Model Library

Hydraulics

Modeling and
The Hydraulics library offers elements for efficient and intuitive modeling of
simulation of the
fluid-power systems and components. Users are able to create their models
dynamic behavior
according to the hydraulic circuit diagram within a few minutes, without any
of hydraulic
need for setting up differential equations, signal flow diagrams or transfer
components and
functions. This approach is extremely suitable not only for the system engineer, systems
who can set up his model directly from the circuit schematics, but also for the
component engineer. Here, generic elements such as mass, spring, spool area,
displacement volume or valve edge can be arranged and connected graphically Tool for the
in order to resemble the physical structure of complex valve types, pumps or holistic evaluation
motors. Such sub-models may be grouped together to a new Compound of interactions
element and added to the library. between
Input parameters for each element are kept as simple as possible and close to the hydraulics,
technical device. In spite of the simple and intuitive user interface, the physical mechanics and
behavior of the element models considers all relevant effects and non-linearities, control
such as
• Pressure-, temperature- and gas fraction dependent hydraulic fluid properties
Structured
• Variable density, aeration and cavitation
standard hydraulic
• Power dissipation and heat transfer (convection & conduction) element types
• Complex friction behavior, mechanical and volumetric losses of hydraulic actuators with basic
elements,
• Static and dynamic valve behavior, non-linear hydraulic resistances
actuators, valves,
• Complex valve geometry and flow forces of hydraulic spool valves accessories,
• Hydro-pneumatic accumulators with real-gas behavior (Bender model) and heat transfer sensors, pipes /
hoses
• Hydraulic transmission lines with static and dynamic flow resistance and heat losses

An extensive Fluid Library offers a great variety of pre-defined hydraulic fluids.

Users can easily modify or enhance the list of pre-defined fluids at any time. Quick adaption
and extension
from standard
element types to
customized
devices (structure,
parameter inputs)

Visualization and
animation of the
dynamic processes
with pressure,
flow rate etc. by
using
ITI-Vis3D
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Elements
The Hydraulics library contains the following elements:

All hydraulic elements can be connected to each other without any restriction. Furthermore, many
elements provide an interface to other domains and libraries. For example, hydraulic actuators can be
connected to elements from the libraries Mechanics 1D/3D, Power Transmission or Electric Motors.
The piston accumulator can be linked to the Pneumatics library. The hydraulic fluid volume and the
hydraulic pipe might be completed with elements from the Thermics library, in order to account for
heat transfer effects. This multi-domain approach enables comprehensive analysis and investigation
of complex engineering systems.

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Valve Modeling
The Valves folder is further sub-structured, as shown below.

Most valve models are dedicated to system simulation, which means the user has only knowledge
about the catalog data of each component, but not much information about the internal geometry
of the valve and its construction data (mass, stiffness, damping etc.). Therefore, the parameter input
for these elements is strongly catalog-oriented. Some parameters can be obtained almost directly
from the manufacturer’s specification (e.g. flow vs. stroking or flow vs. pressure drop curves), other
input parameters must be estimated from the available data (e.g. response time, natural frequency,
damping factor etc.). All valve models offer a great degree of flexibility for the description of valve
stroking, flow behavior and dynamic response. The previous page shows an example for the
parameter dialog of the 4/3 Proportional Directional Control Valve. The dependency Q(y) of the
volume flow Q on the stroke signal y is here described by a data table (valid for a certain pressure
drop). Alternatively, the Q(y) characteristics could be specified by a linear slope, or by a user-defined
setup function.

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 Page 4 of 8

The sub-folder Proportional Directional Control Edges contains models of hydraulic valve edges,
which are suitable especially for component modeling. Here, the user has knowledge about all
relevant geometry and construction data. The parameter input is therefore tailored to the needs of
the component engineer.

In conjunction with the elements from the Basic Elements folder and the Linear Mechanics library,
user-defined models of complex valves can be assembled very easily. The TypeDesigner helps you to
create such Compound Elements from your specific model structure in terms of interface connections
(ports), dialog parameters, result variables and documentation. Alternatively, you can define the
behavior of your valve by an algorithm or even by equations. The object-oriented modeling
language ITI-MDL provides a powerful framework to describe such physical systems efficiently.
User-defined valve elements can be saved to your own library for subsequent use.

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 Page 5 of 8

The next page shows the parameter dialog of the element 2-Way Proportional Edge. Here, the de-
pendency A(y) of the opening area A on the spool (or poppet) displacement y can be specified in a
very flexible way. Typical geometric constellations are pre-defined in terms of cross-section area and
hydraulic
diameter. For more complex spool geometries, the user can enter data tables or arithmetic
expressions.

With the add-on tool ITI EdgeDesigner the user gets a powerful instrument for the design of fluidic
components especially hydraulic valves. Starting from the geometric shape of the spool the ITI
EdgeDesigner calculates the hydraulic diameter depending on the spool displacement.

Calculation Options
The elements are linked together graphically by the user
by drawing connection lines with the mouse. Each
connection represents a node in the network, which calcu-
lates the State Variables of the hydraulic system, which are
• Pressure
• Temperature
• Gas fraction (undissolved and dissolved)

The last two are optional, that means the user can decide
whether he wants to set the state variables temperature
and gas fraction to a certain value or calculate the state
variables in each connection separately from fundamental
fluid-mechanical laws such as mass and energy balance.

