TMMS10 Fluida system och transmissioner 2011-05-16 Bo R Andersson

Hydraulic systems for Mobile Applications

1st Lecture
Types of directional valves Steady State behaviour

2nd Lecture
System Dynamics

2009 Bo R Andersson Sid 1

1st Lecture May 16, 2011 Bo R Andersson

Content - Introduction to mobile systems - Hydraulic operation of a load - Directional valves for mobile applications
Closed centre valve Open centre valve LS Computer operated valve
2

Comparison of properties: -Operateability -Power effectiveness -Complexity

2009 Bo R Andersson

Introduction to Mobile Systems

Control of position by control of velocity

(change of velocity, acceleration, deceleration)
2009 Bo R Andersson
3

Control of working hydraulics

Typical for mobile machines:

-Control of load or implement
-Controlled by an operator -Load conditions change continuously -Simultaneous operation of several functions -One pump to several functions

2009 Bo R Andersson

Sid 4

Linkpings universitet

Mobile Hydraulics
Continously operated by a human being

Difficulties and challenges:

Wide operating range No consistency between flow and speed Simultanous operation of several functions Saturation of pump flow Low efficiency and heat generation Safety and stability Low natural frequency and low damping Cost
5

2009 Bo R Andersson

Types of mobile valves:

Closed Centre

Open Centre

Load Sensing

2009 Bo R Andersson

Sid 6

Types of mobile valves:

Closed Centre

Open Centre

Load Sensing

Types of pumps:
Constant Pressure Constant Flow Variable Pressure

Variable Flow

Variable Pressure

Variable Flow

2009 Bo R Andersson

Sid 7

Types of mobile valves:

Closed Centre

Open Centre

Load Sensing

Types of pumps:
Constant Pressure Constant Flow Variable Pressure

Variable Flow

Variable Pressure

Variable Flow

2009 Bo R Andersson

Sid 8

Hydraulic operation of a Load

2009 Bo R Andersson

2009 Bo R Andersson Sid 10

2009 Bo R Andersson Sid 11

Closed Center Valve

2009 Bo R Andersson

Sid 12

Velocity Gain (Angular speed of Arm/Speed of cylinder) 8 7 6

Velocity Gain

5 4 3 2 1 0 0 20 40 60 80 100 120 140 160 180 Angle of Arm

2009 Bo R Andersson

No direct relation between flow and velocity!

Constant Pressure System Closed Center Valve

Qp-Diagram for Closed-Center Valve

100 90 80 70 60 50 40 30 20 10 20% 0 0 100% 80% dQ dp 60% 50% 30% 20 40% 70%

p Load %

40 Q Load %

60

80

100

2009 Bo R Andersson Sid 14

Constant Flow System Open-Centre Valve

Load drop check valves

ppningsareor
30
ppning [mm^2]

25 20 15 10 5 0 0 1 2 3 Slidlge [mm] 4 5 6 P-A B-T Aoc

2009 Bo R Andersson

Example of Open-Centre Valve

Open-Centre valve with a Q-Inlet.

2009 Bo R Andersson

Open Centre valves

Most common valve type
Advantages: - Simple and cost effective - Control of both flow and pressure - High damping, good dynamic performance Disadvantages: - Low efficiency with fixed depl. pump - Difficult to limit port flow - Flow control is load dependent - Interaction between loads (load interference)

2009 Bo R Andersson

LS-system

Load Drop Check Valve

l/min 60

Valve Characteristic

40

20

mm

2009 Bo R Andersson

LS-system

Load Drop Check Valves

Pressure compensators

2009 Bo R Andersson

LS-system

Load Drop Check Valves

Pressure compensators

Power Usage Single Operation

Power Usage Dual Operation

2009 Bo R Andersson

Flow Control Valves

Post- and pre-pressure compensation

Q Cq A

2( p1 p2 )

q
2009 Bo R Andersson

Post-Pressure Compensation

2009 Bo R Andersson Sid 22

Flow Sharing
Post-Pressure Compensation, Rexroth type German: LUDV Lastunabhngige Durchfluss Verteiligung

2009 Bo R Andersson Sid 23

Rexroth LUDV

2009 Bo R Andersson Sid 24

Rexroth M6-15, LUDV

2009 Bo R Andersson Sid 25

EFM -Electrohydraulic Flow Matching

2009 Bo R Andersson Sid 26

EFM -Electrohydraulic Flow Matching

2009 Bo R Andersson Sid 27

Energy Efficient Systems

2009 Bo R Andersson Sid 28

Energy Efficient Systems

Conventional LS-system

Utan lasttervinning Average hydraulic power during a working cycle 2009 Bo R Andersson

Energy Effective Systems

Reduction of Power Losses

Low Pressure Regeneration

2009 Bo R Andersson

High Pressure Regeneration

Energy Recuperation

Energy Effective Systems

3-port Valves Reduction of Power Losses 2-port Valves

2009 Bo R Andersson

Computer Controlled Valves

2009 Bo R Andersson

Eaton: Ultronics

2009 Bo R Andersson

Ultronics System versikt:

TS16 Elektro-Hydraulisk Ventil
9. Inbddad ASIC signalprocessor 5. Centreringsfjder 3. Pilot ventil

6. Pilot slid

4. High Power Force Motor

8. Pressure transducers

1. Valve of Monoblock type

7. Position transducer, LVDT 2. Independent spolls

2009 Bo R Andersson Sid 34

Ultronics

2009 Bo R Andersson Sid 35

Husco: Incova

2009 Bo R Andersson

2009 Bo R Andersson Sid 37

2009 Bo R Andersson Sid 38

Design issues: -Pressure sensitive

(unbalanced pilot)

-Low bandwidth -Long-stroke solenoid -Poor accuracy

2009 Bo R Andersson Sid 39

2009 Bo R Andersson Sid 40

Decoupling of pressure and flow

- Use of sophisticated control theory - Requires good knowledge of the application

2009 Bo R Andersson Sid 41

Computer Operated Valves

The beauty with computer control and with all sensors is that the control possibilities are endless

At the same time, the computer control has the following disadvantages and difficulties:
Safety Reliability Development time and cost Production cost Must meet ISO 15998 and EN 61508

2009 Bo R Andersson