2 Sim Hydraulics Reference

SimHydraulics 1 Reference
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Revision History
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New for Version 1.0 (Release 2006a+) Revised for Version 1.1 (Release 2006b) Revised for Version 1.2 (Release 2007a) Revised for Version 1.2.1 (Release 2007b) Revised for Version 1.3 (Release 2008a) Revised for Version 1.4 (Release 2008b) Revised for Version 1.5 (Release 2009a)
Contents
Block Reference
1
Accumulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hydraulic Cylinders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hydraulic Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Local Hydraulic Resistances . . . . . . . . . . . . . . . . . . . . . . . . Low-Pressure Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Orices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pipelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pumps and Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Directional Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Flow Control Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pressure Control Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . Valve Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Valve Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-3 1-4 1-5 1-6 1-7 1-8 1-9 1-10 1-10 1-10 1-11 1-11 1-12
Blocks Alphabetical List
2
Glossary
Index
vi
Contents
1
Block Reference
Accumulators (p. 1-2) Hydraulic Cylinders (p. 1-3) Hydraulic Utilities (p. 1-4) Local Hydraulic Resistances (p. 1-5) Low-Pressure Blocks (p. 1-6) Orices (p. 1-7) Pipelines (p. 1-8) Pumps and Motors (p. 1-9) Valves (p. 1-10) Hydraulic accumulators Hydraulic cylinders Environment blocks, such as hydraulic uid Various local hydraulic resistances Low-pressure blocks Hydraulic orices, to be used as valve building blocks Hydraulic pipelines Hydraulic pumps and motors Hydraulic valves
Block Reference
Accumulators
Gas-Charged Accumulator Spring-Loaded Accumulator Simulate hydraulic accumulator with gas as compressible medium Simulate hydraulic accumulator with spring used for energy storage
1-2
Hydraulic Cylinders
Hydraulic Cylinders
Cylinder Friction Double-Acting Hydraulic Cylinder Double-Acting Rotary Actuator Single-Acting Hydraulic Cylinder Single-Acting Rotary Actuator Simulate friction in hydraulic cylinders Simulate hydraulic actuator exerting force in both directions Simulate double-acting hydraulic rotary actuator Simulate hydraulic actuator exerting force in one direction Simulate single-acting hydraulic rotary actuator
1-3
Block Reference
Hydraulic Utilities
Hydraulic Fluid Set working uid properties by selecting from list of predened uids Simulate pressurized hydraulic reservoir
Reservoir
1-4
Local Hydraulic Resistances
Local Hydraulic Resistances

Elbow Gradual Area Change Local Resistance Simulate hydraulic resistance in elbow Simulate gradual enlargement or contraction Simulate all kinds of hydraulic resistances specied by loss coefcient Simulate hydraulic resistance in pipe bend Simulate sudden enlargement or contraction Simulate hydraulic resistance of T-junction in pipe
Pipe Bend Sudden Area Change T-junction
1-5
Block Reference
Low-Pressure Blocks
Constant Head Tank Simulate tank where pressurization and uid level remain constant regardless of volume change Simulate hydraulic pipeline with resistive, uid compressibility, and elevation properties Simulate hydraulic pipeline which accounts for friction losses and port elevations Simulate hydraulic pipeline with resistive, uid inertia, uid compressibility, and elevation properties Simulate tank with constant pressurization and volume-dependent uid level
Hydraulic Pipe LP
Resistive Pipe LP
Segmented Pipe LP
Variable Head Tank
1-6
Orifices
Orifices
Annular Orice Simulate hydraulic variable orice created by circular tube and round insert Simulate hydraulic orice with constant cross-sectional area Simulate hydraulic variable orice shaped as set of round holes drilled in sleeve Simulate hydraulic variable orice shaped as rectangular slot Simulate generic hydraulic variable orice
Fixed Orice Orice with Variable Area Round Holes Orice with Variable Area Slot Variable Orice
1-7
Block Reference
Pipelines
Hydraulic Pipeline Simulate hydraulic pipeline with resistive and uid compressibility properties Simulate hydraulic pipeline with resistive, uid inertia, and uid compressibility properties
Segmented Pipeline
1-8
Pumps and Motors
Pumps and Motors

Centrifugal Pump Fixed-Displacement Pump Hydraulic Motor Variable-Displacement Hydraulic Machine Variable-Displacement Motor Variable-Displacement Pressure-Compensated Pump Variable-Displacement Pump Simulate centrifugal pump Simulate xed-displacement hydraulic pump Simulate xed-displacement hydraulic motor Simulate variable-displacement reversible hydraulic machine with regime-dependable efciency Simulate variable-displacement reversible hydraulic motor Simulate hydraulic pump maintaining preset pressure at outlet by regulating its ow delivery Simulate variable-displacement reversible hydraulic pump
1-9
Block Reference
Valves
Directional Valves (p. 1-10) Flow Control Valves (p. 1-10) Pressure Control Valves (p. 1-11) Valve Actuators (p. 1-11) Valve Forces (p. 1-12) Hydraulic directional valves Hydraulic ow control valves Hydraulic pressure control valves Actuators for driving directional valves Blocks that simulate hydraulic forces exerted on valves
Directional Valves
2-Way Directional Valve 3-Way Directional Valve 4-Way Directional Valve Cartridge Valve Insert Check Valve Pilot-Operated Check Valve Simulate hydraulic continuous 2-way directional valve Simulate hydraulic continuous 3-way directional valve Simulate hydraulic continuous 4-way directional valve Simulate hydraulic cartridge valve insert Simulate hydraulic valve that allows ow in one direction only Simulate hydraulic check valve that allows ow in one direction, but can be disabled by pilot pressure Simulate hydraulic valve that allows ow in one direction only
Shuttle Valve
Flow Control Valves

Ball Valve Needle Valve Simulate hydraulic ball valve Simulate hydraulic needle valve
1-10
Valves
Poppet Valve Pressure-Compensated Flow Control Valve
Simulate hydraulic poppet valve Simulate hydraulic pressure compensating valve
Pressure Control Valves

