Comparison of Sleeve and Poppet-Valve Aircraft Piston Engines
HUSCO Electro-Hydraulic Poppet Valve Project Review
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Transcript of HUSCO Electro-Hydraulic Poppet Valve Project Review
![Page 1: HUSCO Electro-Hydraulic Poppet Valve Project Review](https://reader035.fdocuments.net/reader035/viewer/2022081511/56812ebc550346895d945db9/html5/thumbnails/1.jpg)
April 07, 2003
Presented by:
PATRICK OPDENBOSCH
HUSCO Electro-Hydraulic Poppet Valve
Project Review
George W. Woodruff School of Mechanical Engineering
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AGENDA
1. Components2. Opening Sequence3. Related Work4. Mathematical Modeling5. Control Schemes6. Future Work7. Conclusions
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Outlet
Input
Main Poppet
Main Spring
Solenoid CorePilot
Inlet
Control Chamber
Pilot Spring
1. COMPONENTS
Feed Line
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2. OPENING SEQUENCE
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2. OPENING SEQUENCE
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2. OPENING SEQUENCE
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Performance Limitations of a Class of Two-Stage Electro-hydraulic Flow Valves1
• Done by:
Rong Zhang.
Dr. Andrew Alleyne.
Eko Prasetiawan.
3. RELATED WORK
(1) Zhang, R.,Alleyne, A., and Prasetiawan, E., “Performance Limitations of a Class of Two-Stage
Electro-hydraulic Flow Valves”, International Journal of Fluid Power, April 2002.
Figure 3.1 Vickers EPV-16 Valvistor
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.
• Valve Modeling:
States:Output:
Figure 3.2 Electro-proportional flow valve
(3.1)
(3.2)
(3.3)
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• Jacobian Linearization and Model Reduction :
(3.4)
(3.5)
(3.6)
(3.7)
Assumptions:
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Figure 3.4 Flow valve identification test setup
(3.8)
Figure 3.3 Simplified Second Order Model
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Figure 3.5 Time domain experimental validationFigure 3.6 Root-locus of a Valvistor-controlled system
Main Results:• Pilot flow introduces open-loop zeros that limit the closed-loop bandwidth.• Pilot flow can be re-routed to tank trading performance by efficiency.• Open-loop zeros can be moved leftwards by altering valve parameters.
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4. MATHEMATICAL MODELING• Flow Distribution:
Qa
Q2
Qb
Q1
Qp
uv
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pamrs PPxDRQ 2
xm
Pa
Pp
Dr
Q2
(4.2) bamM PPxRQ 1
xm
Pb
Q1
(4.1)
bpmppp PPxxRQ
Qp
Pp
Pb
xm
xp
(4.3)
Pa
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: Fluid densityV: Chamber volume: Equivalent length of pilot inside control volume: Bulk modulus
Q2
Qp
xmxo
am,1 xp
• Compressibility: pQQdt
d
2
ppmom xaxxa 1,
ppmm xaxa 1,
pQQ 2
pP
pmom
p QQxxa
P
21,
ppmmpppmom
p xaxaQQxaxxa
P
1,21,
small
small
small
(4.4)
(4.5)
(4.6)
(4.7)
(4.9)
(4.10)
(4.8)
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• Second Order Systems:
Pilot Dynamics (from equilibrium state):
ve uK δ
pp xk δ
pp xb δ
ppaP
pxδ
ppvepppppp aPuKxkxbxm δδδδδ (4.11)
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Main Poppet Dynamics (from equilibrium state):
absmpammmmmmm PPaPPaxkxbxm δδδδδδδ ,1, (4.12)
mxδ
mm xb δ
1,mpaP
smma aaP ,1,
smbaP ,
am,1 : Poppet’s Large areaam,s : Poppet’s Small area
mm xk δ
