD................................. 27
DIFFERENTIAL CYLINDER EXTENDING AT AN INCLINED PLANE WITH NEGATIVE LOAD ................................ 28
DIFFERENTIAL CYLINDER RETRACTING AT AN LINCLINED PBLANE WITH NEGATIVE LOAD ............................ 29
HYDRAULIC MOTOR WITH POSITIVE LOAD ............................................................................................... 30
HYDRAULIC MOTOR WITH NEGATIVE LOAD.............................................................................................. 31
IDENTIFICATION OF THE REDUCED MASSES OF DIFFERENT SYSTEMS ................................... 32
LINEARE DRIVES .................................................................................................................................. 33
Primary applications (Energy method) ........................................................................................... 33
Concentrated mass at linear movements....................................................................................... 35
Distributed mass at linear movements ........................................................................................... 36
ROTATION ............................................................................................................................................ 37
COMBINATION OF LINEAR AND ROTATIONAL MOVEMENT .......................................................................... 38
HYDRAULIC RESISTANCES...39
ORIFICE EQUATION ............................................................................................................................... 39
TROTTLE EQUATION .............................................................................................................................. 39
10.01.2013 2
HYDRO ACCUMULATOR .................................................................................................................... 40
HEAT EXCHANGER (OIL- WATER) .................................................................................................... 41
LAYOUT OF A VALVE ......................................................................................................................... 43
10.01.2013 3
Relation between Units

Size Unit Symbol Relation
Lengths Micrometer m 1m = 0,001mm

Millimeter mm 1mm = 0,1cm = 0,01dm = 0,001m
Centimeter cm 1cm = 10mm = 10.000m
Decimeter dm 1dm = 10cm = 100mm = 100.000m
Meter m 1m = 10dm = 100cm = 1.000mm = 1.000.000m
Kilometer km 1km = 1.000m = 100.000cm = 1.000.000mm
Surfaces Square centimeter cm2 1cm2 = 100mm2

Square decimeter dm2 1dm2 = 100cm2 = 10.000mm2
Square meter m2 1m2 = 100dm2 = 10.000cm2 = 1.000.000mm2
Are a 1a = 100m2
Hectare ha 1ha = 100a = 10.000m2
Square kilometer km2 1km2 = 100ha = 10.000a = 1.000.000m2
Volume Cubic centimeter cm3 1cm3 = 1.000mm3 = 1ml = 0,001l

Cubic decimeter dm3 1dm3 = 1.000cm3 = 1.000.000mm3
Cubic meter m3 1m3 = 1.000dm3 = 1.000.000cm3
Milliliter ml 1ml = 0,001l = 1cm3
Liter l 1l = 1.000 ml = 1dm3
Hectoliter hl 1hl = 100l = 100dm3
Density Gram/ g
1
g kg t
=1 3 =1 3 =1
g
cm3 cm3 dm m ml
Cubic centimeter
Force Newton N kg m J
1N = 1 =1
Weight s2 m
1daN = 10N
Torque Newton meter Nm 1Nm = 1J
Pressure Pascal Pa 1Pa = 1N/m2 = 0,01mbar = 1kg

Bar Bar m s2
N N
psi =
pound 1bar = 10 2
= 100.000 2 = 10 5 Pa
inch 2 Psi
cm m
kp 1psi = 0,06895 bar
cm 2 kp
1 = 0,981bar
cm 2
10.01.2013 4
Mass Milligram mg 1mg = 0,001g

Gram g 1g = 1.000mg
Kilogram kg 1kg = 1000g = 1.000.000 mg
Ton t 1t = 1000kg = 1.000.000g
Mega gram Mg 1Mg = 1t
Acceleration Meter/ m
1
m
=1
N
s2 s2 kg
per square second
1g = 9,81 m/s2
Angular speed One/ Second 1 = 2n n in 1/s

s
Radiant/ Second
rad
s
Power Watt W Nm J kg m m
1W = 1 =1 =1 2
Newton meter/ second Nm/s s s s s
Joule/ second J/s
Work/ Energy Watt second Ws kg m

1Ws = 1Nm = 1 m = 1J
Heat volume Newton meter Nm s2
Joule J
Kilowatt hour kWh 1kWh = 1.000 Wh = 10003600Ws = 3,6106Ws
Kilo joule kJ = 3,6103kJ = 3600kJ = 3,6MJ
Mega joule MJ
Mechanic Newton/ square N N

mm2 1 = 10bar = 1MPa
tension millimeter mm2
Plane angle Second 1 = 1/60

Minute 1 = 60
Degree 1 = 60 = 3600 = rad
Radiant rad 180
1rad = 1m/m = 57,2957
1rad = 180/
Speed One/second 1/s 1 1

