ME 453
Hydraulics and Pneumatics
Lecture 4
Dr. Yesuenyeagbe A.K. Fiagbe
[email protected] // 0244833980
Jan 2014
Hydraulic and Pneumatic
Actuators
Power Supply Control System Work Actuator
1
Actuators
• Linear actuators, (hydraulic and pneumatic
cylinders).
• Rotary actuators, (hydraulic and pneumatic
motors), either uni-directional or bi-directional
providing torque for rotary movement.
• fixed rotary actuators that give a set motion of 90 deg.
to 180 deg. rotation in back and forth motions.
• Rack and Pinion type where there are opposing
cylinders moving back and forth across a rack and
pinion which in turn produces a rotating motion output
at a preset rotational movement.
• The critical part of applying any actuator is
understanding first what you want it to do, how
much power you will need to accomplish the task
and how to functionally create the circuit needed
to control it.
2
HYDRAULIC AND
PNEUMATIC CYLINDERS
Hydraulic Cylinders
• Cylinders are linear actuators which convert fluid power
into mechanical power (JACKS or RAMS).
• Hydraulic cylinders are used at high pressures and
produce large forces and precise movement.
• Constructed of strong materials such as steel
• Designed to withstand large forces.
Pneumatic Cylinders
• Pneumatic cylinders are limited to
about 10 bar pressure (low
pressure).
• constructed from lighter materials
such as aluminium and brass.
• Because gas is a compressible
substance, the motion of a
pneumatic cylinder is hard to
control precisely
Hydraulic / Pneumatic Cylinders
• Properties:
• The cylinders have to be good quality steel with
close tolerances.
• There have to be good sealing both at the piston
rod and at the cylinder.
• With time dirt may come in and damage the
surfaces. This has to be possibly reduced.
• In this case, the leakage will increase all the time.
6
Cylinder types Single acting
work can be done only in one direction
Plunger
Piston
Fast moving
Telescopic
7
Cylinder types Double acting piston
Work is done in both directions
Piston rod on both
sides
Tandem
Fast moving
Telescopic
FORCE
• The fluid pushes against the face of the piston and
produces a force.
F=PxA
• p is the pressure in N/m2 and
• A is the area the pressure acts on in m2 .
• This assumes that the pressure on the other side of the
piston is negligible.
• For double acting cylinder the pressure on the other side is
usually atmospheric so if p is a gauge pressure we need
not worry about the atmospheric pressure.
Force in cylinders
F c max F L max F F F 1 F C max F L max F F
maximum load friction forces inertial forces
slow motion, can be often
neglected
Outward: F C 0 A1 p 1 A 2 p 2 A1 A2
p2 vB
Backward: F CB A 2 p 2 A 1 p 1
p1
v0
Slide
-10
SPEED
• The speed of the piston and rod depends upon the flow
rate of fluid.
• The volume per second entering the cylinder must be the
change in volume per second inside.
Q m3 /s = A x velocity (full side)
Q m3/s = (A-a) x velocity (rod side)
A1 A2
Q Q p2 vB
v0 vB
A1 A2 p1
v0
Q
POWER
• Mechanical power is defined as Force x velocity.
P=Fv Watts
• The fluid power supplied is more than the mechanical
power output because of friction between the sliding
parts.
SEALS AND BEARINGS
• Piston seals to prevent leakage from
one side to the other.
• Rod seal to prevent leakage from the
rod end.
• Static seals to prevent leakage from
joints between the barrel and end
caps.
• Wiper seal to stop dirt being drawn
inside with the rod.
SEALS AND BEARINGS
• The rod end bearing made of brass
or bronze.
• This takes the side loads on the rod and
ensures lubrication and reduced wear.
• It also prevents the seal distorting and
leaking.
• The pistons bearing takes the
sideways forces and reduce wear.
BUCKLING
• Buckling occurs when the rod bends or bows out
sideways under load.
• Longer and thinner the rod, the more likely it is for buckling
to occur. 2
• Maximum permissible force: 1
F max L E I1
n l k
n: safety factor: 1-3,5
lk: buckling length
I1: moment of inertia of the piston rod
E: elasticity modulus of the rod material
Hydraulic cylinder buckling mode
1. Case 2. Case 3. Case 4. Case
Euler’s cases
One end free Two ends pivoted and One end guided and Two ends fixed and
One end fixed guided pivoted, other end fixed guided
Or trunnion at end
Picture
Free buckling length
mounting style mounting style mounting style mounting style
Manner of
end fixing
16
CUSHIONING
• Cushioning is to slow down the piston as it reached the
end
• The needle valve is adjusted so that the piston is slowed
up over the last part of its stroke by a pressure build up in
the fluid escaping past the needle valve.
WORKED EXAMPLE
A double acting hydraulic cylinder has a bore of 100 mm. The
rod is 40 mm diameter and the stroke is 120 mm. It must
produce a pushing force of 12 kN. The flow rate available in
both directions is 12 dm3 /min.
Calculate:
i. The system pressure needed.
ii. The force with which it pulls given the same pressure.
iii. The speed on the outward stroke.
iv. The speed of retraction.
v. The power used on the outstroke.
Assume ideal conditions throughout.
