ELECTRO-HYDRAULIC

SERVO SYSTEM
WHAT DO YOU KNOW ABOUT HYDRAULIC
SYSTEMS..?

• It is a system that uses pressurized fluid to perform tasks.

• That pressurized fluid acts upon every part of the section
of a containing vessel and creates force or power. Due to
the use of this force, and depending on how it’s applied,
operators can lift heavy loads, and precise repetitive tasks
can be easily done.
HYDRAULIC SYSTEMS
• Any application that requires a large force to be applied smoothly
by a small actuator is a candidate for hydraulic power.
• In many cases hydraulic power is applied in a closed-loop system.
That is, the effect of application power is monitored and the
pressure or flow adjusted automatically to give the required result.
• Examples of such closed-loop systems (or servomechanisms) are in
rudder (‫ )دفة السفينة‬and stabilizer control on ships and the positioning
of control surfaces in aircraft.
• One of the most rapidly expanding uses of hydraulic power is for
the closed loop control of machine tools. Typically, the work table
is moved hydraulically at the command of a punched-tape program.
HYDRAULIC RUDDER SYSTEM
HYDRAULIC SYSTEMS

• The three common power systems in use today ore

hydraulic, electrical and pneumatic.
• Because of the compressibility of the working fluid,
most practical closed-loop systems would be very
difficult, in many cases impossible, to mechanize
pneumatically.
• This leaves the choice between hydraulic and
electrical power systems .
COMPARISON BETWEEN HYDRAULIC & ELECTRIC SYSTEMS
HYDRAULIC CIRCUITS

• a hydraulic circuit is a
system that can
control where fluid
flows and control fluid
pressure (such as
HYDRAULIC
amplifiers)
MAIN PARTS
EQUIPMENT AND INSTRUMENTATION

A. Servo unit
B. Control Unit
C. Electronic power unit
D. Hydraulic power supply
A. SERVO UNIT

1. Rotary hydraulic axial piston motor capable of l500 rev/min.

2. Hydraulic servo valve, high frequency, 4-port electrically operated
spool type.
3. Hydraulic pressure line filter, replacement element type.
4. Hydraulic accumulator, bag type, 0.37 liter volume.
5. Gauges 100mm Bourdon tube type.
6. Flow gauge 0.1 l5 liter/sec
7. Relief and replenishing valve
8. Pressure transducers measure dynamically the servo valve output
pressures.
9. Rotary transducer comprises D.C tacho-generator and 400Hz
synchro transformer has gain 26 mv/rad/sec.
B. CONTROL UNIT
Constructed for use also as a self-standing unit. It contains all
the electronics to provide these facilities:
1. Rotary and linear reference position settings. Operational
amplifier with summing resistors variable attenuators, and
selectable feedback configurations.
2. Servo valve drive amplifier with polarity and offset control.
3. Amplification for pressure, flow and force transducer outputs.
4. Supply for pressure, flow and force transducers, +5V d.c.
5. Patch sockets to give maximum flexibility of configuration
with minimum patch cords.
C. ELECTRONIC POWER UNIT

• A small free- standing unit which provides the necessary +15V and
-15V d.c to the control unit.
• Its output is current-limited.
• It requires 200-250V, 50Hz or 100 -125V, 60Hz at less than 1 amp.
D. HYDRAULIC POWER SUPPLY

• This provide a maximum of 0.15 liters/sec at 70 bar

• Pump drive motor is 220/240 V, 11 A , 50 Hz single phase
• Pump is submerged type mounted in 45 liter tank.
• Water-cooled exchanger
 CLOSED LOOP SYSTEM
(i) There is a comparison of input and output to yield an error.
(ii) the error operates the system.
(iii) there is a power gain from error to output.
• In hydraulic or electro-mechanical system the Forward path usually takes
the form of an amplifier operating a motor which drives the output or load.