= s = 60 min 1
One/minute 1/min s
1 1
= min 1 =
min 60s
10.01.2013 5
Important Characteristic Values of Hydraulic Fluids
HLP HFC HFA HFD

(3%)
Density at 20C 880 1085 1000 925
3
[kg/m ]
Kinematic Viscosity 10-100 36-50 0,7 15-70
at 40C
2
[mm /s]
Compressions Module E 12000-14000 20400-23800 15000- 18000-
at 50C 17500 21000
[Bar]
Specific Heat at 20C 2,1 3,3 4,2 1,3-1,5
[kJ/kgK]
Thermal Conductivity at 20C 0,14 0,4 0,6 0,11
[W/mK]
Optimal Temperatures 40-50 35-50 35-50 35-50
[C]
Water Content 0 40-50 80-97 0
[%]
Cavitation Tendency low high very high low
10.01.2013 6
General Hydraulic Relations
Piston Pressure Force

Figure Equation / Equation Variations Symbols / Units
F = 10 p A
F = p A 10 F = piston pressure force[N]
d2
p = fluid pressure[bar]
A= A = piston surface[cm2]
4 d = piston diameter[cm]
= efficiency cylinder
4 F 0,1
d=
p
4 F
p = 0,1
d2
Piston Forces
F = pe A 10
F = pe A 10 F = piston pressure force[N]
pe = excess pressure on the piston[bar]
d2 A = effective piston surface[cm2]
A=
4 d = piston diameter[cm]
A For annulus surface: = efficiency cylinder
(D2 d 2 )
A=
4
Hydraulic Press
F1 F F1 = Force at the pump piston[N]

= 2 F2 = Force at the operating piston[N]
A1 A 2
A1 = Surface of the pump piston [cm2]
F1 s1 = F2 s2 A2 = Surface of the operating piston [cm2]
s1 = Stroke of the pump piston [cm]
s2 = Stroke of the operating piston [cm]
F1 A1 s 2 = Gear ratio
= = =
F2 A2 s1
10.01.2013 7
Continuity Equation
Q1 = Q 2
Q1,2 = Volume flows [cm3/s, dm3/s, m3/s]
Q1 = A 1 v 1 A1,2 = Area surfaces [cm2, dm2, m2]
v1,2 = Velocities
Q2 = A 2 v2
[cm/s, dm/s, m/s]
A 1 v1 = A 2 v 2
Piston Speed
Q1
v1 =
A1
v1,2 = Piston speed [cm/s]
Q Q1,2 = Volume flow [cm3/s]
v2 = 2 A1 = Effective piston surface (circle) [cm2]
A2
A2 = Effective piston surface (ring) [cm2]
d2
A1 =
4
(D2 d 2 )
A2 =
4
Pressure Intensifier
p1 = Pressure in the small cylinder [bar]

p1 A 1 = p 2 A 2 A1 = Piston surface [cm2]
p2 = Pressure at the large cylinder [bar]
A2 = Piston surface [cm2]
10.01.2013 8
Hydraulic System Components
Hydro Pump
V n vol Q = Volume flow [l/min]

Q= [l/min]
1000 V = Nominal volume [cm3]
n = Drive speed of the pump [min-1]
pQ
Pan = [kW] Pan = Drive power [kW]
600 ges
p = Service pressure [bar]
1,59 V p
M= [Nm]
M = Drive torque [Nm]
100 mh ges = Total efficiency (0,8-0,85)
ges = vol mh vol = Volumetric efficiency (0,9-0,95)

mh = Hydro-mechanic efficiency(0,9-0,95)
Hydro Motor
Q = Volume flow [l/min]

V = Nominal volume [cm3]
V n n = Drive speed of the pump [min-1]

Q=
1000 vol ges = Total efficiency (0,8-0,85)
vol = Volumetric efficiency (0,9-0,95)
Q vol 1000
n= mh = Hydro-mechanic efficiency
V
(0,9-0,95)
p V mh
M ab = = 1,59 V p mh 10 2 p = Pressure difference between motor inlet and
20 outlet (bar)
p Q ges Pab = Output power of the motor [kW]
Pab =
600 Mab = Output torque [Nm]
10.01.2013 9
Hydro Motor Variable
30000 P Md = Torque [Nm]

Md =
n P = Power [kW]
n = Speed [min-1]

P= Md n Mdmax = Max torque [Nm]
30000
i = Gear ratio
30000 P
n= Getr = Gear efficiency
Md
mh = Mech./hydraulic efficiency
M d max vol = Vol. efficiency
Md =
i Getr Vg = Flow volume [cm3]
n max
n=
i
Md
p = 20
Vg mh
Vg n
Q=
1000 vol
Vg n vol
QP =
1000
Q p
P=
600 ges
10.01.2013 10
Hydro Motor Fixed
30000 P Md = Torque [Nm]

Md =
n P = Power [kW]
n = Speed [min-1]