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bbpmppbbaamMoutb
v
p
e
p
p
p
p
p
p
bbpmpppaamrsmm
m
absmam
m
m
m
m
m
m
p
p
p
m
m
PPXPXxXxRPPPPXxRYQ
Du
m
K
Xm
aX
m
bX
m
kX
PPXPXxXxRXPPPXxDRXxxa
m
PPaPaX
m
aX
m
bX
m
kX
x
x
P
x
x
X
X
X
X
X
3141
354
5
31431101,
,1,3
1,21
2
5
4
3
2
1
δ0
0
0
0
δ
δ
δ
δ
δ
p
p
p
m
m
p
p
m
p
p
p
m
m
x
x
P
x
x
x
P
x
x
x
P
x
x
δ
δ
δ
δ
δ
0
0
bbb
aaa
vvv
PPP
PPP
uuu
δ
δ
δ
(4.14)
(4.13)Letting: and
EHPV State Space Representation about Equilibrium Point
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bb
mppmrs
bbmppaamrsmppbbaamMoutb
v
p
e
p
mppmrs
bbmppaamrs
p
p
p
p
p
p
m
absmamp
mppmrs
bbmppaamrs
m
m
m
m
m
m
p
p
m
m
PPXxXxRXxDR
PPXxXxRPPXxDRXxXxRPPPPXxRYQ
Du
m
K
PXxXxRXxDR
PPXxXxRPPXxDR
m
aX
m
bX
m
k
X
m
PPaPaP
XxXxRXxDR
PPXxXxRPPXxDR
m
aX
m
bX
m
k
X
x
x
x
x
X
X
X
X
214
221
2
214
221
2
141
214
221
2
214
221
2
54
5
,1,2
1422
12
214
221
21,
21
2
5
4
2
1
δ0
0
0
δ
δ
δ
δ
Reduced Order EHPV State Space Representation about Equilibrium Point
(4.16)
ppmom QQ
Pxxa
2
1,
(4.15)
From (4.10):
0Then, solving for X3 and substituting in (4.14):
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5. CONTROL SCHEMES
• Jacobian Linearization
• Input-output Linearization
+BL CL
AL
Int
uDXCyuXhy
uBXAXuXfX
LL
LL
,
,
u y+
BL
Xhy
uXgXfX
Vy r
VXGXFX
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• Jacobian Linearization:
bbppbbaaM
bbpp
bbp
mpp
paa
mrs
paas
PPPRPPPPR
PPPR
PPP
xxR
PPP
xDR
PPPR
4
3
2
1
22
XPPPR
PPP
xxRQ
u
m
KX
X
X
X
X
m
b
m
k
m
a
am
a
m
b
m
k
x
x
x
x
X
X
X
X
bbpp
bbp
mppb
v
p
e
p
p
p
p
p
p
m
m
m
m
m
m
m
p
p
m
m
δ02
0
0
0
0
0
δ
δ
δ
δ
δ
00
10000
0
00
00010
δ
δ
0
δ
δ
δ
δ
0
δ
δ
4
5
4
3
2
1
321,1
1,
5
4
2
1
(5.1)
(5.2)
(5.3)
Assumption: Incompressible fluid:
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0 1 2 3 4 5 6 7 8 9 1037.5
37.6
37.7
37.8
37.9
38
38.1
38.2
38.3
38.4
Time [s]
Out
put
Flo
w [
gpm
]
Figure 5.1 Output flow for PWM input about nominal value.
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Figure 5.2 Control diagram.
-1
-1
-1 K
AL
CL
L
AL
CLBL
F
KiR QbInt Int
Int
Dist
Integral Controller
Plant
Observer
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• Input-Output Linearization (Model Reduction):
bbpmpppaamrsmm
m
absmam
m
m
m
m
m
m
p
m
m
PPXPXxxRXPPPXxDRXxxa
m
PPaPaX
m
aX
m
bX
m
kX
P
x
x
X
X
X
3131101,
,1,3
1,21
2
3
2
1
δ
δ
δ
W
Xxxa
PPXPR
mm
bbpp
101,
3
0
0
bbpmppbbaamMoutb PPXPXxWxRPPPPXxRYQ 311
(5.4)
(5.5)
Assumption: Pilot dynamics are fast and can be considered as the Input to the system (i.e. xp=W)
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WxXx
PPXPR
PPPPXxRVpm
bbpp
bbaamM
1
3
1
VQb
(5.6)
(5.7)
Equation 5.7 gives a direct mapping between fictitious input V and output flow.
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6. FUTURE WORK
• Complete control scheme for jacobian linearized system.
• Extend input-ouput linearization theory to full order system.
• Compare simulation results to experimental results.
• Perform system parameter identification (hardware)
• Determine control solutions to EHPV operational problems
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7. CONCLUSIONS
• Review of valve components and opening sequence
• Determination of valve limitations:• Pilot flow introduces open-loop zeros• Re-route flow to tank (efficiency/performance)• Alter valve parameters
• Evaluation of 5th order EHPV mathematical model
• Control alternatives:• Jacobian linearized system• Input-Output linearization