EHPV® Technology Sponsored by HUSCO Intl. & the FPMC Center PATRICK OPDENBOSCH Graduate Research Assistant NADER SADEGH Ph.D. Mechanical Engineering Professor WAYNE BOOK Ph.D. Mechanical Engineering Professor Frequently, presenters must deliver material of a technical nature to an audience unfamiliar with the topic or vocabulary. The material may be complex or heavy with detail. To present technical material effectively, use the following guidelines from Dale Carnegie Training®.   Consider the amount of time available and prepare to organize your material. Narrow your topic. Divide your presentation into clear segments. Follow a logical progression. Maintain your focus throughout. Close the presentation with a summary, repetition of the key steps, or a logical conclusion. Keep your audience in mind at all times. For example, be sure data is clear and information is relevant. Keep the level of detail and vocabulary appropriate for the audience. Use visuals to support key points or steps. Keep alert to the needs of your listeners, and you will have a more receptive audience. Georgia Institute of Technology George W. Woodruff School of Mechanical Engineering 18 September 2018

AGENDA Valve overview. Principle of operation. Mathematical modeling. Simulation results. Non-linear controller. Hardware-In-the-Loop (HIL) Future work. In your opening, establish the relevancy of the topic to the audience. Give a brief preview of the presentation and establish value for the listeners. Take into account your audience’s interest and expertise in the topic when choosing your vocabulary, examples, and illustrations. Focus on the importance of the topic to your audience, and you will have more attentive listeners. 18 September 2018

VALVE OVERVIEW Electro-Hydraulic Poppet Valves (EHPV®) are pilot operated valves used for flow control in hydraulic machinery. The flow control is achieved by changing the valve restriction coefficient via a PWM input current acting on a pilot and a poppet type orifice with pressure compensation. 18 September 2018

VALVE OVERVIEW Bi-Directional Capability Pressure compensation for consistent current at flow initiation. Adequate Dynamic Response Used in wheatstone configuration 18 September 2018

VALVE OVERVIEW COMPONENTS Solenoid Modulating Spring Armature Pilot Control Pressure Chamber Pressure Compensating Spring Bias Spring Main Poppet Connection Port A Connection Port B 18 September 2018

PRINCIPLE OF OPERATION Forward Flow: Pressure at port A is higher than that at port B. Port A Port B 18 September 2018

PRINCIPLE OF OPERATION Forward Flow: Pilot pin and armature displaced due to hydraulic imbalance Pressure compensating spring acts to balance pilot pin Port A Port B 18 September 2018

PRINCIPLE OF OPERATION Forward Flow: Solenoid is activated and hydraulic fluid is drained to low pressure side Port A Port B 18 September 2018

PRINCIPLE OF OPERATION Forward Flow: Main poppet is displaced to a new equilibrium position allowing a direct connection between ports A and B Port A Port B 18 September 2018

MATHEMATICAL MODELING The mathematical modeling is based on the interaction of three subsystems: Electromagnetic Mechanical If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. Hydraulic 18 September 2018

Modulating spring Pilot pin mass Armature mass Bias spring Piston mass MECHANICAL SYSTEM Modulating spring Pilot pin mass Armature mass Bias spring Piston mass Pressure compensating spring Main poppet mass 18 September 2018

Pilot-Armature-Piston Dynamics: MECHANICAL SYSTEM Pilot Armature & Piston Combined MODE 1 (closed): Pilot-Armature-Piston Dynamics: Main Poppet Dynamics: Main Poppet 18 September 2018

MODE 2 (open): MECHANICAL SYSTEM Pilot & Armature Piston Main Poppet 18 September 2018

Pilot-Armature Dynamics: MECHANICAL SYSTEM MODE 2 (open): Pilot-Armature Dynamics: Pilot & Armature Main Poppet 18 September 2018

MODE 2 (open): Piston Dynamics: MECHANICAL SYSTEM Piston Main Poppet 18 September 2018