P= Md n Mdmax = Max torque [Nm]
30000
i = Gear ratio
30000 P
n= Getr = Gear efficiency
Md
mh = Mech./hydraulic efficiency
M d max vol = Vol. efficiency
Md =
i Getr Vg = Flow volume [cm3]
n max
n=
i
Md
p = 20
Vg mh
Vg n
Q=
1000 vol
Vg n vol
QP =
1000
Q p
P=
600 ges
10.01.2013 11
Hydro Motor Intrinsic Frequency
VG = Displacement [cm3]
V
( G )2
2 E 2 0 = Intrinsic angular frequency [1/s]
0 = f0 = Intrinsic frequency [Hz]
J red VG
( + VR )
2 Jred = Moment of inertia red. [kgm2]
El = 1400 N/mm2

f0 = 0 VR = Volume of the line [cm3]
2
10.01.2013 12
Hydro Cylinder
d d 1 0,785 2 d1 = Piston diameter [mm]

2 2
A= 1 = [cm ]
400 100 d2 = Piston rod diameter [mm]
p = Service pressure [bar]
d 2 0,785 2
2
A st = [cm ] v = Stroke speed [m/s]
100
V = Stroke volume [l]
(d d 2 ) 0,785 2
2 2
AR = 1 [cm ] Q = Volume flow, considering the leakages
100
(l/min)
p d1 0,785
2
FD = [kN] Qth = Volume flow, without considering the
10000
leakages (l/min)
p (d 1 d 2 ) 0,785
2 2
Fz = [kN] vol = Volumetric efficiency (approx. 0,95)
10000 h = Stroke [mm]
h Q
v= = [m/s] t = Stroke time [s]
t 1000 A 6
FD
V
Qth = 6 A v = 60 [l/min]
t
FZ
Q th
Q=
vol. FS
Ah
V= [l]
10000
A h6
t= [s]
Q 1000
10.01.2013 13
Differential Cylinder
dK = Piston diameter [mm]

4 FD
d K = 100 dst = Rod diameter [mm]
pK
FD = Pressure force [kN]
4 10 FD
4
Fz = Traction force [kN]
pK =
d K2 pK = Pressure at the piston side [bar]
= Aspect ratio
4 104 FZ
p St = QK = Volume flow piston side [l/min]
(d K 2 d St 2 )
QSt = Volume flow rod side [l/min]
dK
2 va = Extending speed [m/s]
= ve = Retracting speed [m/s]
(d K d St )
2 2
Volp = Working volume [l]

6
QK = va d K
2
VolF = Fill-up volume [l]
400 h = Stroke [mm]
6
QSt = v e (d K d St )
2 2
400
QSt
ve =
6
(d K d St )
2 2
400
QK
va =
6
dK
2
400

Vol p = d St h
2
4 10 6

Vol F = h (d K d St )
2 2
4 10 6
10.01.2013 14
Double Acting Cylinder
4 104 FA dK = Piston diameter [mm]

pA =
(d K d StA )
2 2 dstA = Rod diameter A-side [mm]
dstB = Rod diameter B-side [mm]
4 104 FB
pB = FA = Force A [kN]
(d K d StB )
2 2
FB = Force B [kN]
6 pA = Pressure at the A-side [bar]

QA = v a (d K d StA )
2 2
400 pB = Pressure at the B-side [bar]

QA = Volume flow A-side [l/min]
6
QB = v b (d K d StB )
2 2
QB = Volume flow B-side [l/min]
400
va = Speed a [m/s]
QSt
ve = vb = Speed b [m/s]
6
(d K d St )
2 2
Volp = Compensating volume [l]
400
VolFA = Fill-up volume A [l]
QK
va = VolFB = Fill-up volume B [l]
6
dK
2
400

Vol p = d St h
2
4 10 6

Vol FA = h (d K d StA )
2 2
4 10 6

Vol FB = h (d K d StB )
2 2
4 10 6
10.01.2013 15
Cylinder in Differential Control
dK = Piston diameter [mm]

4 FD
d st = 100 dst = Rod diameter [mm]
p St
FD = Pressure force [kN]
4 10 FD
4
Fz = Traction force [kN]
pK =
d St 2 pK = Pressure at the piston side [bar]
pSt = Pressure at the rod side [bar]
4 104 FZ
p St = h = Stroke [mm]
(d K 2 d St 2 )
QK = Volume flow piston side [l/min]
6 QSt = Volume flow rod side [l/min]
Q= v a d St
2
400
Extension: QP = Pump flow [l/min]
QP va = Extending speed [m/s]
va =
6 ve = Retracting speed [m/s]
d St
2
400 Volp = Working volume [l]

VolF = Fill-up volume [l]
Q d
2
QK = P 2 K
d St
Q P (d K d St )
2 2
QSt = 2
d St
Retraction:
QP
ve =
6
(d K d St )
2 2
400
QSt=QP
QP d K
2
QK =
(d K d St )
2 2

