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Behzad Samadi
Department of Electrical Engineering
Amirkabir University of Technology
Winter 2009
Tehran, Iran
High pressure pneumatic systems are very nonlinear due to the compression of
air.
In this course, low pressure pneumatic systems and linear models around the
operating point are considered.
[Macia and Thaler, 2004, Ljung and Glad, 1994]
∆p = pressure drop
q = mass flow rate
µ = dynamics viscosity
L = length of the pipe
r = radius
∆p = pressure drop
q = mass flow rate
µ = dynamics viscosity
L = length of the pipe
r = radius
Hagen (1839) - Poiseuille (1838-1840) Law corresponds to Ohm’s law for electrical
circuits (v = ρ AL i = Ri)
Describes slow viscous incompressible flow through a constant circular cross-section
[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 4 / 17
Pneumatic Dissipator
Computation of the value of the gas flow resistance may be quite
time consuming.
It can however be easily determined from the plot of ∆p versus q.
d(∆p)
Rf =
dq
[Ogata, 1997]
Behzad Samadi (Amirkabir University) Industrial Control 4 / 17
Pneumatic Capacitor
q p
Capacitance
dm
Cf =
dp
Cf = capacitance
m = mass of gas inside the tank
p = gas pressure
p =gas pressure
V =volume of the gas
T =absolute temperature
n =number of moles of gas
R =universal gas constant
p =gas pressure
V =volume of the gas
T =absolute temperature
n =number of moles of gas
R =universal gas constant
pV
m =nM = M
RT
M =molar mass
Behzad Samadi (Amirkabir University) Industrial Control 6 / 17
Pneumatic Capacitor
p =gas pressure
V =volume of the gas Pneumatic Capacitor
T =absolute temperature dm V
Cf = = R
dp MT
n =number of moles of gas
R =universal gas constant Isothermal change is assumed.
pV
m =nM = M
RT
M =molar mass
Behzad Samadi (Amirkabir University) Industrial Control 6 / 17
Simple Air Tank
p
out
Orifice
Air Tank
p
in
Compressed
Air
p
in
Compressed
Air
dpout
pin =Rf Cf + pout
dt
pin =input pressure
pout =air tank pressure
Rf =orifice resistance
Cf =air tank capacity
[Ogata, 1997]
Pneumatic diode
[Parr, 1999]
[Parr, 1999]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Bellows
Bellows actuator
Bellows feedback
[Parr, 1999]
Behzad Samadi (Amirkabir University) Industrial Control 11 / 17
Pneumatic Proportional Controller
[Ogata, 1997]
pb = K1 x
[Ogata, 1997]
pb = K1 x
pb = K2 z
[Ogata, 1997]
pb = K1 x
pb = K2 z
pc = K3 z
[Ogata, 1997]
pb = K1 x
pb = K2 z
pc = K3 z
K1 K3
pc = K2 x = Kx
[Ogata, 1997]
pb = K1 x
pb = K2 z b a
x= a+b e − a+b y
pc = K3 z
K1 K3
pc = K2 x = Kx
[Ogata, 1997]
pb = K1 x
pb = K2 z b a
x= a+b e − a+b y
pc = K3 z Apc = Ks y
K1 K3
pc = K2 x = Kx
[Ogata, 1997]
[Ogata, 1997]
[Ogata, 1997]
[Ogata, 1997]
[Parr, 1999]