Pressure Compensator Pressure Reducing Valve Simulate hydraulic pressure compensating valve Simulate pressure control valve maintaining reduced pressure in portion of system Simulate pressure control valve maintaining preset pressure in system
Pressure Relief Valve
Valve Actuators
2-Position Valve Actuator 3-Position Valve Actuator Hydraulic Cartridge Valve Actuator Hydraulic Double-Acting Valve Actuator Hydraulic Single-Acting Valve Actuator Proportional and Servo-Valve Actuator Simulate actuator for two-position valves Simulate actuator for three-position valves Simulate double-acting hydraulic actuator for cartridge valves Simulate double-acting hydraulic valve actuator Simulate single-acting hydraulic valve actuator Simulate continuous valve driver with output proportional to input signal
1-11
Block Reference
Valve Forces
Spool Orice Hydraulic Force Valve Hydraulic Force Simulate axial hydraulic force exerted on spool Simulate axial hydraulic static force exerted on valve
1-12
2
Blocks Alphabetical List
2-Position Valve Actuator
Purpose Library Description
Simulate actuator for two-position valves Valve Actuators The 2-Position Valve Actuator block represents an actuator that you can use with directional valves to control their position. This actuator can drive a two-position valve. The block is developed as a data-sheet-based model and all its parameters are generally provided in catalogs or data sheets. The key parameters are the stroke, switch-on, and switch-off times. The block accepts a physical input signal and produces a physical output signal that can be associated with a mechanical translational or rotational push-pin motion. Connect the block output to the directional valve control port. The actuator is represented as an ideal transducer, where output does not depend on the load exerted on the push-pin and the push-pin motion prole remains the same under any loading conditions. The motion prole represents a typical transition curve for electromagnetic actuators and is shown in the following gure:
2-2
The push-pin is actuated when the input signal value crosses the threshold of 50% of the nominal input signal, where Nominal signal value is a block parameter. The motion is divided into three phases, equal in time: delay (t1), motion at constant acceleration (t2), and motion at constant velocity (t3). The motion stops when the switch-on time (ton) elapses. At this moment, the push-pin reaches the specied stroke value (xstr). To return the push-pin into initial position, the control signal must be removed, which causes the push-pin to retract. The retract motion follows exactly the same prole but stretches over
2-3
the switch-off time. Switching-on time and Switching-off time are the block parameters. The transition in any direction can be interrupted at any time by changing the input signal. If motion is interrupted, the switch-on or switch-off times are proportionally decreased depending on the instantaneous push-pin position. The push-pin is actuated only by positive signal, similar to the AC or DC electromagnets. The direction of push-pin motion is controlled by the Actuator orientation parameter, which can have one of two values: Acts in positive direction or Acts in negative direction.
Basic Assumptions and Limitations
The model is based on the following assumption: Push-pin loading, such as inertia, spring, hydraulic forces, and so on, is not taken into account.
2-4
Dialog Box and Parameters
Push-pin stroke The push-pin stroke. The default value is 0.01 m. Switching-on time Time necessary to fully extend the push-pin after the control signal is applied. The default value is 0.1 s.
2-5
Switching-off time Time necessary to retract push-pin from fully extended position after the input signal is removed. The default value is 0.1 s. Nominal signal value Sets the value of the nominal input signal. The output motion is initiated as the input signal crosses 50% value of the nominal signal. Other than that, the input signal has no effect on the motion prole. This parameter is meant to reproduce the rated voltage feature of an electromagnet. The default value is 24. Initial position Species the initial position of the push-pin. The parameter can have one of two values: Extended or Retracted. The default value is Retracted. Actuator orientation Parameter controls the direction of the push-pin motion and can have one of two values: Acts in positive direction or Acts in negative direction. The rst value causes the push-pin to move in positive direction, similarly to the action of electromagnet A attached to a directional valve. If the parameter is set to Acts in negative direction, the control signal causes the push-pin to move in negative direction from the initial position. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Initial position Actuator orientation All other block parameters are available for modication.
2-6
Ports
The block has one physical signal input port, associated with the input signal, and one physical signal output port, associated with the output signal (push-pin displacement). In the 2-Position Valve Actuator demo (sh_2_pos_valve_actuator), the hydraulic circuit contains two actuators. The rst one is set to start from the retracted position, while the second one starts from the extended position. Both actuators are driven with a Pulse Generator. The actuators start extending at 1 s, but the second actuator rst retracts from 0.01 m to zero, since it was initially extended and there was no signal keeping it there. In the Hydraulic Circuit with Single-Acting Cylinder demo (sh_circuit_sa_cylinder), the 2-Position Valve Actuator block is used along with a 3-Way Directional Valve block to simulate an electrically operated 3-way directional valve.
Examples
See Also
3-Position Valve Actuator Hydraulic Double-Acting Valve Actuator Hydraulic Single-Acting Valve Actuator Proportional and Servo-Valve Actuator
2-7
2-Way Directional Valve
Simulate hydraulic continuous 2-way directional valve Directional Valves The 2-Way Directional Valve block represents a continuous, 2-way directional valve, also referred to as a shut-off valve. It is the device that controls the connection between two lines. The block has two hydraulic connections, corresponding to inlet port (P) and outlet port (A), and one physical signal port connection (S), which controls the spool position. The block is built based on a Variable Orice block, where the Orice orientation parameter is set to Opens in positive direction. This means that positive signal x at port S opens the orice, and its instantaneous opening h is computed as follows:
h = x0 + x
where
h x0 x
Orice opening Initial opening Control member displacement from initial position
Because the block is based on a variable orice, you can choose one of the following model parameterization options: By maximum area and opening Use this option if the data sheet provides only the orice maximum area and the control member maximum stroke. By area vs. opening table Use this option if the catalog or data sheet provides a table of the orice passage area based on the control member displacement A=A(h). By pressure-flow characteristic Use this option if the catalog or data sheet provides a two-dimensional table of the pressure-ow characteristics q=q(p,h).
2-8
In the rst case, the passage area is assumed to be linearly dependent on the control member displacement, that is, the orice is assumed to be closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. In the second case, the passage area is determined by one-dimensional interpolation from the table A=A(h). Flow rate is determined analytically, which additionally requires data such as ow discharge coefcient, critical Reynolds number, and uid density and viscosity. The computation accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number and comparing its value with the critical Reynolds number. See the Variable Orice block reference page for details. In both cases, a small leakage area is assumed to exist even after the orice is completely closed. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. In the third case, when an orice is dened by its pressure-ow characteristics, the ow rate is determined by two-dimensional interpolation. In this case, neither ow regime nor leakage ow rate is taken into account, because these features are assumed to be introduced through the tabulated data. Pressure-ow characteristics are specied with three data sets: array of orice openings, array of pressure differentials across the orice, and matrix of ow rate values. Each value of a ow rate corresponds to a specic combination of an opening and pressure differential. In other words, characteristics must be presented as the Cartesian mesh, i.e., the function values must be specied at vertices of a rectangular array. The argument arrays (openings and pressure differentials) must be strictly monotonically increasing. The vertices can be nonuniformly spaced. You have a choice of three interpolation methods and two extrapolation methods. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential
2-9
is determined as p = pA pB . Positive signal at the physical signal port S opens the valve.
Basic Assumptions and Limitations Dialog Box and Parameters
The model is based on the following assumptions: Fluid inertia is not taken into account. Spool loading, such as inertia, spring, hydraulic forces, and so on, is not taken into account.
2-10
2-11
Model parameterization Select one of the following methods for specifying the valve: By maximum area and opening Provide values for the maximum valve passage area and the maximum valve opening. The passage area is linearly dependent on the control member displacement, that is, the valve is closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. This is the default method.
2-12
By area vs. opening table Provide tabulated data of valve openings and corresponding valve passage areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By pressure-flow characteristic Provide tabulated data of valve openings, pressure differentials, and corresponding ow rates. The ow rate is determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Valve passage maximum area Specify the area of a fully opened valve. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Model parameterization is set to By maximum area and opening. Valve maximum opening Specify the maximum displacement of the control member. The parameter value must be greater than zero. The default value is 5e-3 m. This parameter is used if Model parameterization is set to By maximum area and opening. Tabulated valve openings Specify the vector of input values for valve openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.002 0 0.002 0.005 0.015]. If Model parameterization is set to By area vs. opening table, the Tabulated valve openings values will be used together with Tabulated valve passage area values for one-dimensional table lookup. If Model parameterization is set to By pressure-flow characteristic, the Tabulated valve openings values will be used together with Tabulated pressure differentials and Tabulated ow rates for two-dimensional table lookup.
2-13
Tabulated valve passage area Specify the vector of output values for valve passage area as a tabulated 1-by-m array. The valve passage area vector must be the same size as the valve openings vector. All the values must be positive. The default values, in m^2, are [1e-09 2.0352e-07 4.0736e-05 0.00011438 0.00034356]. This parameter is used if Model parameterization is set to By area vs. opening table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in Pa, are [-1e+07 -5e+06 -2e+06 2e+06 5e+06 1e+07]. This parameter is used if Model parameterization is set to By pressure-flow characteristic. Tabulated ow rates Specify the output values for ow rates as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species ow rate taking place at a specic combination of valve opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in m^3/s, are:
[-1e-07 -7.0711e-08 -4.4721e-08 4.4721e-08 7.0711e-08 1e-07; -2.0352e-05 -1.4391e-05 -9.1017e-06 9.1017e-06 1.4391e-05 2.0352e-05; -0.0040736 -0.0028805 -0.0018218 0.0018218 0.0028805 0.0040736; -0.011438 -0.0080879 -0.0051152 0.0051152 0.0080879 0.011438; -0.034356 -0.024293 -0.015364 0.015364 0.024293 0.034356;]
This parameter is used if Model parameterization is set to By

pressure-flow characteristic.
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points:
2-14
Linear For one-dimensional table lookup (By area vs. opening table), uses a linear interpolation function. For two-dimensional table lookup (By pressure-flow characteristic), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By area vs. opening table), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic interpolation algorithm. Spline For one-dimensional table lookup (By area vs. opening table), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last
2-15
specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the valve, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
2-16
Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
Fluid density The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties. Fluid kinematic viscosity The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties.
Ports
The block has the following ports:

A
Hydraulic conserving port associated with the valve inlet.

B
Hydraulic conserving port associated with the valve outlet.

S
Physical signal port to control spool displacement.
Examples
In the Hydraulic Closed-Loop Circuit with 2-Way Valve demo (sh_closed_loop_circuit_2_way_valve), the 2-Way Directional Valve
2-17
block is used to control the position of a double-acting cylinder. At the start of simulation, the valve is open by 0.42 mm to make the circuit initial position as close as possible to its neutral position.
See Also
3-Way Directional Valve 4-Way Directional Valve
2-18
Simulate actuator for three-position valves Valve Actuators The 3-Position Valve Actuator block represents an actuator that you can use with directional valves to control their position. This actuator can drive a three-position valve. The block is developed as a data-sheet-based model and all its parameters are generally provided in catalogs or data sheets. The key parameters are the stroke, switch-on, and switch-off times. The block has two signal inputs associated with the activation signals for electromagnets A or B. It produces a physical output signal that can be associated with a mechanical translational or rotational push-pin motion. Connect the block output to the directional valve control port. The actuator is represented as an ideal transducer, where output does not depend on the load exerted on the push-pin and the push-pin motion prole remains the same under any loading conditions. The motion prole represents a typical transition curve for electromagnetic actuators. The following gure shows the motion prole for a case when the input signal is applied long enough for the push-pin to reach the end of the stroke (xstr), and then the input signal is removed, causing the push-pin to return to initial position:
2-19
The push-pin is actuated when the input signal value crosses the threshold of 50% of the nominal input signal, where Nominal signal value is a block parameter. The motion is divided into three phases, equal in time: delay (tde), motion at constant acceleration (tae), and motion at constant velocity (tve). The motion stops when the switch-on time (ton) elapses. At this moment, the push-pin reaches the specied stroke value (xstr). To return the push-pin into initial position, the control signal must be removed, which causes the push-pin to retract. The retract motion also consists of three phases, equal in time: delay (tdr), motion at constant acceleration (tar), and motion at constant velocity (tvr). It follows exactly the same prole but stretches over the switch-off time. Switching-on time and Switching-off time are the block parameters. The signal applied to port A causes the output to move in positive direction. To shift the push-pin in negative direction, you must apply the signal to port B. Only one control signal can be applied at a time. This means that if the actuator is being controlled by the signal at port A, the push-pin must be allowed to return to initial position before the control signal at port B can be processed. The transition in any direction can be interrupted at any time by changing the input signal. If motion
2-20
is interrupted, the switch-on or switch-off times are proportionally decreased depending on the instantaneous push-pin position. Only positive signals activate the actuator. In other words, negative signals at ports A and B have no effect on the actuator, which is similar to the behavior of electromagnetically controlled 3-position directional valves.
The model is based on the following assumption: Push-pin loading, such as inertia, spring, hydraulic forces, and so on, is not taken into account.
2-21
Push-pin stroke The push-pin stroke. The default value is 0.01 m. Switching-on time Time necessary to fully extend the push-pin after the control signal is applied. The default value is 0.1 s. Switching-off time Time necessary to retract push-pin from fully extended position after the input signal is removed. The default value is 0.1 s.
2-22
Nominal signal value Sets the value of the nominal input signal. The output motion is initiated as the input signal crosses 50% value of the nominal signal. Other than that, the input signal has no effect on the motion prole. This parameter is meant to reproduce the rated voltage feature of an electromagnet. The default value is 24. Initial position Species the initial position of the push-pin. The parameter can have one of three values: Extended positive, Extended negative, or Neutral. The default value is Neutral. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Initial position All other block parameters are available for modication.
Ports