Vol p = d St h
2
4 10 6

Vol F = h (d K d St )
2 2
4 10 6
10.01.2013 16
Cylinder Intrinsic Frequency at Differential Cylinders
d
2 AK = Piston surface [cm2]
AK = K AR = Piston ring surface [cm2]
4
100 dK = Piston diameter [mm]
dSt = Piston rod diameter [mm]
(d d St )
2 2
AR = K dRK = NW- piston side [mm]
4
LK = Length of piston side [mm]
100
dRSt = NW-rod side [mm]
d L
2
VRK = RK K LSt = Length of rod side [mm]
4 1000 h = Stroke [cm]
d L VRK = Volume of the line piston side [cm3]
2
VRSt = RSt St
4 1000 VRSt = Volume of the line rod side [cm3]
mRK = Mass of the oil in the line piston side [kg]
VRK l
mRK = mRSt = Mass of the oil in the line rod side [kg]
1000
hK = Position at min intrinsic frequency [cm]
V l
mRSt = RSt f0 = Intrinsic frequency [Hz]
1000
0 = Angular frequency
A h V
R + RSt RK
V
A3 AR
3
AK
3
hk = R mred
01 = 0
(
1
+
1
) mlred + mred
AR AK
01
f 01 =
1 A EL
2
AR El
2
2
0 = ( K + )
m A h A ( h hK )
K K
+ VRK R
+ VRSt
10 10
0
f0 =
2
4
d 1 400 A R
mlred = mRK K + mRSt
d RK d RSt
10.01.2013 17
Cylinder Intrinsic Frequency at Double Acting Cylinders
(d d St )
2 2 AR = Piston ring surface [cm2]
AR = K dK = Piston diameter [mm]
4
100 dSt = Piston rod diameter [mm]
dR = NW [mm]
d L
2
VR = RK K LK = Length of the piston side [mm]
4 1000
h = Stroke [mm]
V l VR = Volume of the line [cm3]
mR = R
1000 mR = Mass of the oil in the line [kg]
f0 = Intrinsic frequency
2 E l
2
AR
0 = 100 ( ) 0 = Angular frequency
m red AR h
+ VRSt
10
Equation applies only to the middle position of the
double rod cylinder
Natural frequency of any position can be calculated
using the equation for the differential cylinder (as shown
on page 17, however AK = AR)
0
f0 =
2
4
1 400 A R
mlred = 2 mRK
dR
mred
01 = 0
mlred + mred
01
f 01 =
2
10.01.2013 18
Cylinder Intrinsic Frequency for Plunger Cylinders
d
2 AK = Piston surface [cm2]
AK = K dK = Piston diameter [mm]
4
100 dR = Diameter of the piping [mm]
LK = Length piston side [mm]
d L
2
VR = K K LR = Length of the line [mm]
4 1000
h = Stroke [mm]
V l VR = Volume of the line [cm3]
mR = R
1000 MR = Mass of the oil in the line [kg]
2 f0 = Intrinsic frequency
E AK
0 = 100 l ( )
mred AK h + VRSt 0 = Angular frequency
0
f0 =
2
4
d
m lred = 2 mR K
dR
mred
01 = 0
mlred + mred
01
f 01 =
2
10.01.2013 19
Piping
l v 2 10 p = Pressure loss at direct piping [bar]

p = = Density [kg/dm ] (0,89)
3
d2
= Pipe friction coefficient
64
lam. = lam. = Pipe friction coefficient for laminar flow
Re
turb. = Pipe friction coefficient for turbulent flow
0,316
turb. = 4 l = Length of the line [m]
Re v = Velocity in the line [m/s]
vd d = Internal diameter of the piping [mm]
Re = 103
= Kinematic viscosity [mm /s]
2
Q Q = Volume flow in the piping [l/min]

v= 102

6 d2
4
400 Q
d =
6 v
10.01.2013 20
Application Examples for Specification of the Cylinder Pressures

and Volume Flows under Positive and Negative Load
Nomenclature
Parameters Symbols Units
Acceleration / deceleration A m/s2
Cylinder surface A1 cm2
Ring surface A2 cm2
Aspect ratio =A1/A2 -
Total force FT daN

