HYDRAULIC MOTORS AND SYSTEMS
CONTENTS INTRODUCTION—IT’S JUST A GEAR HYDRODYNAMICS VERSUS HYDROSTATICS KINETIC POWER AND HYDRODYNAMICS PASCAL’S PRINCIPLE AND HYDROSTATICS THREE HYDROSTATIC SYSTEMS HYDRAULIC SYSTEMS VERSUS FLUID POWER SYSTEMS UNITS IN FLUID POWER SYSTEMS PART I PHYSICS OF FLUID FLUID PARAMETERS VISCOSITY VISCOSITY MODELS VISCOUS FORCE DUE TO FLUID FLOW FLUID DENSITY AND COMPRESSIBILITY EQUATION OF STATE FOR A FLUID PRESSURE DEPENDENT DENSITY AND BULK MODULUS OF FLUID-AIR MIXTURE SUMMERY REFERENCE FLUIDS MECHANICS CONSERVATION OF MASS CONTROL VOLUME APPROACH CONTINUITY EQUATION—DIFFERENTIAL FORM MOMENTUM OF FLUIDS—NEWTON II LAW DIFFERENTIAL FORM—CARTESIAN COORDINATES MOMENTUM EQUATION OF A FLUID CONSERVATION OF MOMENTUM—CONTROL VOLUME FORM EULER’S EQUATIONS OF MOTION—INVISCID FLOW VISCOUS FLOW NAVIER-STOKES EQUATIONS—INCOMPRESSIBLE FLUID FLOW THROUGH RESTRICTION TURBULENT OR LAMINAR—REYNOLDS NUMBER FLOW IN A PIPE FROM NAVIER-STOKES EQUATION FROM FORCE BALANCE VOLUME FLOW TURBULENT FLOW IN PIPES SUMMARY OF FLOW IN PIPE FLOW IN GAPS—LEAKAGE FLOWS VELOCITY PRO?LE FROM NAIVER-STOKES EQUATION SUMMARY ON LAMINAR FLOW BETWEEN PARALLEL PLATES THE ORI?CE EQUATION LAMINAR VERSUS TURBULENT ORI?CE FLOW PART II FLUID POWER COMPONENTS FLUID POWER PUMPS DISPLACEMENT PUMPS SINGLE PISTON PUMP THE GENERAL PUMP MODEL—STEADY STATE IDEAL PUMP MODEL NON-IDEAL PUMP MODEL SUMMARY ON GENERAL PUMP MODEL PUMP TYPES GEAR PUMPS VANE PUMPS PISTON PUMPS DISCRETE DISPLACEMENT PUMPS ROTARY ACTUATOR—MOTORS MOTOR MODELS IDEAL MOTOR MODEL NON-IDEAL MOTOR MODEL LINEAR ACTUATORS—CYLINDERS DIFFERENTIAL CYLINDER MODELLING STEADY STATE MODEL SUMMARY MULTI-CHAMBER CYLINDER CONTROL ELEMENTS—VALVES GENERAL VALVE MODELS DIRECTIONAL VALVES CHECK VALVE ON-OFF VALVES DIRECTIONAL SPOOL VALVE FLOW FORCE ON SPOOL VALVE SERVO VALVES PRESSURE CONTROL VALVES PRESSURE RELIEF PRESSURE REDUCTION PRESSURE CONTROL FLOW CONTROL VALVES THROTTLE VALVE CASE ILLUSTRATION—THROTTLE VALVES PRESSURE COMPENSATED FLOW CONTROL VALVE PRESSURE COMPENSATED FLOW CONTROL VALVE—BYPASS PRESSURE COMPENSATED PROPORTIONAL VALVES REFERENCES ACCUMULATORS PISTON ACCUMULATOR MASS LOADED PISTON ACCUMULATORS SPRING LOADED PISTON ACCUMULATORS GAS LOADED PISTON ACCUMULATORS BLADDER ACCUMULATOR DIAPHRAGM ACCUMULATOR FLUID POWER TRANSMISSION LINES STEADY STATE TRANSMISSION