Modeling Dynamic Systems 39

about the desired operating point and relates ow to load pressure and valve posi-
tion. Let us begin by laying out the basic equations.
Valve ow:
Q dQ=dxx  dQ=dPP Kx x  KP P
Piston ow:
Q Ady=dt
Force balance:
d 2y
F m PA  b dy=dt
dt2
Q is the ow into the cylinder, P is the cylinder pressure, dQ=dx is the slope of the
valve ow metering curve at the operating point, dQ=dP is the slope of the valve
pressure-ow (PQ) curve at the operating point, A is the area of the piston (minus
rod area), and b is the damping from the mass friction and cylinder seal friction.
Solving the valve ow equation for P:
P Q=KP Kx =KP x
Substitute into the force balance:
d 2y
F m Q=KP Kx =KP xA  b dy=dt
dt2
Eliminating Q using the piston ow:
 
d 2y A dy dy
m 2  Kx =KP x A  b
dt KP dt dt
Finally, combining inputs and outputs results in
 
d 2y A dy AKx
m 2 b x
dt K P dt KP
This equation is worthy of several observations. Hopefully, many will become
clear as we progress. First, notice that y in its nonderivative form does not appear.
As Laplace transforms are discussed we will see why we call this a type 1 system with
one integrator. The net eect at this point is to understand that a positive input x will
continue to produce movement in y regardless of whether or not x continues to
increase. That is, y, the output, integrates the position of x, the input. Also, many
assumptions were made in developing this simple model. Beginning with the valve, it
is linearized about some operating point. For small ranges of operation this is a
common procedure. Additionally, the mass of the valve spool was ignored and x is
considered to be moving the spool by that amount. In most cases involving control
systems, a solenoid would provide a force on the valve spool that would cause the
spool to accelerate and move. A separate force balance is then required on the spool
and the equations become more complex. Finally, the uid in the system was
assumed to be without mass and incompressible. At certain input frequencies,
these become important items to consider. Without making these assumptions, the
result would have been a sixth-order nonlinear dierential equation. This task is