Forward Path
Error
Input
Transducer Amplifier Motor Output
& Gearing Shaft

Input & Output

Comparison Transducer
 TRANSDUCERS
• It is generally necessary to use some form of transducers in the input and
feedback lines in order to convert the actual input and output quantities
(which may be shaft angles or some other variable) into a suitable form,
commonly voltages.
• These may then be compared to yield the error signal which operates the
forward path.
• For a speed control system the transducer in the feedback line would be a
tacho-generator providing a voltage proportional to output shaft speed
which is compared with a desired speed represented by on input voltage .
• The portion of the system used to compare input and output and produce
an error is commonly termed the “error channel”
CLOSED LOOP RESPONSE
STEADY-STATE PERFORMANCE
• Any closed loop system that controls some mechanical
element such as a motor shaft position or the thrust of a
cylinder shaft may be termed a 'servomechanism’ or simply
(Servo).
• In order to design any servo system effectively all the
component ports must be characterized for such parameters
as steady-state gain, offset, dead-band and saturation .
• Each component in the servo loop will be examined in turn,
Models will be developed for the hydraulic valve, motor and
cylinder.
1. OPERATIONAL AMPLIFIER

• The operational amplifier is characterized by infinite voltage

gain, zero output impedance , infinite input impedance and zero
offset.
• The output of the operational amplifier on the control unit is
limited between approximately +3V and -4V.
• This is more than adequate to drive the servo valve over its
• full range.
SOME TYPES OF OPERATION AMPLIFIER

• Inverting Amplifier (a)

• Summing Amplifier (b)

2. VALVE DRIVE AMPLIFIER

• The valve drive amplifier converts the op-amp output voltage

into a proportional drive current for the servo valve.
• The gain is 100 mA/V.
• The full operating range of the valve output is ±200mA or,
referred to the op-amp output, ±2.0V.
3. TRANSDUCERS

• There are four motion transducers used on the equipment.

1. Rotary velocity. 2. Rotary position
3. Linear velocity. 4. Linear position .
• Both velocity transducers work on the same principle; a voltage is
induced in a winding, proportional to the relative speed between
the winding and a permanent magnet whose field it intersects.
• Linear position sensing is also 'dc'. The cylinder drives the wiper
of a fixed linear potentiometer whose ends are energized with
±5V. The resultant voltage is an indication of cylinder position,
directly proportional to its distance from the center of travel.
4. ELECTRO-HYDRAULIC SERVO VALVE

• The electro-hydraulic valve is the

control element in any closed-loop
electro-hydraulic system.
• It is a proportional flow type,
often known as a servo valve.
Electro-
hydraulic
valve
Animation
FLOW GAIN

• The flow gain is the relationship between the valve output flow
and the input signal.
• The spool displacement is directly proportional to the input
signal current.
• Since flow is directly proportional to orifice size for a given
pressure, linear flow gain results:

Where Q is the flowrate and is voltage signal

5. HYDRAULIC MOTOR

• The motor is of the axial multi-piston type with a fixed swash plate.
AXIAL
MULTI-PISTON
HYDRAULIC
MOTOR
ANIMATION
AXIAL MULTI-PISTON HYDRAULIC MOTOR ANIMATION
 6. HYDRAULIC CYLINDER

• double-acting cylinder,
means the pressure
can be applied to
either face of the
piston to provide drive
in either direction.
6. HYDRAULIC CYLINDER

• the rod cross-sectional area is an significant proportion, 0.391 of the

cylinder cross-sectional area.
• Since the rod leaves only one end of the cylinder, for balanced
operation the rod side of the piston must be provided with a pressure
that is higher than that on the other (head) side of the piston.
• The ratio of pressures required is 1: ( 1 - 0.391).
• It is therefore convenient to connect the rod end to full supply
pressure and control the action of the cylinder by varying the head end
pressure only. With this connection fully symmetrical action is obtained.
 7. FILTER
• The filter is composed of a number of centered
bronze discs stocked such that each hos a surface
exposed to the hydraulic power unit pressure with
the other surface leading to the system supply
pressure.
• The mean pore size of the discs is 5 microns [200
micro inches] . This degree of filtration is necessary
to prevent silting of such close tolerance items as
the servo valve spool.
• An indication of the contaminant build-up in the
filter is provided by measuring the pressure drop
across it under flow conditions. Using this principle,
the gouge fitted to the filter body warns of
excessive clogging .
HOW FILTERS WORK?
8. ACCUMULATOR

• It is the equivalent of the power supply filter

capacitor in an electronic system.
• Its purpose is to eliminate pulsations in the
supply pressure.
• These would otherwise developed from two
sources.
1. The gear pump used in the hydraulic power
unit gives flow pulsations corresponding to the
meshing of each tooth.
2. When the servo valve is operated rapidly, the
sudden acceleration and deceleration of oil into
it can cause corresponding pressure fluctuations
in the supply line.
HOW ACCUMULATORS WORK?
THANK YOU