LINE MODEL DYNAMIC TRANSMISSION LINE MODEL LUMPED PARAMETER MODEL FLUID POWER PIPES AND HOSES CONSTRUCTION OF HOSES PART III FLUID POWER SYSTEMS MODELLING FLUID POWER SYSTEMS MODELS TIME DOMAIN MODEL—NON-LINEAR REDUCED ORDER MODEL LINEAR MODEL—TIME DOMAIN MOTOR-VALVE DRIVE TIME DOMAIN MODEL LINEAR MODEL CYLINDER-VALVE DRIVE REDUCED ORDER TIME DOMAIN MODEL—SYMMETRIC CYLINDER SOLVING THE MODEL STEADY STATE ANALYSIS THE ALGORITHM SIMPLE DIFFERENTIAL CYLINDER SYSTEM COMPLEX DIFFERENTIAL CYLINDER SYSTEM FREQUENCY ANALYSIS ANALYSIS METHODS TRANSFER FUNCTION FREQUENCY RESPONSE SYSTEM UNDERSTANDING—MOTOR-VALVE DRIVE TRANSFER FUNCTION FOR THE REDUCED ORDER MODEL SYSTEM UNDERSTANDING—CYLINDER-VALVE DRIVE CONTROL OF FLUID POWER SYSTEMS PRESSURE FEEDBACK FLOW FEED FORWARD PASSIVE ACTIVE VALVE COMPENSATOR VALVE DYNAMICS MULTI-INPUT SYSTEMS SMISMO—SYSTEM FLUID POWER SYSTEMS DESIGN SYSTEM OPERATION OPERATION OF SUBFUNCTION SYSTEM ARCHITECTURE—DIAGRAM SYSTEM PRESSURE LEVEL ACTUATOR SIZING PUMP AND PRIMARY MOVER SIZING FLUID FLUID LINES CONTROL ELEMENTS STEADY STATE ANALYSIS AND OVERALL EF?CIENCY TANK AND COOLING FILTRATION PROCEDURE FOR ASSEMBLY, OPERATION AND MAINTENANCE ESTIMATE COSTS PART IV LEARNING BY DOING EXERCISES FLUID MECHANICS I FLUID COMPRESSIBILITY FLUID SPRING VISCOUS FORCE ON ROTATING BODY FLUID MOMENTUM FLUID MECHANICS II ORI?CE FLOW I ORI?CE FLOW II ORI?CE FLOW III PIPE FLOW I PIPE FLOW II PIPE FLOW III VELOCITY PRO?LE IN AN ANNULAR FLOW PUMPS, MOTORS AND CYLINDERS PUMP I PUMP II MOTOR I CYLINDER I CYLINDER II CYLINDER III SYSTEM 1—RAISING A DIFFERENTIAL CYLINDER SYSTEM 1—LOWERING A DIFFERENTIAL CYLINDER SYSTEM 2—FLOW REGENERATION 1 SYSTEM 3—FLOW REGENERATION 2 SYSTEM 4—MOTOR LIFTING A LOAD SYSTEM 4—MOTOR LOWERING A LOAD SYSTEM MODELLING SYSTEM D1—SIMPLE PUMP CYLINDER DRIVE SYSTEM D2—HANGING MASS ANALYSIS OF DYNAMIC SYSTEMS PILOT CHAMBER I PILOT CHAMBER II SPRING LOADED ACCUMULATOR ANALYSIS OF SYSTEM D1 ANALYSIS OF SYSTEM D3—HANGING MASS CONTROL OF DYNAMIC SYSTEMS VELOCITY CONTROL OF SYSTEM D3—HANGING MASS POSITION CONTROL OF SYSTEM D3—HANGING MASS SYSTEM MANIPULATION OF SYSTEM D3—HANGING MASS SOLUTIONS SYSTEM 4—MOTOR LIFTING THE LOAD SYSTEM 4—MOTOR LOWERING THE LOAD SYSTEM MODELING ANALYSIS OF DYNAMICS SYSTEMS—SOLUTIONS PILOT CAMBER I PILOT CAMBER II ANALYSIS OF SYSTEM D2 SYSTEM D3—HANGING MASS