MODE 2 (open): Main Poppet Dynamics: MECHANICAL SYSTEM Pilot & Armature Piston Main Poppet 18 September 2018

State Constraints - Main Poppet: - Pilot & Armature: - Piston: MECHANICAL SYSTEM State Constraints - Main Poppet: Pilot & Armature - Pilot & Armature: Piston Main Poppet - Piston: 18 September 2018

Control Pressure Chamber Pilot Head Chamber HYDRAULIC SYSTEM Bi-Directional Capability Control Pressure Chamber C2 C1 C A B FORWARD FLOW DIAGRAM C1 C2 Forward Flow A C Reverse Flow B 18 September 2018

Control Pressure Chamber Pilot Head Chamber HYDRAULIC SYSTEM Control Pressure Chamber C A B C1 C2 A C B 18 September 2018

HYDRAULIC SYSTEM A’ A’ View A’-A’ 18 September 2018

Neglecting compressibility effects: Pilot Head Chamber HYDRAULIC SYSTEM Control Pressure Chamber C A B C1 C2 Neglecting compressibility effects: A C B 18 September 2018

ELECTRO-MAGNETIC SYSTEM Rsol Vsol isol gmax 18 September 2018

ELECTRO-MAGNETIC SYSTEM Rsol Vsol isol gmax 18 September 2018

ELECTRO-MAGNETIC SYSTEM Rsol Vsol isol gmax Hysteresis 18 September 2018

SIMULATION RESULTS EHPV® Step Response (0-90% capacity) If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. 18 September 2018

NON-LINEAR CONTROLLER Motor Speed Control: CONTROLLER EHPV Pump M M If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. Load Motor Tank 18 September 2018

NON-LINEAR CONTROLLER Scheme: Closed-Loop Control + Open-loop Control PI type Generates duty cycle for PWM driver Needs control variable measurement feedback Look-up table Generate Kv for given pressure differential Trainable/tailored If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. 18 September 2018

NON-LINEAR CONTROLLER Closed-loop Control: EHPV PI Controller Load Motor Reference PWM Driver Sampled Error 100 If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. % (Duty Cycle) PI Controller 18 September 2018

NON-LINEAR CONTROLLER Open-loop Control: EHPV Controller Load Motor Converter/ PWM Driver If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. Look-UpTable Controller 18 September 2018

HARDWARE-IN-THE-LOOP The Hardware-In-the-Loop (HIL) simulation facility located at the Intelligent Machine Dynamics Laboratory (IMDL) will be exploited for model validation, controller training, and control implementation. EHPV B M Hi-press. filter Lo-press. filter Main Pump Load Crossover relief valve Tank Pressure transmitters A Flow meter +12Vdc Accumulator If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. Hydraulic Circuit for Single Valve Identification 18 September 2018

HARDWARE-IN-THE-LOOP Hardware-In-the-Loop Facility at IMDL P T A B M Hi-press. filter Lo-press. filter Main Pump Load Crossover relief valves 4-EHPV® Tank Pressure transmitters If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. Hydraulic Circuit for 4-Way EHPV® Control Training 18 September 2018

FUTURE WORK 1. Model validation for a single valve. 2. Model validation for 4-way directional valve arrangement. 3. Tune-up and test non-linear controller. 4. Development of Robust algorithms for tailored electronic valve flow coefficient correction. 5. Simulation and testing of four different flow metering modes, and study their effects. 6. Development of a trainable nonlinear controller to compensate for inherent system non-linearities such as hysteresis. If you have several points, steps, or key ideas use multiple slides. Determine if your audience is to understand a new idea, learn a process, or receive greater depth to a familiar concept. Back up each point with adequate explanation. As appropriate, supplement your presentation with technical support data in hard copy or on disc, e-mail, or the Internet. Develop each point adequately to communicate with your audience. 18 September 2018