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 Page 6 of 8

Fluid Library
The hydraulic connection also calculates Fluid Properties as a function of the state variables. For this
purpose, the user selects the desired fluid type in the connection dialog from a list before running the
simulation. The selected fluid type is then immediately propagated to all other connections in the
same circuit. This propagation mechanism ensures that one uniform fluid type is used for the entire
circuit. However, different fluid types can still be used within one model, as long as a separate circuit
is available for each fluid.

FluidDesigner
The ITI-FluidDesigner (optional) is comfortable tool for creation and editing of user defined fluids.
Thus allows an efficient description of all for dynamic simulation relevant physical properties of fluid
types (e.g. viscosity, density, and compressibility) subject to the state quantities pressure,
temperature and gas fraction.

Supported by an already existing

classification of fluids default
properties are provided. By input of
parameters, functions or 1D/2D
curves to describe the non-linear fluid
properties (e.g. viscosity vs.
temperature behavior, viscosity vs.
pressure behavior) the user gets a
comfortable tool.

A comprehensive offer of alternative

possibilities for the description of fluid
properties (e.g. default or arbitrary
setup function, curves) guarantees a
high flexibility to the user. The
validity of the fluid description can be
determined by editing of limits for
pressure and temperature.

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 Page 7 of 8

License Options
The Hydraulics library is available at three different license types. The only difference between each
type is the number of available elements. This ensures that each user can select the optimum level (in
terms of costs and performance) for his application. The following table gives an overview about the
different options. The correlation of each element to the three license types is shown on the next
pages.

Hydraulics I Hydraulics II Hydraulics III

Basic package for hydraulic Standard package for hydraulic system Complete package for system and
system simulation, suitable simulation, suitable for experts and for component simulation, suitable for
mainly for beginners and students beginners experts and for beginners

Hydraulics I Hydraulics II Hydraulics

III
Basic Elements
Pressure Supply x x x
Tank x x x
Flow Source x x x
Volume x x x
Coupled Volumes x
Orifice x
Nozzle x
Ring Gap x
Plane Gap x
Parallel Gap with Relative Motion x
Fluid Inertia x
Piston Area x
Shear Stress in Liquids (Linear Motion) x
Shear Stress in Liquids (Rotary Motion)
Actuators
Differential Cylinder x x x
Double Rod Cylinder x x
Plunger Cylinder x x
Constant Displacement Pump/Motor x x
Variable Displacement Pump/Motor x x
Valves
Constant Throttle Valve x x x
Variable Throttle Valve x x
2-Way Flow Control valve x x
Pressure Relief Valve x x
3-Way Pressure Control Valve x x
Pressure Reducing Valve x x
Check Valve (without Spring) x x x
Check Valve (with Spring) x x x
Pilot-Operated Check Valve x x
Shuttle Valve x x
2-Way Cartridge Valve (poppet type, normally closed, x
spring at X)

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 Page 8 of 8

Hydraulics I Hydraulics II Hydraulics

III
2-Way Cartridge Valve (poppet type, normally closed, x
spring at A)
2-Way Cartridge Valve (spool type, normally closed, x
spring at X)
2-Way Cartridge Valve (spool type, normally open, spring at X) x
2-Way Cartridge Valve (spool type, normally closed, x
spring at A)
2-Way Cartridge Valve (spool type, normally open, spring at A) x
2-Way Proportional Throttle Valve (direct acting, normally closed) x x
2-Way Proportional Throttle Valve (direct acting, normally open) x x
3/2 Proportional Directional Control Valve (Port A and T connected x x
when de-energized)
3/2 Proportional Directional Control Valve (Port P and A connected x x
when de-energized)
4/2 Proportional Directional Control Valve (Control Edges P-B, A-T) x x x
4/2 Proportional Directional Control Valve (Control Edges P-A, B-T) x x x
4/3 Proportional Directional Control Valve x x x
2-Way Proportional Edge (opening in positive direction) x
2-Way Proportional Edge (opening in negative direction) x
Ball/Cone seat Valve (Proportional Edge, opening positive direction) x
Ball/Cone seat Valve (Proportional Edge, opening negative direction) x
4/3 Proportional Directional Control Edges x
Accessories and Sensors
Hydro-Pneumatic Accumulator x x
Piston Accumulator (with external connection for piston and gas) x x
Oil/Air Cooler x x
Flow Sensor x x x
Pressure Gage x x x
Temperature Sensor x x x
Pressure Sensor x x
Differential Pressure Sensor x x
Pressure Switch x x
Displacement Sensor x x
Displacement Difference Sensor x x
Displacement Switch x x
Lines *)
Pipe x x
Hose Line x x
TJunction 90°
Line (Distributed Model)
Bend

*) Package Lines: This package includes special elements for modeling of lines and manifolds, e.g.
a line model with distributed parameters or bends. The package is an ongoing process of
development.
One of the packages hydraulics I to III is required for using.

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