SOLUTION
• A = πD2/4 = π x 0.12 /4 = 7.854 x 10-3 m2
• p = F/A = 12000/ 7.854 x 10-3 = 1.528 x 106 N/m2 =
or 1.528 MPa
• a = πd2/4 = π x 0.042 /4 = 1.257 x 10-3 m2
• Pulling force = P(A-a) = 1.528 x 106 x (7.854 x 10-3 -
1.257 x 10-3 ) = 10008 N
SOLUTION
• Flow rate Q = 0.012/60 = 20 x 10-3 m3 /s
• Speed on the outward stroke = Q/A = 20 x 10-3 /
7.854 x 10-3 = 0.025 m/s or 25 mm/s
• Speed of retraction = Q/(A-a) = 20 x 10-3 /( 7.854 x
10-3 - 5.027 x 10-3 ) = 0.03 m/s or 30 mm/s
• Power = pQ = 1.528 x 106 x 20 x 10-3 = 305.6 Watts
ROTARY MOTORS
• The purpose of a rotary motor is to convert fluid
power into shaft power by forcing the shaft to
rotate.
• Pressure is converted into torque
• Flow rate is converted into speed.
POWER AND EFFICIENCY
• FLUID POWER is given as
F.P. = Q Δp
• Q is the flow rate in m3 /s and
• Δp is the difference between the inlet and outlet pressure in
N/m2 .
• The output power is the shaft power given by
S.P. = 2πNT = ωT
• N is the shaft speed in rev/s.
• T is the shaft torque in Nm and
• ω is the shaft speed in radian/s.
POWER AND EFFICIENCY
• The output power is reduced because of friction and
internal slippage of fluid. This induced inefficiency for the
motor
• Overall Efficiency
ηo = Output/Input
ηo = Shaft Power/Fluid Power
• It must be remembered that in the case of gas as the
working fluid, the volume depends upon the pressure.
POWER AND EFFICIENCY
• If the motor is 100% efficient, the shaft power is equal to
the fluid power so equating:
2πNT = Q Δp
T = (Q/N) Δp/2π
T = kq Δp/2π
• Δp is the difference in pressure between the inlet and outlet
of the motor.
• Kq is displacement in m3 /s.
SPEED-FLOW RELATIONSHIP
• The basic relationship between flow rate and speed is
Flow Rate, Q = Kq x Speed
• Kq is the nominal displacement of the motor usually
expressed in units of cm3/rev.
VOLUMETRIC EFFICIENCY
• It is possible for hydraulic fluid to slip forward from the high
pressure port to the low pressure port through the clearance
gaps around the working elements without doing anything to
rotate the shaft. This is called internal slippage and it results in a
flow rate larger than the theoretical.
Actual flow rate = Ideal Flow rate + Slippage
• The volumetric efficiency of the motor is defined as:
ηv = Ideal Flow rate/Actual flow rate
Motors Relations
• For the ideal Machine (motor) with no leakage, the
displacement of the machine and flow rate determine the
speed.
Q
D
27
Torque and Pressure Relation
• For the ideal machine, the fluid Power is entirely converted
to mechanical power
Power T PQ
PQ
T
T PD T P
28
Volumetric Efficiency
• The internal flow leakage in motor affects the relationship
between flow and speed
Q
v
D
• The volumetric efficiency varies with fluid viscosity, pressure
and rotating speed
29
Mechanical Efficiency
• The presence of friction between moving parts creates
mechanical losses that are represented by the
mechanical efficiency
• Output torque:
T m PD
• The mechanical efficiency varies with fluid viscosity,
pressure and rotating speed
30
Power Output
• The power output from a motor is H v m PQ
• With total machine efficiency T v m
H T PQ
31
ROTARY ACTUATORS
• Special motor called a rotary actuator that is designed for
slow rotation of less than one revolution but with a large
torque.
• Commonly used on robotic devices.
• Pneumatic actuators are used for simple pick and place
operations and for opening and closing pipeline valves.
• Hydraulic actuators are typically used to swing the boom
on a mobile excavator from side to side.
•
Rotary hydraulic actuators
Swivel vane rotary actuator:
Limited angle in both directions
Maximum angle always smaller than 360°
The same torque in both directions
33
Rotary hydraulic actuators
Piston rotary actuator: Parallel piston
rotary actuator
With rack and gear coupling
Here maximum angle may be larger than 360°
34
WORKED EXAMPLE
The pressure difference over a hydraulic motor is 80 bar and
it runs at 400 rev/min. The nominal displacement is 5 cm3
/rev. The overall efficiency is 85% and the volumetric
efficiency is 90%. Calculate the following.
i. The ideal flow rate.
ii. The actual flow rate.
iii. The fluid power.
iv. The shaft power.
v. The shaft torque.
SOLUTION
• N = 400/60 rev/s kq = 5 x 10-6 m3/rev
• Ideal Flow rate = kq x N = 5 x 10-6 x 400/60 = 33.33 x 10-6 m3
/s
• Actual Flow Rate = Ideal Flow rate/ηv = 33.33 x 10-6 /0.9 =
37.04 x 10-6 m3/s
• Fluid Power QΔp = 37.04 x 10-6 x 80 x 105 = 296.3 Watt
• Shaft Power = Fluid Power x ηo = 296.3 x 0.85 = 251.85 Watt
• Torque = SP/2πN = 251.85 /(2π x 400/60) = 6.013 Nm
Types Of Pneumatic Actuators
All pneumatic actuators can be subdivided into the following types:
diaphragm pneumatic actuators;
pneumatic power cylinders;
gas-engine pneumatic actuators;
turbine pneumatic actuators;
jet pneumatic actuators;
pneumomuscles;
combined pneumatic actuators.
37
Diaphragm Pneumatic Actuators
The sylphon pneumatic actuator
The membrane pneumatic
actuator
Sli
d
e-
Some More Cylinders
Bellows cylinders
39
Thank You
For any concerns, please contact
[email protected] [email protected] 0322 191132
Jan 2014