Acceleration force Fa=0,1ma daN
External forces FE daN
Friction forces (coulomb friction) FC daN
Sealing friction force FR daN
Weight force G daN
Mass G kg
m= + mK
g
Piston mass mK kg
Volume flow Q=0,06 Avmax l/min
vmax cm/s
Torque T=J+ TL Nm
Load torque TL Nm
Angular acceleration rad/s2
Inertia moment J kgm2
10.01.2013 21
Differential Cylinder Extending with Positive Load
Calculation:
Layout:
210 38,1 + 1,4 2 [4450 + (5,25 38,1)]
FT = Fa+FR+FC+FE [daN] p1 = = 120bar
38,1(1 + 1,4 3 )
Given Parameters 210 120
p 2 = 5,25 + = 52bar
FT = 4450 daN 1,4 2
PS = 210 bar
PT = 5,25 bar
A1 = 53,50 cm2
A2 = 38,10 cm2 Q= 0,0653,530=96 l/min
= 1,40
vmax = 30,00 cm/s
==> p1 und p2 35
Q N = 96 = 60l / min
p S A2 + R [ FT + ( pT A2 )]
2
210 120
p1 = bar
A2 (1 + 3 )
p p
p2 = pT + S 2 1 bar

Verification of the cylinder dimensioning and
calculation of the nominal volume flow QN,
depending on the load pressure p1.
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
Selection of a Servo valve 10% larger than the

calculated nominal volume flow.
10.01.2013 22
Differential Cylinder Retracting with Positive Load
Layout: Calculation:
FT = Fa+FR+FC+FE [daN] (210 38,1 1,42 ) + 4450 + (5,25 38,1 1,4)]
p2 = = 187bar
38,1(1 + 1,43 )
Given Parameters
FT = 4450 daN p 1 = 5,25 + [(210 187)1,4 2 ] = 52bar
PS = 210 bar
PT = 5,25 bar
A1 = 53,50 cm2
A2 = 38,10 cm2 Q= 0,0638,130=69 l/min
= 1,40
vmax = 30,00 cm/s
==> p1 und p2
35
( p A 3 ) + FT + ( pT A2 )] Q N = 96 = 84l / min
p2 = S 2 bar 210 187
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2

10.01.2013 23
Differential Cylinder Extending with Negative Load
Calculation:
Layout:
175 61,3 + 1,32 [2225 + (0 61,3)]
FT = Fa+FR-G [daN] p1 = = 36bar
61,3(1 + 1,33 )
p2 = 0 + = 82bar
FT = -2225 daN 1,32
PS = 175 bar
PT = 0 bar
2
A1 = 81,3 cm
2
A2 = 61,3 cm
= 1,3 Q= 0,0681,312,7=62 l/min
vmax = 12,7 cm/s
==> p1 und p2
p S A2 + 2 [ FT + ( pT A2 )] Q N = 62
35
= 31l / min
p1 = bar 175 36
A2 (1 + 3 )
p p
p2 = pT + S 2 1 bar

Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1

10.01.2013 24
Differential Cylinder Retracting with Negative Load
Calculation:
Layout:
(210 61,3 + 1,32 ) 4450 + (0 61,3 1,3)]
FT = Fa+FR-G [daN] p2 = = 122bar
61,3(1 + 1,33 )
Given Parameters p 1 = 0 + [(210 122)] = 149 bar
FT = -4450 daN
PS = 210 bar
PT = 0 bar
2
A1 = 81,3 cm
2 Q= 0,0661,325,4=93 l/min
A2 = 61,3 cm
= 1,3
vmax = 25,4 cm/s
==> p1 und p2 35
Q N = 93 = 59l / min
( p S A2 ) + FT + ( pT A2 )]
3 210 122
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2

10.01.2013 25
Differential Cylinder Retracting at an Inclined Plane with Positive Load
Calculation:
Layout:
(140 19,9) + 1,62 [2225 + (3,5 19,9)]
FT = Fa+FE+FS+[G(cos+sin)] daN p1 = = 85bar
19,9(1 + 1,63 )
p 2 = 35 + = 25bar
FT = 2225 daN 1,6 2
PS = 140 bar
PT = 3,5 bar Q= 0,0631,612,7=24 l/min
2
A1 = 31,6 cm
A2 = 19,9 cm
2 35
Q N = 24 = 19 l/min
= 1,6 140 85
vmax = 12,7 cm/s
==> p1 and p2
p S A2 + 2 [ F + ( pT A2 )]
p1 = bar
A2 (1 + 3 )
p S p1
p2 = pT + bar
2
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1

10.01.2013 26
Differential Cylinder Retracting at an Inclined Plane with Positive Load
Calculation:
Layout:
(140 19,9 1,63 ) + 1780 + [3,5 19,9 1,6)]
FT =Fa+FE+FS+[G(cos+sin)] daN p2 = = 131bar
19,9(1 + 1,63 )
Given Parameters p 1 = 3,5 + [(140 131) 1,6 2 = 26bar