A
Physical signal input port associated with the port A input signal.
B
Physical signal input port associated with the port B input signal. The block also has one physical signal output port, which is associated with the output signal (push-pin displacement).
Examples
In the 3-Position Valve Actuator demo (sh_3_pos_valve_actuator), all three actuators are set to different strokes, switch-on and switch-off times, and initial positions. If the initial position is not Neutral and the control signal at the beginning of simulation equals zero, the push-pin starts moving towards neutral position, as the actuators A and C show in the demo.
2-23
See Also
2-Position Valve Actuator Hydraulic Double-Acting Valve Actuator Hydraulic Single-Acting Valve Actuator Proportional and Servo-Valve Actuator
2-24
Simulate hydraulic continuous 3-way directional valve Directional Valves The 3-Way Directional Valve block represents a continuous, symmetrical, 3-way directional valve. The uid ow is pumped in the valve through the inlet line and is distributed between an outside pressure line (usually connected to a single-acting actuator) and the return line. The block has three hydraulic connections, corresponding to inlet port (P), actuator port (A), and return port (T), and one physical signal port connection (S), which controls the spool position. The block is built of two Variable Orice blocks, connected as shown in the following diagram.
One Variable Orice block, called orifice_PA, is installed in the P-A path. The second Variable Orice block, called orifice_AT, is installed in the A-T path. Both blocks are controlled by the same position signal, provided through the physical signal port S, but the Orice orientation parameter in the block instances is set in such a way that positive signal at port S opens orifice_PA and closes orifice_AT. As a result, the openings of the orices are computed as follows:
2-25
hPA = hPA0 + x hAT = hAT 0 x

where
hPA hAT hPA0 hAT0 x
Orice opening for the orifice_PA block Orice opening for the orifice_AT block Initial opening for the orifice_PA block Initial opening for the orifice_AT block Control member displacement from initial position
The valve simulated by the 3-Way Directional Valve block is assumed to be symmetrical. This means that both orices are of the same shape and size and are parameterized with the same method. You can choose one of the following block parameterization options: By maximum area and opening Use this option if the data sheet provides only the orice maximum area and the control member maximum stroke. By area vs. opening table Use this option if the catalog or data sheet provides a table of the orice passage area based on the control member displacement A=A(h). By pressure-flow characteristic Use this option if the catalog or data sheet provides a two-dimensional table of the pressure-ow characteristics q=q(p,h). In the rst case, the passage area is assumed to be linearly dependent on the control member displacement, that is, the orice is assumed to be closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. In the second case, the passage area is determined by one-dimensional interpolation from the table A=A(h). Flow rate is determined analytically, which additionally requires data such as ow discharge
2-26
coefcient, critical Reynolds number, and uid density and viscosity. The computation accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number and comparing its value with the critical Reynolds number. See the Variable Orice block reference page for details. In both cases, a small leakage area is assumed to exist even after the orice is completely closed. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. In the third case, when an orice is dened by its pressure-ow characteristics, the ow rate is determined by two-dimensional interpolation. In this case, neither ow regime nor leakage ow rate is taken into account, because these features are assumed to be introduced through the tabulated data. Pressure-ow characteristics are specied with three data sets: array of orice openings, array of pressure differentials across the orice, and matrix of ow rate values. Each value of a ow rate corresponds to a specic combination of an opening and pressure differential. In other words, characteristics must be presented as the Cartesian mesh, i.e., the function values must be specied at vertices of a rectangular array. The argument arrays (openings and pressure differentials) must be strictly monotonically increasing. The vertices can be nonuniformly spaced. You have a choice of three interpolation methods and two extrapolation methods. If you need to simulate a nonsymmetrical 3-way valve (i.e., with different orices), use any of the variable orice blocks from the Building Blocks library (such as Orice with Variable Area Round Holes, Orice with Variable Area Slot, or Variable Orice) and connect them the same way as the Variable Orice blocks in the schematic diagram of this 3-Way Directional Valve block. Positive signal at the physical signal port S opens the orice in the P-A path and closes the orice in the A-T path. The directionality of nested blocks is clear from the schematic diagram.
2-27
The model is based on the following assumptions: Fluid inertia is not taken into account. Spool loading, such as inertia, spring, hydraulic forces, and so on, is not taken into account. Only symmetrical conguration of the valve is considered. In other words, both orices are assumed to have the same shape and size.
2-28
2-29
Model parameterization Select one of the following methods for specifying the valve: By maximum area and opening Provide values for the maximum valve passage area and the maximum valve opening. The passage area is linearly dependent on the control member displacement, that is, the valve is closed at the initial position of the control member (zero displacement), and the maximum
2-30
opening takes place at the maximum displacement. This is the default method. By area vs. opening table Provide tabulated data of valve openings and corresponding valve passage areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By pressure-flow characteristic Provide tabulated data of valve openings, pressure differentials, and corresponding ow rates. The ow rate is determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Valve passage maximum area Specify the area of a fully opened valve. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Model parameterization is set to By maximum area and opening. Valve maximum opening Specify the maximum displacement of the control member. The parameter value must be greater than zero. The default value is 5e-3 m. This parameter is used if Model parameterization is set to By maximum area and opening. Tabulated valve openings Specify the vector of input values for valve openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.002 0 0.002 0.005 0.015]. If Model parameterization is set to By area vs. opening table, the Tabulated valve openings values will be used together with Tabulated valve passage area values for one-dimensional table lookup. If Model parameterization is set to By pressure-flow characteristic, the Tabulated valve openings values will
2-31
be used together with Tabulated pressure differentials and Tabulated ow rates for two-dimensional table lookup. Tabulated valve passage area Specify the vector of output values for valve passage area as a tabulated 1-by-m array. The valve passage area vector must be the same size as the valve openings vector. All the values must be positive. The default values, in m^2, are [1e-09 2.0352e-07 4.0736e-05 0.00011438 0.00034356]. This parameter is used if Model parameterization is set to By area vs. opening table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in Pa, are [-1e+07 -5e+06 -2e+06 2e+06 5e+06 1e+07]. This parameter is used if Model parameterization is set to By pressure-flow characteristic. Tabulated ow rates Specify the output values for ow rates as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species ow rate taking place at a specic combination of valve opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in m^3/s, are:
[-1e-07 -7.0711e-08 -4.4721e-08 4.4721e-08 7.0711e-08 1e-07; -2.0352e-05 -1.4391e-05 -9.1017e-06 9.1017e-06 1.4391e-05 2.0352e-05; -0.0040736 -0.0028805 -0.0018218 0.0018218 0.0028805 0.0040736; -0.011438 -0.0080879 -0.0051152 0.0051152 0.0080879 0.011438; -0.034356 -0.024293 -0.015364 0.015364 0.024293 0.034356;]

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Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear For one-dimensional table lookup (By area vs. opening table), uses a linear interpolation function. For two-dimensional table lookup (By pressure-flow characteristic), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By area vs. opening table), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic interpolation algorithm. Spline For one-dimensional table lookup (By area vs. opening table), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 pointsExtrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the
2-33
two last specied output values if the input value is above the specied range. From last pointUses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the valve, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Orice P-A initial opening Initial opening for the orice in the P-A path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Orice A-T initial opening Initial opening for the orice in the A-T path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical
2-34
integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
Ports

P
Hydraulic conserving port associated with the pressure supply line inlet.
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Hydraulic conserving port associated with the return line connection.

A
Hydraulic conserving port associated with the actuator connection port.

S
Examples
The 3-Way Directional Valve block is demonstrated in the Hydraulic Circuit with 3-Way Valve and Differential Cylinder demo (sh_circuit_3_way_valve_diff_cylinder), where it is used to switch between a conventional and differential connection of the cylinder. 2-Way Directional Valve 4-Way Directional Valve
See Also
2-36
Simulate hydraulic continuous 4-way directional valve Directional Valves The 4-Way Directional Valve block represents a continuous, symmetrical, 4-way directional valve. The uid ow is pumped in the valve through the inlet line and is distributed between two outside pressure lines (usually connected to a double-acting actuator) and the return line. The block has four hydraulic connections, corresponding to inlet port (P), actuator ports (A and B), and return port (T), and one physical signal port connection (S), which controls the spool position. The block is built of four Variable Orice blocks, connected as shown in the following diagram.
The Variable Orice blocks are installed as follows: orifice_PA is in the P-A path, orifice_PB is in the P-B path, orifice_AT is in the A-T path, and orifice_BT is in the B-T path. All blocks are controlled by the same position signal, provided through the physical signal port S, but the Orice orientation parameter in the block instances is set in such a way that positive signal at port S opens orifice_PA and
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orifice_BT and closes orifice_PB and orifice_AT. As a result, the openings of the orices are computed as follows:
hPA = hPA0 + x hPB = hPB0 x hAT = hAT 0 x hBT = hBT 0 + x

