| Course Unit Code | 338-0506/04 |
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| Number of ECTS Credits Allocated | 5 ECTS credits |
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| Type of Course Unit * | Compulsory |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | Second Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | Course succeeds to compulsory courses of previous semester |
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| Name of Lecturer(s) | Personal ID | Name |
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| HRU38 | doc. Dr. Ing. Lumír Hružík |
| BUR262 | Ing. Adam Bureček, Ph.D. |
| LED0021 | Ing. Marian Ledvoň, Ph.D. |
| Summary |
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| In the subject of Hydraulic Mechanisms Control, the students will learn about volumetric control and variable resistance control, dynamics of the controlled system, thermal balance of controlled hydrostatic drive and applications of control technique in hydrostatic mechanisms. Proportional control technique and servo technique are discussed in detail, where the knowledge of the subject of Fundamentals of Automation and Dynamics of Fluid Mechanisms is used. Students will learn the composition of speed and position servomechanisms. Furthermore, they will learn the principles of commissioning and maintenance of hydraulic proportional components and electrohydraulic servo valves and the issues of filtration of hydraulic devices with servo valves and proportional valves. |
| Learning Outcomes of the Course Unit |
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| Students will be acquainted with three qualitative grades of hydraulic mechanism control: classical control technique, proportional control technique, and servo technique. Students will learn to distinguish two basic methods of hydraulic mechanisms control: valve control and volumetric control. They are able to analyze both of these methods especially in terms of control accuracy, dynamic characteristics, energy performance, and price. In the case of proportional control are able to perform design the control system (synthesis) for a specific application. In the case of servomechanisms, they will be able to do the same for simpler applications. |
| Course Contents |
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Lectures
1. The definition of term control. Hydraulic mechanisms control: controlled variables, methods of control - classification. Variable resistance control (one-edge), which depends on the pressure drop on the motor. Sources of constant pressure.
2. Variable resistance control (one-edge), which is independent of the pressure drop on the motor. Two-way flow control valves. Viscosity-independent throttle valves. Three-way flow control valves.
3. Variable resistance control (two-edge). Four-edge control spool valve. Proportional directional control valves mechanically actuated.
4. Proportional directional control valves electrically actuated. The control electronics. Proportional directional control valves with two-way and three-way flow control valves, LS (load sensing) systems.
5. Design of hydraulic systems with proportional directional control valves.
6. Servo valves.
7. Servo drives. Application of servo drives in aviation, robotics, machine tools, thermal and nuclear power engineering.
8. Dynamics of servo drives. Methods of the description of control circuit components, mathematical-physical models of control circuit components.
9. Rotary servo drives: mathematical description of dynamic behavior, control methods, dynamic stability.
10. Positional servomechanisms with mechanical feedback. Electro-hydraulic positional servomechanisms. Mathematical description of dynamic behavior, control methods, dynamic stability.
11. Stabilization of positional servomechanisms.
12. Volumetric control.
13. Secondary control of hydraulic motors. Pressure, force, torque control.
14. Principles of assembly, operation, and maintenance of servomechanisms. Filtration and temperature stabilization.
Contents of exercises and seminars
1. Repetition of basic terms of fluid mechanisms.
2. Variable resistance control: hydraulic systems with throttle valves.
3. Variable resistance control: hydraulic systems with two-way and three-way flow control valves.
4. Program 1: Measurement of throttle valve characteristics. Measurement of two-way flow control valve characteristics.
5. Program 2: Measurement of the torque M dependence on the speed n of the drive with variable resistance control.
6. Program 3: Design of hydraulic circuit with proportional directional control valve. Example from the metallurgical industry.
7. Design of hydraulic circuit with proportional directional control valve - completion.
8. Design of hydrostatic transmission with volumetric control of the pump and the hydraulic motor.
9. Transient response, transfer functions, frequency response.
10. Mathematical-physical models of hydraulic components of control hydraulic system.
11. Program 4: Design of rotary servo drive. An example of the lifting equipment.
12. Measurement of rotary servo drive - to program No.4.
13. Design of positional servomechanism. An example from the field of nuclear energy engineering.
14. Demonstration of positional servomechanism in the laboratory. Credit.
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| Recommended or Required Reading |
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| Required Reading: |
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[1] EWALD, R. et al. Proportional and Servo-valve Technology. Lohr am Main, Germany: Bosch Rexroth AG, 2003. 300 p.
[2] GÖTZ, W. Hydraulics. Theory and Applications. Ditzingen, Germany: OMEGON, 1998. 291 s. ISBN 3-980-5925-3-7.
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[1] PAVLOK, B. Hydraulické prvky a systémy. Díl 2. Ostrava: VŠB-TU Ostrava, 2008. 150 s. ISBN 978-80-248-1827-6.
[2] BAROŠKA, J. Hydrostatické mechanizmy. Žilina: Hydropneutech, s.r.o., 2012. 388 s. ISBN 978-80-970 897-2-6.
[3] SOUČEK, P. Elektrohydraulické servomechanismy. Praha: ČVUT Praha, 1992. 158 str. ISBN 80-01-00376-0.
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| Recommended Reading: |
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[1] EXNER, H. et al. Basic Principles and Components of Fluid Technology. Lohr am Main, Germany: Rexroth AG., 1991. 344 p. ISBN 3-8023-0266-4.
[2] MURRENHOFF, H. Fundamentals of Fluid Power: Part 1 Hydraulics. Shaker Verlag GmbH, Germany, 2016. 388 p. ISBN 978-3844048179.
[3] MURRENHOFF, H., ECKSTEIN, L. Fluidtechnik für mobile Anwendungen. Shaker Verlag GmbH, Germany, 2014. 347 p. ISBN 978-3844029192.
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[1] EWALD, R. et al. Proportional and Servo-valve Technology. Lohr am Main, Germany: Bosch Rexroth AG, 2003. 300 p.
[2] MURRENHOFF, H. Servohydraulik. Shaker Verlag GmbH, Germany, 2012. 442 p. ISBN 978-3-8440-0947-7.
[3] PAVLOK, B., HRUŽÍK, L., BOVA, M. Hydraulická zařízení strojů. Ostrava: VŠB-TU Ostrava, 2007. 116 s. http://www.338.vsb.cz/PDF/hydraulicka-zarizeni-stroju.pdf
[4] MURRENHOFF, H. Fundamentals of Fluid Power: Part 1 Hydraulics. Shaker Verlag GmbH, Germany, 2016. 388 p. ISBN 978-3844048179.
[5] PAVLOK, B. Hydraulické prvky a systémy. Díl 1. Ostrava: VŠB-TU Ostrava, 2013. 156 s. ISBN 978-80-248-2983-8. |
| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Experimental work in labs, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Credit and Examination | Credit and Examination | 100 (100) | 51 |
| Credit | Credit | 32 | 20 |
| Examination | Examination | 68 | 25 |