FT = 1780 daN
PS = 140 bar
PT = 3,5 bar
A1 = 31,6 cm
2
Q= 0,0619,912,7=15 l/min
2
A2 = 19,9 cm
35
= 1,6 Q N = 15 = 30 l/min
vmax = 12,7 cm/s 140 131
==> p1 and p2
( p S A2 3 ) + F + ( pT A2 )]
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2
10.01.2013 27
Differential Cylinder Extending at an Inclined Plane with Negative Load
Calculation:
Layout:
FT = Fa+FE+FR+[G(cos-sin)] daN (210 106) + 1,22 [6675 + (0 106)]
p1 = = 131bar
106(1 + 1,43 )
Given Parameters
FT = -6675 daN Caution!!!
PS = 210 bar
Negative load is leading to cylinder cavitation.
PT = 0 bar
2 Specified parameters to be changed by means of
A1 = 53,5 cm
2 using a larger cylinder size, increasing the system
A2 = 38,1 cm
pressure or reducing the necessary total force.
= 1,4
2 2
vmax = 25,4 cm/s A1 = 126 cm A2 = 106 cm R=1,2
==> p1 und p2
210 44
p S A2 + 2 [ F + ( pT A2 )] p2 = = 116bar
p1 = bar 1,2 2
A2 (1 + 3 )
Q= 0,0612625,4=192 l/min
p S p1
p2 = pT + bar
Q N = 192
35
= 88 l/min
2 210 44
Q= 0,06A1vmax l/min
35
QN = Q l/min
p S p1
10.01.2013 28
Differential Cylinder Retracting at an Inclined Plane with Negative Load
Calculation:
Layout:
(210 38,1 1,43 ) + [ 6675 + (0 38,1 1,4)]
F = Fa+FE+FR+[G(cos-sin)] daN p2 = = 107 bar
38,1(1 + 1,43 )
Given Parameters p 1 = 0 + [(210 107) 1,4 2 ] = 202 bar

F = -6675 daN
PS = 210 bar
PT = 0 bar
A1 = 53,5 cm
2
Q= 0,0638,125,4=58 l/min
2
A2 = 38,1 cm
35
= 1,4 Q N = 58 = 34 l/min
vmax = 25,4 cm/s 210 107
==> p1 and p2
( p S A2 3 ) + F + ( pT A2 )]
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar
Q= 0,06A2vmax l/min
35
QN = Q l/min
pS p 2
10.01.2013 29
Hydraulic Motor with a Positive Load
Calculation:
Layout:
210 + 0 10 56,5
T = J+TL [Nm] p1 = + = 127bar
2 82
p 2 = 210 127 + 0 = 83bar
Given Parameters
T = 56,5 Nm
PS = 210 bar
PT = 0 bar
3 QM= 0,011082=8,2 l/min
DM = 82 cm /rad
M = 10 rad/s 35
Q N = 8,2 = 5,3 l/min
210 127
==> p1 and p2
p S + p T 10T
p1 = + bar
2 DM
p 2 = p S p1 + p T bar
QM= 0,01MDM l/min
35
QN = QM l/min
p S p1
10.01.2013 30
Hydraulic Motor with a Negative Load
Calculation:
Layout:
210 + 0 10 ( 170)
T = J-TL [Nm] p1 = + = 40bar
2 82
p 2 = 210 40 + 0 = 170bar
Given Parameters
T = -170 Nm
PS = 210 bar
PT = 0 bar
3 QM= 0,011082=8,2 l/min
DM = 82 cm /rad
M = 10 rad/s 35
Q N = 8,2 = 3,6 l/min
210 40
==> p1 and p2
p S + p T 10T
p1 = + bar
2 DM
p 2 = p S p1 + p T bar
QM= 0,01MDM l/min
35
QN = QM l/min
p S p1
10.01.2013 31
Identification of the Reduced Masses of Different Systems
The different components (cylinder / motors ) have to be dimensioned for the layout of the
necessary forces of a hydraulic system, so that the acceleration and the deceleration of a mass is
correct and targeted.
The mechanics of the system are defining the stroke of the cylinders and motors.
Speed- and force calculations have to be carried out.
Statements with view to acceleration and its effects on the system can be made by fixing the reduced
mass of a system.
The reduced mass (M) is a concentrated mass, exerting the same force and acceleration
components as the regular mass at the correct system.
The reduced moment of inertia (Ie) has to be considered for rotational systems.
The reduced mass has to be fixed in a first step for considerations with stroke measuring systems or
for applications with deceleration of a mass!
Newtons second axiom is used for the specification of the acceleration forces.
F = m a F= force [N]
m= mass [kg]
a= acceleration [m/s2]
The following equation is applied for rotational movements:

= I = torque [Nm]
= moment of inertia [kgm2]
= angular acceleration [rad/s2]
10.01.2013 32
Linear Drives
Primary Applications (Energy Method)
The mass is a concentrated mass and the rod l is weightless. The cylinder axis is positioned
rectangular to the rod l.
Relation between cylinder and rod:
vc v m ac am
= = = =
r l r l
Needed torque for acceleration of the mass:
= IX = F r
= m l 2 X I = m l2
am am
= m l2 X =
l l
= m lXa m
m l am l
==> F= = m i am i=
r r
mi can be considered as mass movement m.
l ac ac am
F = m i am = m i = m i2 a c = M a c mit =
r r l
F= cylinder force
M= reduced mass
ac= acceleration of the cylinder rod
General validity: M = mi 2
The same result can be obtained by the aid of the energy method (kinetic energy of the mass m). The
dependence of the mass movement with the cylinder movement can be specified with the help of the
geometry of the system.
Energy of the mass:
1 1
KE = I 2 = m l 2 2 (I=mi2)
2 2
10.01.2013 33
2
1 v
= m l2 c (vc=r )
2 r
1 l2
= m 2 vc
2
2 r
1
M vc
2 2
= M=mi and i=l/r
2
10.01.2013 34
Concentrated Mass with Linear Movements
v is the horizontal component of v. v is positioned rectangular to rod l.

Energy method:
1 1
KE = I 2 = m l 2 2
2 2
v
2
1
= m l2 ( =v/r)
2 r
1 l2
= m 2 v
2
2 r
1
= m i2 v
2
2
with v=vcos
1
==> KE = m i2 v 2
2
1 m i2 1
= v2 = M v2
2 (cos ) 2
2
i2
with M = m ==> M is position-depending
(cos ) 2
If: = 0 then, =1 and M=mi2
=90 then, cos=0 and M=
i2
=30 then, cos=0,866 and M = m
0,75
If a cylinder is moving a mass, as shown in the preceding figure, and the movement is situated between -30 and
+30, the acceleration- and deceleration forces have to be calculated in the center of motion with a reduced mass,
twice as large as the one in the neutral center.
10.01.2013 35
Distributed Mass at Linear Movements
When considering the same rod l with the mass m, you can here also calculate the reduced mass of
the rod.
1 1 1 1
KE = I 2 = X m l 2 2 m l2
2 2 3 3
v
2
1 1
= X m l2 ( =v/r)
2 3 r
1 1 l2
= X m 2 v
2
2 3 r
1 1
= X m i2 v
2
2 3
with v=vcos
1 1 m i2 1
= X 2
v2 = M v2
2 3 (cos a ) 3
1 m i2
M=
2 (cos a ) 2
10.01.2013 36
Rotation
If considering now a rotating mass with a moment of inertia I, driven by a motor (ratio D/d).
1 1 d
KE = I 2 m = I ( ) 2 I= moment of inertia [kgm2]
2 2 D
2
1 d
= I 2 = angular acceleration [rad/s2]
2 D
1
= I i2 2
2
1
= Ie 2 Ie= Ii2
2
i=d/D
If a gearbox has to be used, i has to be considered.

2
If i=D/d, then Ie=I/i
10.01.2013 37
Combination of Linear and Rotational Movement
A mass m is here moved by a wheel with radius r. The wheel is weightless.
1
KE = m v2
2
1
= m ( r ) v=r
2
2
1
= m r 2 2
2
1
= Ie 2 Ie= mr
2
10.01.2013 38
Hydraulic Resistances
The resistance of an area reduction is the change of the applied pressure difference p to the
corresponding volume flow change.
d (p)
R=
dQ
Orifice Equation
dB
2
2 p K = flow coefficient (0,6-0,8)
QBlende = 0,6 K
4 = 0,88 [kg/dm3]
dB = orifice diameter [mm]
p = pressure difference [bar]
Qorifice= [l/min]
Throttle Equation
r4 Qthrottle= [m3/s]
Q Drossel = ( p1 p 2 )
8 l = dynamic viscosity [kg/ms]
= l = throttle length [m]
r = radius [m]
= kinematic viscosity [m2/s]
= 880 [kg/m3]
10.01.2013 39
Hydro Accumulator
= 1,4 (adiabatic compression)

1
1

p 0 p1 V = effective volume [l]
V = V0 1
p1 p 2 V0 = accumulator size [l]

p0 = gas filling pressure [bar]
p1
p2 =
p1 = service pressure min [bar] (pressure loss at the
valve)
p2 = service pressure max [bar]
V
1 1

p0 p0 = <0,9*P1
V0
p
1
Provide an accumulator in the pressure circuit for
V
V0 = pressure-controlled pumps!
1
1

p 0 p1 Swivel time of pump tSA of the pump catalog.
1
p1 p2 V = Q t SA

10.01.2013 40
Heat Exchanger (Oil - Water)
ETD = t l t K Vl = oil flow [l/min]

PV = dissipation power [kW]
P
p 01 = V tl = inlet temperature oil [C]
ETD
tl = cooling of the oil [K]
14 PV
t K = tK = inlet temperature cooling water [C]
VK tK = heating of the cooling water [K]
VK = cooling water flow [l/min]
Calculation of tl is different, depending on the ETD = inlet temperature difference [K]
respective hydraulic fluid. p01 = spec. cooling capacity [kW/h]
HFA HLP/HFD HFC