where
hPA hPB hAT hBT hPA0 hPB0 hAT0 hBT0 x
Orice opening for the orifice_PA block Orice opening for the orifice_PB block Orice opening for the orifice_AT block Orice opening for the orifice_BT block Initial opening for the orifice_PA block Initial opening for the orifice_PB block Initial opening for the orifice_AT block Initial opening for the orifice_BT block Control member displacement from initial position
The valve simulated by the 4-Way Directional Valve block is assumed to be symmetrical. In other words, all four orices are of the same shape and size and are parameterized with the same method. You can choose one of the following block parameterization options: By maximum area and opening Use this option if the data sheet provides only the orice maximum area and the control member maximum stroke.
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By area vs. opening table Use this option if the catalog or data sheet provides a table of the orice passage area based on the control member displacement A=A(h). By pressure-flow characteristic Use this option if the catalog or data sheet provides a two-dimensional table of the pressure-ow characteristics q=q(p,h). In the rst case, the passage area is assumed to be linearly dependent on the control member displacement, that is, the orice is assumed to be closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. In the second case, the passage area is determined by one-dimensional interpolation from the table A=A(h). Flow rate is determined analytically, which additionally requires data such as ow discharge coefcient, critical Reynolds number, and uid density and viscosity. The computation accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number and comparing its value with the critical Reynolds number. See the Variable Orice block reference page for details. In both cases, a small leakage area is assumed to exist even after the orice is completely closed. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. In the third case, when an orice is dened by its pressure-ow characteristics, the ow rate is determined by two-dimensional interpolation. In this case, neither ow regime nor leakage ow rate is taken into account, because these features are assumed to be introduced through the tabulated data. Pressure-ow characteristics are specied with three data sets: array of orice openings, array of pressure differentials across the orice, and matrix of ow rate values. Each value of a ow rate corresponds to a specic combination of an opening and pressure differential. In other words, characteristics must be presented as the Cartesian mesh, i.e., the function values must be specied at vertices of a rectangular array. The argument arrays
2-39
(openings and pressure differentials) must be strictly monotonically increasing. The vertices can be nonuniformly spaced. You have a choice of three interpolation methods and two extrapolation methods. If you need to simulate a nonsymmetrical 4-way valve (i.e., with different orices), use any of the variable orice blocks from the Building Blocks library (such as Orice with Variable Area Round Holes, Orice with Variable Area Slot, or Variable Orice) and connect them the same way as the Variable Orice blocks in the schematic diagram of this 4-Way Directional Valve block. Positive signal at the physical signal port S opens the orices in the P-A and B-T paths and closes the orices in the P-B and A-T paths. The directionality of nested blocks is clear from the schematic diagram.
The model is based on the following assumptions: Fluid inertia is not taken into account. Spool loading, such as inertia, spring, hydraulic forces, and so on, is not taken into account. Only symmetrical conguration of the valve is considered. In other words, all four orices are assumed to have the same shape and size.
The block dialog box contains two tabs: Basic Parameters on page 2-41 Initial Openings on page 2-48
2-40
Basic Parameters
2-41
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Model parameterization Select one of the following methods for specifying the valve: By maximum area and opening Provide values for the maximum valve passage area and the maximum valve opening. The passage area is linearly dependent on the control member displacement, that is, the valve is closed at the initial position of the control member (zero displacement), and the maximum
2-43
opening takes place at the maximum displacement. This is the default method. By area vs. opening table Provide tabulated data of valve openings and corresponding valve passage areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By pressure-flow characteristic Provide tabulated data of valve openings, pressure differentials, and corresponding ow rates. The ow rate is determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Valve passage maximum area Specify the area of a fully opened valve. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Model parameterization is set to By maximum area and opening. Valve maximum opening Specify the maximum displacement of the control member. The parameter value must be greater than zero. The default value is 5e-3 m. This parameter is used if Model parameterization is set to By maximum area and opening. Tabulated valve openings Specify the vector of input values for valve openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.002 0 0.002 0.005 0.015]. If Model parameterization is set to By area vs. opening table, the Tabulated valve openings values will be used together with Tabulated valve passage area values for one-dimensional table lookup. If Model parameterization is set to By pressure-flow characteristic, the Tabulated valve openings values will
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be used together with Tabulated pressure differentials and Tabulated ow rates for two-dimensional table lookup. Tabulated valve passage area Specify the vector of output values for valve passage area as a tabulated 1-by-m array. The valve passage area vector must be the same size as the valve openings vector. All the values must be positive. The default values, in m^2, are [1e-09 2.0352e-07 4.0736e-05 0.00011438 0.00034356]. This parameter is used if Model parameterization is set to By area vs. opening table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in Pa, are [-1e+07 -5e+06 -2e+06 2e+06 5e+06 1e+07]. This parameter is used if Model parameterization is set to By pressure-flow characteristic. Tabulated ow rates Specify the output values for ow rates as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species ow rate taking place at a specic combination of valve opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in m^3/s, are:
[-1e-07 -7.0711e-08 -4.4721e-08 4.4721e-08 7.0711e-08 1e-07; -2.0352e-05 -1.4391e-05 -9.1017e-06 9.1017e-06 1.4391e-05 2.0352e-05; -0.0040736 -0.0028805 -0.0018218 0.0018218 0.0028805 0.0040736; -0.011438 -0.0080879 -0.0051152 0.0051152 0.0080879 0.011438; -0.034356 -0.024293 -0.015364 0.015364 0.024293 0.034356;]

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Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear For one-dimensional table lookup (By area vs. opening table), uses a linear interpolation function. For two-dimensional table lookup (By pressure-flow characteristic), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By area vs. opening table), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic interpolation algorithm. Spline For one-dimensional table lookup (By area vs. opening table), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the
2-46
two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the valve, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
2-47
Initial Openings
Orice P-A initial opening Initial opening for the orice in the P-A path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0.
2-48
Orice P-B initial opening Initial opening for the orice in the P-B path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Orice A-T initial opening Initial opening for the orice in the A-T path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Orice B-T initial opening Initial opening for the orice in the B-T path. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
2-49
Ports

P
Hydraulic conserving port associated with the pressure supply line inlet.
T
Hydraulic conserving port associated with the return line connection.

A

B

S
Examples
The 4-Way Directional Valve block in the Closed-Loop Circuit with 4-Way Valve and Custom Cylinder demo (sh_closed_loop_circuit_4_way_valve_cust_cyl) is an open-center, symmetrical valve controlling a double-acting cylinder. 2-Way Directional Valve 3-Way Directional Valve
See Also
2-50
Annular Orifice
Simulate hydraulic variable orice created by circular tube and round insert Orices The Annular Orice block models a variable orice created by a circular tube and a round insert, which may be eccentrically located with respect to the tube. The radial gap between the tube and the insert and its axial length are assumed to be essentially smaller than the insert diameter, causing the ow regime to be laminar all the time. A schematic representation of the annular orice is shown in the following illustration.
The ow rate is computed using the Hagen-Poiseuille equation (see [1]):
q=
R( R r)3 3 i 1 + 2 i p 6L 2 e Rr
=
where
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Annular Orifice
q p R r L
Flow rate Pressure differential Orice radius Insert radius Overlap length Eccentricity ratio Eccentricity Fluid density Fluid kinematic viscosity
Use this block to simulate leakage path in plungers, valves, and cylinders. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential is determined as p = pA pB . Positive signal at the physical signal port S increases or decreases the overlap, depending on the value of the parameter Orice orientation.
The model is based on the following assumption: Fluid inertia is not taken into account.
2-52
Annular Orifice
Orice radius The radius of the tube. The default value is 0.01 m. Insert radius The radius of the insert. The default value is 0.0098 m. Eccentricity The distance between the central axes of the insert and the tube. The parameter can be a positive value, smaller than the difference between the radius of the tube and the radius of the insert, or equal to zero for coaxial conguration. The default value is 0. Initial length Initial overlap between the tube and the insert. The parameter must be positive. The value of initial length does not depend on the orice orientation. The default value is 0.003 m.
2-53
Annular Orifice
Orice orientation The parameter is introduced to specify the effect of the control signal on the orice overlap. The parameter can be set to one of two options: Positive signal increases overlap or Negative signal increases overlap. The default value is Positive signal increases overlap. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Orice orientation All other block parameters are available for modication.
Global Parameters
Ports

A
Hydraulic conserving port associated with the orice inlet.

B
Hydraulic conserving port associated with the orice outlet.

S
Physical signal port that controls the insert displacement.
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Annular Orifice
References See Also
[1] Noah D. Manring, Hydraulic Control Systems, John Wiley & Sons, 2005 Constant Area Orice Fixed Orice Orice with Variable Area Round Holes Orice with Variable Area Slot Variable Area Orice Variable Orice
2-55
Ball Valve
Simulate hydraulic ball valve Flow Control Valves The Ball Valve block models a variable orice created by a spherical ball and a round sharp-edged orice.
The ow rate through the valve is proportional to the valve opening and to the pressure differential across the valve. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
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Ball Valve
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + x for h <= 0 Aleak r A(h) = irO 1 B i D for 0 < h < hmax D2 Amax + Aleak for h >= hmax D=
2 2 rB rO + h2
2 + rO
p = pA pB Re = qi DH A(h)i
2
CD CDL = Re cr DH = 4 A(h)
2 dO 4
Amax =
where
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Ball Valve
q p pA,pB CD A(h) x0 x h dO rO dB rB
Flow rate Pressure differential Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Initial opening Ball displacement from initial position Valve opening Orice diameter Orice radius Ball diameter Ball radius Fluid density Valve instantaneous hydraulic diameter Fluid kinematic viscosity Closed valve leakage area Maximum valve open area
DH
Aleak Amax
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential is determined as p = pA pB . Positive signal at the physical signal port S opens the valve.
The model is based on the following assumptions: Fluid inertia is not taken into account. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
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Ball Valve
The ow passage area is assumed to be equal to the side surface of the frustum of the cone located between the ball center and the orice edge.
Valve ball diameter The diameter of the valve ball. It must be greater than the orice diameter. The default value is 0.01 m. Orice diameter The diameter of the orice of the valve. The default value is 0.005 m.
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Ball Valve
Initial opening The initial opening of the valve. Its value must be nonnegative. The default value is 0. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.65. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 10. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
Ports
2-60
Ball Valve

