1. 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

2. 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

3. 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

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

5. 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

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

7. 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

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

9. 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

10. 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, , or the Internet. Develop each point adequately to communicate with your audience.
Hydraulic
18 September 2018

11. 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

12. 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

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

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

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

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

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

18. 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

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

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

21. 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

22. ELECTRO-MAGNETIC SYSTEM
Rsol
Vsol
isol
gmax
18 September 2018

23. ELECTRO-MAGNETIC SYSTEM
Rsol
Vsol
isol
gmax
18 September 2018

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

25. 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, , or the Internet. Develop each point adequately to communicate with your audience.
18 September 2018

26. 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, , or the Internet. Develop each point adequately to communicate with your audience.
Load Motor
Tank
18 September 2018

27. 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, , or the Internet. Develop each point adequately to communicate with your audience.
18 September 2018

28. 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, , or the Internet. Develop each point adequately to communicate with your audience.
% (Duty Cycle)
PI Controller
18 September 2018

29. 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, , or the Internet. Develop each point adequately to communicate with your audience.
Look-UpTable
Controller
18 September 2018

30. 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, , or the Internet. Develop each point adequately to communicate with your audience.
Hydraulic Circuit for Single Valve Identification
18 September 2018

31. 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, , or the Internet. Develop each point adequately to communicate with your audience.
Hydraulic Circuit for 4-Way EHPV® Control Training
18 September 2018

32. 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, , or the Internet. Develop each point adequately to communicate with your audience.
18 September 2018