14,7 PV 36 PV 17,2 PV
t l = t l = t l =
Vl Vl Vl
The size of the heat exchangers can be defined by the calculated value p01 of the diagrams of the
different manufacturers.
10.01.2013 41
Example AB-Standards:
10.01.2013 42
Layout of a Valve
The necessary volume flow can be calculated Q= 0,06A2vmax l/min

based on the cylinder data as well as on the
extending and retracting speeds. X
QN = Q l/min
pS p2
P= PS system pr.-PLload pr.-P Treturn pressure
2 X= 35 (Servo valve) pressure loss via a leading edge
(Load pressure *System pressure)
3 X= 35 (Prop valve) pressure loss via a leading edge
At optimal efficiency (Prop valve with shell)
FT = load force [daN]

PS = system pressure [bar]
X= 5 (Prop valve) pressure loss via a leading edge
PT = return pressure [bar] (Prop valve without shell)
A1 = piston surface cm2
A2 = ring surface cm2
= aspect ratio cylinder
vmax = extending speed of the cylinder cm/s
p1 and p2 Selection of a valve 10% larger than the

calculated nominal volume flow
( p S A2 3 ) + FT + ( pT A2 )]
p2 = bar
A2 (1 + 3 )
p1 = pT + [( p S p2 ) 2 ] bar

Translation: Harm/March 16, 2011
10.01.2013 43

Hyd Formelsammlung en

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Hyd Formelsammlung en

Загружено:

Авторское право:

Доступные форматы

Sales Industry Sector Metallurgy

Author: Houman Hatami

RELATIONS BETWEEN UNITS ............................................................................................................. 4

IMPORTANT CHARACTERISTIC VALUES OF HYDRAULIC FLUIDS ................................................ 6

GENERAL HYDRAULIC RELATIONS ................................................................................................... 7

APPLICATION EXAMPLES FOR SPECIFICATION OF THE CYLINDER PRESSURES AND

HYDRO ACCUMULATOR .................................................................................................................... 40

HEAT EXCHANGER (OIL- WATER) .................................................................................................... 41

LAYOUT OF A VALVE ......................................................................................................................... 43

Relation between Units

Lengths Micrometer m 1m = 0,001mm

Surfaces Square centimeter cm2 1cm2 = 100mm2

Volume Cubic centimeter cm3 1cm3 = 1.000mm3 = 1ml = 0,001l

Torque Newton meter Nm 1Nm = 1J

Pressure Pascal Pa 1Pa = 1N/m2 = 0,01mbar = 1kg

kp 1psi = 0,06895 bar

Mass Milligram mg 1mg = 0,001g

Angular speed One/ Second 1 = 2n n in 1/s

Joule/ second J/s

Work/ Energy Watt second Ws kg m

Mechanic Newton/ square N N

Plane angle Second 1 = 1/60

Speed One/second 1/s 1 1

Important Characteristic Values of Hydraulic Fluids

HLP HFC HFA HFD

General Hydraulic Relations

Piston Pressure Force

A For annulus surface: = efficiency cylinder

Figure Equation / Equation Variations Symbols / Units

F1 F F1 = Force at the pump piston[N]

p1 = Pressure in the small cylinder [bar]

Hydraulic System Components

V n vol Q = Volume flow [l/min]

ges = vol mh vol = Volumetric efficiency (0,9-0,95)

Q = Volume flow [l/min]

V n n = Drive speed of the pump [min-1]

Hydro Motor Variable

30000 P Md = Torque [Nm]

Hydro Motor Fixed

30000 P Md = Torque [Nm]

Hydro Motor Intrinsic Frequency

d d 1 0,785 2 d1 = Piston diameter [mm]

dK = Piston diameter [mm]

Volp = Working volume [l]

Double Acting Cylinder

4 104 FA dK = Piston diameter [mm]

6 pA = Pressure at the A-side [bar]

400 pB = Pressure at the B-side [bar]

dK = Piston diameter [mm]

400 Volp = Working volume [l]

Cylinder Intrinsic Frequency at Differential Cylinders

Cylinder Intrinsic Frequency for Plunger Cylinders

l v 2 10 p = Pressure loss at direct piping [bar]

Q Q = Volume flow in the piping [l/min]

Application Examples for Specification of the Cylinder Pressures

Total force FT daN

Differential Cylinder Extending with Positive Load

Selection of a Servo valve 10% larger than the

Selection of a Servo valve 10% larger than the

Differential Cylinder Extending with Negative Load

Selection of a Servo valve 10% larger than the

Differential Cylinder Retracting with Negative Load

Selection of a Servo valve 10% larger than the