B

S
See Also
Needle Valve Poppet Valve Pressure-Compensated Flow Control Valve
2-61
Cartridge Valve Insert
Simulate hydraulic cartridge valve insert Directional Valves The Cartridge Valve Insert block represents an insert of a hydraulic cartridge valve consisting of a poppet interacting with the seat. The poppet position is determined by pressures at ports A, B, and X and force of the spring. A schematic diagram of the cartridge valve insert is shown in the following illustration.
The Cartridge Valve Insert block is a structural model consisting of a Hydraulic Cartridge Valve Actuator block and a Variable Orice block, as shown in the next illustration.
2-62
Pressures at port A and port B tend to open the valve, while pressure at the control port X, together with the spring, acts to close it. The model does not account for ow rates caused by poppet displacement and any loading on the poppet, such as inertia and friction. The valve remains closed as long as the aggregate pressure force is lower than the spring preload force. The poppet is forced off its seat as the preload force is reached and moves up proportionally to pressure increase until it passes the full stroke. Hydraulic properties of the gap between the poppet and the seat are simulated with the Variable Orice block. Connections A, B, and X are hydraulic conserving ports associated with the valve inlet, valve outlet, and valve control terminal, respectively.
2-63
The block positive direction is from port A to port B. Pressure at port X acts to close the valve, while pressures at port A and port B act to open the orice.
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the poppet, such as inertia or friction, is considered. The model does not account for ow rates caused by poppet displacement. For orices specied by the passage area (the rst two parameterization options), the transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. For orices specied by pressure-ow characteristics (the third parameterization option), the model does not explicitly account for the ow regime or leakage ow rate because the tabulated data is assumed to account for these characteristics.
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2-65
2-66
2-67
Port A poppet area Effective poppet area at port A. The parameter value must be greater than zero. The default value is 2e-4 m^2. Port A to port X area ratio Ratio between poppet areas at port A and port X. The parameter value must be greater than zero. The default value is 0.66. Preload force Spring preload force. The default value is 26 N. Spring rate Spring rate. The default value is 1.4e4 N/m. Poppet stroke Maximum poppet stroke. The parameter value must be greater than or equal to zero. The default value is 5e-3 m. This parameter is used if Orice specication is set to By maximum area and opening. Orice specication Select one of the following methods for specifying the hydraulic properties of the gap between the poppet and the seat: By maximum area and opening Provide values for the maximum orice area and the maximum orice opening. The passage area is linearly dependent on the control member displacement, that is, the orice is closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. This is the default method. By area vs. opening table Provide tabulated data of orice openings and corresponding orice areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By pressure-flow characteristic Provide tabulated data of orice openings, pressure differentials, and corresponding ow rates. The ow rate is determined by two-dimensional
2-68
table lookup. You have a choice of three interpolation methods and two extrapolation methods. For more information on these options, see the Variable Orice block reference page. Orice maximum area Specify the area of a fully opened orice. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Orice specication is set to By maximum area and opening. Tabulated orice openings Specify the vector of input values for orice openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.002 0 0.002 0.005 0.015]. If Orice specication is set to By area vs. opening table, the Tabulated orice openings values will be used together with Tabulated orice area values for one-dimensional table lookup. If Orice specication is set to By pressure-flow characteristic, the Tabulated orice openings values will be used together with Tabulated pressure differentials and Tabulated ow rates for two-dimensional table lookup. Tabulated orice area Specify the vector of output values for orice area as a tabulated 1-by-m array. The orice area vector must be the same size as the orice openings vector. All the values must be positive. The default values, in m^2, are [1e-09 2.0352e-07 4.0736e-05 0.00011438 0.00034356]. This parameter is used if Orice specication is set to By area vs. opening table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values,
2-69
in Pa, are [-1e+07 -5e+06 -2e+06 2e+06 5e+06 1e+07]. This parameter is used if Orice specication is set to By pressure-flow characteristic. Tabulated ow rates Specify the output values for ow rates as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species ow rate taking place at a specic combination of orice opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in m^3/s, are:
[-1e-07 -7.0711e-08 -4.4721e-08 4.4721e-08 7.0711e-08 1e-07; -2.0352e-05 -1.4391e-05 -9.1017e-06 9.1017e-06 1.4391e-05 2.0352e-05; -0.0040736 -0.0028805 -0.0018218 0.0018218 0.0028805 0.0040736; -0.011438 -0.0080879 -0.0051152 0.0051152 0.0080879 0.011438; -0.034356 -0.024293 -0.015364 0.015364 0.024293 0.034356;]
This parameter is used if Orice specication is set to By pressure-flow characteristic. Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear For one-dimensional table lookup (By area vs. opening table), uses a linear interpolation function. For two-dimensional table lookup (By pressure-flow characteristic), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By area vs. opening table), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic interpolation algorithm.
2-70
Spline For one-dimensional table lookup (By area vs. opening table), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7.
2-71
Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Orice specication Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Orice specication parameter at the time the model entered Restricted mode.
Global Parameters
Fluid density The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties.
2-72
Fluid kinematic viscosity The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties.
Ports

A

B

X
Hydraulic conserving port associated with the valve control terminal.
See Also
Check Valve Hydraulic Cartridge Valve Actuator Pilot-Operated Check Valve
2-73
Centrifugal Pump
Simulate centrifugal pump Pumps and Motors The Centrifugal Pump block represents a centrifugal pump of any type as a data-sheet-based model. Depending on data listed in the manufacturers catalogs or data sheets for your particular pump, you can choose one of the following model parameterization options: By approximating polynomial Provide values for the polynomial coefcients. These values can be determined analytically or experimentally, depending on the data available. This is the default method. By two 1D characteristics: P-Q and N-Q Provide tabulated data of pressure differential and brake power versus pump delivery characteristics. The pressure differential and brake power are determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By two 2D characteristics: P-Q-W and N-Q-W Provide tabulated data of pressure differential and brake power versus pump delivery characteristics at different angular velocities. The pressure differential and brake power are determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. These parameterization options are further described in greater detail: Parameterizing the Pump by Approximating Polynomial on page 2-75 Parameterizing the Pump by Pressure Differential and Brake Power Versus Pump Delivery on page 2-79 Parameterizing the Pump by Pressure Differential and Brake Power Versus Pump Delivery at Different Angular Velocities on page 2-80
2-74
Centrifugal Pump
Connections P and T are hydraulic conserving ports associated with the pump outlet and inlet, respectively. Connection S is a mechanical rotational conserving port associated with the pump driving shaft. The block positive direction is from port T to port P. This means that the pump transfers uid from T to P as its driving shaft S rotates in the globally assigned positive direction. Note The model is developed only for positive, nonzero shaft speeds. In other words, the pump driving shaft must rotate in positive direction only, without stopping.
Parameterizing the Pump by Approximating Polynomial

If you set the Model parameterization parameter to By approximating polynomial, the pump is parameterized with the polynomial whose coefcients are determined, analytically or experimentally, for a specic angular velocity depending on the data available. The pump characteristics at other angular velocities are determined from the afnity laws. The approximating polynomial is derived from the Euler pulse moment equation [1, 2], which for a known pump can be represented as the following:
p = ki pE pHL pD
where p k Pressure differential across the pump Correction factor. The factor is introduced to account for dimensional uctuations, blade incongruity, blade volumes, uid internal friction, and so on. The factor should be set to 1 if the approximating coefcients are determined experimentally. Euler pressure
pE
2-75
Centrifugal Pump
pHL pD
Pressure loss due to hydraulic losses in the pump passages Pressure loss caused by deviations of the pump delivery from its nominal value
The Euler pressure, pE, is determined with the Euler equation for centrifugal machines [1, 2] based on known pump dimensions. For an existing pump, operating at constant angular velocity and specic uid, the Euler pressure can be approximated with the equation
pE = ref ( c0 c1 i qP )
where ref c0,c1 qP Fluid density Approximating coefcients. They can be determined either analytically from the Euler equation [1, 2] or experimentally. Pump volumetric delivery
The pressure loss due to hydraulic losses in the pump passages, pHL, is approximated with the equation
pHL = ref i c2 i qP 2
where ref c2 qP Fluid density Approximating coefcient Pump volumetric delivery
The blade prole is determined for a specic uid velocity, and deviation from this velocity results in pressure loss due to inconsistency between the uid velocity and blade prole velocity. This pressure loss, pD, is estimated with the equation
2-76
Centrifugal Pump
pD = ref i c3 ( qD qP )
where ref c3 qP qD Fluid density
Approximating coefcient Pump volumetric delivery Pump design delivery (nominal delivery)
The resulting approximating polynomial takes the form:
p = ref k(c0 c1 q) c2 q2 c3 ( qD qP )
(2-1)
The pump characteristics, approximated with four coefcients c0, c1, c2, and c3, are determined for a specic uid and a specic angular velocity of the pumps driving shaft. These two parameters correspond, respectively, to the Reference density and Reference angular velocity parameters in the block dialog box. To apply the characteristics for another velocity or density , the afnity laws are used. First, the new reference delivery is computed with the expression
qref = q
ref
(2-2)
where q and are the instantaneous values of the pump delivery and angular velocity. Then the pressure differential across the pump at a different angular velocity and density is determined with the formula
p = pref i ref
i ref
where pref is the pressure differential computed with Equation 2-1 at pump delivery determined according to Equation 2-2.
2-77
Centrifugal Pump
The pump efciency is assumed to be the same as it is at the reference parameters. It is computed with the following equations:
N ref .hyd N ref .br
N ref .hyd = pref i qref N ref .br = pEref i qref + N mech.loss

where pref qref pEref Nref.br Pump efciency Pressure differential across the pump at delivery q = qref Pump reference delivery Euler pressure at reference parameters Mechanical brake power at the pumps driving shaft
Nref.hyd Power of the ow at the pumps outlet
Nmech.loss Power of mechanical losses in the pump drive train Assuming that the efciency remains the same at similar regimes, the torque at the driving shaft is determined from the following equation:
N ref .br T= i i ref ref ref The hydraulic power at the pump outlet is computed with the equation N hyd = pi q
where p and q are the current values of the pump pressure differential and delivery, respectively.
2-78
Centrifugal Pump
Parameterizing the Pump by Pressure Differential and Brake Power Versus Pump Delivery
If you set the Model parameterization parameter to By two 1D P-Q and N-Q, the pump characteristics are computed by using two one-dimensional table lookups: for the pressure differential based on the pump delivery and for the pump brake power based on the pump delivery. Both characteristics are specied at the same angular velocity ref (Reference angular velocity) and the same uid density ref (Reference density).
characteristics:
To compute pressure differential at another angular velocity, afnity laws are used, similar to the rst parameterization option. First, the new reference delivery qref is computed with the expression
qref = q
ref
where q is the current pump delivery. Then the pressure differential across the pump at current angular velocity and density is computed as
p = pref i ref
i ref
where pref is the pressure differential determined from the P-Q characteristic at pump delivery qref. Brake power is determined with the equation
N = N ref i ref
i ref
where Nref is the reference brake power obtained from the N-Q characteristic at pump delivery qref.
2-79
Centrifugal Pump
The torque at the pump driving shaft is computed with the equation T=N/.
Parameterizing the Pump by Pressure Differential and Brake Power Versus Pump Delivery at Different Angular Velocities
characteristics:
If you set the Model parameterization parameter to By two 2D P-Q-W and N-Q-W, the pump characteristics are read out from two two-dimensional table lookups: for the pressure differential based on the pump delivery and angular velocity and for the pump brake power based on the pump delivery and angular velocity.
Both the pressure differential and brake power are scaled if uid density is different from the reference density ref, at which characteristics have been obtained
p = pref i
ref ref
N = N ref i
where pref and Nref are the pressure differential and brake power obtained from the plots.
The model is based on the following assumptions: Fluid compressibility is neglected. The pump rotates in positive direction only, with nonzero speed. No reverse ow through the pump is allowed. The pump efciency remains the same at similar regimes.
2-80
Centrifugal Pump
2-81
Centrifugal Pump
2-82
Centrifugal Pump
Model parameterization Select one of the following methods for specifying the pump parameters:
2-83
Centrifugal Pump
By approximating polynomial Provide values for the polynomial coefcients. These values can be determined analytically or experimentally, depending on the data available. The relationship between pump characteristics and angular velocity is determined from the afnity laws. This is the default method. By two 1D characteristics: P-Q and N-Q Provide tabulated data of pressure differential and brake power versus pump delivery characteristics. The pressure differential and brake power are determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. The relationship between pump characteristics and angular velocity is determined from the afnity laws. By two 2D characteristics: P-Q-W and N-Q-W Provide tabulated data of pressure differential and brake power versus pump delivery characteristics at different angular velocities. The pressure differential and brake power are determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. First approximating coefcient Approximating coefcient c0 in the block description preceding. The default value is 326.8 Pa/(kg/m^3). This parameter is used if Model parameterization is set to By approximating polynomial. Second approximating coefcient Approximating coefcient c1 in the block description preceding. The default value is 3.104e4 Pa*s/kg. This parameter is used if Model parameterization is set to By approximating polynomial. Third approximating coefcient Approximating coefcient c2 in the block description preceding. This coefcient accounts for hydraulic losses in the pump. The default value is 1.097e7 Pa*s^2/(kg*m^3). This parameter is
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Centrifugal Pump
used if Model parameterization is set to By approximating

polynomial.
Fourth approximating coefcient Approximating coefcient c3 in the block description preceding. This coefcient accounts for additional hydraulic losses caused by deviation from the nominal delivery. The default value is 2.136e5 Pa*s^2/(kg*m^3). This parameter is used if Model parameterization is set to By approximating polynomial. Correction factor The factor, denoted as k in the block description preceding, accounts for dimensional uctuations, blade incongruity, blade volumes, uid internal friction, and other factors that decrease Euler theoretical pressure. The default value is 0.8. This parameter is used if Model parameterization is set to By approximating polynomial. Pump design delivery The pump nominal delivery. The blades prole, pump inlet, and pump outlet are shaped for this particular delivery. Deviation from this delivery causes an increase in hydraulic losses. The default value is 130 lpm. This parameter is used if Model parameterization is set to By approximating polynomial. Reference angular velocity Angular velocity of the driving shaft, at which the pump characteristics are determined. The default value is 1.77e3 rpm. This parameter is used if Model parameterization is set to By approximating polynomial or By two 1D characteristics: P-Q and N-Q. Reference density Fluid density at which the pump characteristics are determined. The default value is 920 kg/m^3. Mechanical loss power Power of mechanical loss in the pump drive train at reference parameters. The default value is 350 W. This parameter is
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Centrifugal Pump
used if Model parameterization is set to By approximating

polynomial.
Pump delivery vector for P-Q table Specify the vector of pump deliveries, as a tabulated 1-by-n array, to be used together with the vector of pressure differentials to specify the P-Q pump characteristic. The vector values must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in lpm, are [0 28 90 130 154 182]. This parameter is used if Model parameterization is set to By two 1D characteristics: P-Q and N-Q. Pressure differential across pump vector Specify the vector of pressure differentials across the pump as a tabulated 1-by-n array. The vector will be used together with the pump deliveries vector to specify the P-Q pump characteristic. The vector must be of the same size as the pump deliveries vector for the P-Q table. The default values, in bar, are [2.6 2.4 2 1.6 1.2 0.8]. This parameter is used if Model parameterization is set to By two 1D characteristics: P-Q and N-Q. Pump delivery vector for N-Q table Specify the vector of pump deliveries, as a tabulated 1-by-n array, to be used together with the vector of the pump brake power to specify the N-Q pump characteristic. The vector values must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in lpm, are [0 20 40 60 80 100 120 140 160]. This parameter is used if Model parameterization is set to By two 1D characteristics: P-Q and N-Q. Brake power vector for N-Q table Specify the vector of pump brake power as a tabulated 1-by-n array. The vector will be used together with the pump deliveries vector to specify the N-Q pump characteristic. The vector must be of the same size as the pump deliveries vector for the N-Q table. The default values, in W, are [220 280 310 360 390 420 480
2-86
Centrifugal Pump
500 550]. This parameter is used if Model parameterization is set to By two 1D characteristics: P-Q and N-Q.
Pump delivery vector for P-Q and W table Specify the vector of pump deliveries, as a tabulated 1-by-m array, to be used together with the vector of angular velocities and the pressure differential matrix to specify the pump P-Q-W characteristic. The vector values must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in lpm, are [0 50 100 150 200 250 300 350]. This parameter is used if Model parameterization is set to By two 2D characteristics: P-Q-W and N-Q-W. Angular velocity vector for P-Q and W table Specify the vector of angular velocities, as a tabulated 1-by-n array, to be used for calculating both the pump P-Q-W and N-Q-W characteristics. The vector values must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in rpm, are [3.2e+03 3.3e+03 3.4e+03 3.5e+03]. This parameter is used if Model parameterization is set to By two 2D characteristics: P-Q-W and N-Q-W. Pressure differential matrix for P-Q and W table Specify the matrix of pressure differentials across pump, as a tabulated m-by-n matrix, dening the pump P-Q-W characteristic together with the pump delivery and angular velocity vectors. Each value in the matrix species pressure differential for a specic combination of pump delivery and angular velocity. The matrix size must match the dimensions dened by the pump delivery and angular velocity vectors. The default values, in bar, are:
[ 8.3 7.8 7.2 6.5 8.8 9.3 8.3 8.8 7.6 8.2 7 7.5 8 9.9 ; 9.4 ; 8.7 ; ;
2-87
Centrifugal Pump
5.6 4.7 3.4 2.3
6.1 6.6 7.1 ; 5.2 5.7 6.2 ; 4 4.4 4.9 ; 2.7 3.4 3.6 ; ]
two 2D characteristics:
This parameter is used if Model parameterization is set to By P-Q-W and N-Q-W.
Pump delivery vector for N-Q and W table Specify the vector of pump deliveries, as a tabulated 1-by-m array, to be used together with the vector of angular velocities and the brake power matrix to specify the pump N-Q-W characteristic. The vector values must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in lpm, are [0 50 100 150 200 250 300 350]. This parameter is used if Model parameterization is set to By two 2D characteristics: P-Q-W and N-Q-W. Brake power matrix for N-Q and W table Specify the matrix of pump brake power, as a tabulated m-by-n matrix, dening the pump N-Q-W characteristic together with the pump delivery and angular velocity vectors. Each value in the matrix species brake power for a specic combination of pump delivery and angular velocity. The matrix size must match the dimensions dened by the pump delivery and angular velocity vectors. The default values, in W, are:
[ 1.223e+03 1.414e+03 1.636e+03 1.941e+03 2.224e+03 2.453e+03 2.757e+03 2.945e+03 1.341e+03 1.467e+03 1.6e+03 ; 1.551e+03 1.696e+03 1.85e+03 ; 1.794e+03 1.962e+03 2.14e+03 ; 2.129e+03 2.326e+03 2.54e+03 ; 2.439e+03 2.66e+03 2.91e+03 ; 2.691e+03 2.947e+03 3.21e+03 ; 3.024e+03 3.307e+03 3.608e+03 ; 3.23e+03 3.533e+03 3.854e+03 ; ]
2-88
Centrifugal Pump
two 2D characteristics:
This parameter is used if Model parameterization is set to By P-Q-W and N-Q-W.
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear For one-dimensional table lookup (By two 1D characteristics: P-Q and N-Q), uses a linear interpolation function. For two-dimensional table lookup (By two 2D characteristics: P-Q-W and N-Q-W), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By two 1D characteristics: P-Q and N-Q), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By two 2D characteristics: P-Q-W and N-Q-W), uses the bicubic interpolation algorithm. Spline For one-dimensional table lookup (By two 1D characteristics: P-Q and N-Q), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By two 2D characteristics: P-Q-W and N-Q-W), uses the bicubic spline interpolation algorithm. This parameter is used if Model parameterization is set to By By two 1D characteristics: P-Q and N-Q or By two By two 2D characteristics: P-Q-W and N-Q-W. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on
2-89
Centrifugal Pump
the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. This parameter is used if Model parameterization is set to By By two 1D characteristics: P-Q and N-Q or By two By two 2D characteristics: P-Q-W and N-Q-W. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
2-90
Centrifugal Pump
Ports

T
Hydraulic conserving port associated with the pump suction, or inlet.

P
Hydraulic conserving port associated with the pump outlet.

S
Mechanical rotational conserving port associated with the pump driving shaft.
References
[1] T.G. Hicks, T.W. Edwards, Pump Application Engineering, McGraw-Hill, NY, 1971 [2] I.J. Karassic, J.P. Messina, P. Cooper, C.C. Heald, Pump Handbook, Third edition, McGraw-Hill, NY, 2001
See Also
Fixed-Displacement Pump Variable-Displacement Pressure-Compensated Pump Variable-Displacement Pump
2-91
Check Valve
Simulate hydraulic valve that allows ow in one direction only Directional Valves The Check Valve block represents a hydraulic check valve as a data-sheet-based model. The purpose of the check valve is to permit ow in one direction and block it in the opposite direction. The following gure shows the typical dependency between the valve passage area A and the pressure differential across the valve p = pA pB .
The valve remains closed while pressure differential across the valve is lower than the valve cracking pressure. When cracking pressure is reached, the value control member (spool, ball, poppet, etc.) is forced off its seat, thus creating a passage between the inlet and outlet. If the ow rate is high enough and pressure continues to rise, the area is further increased until the control member reaches its maximum. At this moment, the valve passage area is at its maximum. The valve
2-92
Check Valve
maximum area and the cracking and maximum pressures are generally provided in the catalogs and are the three key parameters of the block. In addition to the maximum area, the leakage area is also required to characterize the valve. The main purpose of the parameter is not to account for possible leakage, even though this is also important, but to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Theoretically, the parameter can be set to zero, but it is not recommended. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i for p <= pcrack Aleak A( p) = Aleak + ki( p pcrack ) for pcrack < p < pmax A for p >= pmax max k= Amax Aleak pmax pcrack
p = pA pB Re = qi DH A( p)i
2-93
Check Valve
CD CDL = Re cr DH =
where
q p pA,pB CD A(p) Amax Aleak pcrack pmax DH
4 A( p)
Flow rate through the valve Pressure differential across the valve Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Fully open valve passage area Closed valve leakage area Valve cracking pressure Pressure needed to fully open the valve Instantaneous orice hydraulic diameter Fluid density Fluid kinematic viscosity
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure differential is determined as p = pA pB .
2-94
Check Valve
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the valve, such as inertia, friction, spring, and so on, is considered. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
2-95
Check Valve
Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2. Cracking pressure Pressure level at which the orice of the valve starts to open. The default value is 3e4 Pa. Maximum opening pressure Pressure differential across the valve needed to fully open the valve. Its value must be higher than the cracking pressure. The default value is 1.2e5 Pa. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
2-96
Check Valve
Global Parameters
Ports

A

B
Examples
The Graetz Flow Control Circuit demo (sh_Graetz_circuit) illustrates the use of check valves to build a rectier that keeps the ow passing through a ow control valve always in the same direction, and to select an appropriate orice depending on the ow direction. Pilot-Operated Check Valve
See Also
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Constant Head Tank
Simulate tank where pressurization and uid level remain constant regardless of volume change Low-Pressure Blocks The Constant Head Tank block represents a pressurized hydraulic reservoir, in which uid is stored under a specied pressure. The size of the tank is assumed to be large enough to neglect the pressurization and uid level change due to uid volume. The block accounts for the uid level elevation with respect to the tank bottom, as well as for pressure loss in the connecting pipe that can be caused by a lter, ttings, or some other local resistance. The loss is specied with the pressure loss coefcient. The block computes the volume of uid in the tank and exports it outside through the physical signal port V. The uid volume value does not affect the results of simulation. It is introduced merely for information purposes. It is possible for the uid volume to become negative during simulation, which signals that the uid volume is not enough for the proper operation of the system. By viewing the results of the simulation, you can determine the extent of the uid shortage. The pressure at the tank inlet is computed with the following equations:
p = pelev ploss + p pr pelev = i gi H ploss = K 2 A2 p q| q|
Ap =
where
i d2 4
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Constant Head Tank
p pelev ploss ppr g

H
Pressure at the tank inlet Pressure due to uid level Pressure loss in the connecting pipe Pressurization Fluid density Acceleration of gravity Fluid level with respect to the bottom of the tank Pressure loss coefcient Connecting pipe area Connecting pipe diameter Flow rate
K Ap d q
Connection T is a hydraulic conserving port associated with the tank inlet. Connection V is a physical signal port. The ow rate is considered positive if it ows into the tank.
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Constant Head Tank
Pressurization Gage pressure acting on the in the tank. It can be created by a gas cushion, membrane, bladder, or piston, as in bootstrap reservoirs. This parameter must be greater than or equal to zero. The default value is 0, which corresponds to a tank connected to atmosphere. Fluid level The uid level with respect to the tank bottom. This parameter must be greater than zero. The default value is 1 m. Initial uid volume The initial volume of uid in the tank. This parameter must be greater than zero. The default value is 0.2 m^3. Inlet pipeline diameter The diameter of the connecting pipe. This parameter must be greater than zero. The default value is 0.02 m.
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Constant Head Tank
Pipeline pressure loss coefcient The value of the pressure loss coefcient, to account for pressure loss in the connecting pipe. This parameter must be greater than zero. The default value is 1.2. The loss is computed with the equation similar to that used in the Fixed Orice block:
q=
1 K
Ap
2 p
The Critical Reynolds number is set to 15.
Ports

T
Hydraulic conserving port associated with the tank inlet.

V
Physical signal port that outputs the volume of uid in the tank.
See Also
Reservoir Variable Head Tank
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Cylinder Friction
Simulate friction in hydraulic cylinders Hydraulic Cylinders The Cylinder Friction block simulates friction in the contact between moving bodies in hydraulic cylinders and is intended to be used primarily as a building block in combination with both the double- and single-acting cylinders to develop a cylinder model with friction. The friction force is simulated as a function of relative velocity and pressure, and is assumed to be the sum of Stribeck, Coulomb, and viscous components. The Coulomb friction force consists of the preload force, caused by the seal squeeze during assembly, and the force proportional to pressure. The sum of the Coulomb and Stribeck friction forces at zero velocity is often referred to as the breakaway friction force. For more information, see the Translational Friction block reference page. The friction force is approximated with the following equations:
F = FC i(1 + ( K brk 1)iexp ( cv | v|) ) sign ( v ) + fvfr iv FC = Fpr + fcfr ( pA + pB )

where F FC Fpr fcfr pA,pB Kbrk cv Friction force Coulomb friction Preload force Coulomb friction coefcient Pressures in cylinder chambers Breakaway friction force increase coefcient Transition coefcient
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Cylinder Friction
v fvfr
Relative velocity in the contact Viscous friction coefcient
To avoid discontinuity at v = 0, a small region |v| vth is introduced around zero velocity, where friction force is assumed to be linearly proportional to velocity:
F = K iv K=
where K vth Proportionality coefcient Velocity threshold
FC (1 + ( K brk 1)iexp ( cvvth ) ) + fvfr ivth vth
Connections R and C are mechanical translational conserving ports associated with the rod and case, respectively. Connections A and B are hydraulic conserving ports to be connected to ports A and B of the cylinder model, as shown in the following illustration. The force generated by the block always opposes relative motion between the rod and the case.
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Cylinder Friction
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Cylinder Friction
Preload force The preload force, caused by the seal squeeze during assembly. The default value is 10 N. Coulomb friction force coefcient Coulomb friction coefcient, which denes the proportionality between the Coulomb friction force and the pressure in cylinder chambers. The default value is 1e-6 N/Pa.
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Cylinder Friction
Breakaway friction increase coefcient The friction force increase over the Coulomb friction. The Coulomb friction force, multiplied by this coefcient, is referred to as breakaway friction force. The default value is 1. Viscous friction coefcient Proportionality coefcient between the viscous friction force and the relative velocity. The parameter value must be greater than or equal to zero. The default value is 100 N/(m/s). Transition approximation coefcient The parameter sets the value of coefcient cv, which is used for the approximation of the transition between the breakaway and the Coulomb frictions. Its value is assigned based on the following considerations: the Stribeck friction component reaches approximately 5% of its steady-state value at velocity 3/cv, and 2% at velocity 4/cv, which makes it possible to develop an approximate relationship cv ~= 4/vmin, where vmin is the relative velocity at which friction force has its minimum value. By default, cv is set to 10 s/m, which corresponds to a minimum friction at velocity of about 0.4 m/s. Linear region velocity threshold The parameter sets the small vicinity near zero velocity, within which friction force is considered to be linearly proportional to the relative velocity. The MathWorks recommends that you use values in the range between 1e-6 and 1e-4 m/s. The default value is 1e-4 m/s.
Ports

A
Hydraulic conserving port connected to the cylinder inlet.

B
Hydraulic conserving port connected to the cylinder outlet.
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Cylinder Friction
Mechanical translational conserving port associated with the cylinder rod.

C
Mechanical translational conserving port associated with the cylinder clamping structure.
See Also
Double-Acting Hydraulic Cylinder Single-Acting Hydraulic Cylinder
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Double-Acting Hydraulic Cylinder
Simulate hydraulic actuator exerting force in both directions Hydraulic Cylinders The Double-Acting Hydraulic Cylinder block models a device that converts hydraulic energy into mechanical energy in the form of translational motion. Hydraulic uid pumped under pressure into one of the two cylinder chambers forces the piston to move and exert force on the cylinder rod. Double-acting cylinders transfer force and motion in both directions. The model of the cylinder is built of Simscape Foundation library blocks. The schematic diagram of the model is shown below.
Connections R and C are mechanical translational conserving ports corresponding to the cylinder rod and cylinder clamping structure, respectively. Connections A and B are hydraulic conserving ports. Port A is connected to chamber A and port B is connected to chamber B. The energy through hydraulic port A or B is directed to the appropriate Translational Hydro-Mechanical Converter block and Piston Chamber block. The converter transforms hydraulic energy into mechanical energy, while the chamber accounts for the uid compressibility in
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the cylinder chamber. The rod motion is limited with the mechanical Translational Hard Stop block in such a way that the rod can travel only between cylinder caps. The Ideal Translational Motion Sensor block in the schematic is introduced to determine an instantaneous piston position, which is necessary for the Piston Chamber blocks. The block directionality is adjustable and can be controlled with the Cylinder orientation parameter.
The model is based on the following assumptions: No leakage, internal or external, is taken into account. No loading on piston rod, such as inertia, friction, spring, and so on, is taken into account. If necessary, you can easily add them by connecting an appropriate building block to cylinder port R.
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Piston area A Chamber A effective piston area. The default value is 0.001 m^2. Piston area B Chamber B effective piston area. The default value is 5e-5 m^2. Piston stroke Piston maximum travel between caps. The default value is 0.1 m.
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Piston initial distance from cap A The distance that the piston is extended at the beginning of simulation. You can set the piston position to any point within its stroke. The default value is 0, which corresponds to the fully retracted position. Dead volume A Fluid volume in chamber A that remains in the chamber after the rod is fully retracted. The default value is 1e-4 m^3. Dead volume B Fluid volume in chamber B that remains in the chamber after the rod is fully extended. The default value is 1e-4 m^3. Specic heat ratio Gas-specic heat ratio for the Piston Chamber blocks. The default value is 1.4. Contact stiffness Species the elastic property of colliding bodies for the Translational Hard Stop block. The greater the value of the parameter, the less the bodies penetrate into each other, the more rigid the impact becomes. Lesser value of the parameter makes contact softer, but generally improves convergence and computational efciency. The default value is 1e6 N/m. Contact damping Species dissipating property of colliding bodies for the Translational Hard Stop block. At zero damping, the impact is close to an absolutely elastic one. The greater the value of the parameter, the more energy dissipates during an interaction. Keep in mind that damping affects slider motion as long as the slider is in contact with the stop, including the period when slider is pulled back from the contact. For computational efciency and convergence reasons, The MathWorks recommends that you assign a nonzero value to this parameter. The default value is 150 N*s/m.
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Cylinder orientation Species cylinder orientation with respect to the globally assigned positive direction. The cylinder can be installed in two different ways, depending upon whether it exerts force in the positive or in the negative direction when pressure is applied at its inlet. If pressure applied at port A exerts force in negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Cylinder orientation All other block parameters are available for modication.
Global Parameters
Fluid bulk modulus The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties. The block has the following ports:
A
Ports
Hydraulic conserving port associated with the cylinder chamber A.

B
Hydraulic conserving port associated with the cylinder chamber B.

R

C
Mechanical translational conserving port associated with the cylinder clamping structure.
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Examples
The Double-Acting Hydraulic Cylinder with Flexible Clamping demo (sh_cylinder_da_flexible_clamping) illustrates simulation of a cylinder whose clamping is too exible to be neglected. The structure compliance is represented with a spring and a damper, installed between the cylinder case and reference point. The cylinder performs forward and return strokes, and is loaded with inertia, viscous friction, and constant opposing load of 400 N. The Closed-Loop Circuit with 4-Way Valve and Custom Cylinder demo (sh_closed_loop_circuit_4_way_valve_cust_cyl) demonstrates the use of a 4-way valve in combination with a double-acting cylinder in a simple closed-loop actuator. The demo shows how to connect the blocks and set the initial orice openings for the 4-way valve to model the forward and return strokes of the cylinder under load.
See Also
Single-Acting Hydraulic Cylinder Ideal Translational Motion Sensor Translational Hard Stop Translational Hydro-Mechanical Converter Piston Chamber
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Double-Acting Rotary Actuator
Simulate double-acting hydraulic rotary actuator Hydraulic Cylinders The Double-Acting Rotary Actuator block models a double-acting hydraulic rotary actuator, which directly converts hydraulic energy into mechanical rotational energy without employing intermediary transmissions such as rack-and-pinion, sliding spline, chain, and so on. Hydraulic uid pumped under pressure into one of the two actuator chambers forces the shaft to rotate and generate torque. Double-acting actuators generate torque and motion in both directions. The model of the actuator is built of Simscape Foundation library blocks. The schematic diagram of the model is shown below.
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The blocks in the diagram perform the following functions: Rotational Hydro-Mechanical Converter A Rotational Hydro-Mechanical Converter B Rotational Hard Stop Linear Hydraulic Resistance Piston Chamber A Piston Chamber B Ideal Translational Motion Sensor Wheel and Axle Converts hydraulics energy into mechanical rotational energy when uid is pumped into actuator chamber A. Converts hydraulics energy into mechanical rotational energy when uid is pumped into actuator chamber B. Imposes limits on shaft rotation. Accounts for leakages. Accounts for uid compressibility in actuator chamber A. Accounts for uid compressibility in actuator chamber B. Determines an instantaneous shaft position, which is necessary for the Piston Chamber block. Converts shaft rotation into translational motion to provide input to the Ideal Translational Motion Sensor block
Connections A and B are hydraulic conserving ports. Port A is connected to chamber A and port B is connected to chamber B. Connection S is a mechanical rotational conserving port associated with the actuator shaft. The block directionality is adjustable and can be controlled with the Actuator orientation parameter.
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The model is based on the following assumption: No loading, such as inertia, friction, spring, and so on, is taken into account. If necessary, you can easily add them by connecting an appropriate building block to port S.
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Actuator displacement Effective displacement of the actuator. The default value is 4.5e-5 m^3/rad. Shaft stroke Shaft maximum travel between stops. The default value is 5.1 rad. Shaft initial angle The position of the shaft at the beginning of simulation. You can set the shaft position to any angle within its stroke. The default value is 0, which corresponds to the shaft position at the very beginning of the stroke. Dead volume A Fluid volume in chamber A that remains in the chamber when the shaft is positioned at the very beginning of the stroke. The default value is 1e-4 m^3. Dead volume B Fluid volume in chamber B that remains in the chamber when the shaft is positioned at the end of the stroke. The default value is 1e-4 m^3. Leak coefcient Leak coefcient for the Linear Hydraulic Resistance block. The default value is 1e-14 (m^3/s)/Pa. Specic heat ratio Gas-specic heat ratio for the Piston Chamber block. The default value is 1.4. Contact stiffness Species the elastic property of colliding bodies for the Rotational Hard Stop block. The greater the value of the parameter, the less the bodies penetrate into each other, the more rigid the impact becomes. Lesser value of the parameter makes contact softer, but generally improves convergence and computational efciency. The default value is 1e6 N*m/rad.
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Contact damping Species dissipating property of colliding bodies for the Rotational Hard Stop block. At zero damping, the impact is close to an absolutely elastic one. The greater the value of the parameter, the more energy dissipates during an interaction. Keep in mind that damping affects slider motion as long as the slider is in contact with the stop, including the period when slider is pulled back from the contact. For computational efciency and convergence reasons, The MathWorks recommends that you assign a nonzero value to this parameter. The default value is 150 N*m/(rad/s). Actuator orientation Species actuator orientation with respect to the globally assigned positive direction. The actuator can be installed in two different ways, depending upon whether it generates torque in the positive or in the negative direction when pressure is applied at its inlet. If pressure applied at port A generates torque in the negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Actuator orientation All other block parameters are available for modication.
Global Parameters
Ports
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Hydraulic conserving port associated with the actuator chamber A.

B
Hydraulic conserving port associated with the actuator chamber B.

S
Mechanical rotational conserving port associated with the actuator shaft.
See Also
Ideal Translational Motion Sensor Linear Hydraulic Resistance Rotational Hard Stop Rotational Hydro-Mechanical Converter Piston Chamber Wheel and Axle
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Elbow
Simulate hydraulic resistance in elbow Local Hydraulic Resistances The Elbow block represents an elbow as a local hydraulic resistance. The pressure loss is computed with the semi-empirical formula based on pressure loss coefcient, which is determined in accordance with the Crane Co. recommendations (see [1], p. A-29). Two types of elbow are considered: smoothly curved (standard) and sharp-edged (miter). The block covers elbows in the 5100 mm and 090 degrees range. The block is based on the Local Resistance block. It computes the pressure loss coefcient and passes its value, as well as the critical Reynolds number value, to the Local Resistance block, which computes the pressure loss according to the formulas explained in the reference documentation for that block. The pressure loss for turbulent ow regime is determined according to the following formula:
p= K
where
q p K A
2 A2
q| q|
Flow rate Pressure loss Pressure loss coefcient Elbow cross-sectional area Fluid density
The ow regime is checked in the underlying Local Resistance block by comparing the Reynolds number to the specied critical Reynolds number value. For laminar ow regime, the formula for pressure loss computation is modied, as described in the reference documentation for the Local Resistance block.
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Elbow
The core data for the pressure loss coefcient computation is the table-specied relationship between the friction factor fT and the internal diameter for clean commercial steel pipes, with ow in the zone of complete turbulence (see [1], p. A-26). For smoothly curved, standard 90o elbows, the pressure loss coefcient is determined with the formula
K = 30 fT
For elbows with different angles, the coefcient is corrected with the relationship presented in [2], Fig.4.6:
K corr = (0.0142 3.703i105 )

where is the elbow angle in degrees (0 90).
Therefore, the pressure loss coefcient for smoothly curved, standard elbows is determined with the formula
K SCE = 30 fT i(0.0142 3.703i105 )

For sharp-edged, miter bends the pressure loss coefcient is determined according to the table provided in [1], p. A-29, as a function of the elbow diameter and angle
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Elbow
K ME = f (d, )
where 5 d 100 mm and 0 90 degrees. Connections A and B are conserving hydraulic ports associated with the block inlet and outlet, respectively. The block positive direction is from port A to port B. This means that the ow rate is positive if uid ows from A to B, and the pressure differential is determined as p = pA pB . Warning The formulas used in the Elbow block are very approximate, especially in the laminar and transient ow regions. For more accurate results, use the Local Resistance block with a table-specied K=f(Re) relationship.
The model is based on the following assumptions: Fluid inertia is not taken into account. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. The elbow is assumed to be made of a clean commercial steel pipe.
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Elbow
Elbow internal diameter The internal diameter of the pipe. The value must be in the range between 5 and 100 mm. The default value is 0.01 m. Elbow angle The angle of the bend. The value must be in the range between 0 and 90 degrees. The default value is 90 deg. Elbow type The parameter can have one of two values: Smoothly curved elbow or Miter bend. The default value is Smoothly curved elbow. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place
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Elbow
when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 80. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Elbow type All other block parameters are available for modication.
Global Parameters
Ports

A
Hydraulic conserving port associated with the elbow inlet.

B
Hydraulic conserving port associated with the elbow outlet.
References
[1] Flow of Fluids Through Valves, Fittings, and Pipe, Crane Valves North America, Technical Paper No. 410M [2] George R. Keller, Hydraulic System Analysis, Published by the Editors of Hydraulics & Pneumatics Magazine, 1970
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Elbow
See Also
Gradual Area Change Local Resistance Pipe Bend Sudden Area Change T-junction
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Fixed Orifice
Simulate hydraulic orice with constant cross-sectional area Orices The Fixed Orice block models a sharp-edged constant-area orice, ow rate through which is proportional to the pressure differential across the orice. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i p = pA pB Re = qi DH Ai CD = Re cr 4A

2
CDL
DH =
where
q p pA,pB
Flow rate Pressure differential Gauge pressures at the block terminals
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Fixed Orifice
CD A DH
Flow discharge coefcient Orice passage area Orice hydraulic diameter Fluid density Fluid kinematic viscosity
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Fixed Orifice
Orice area Orice passage area. The default value is 1e-4 m^2. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12, which corresponds to a round orice in thin material with sharp edges.
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Fixed Orifice
Global Parameters
Ports

A

B
See Also
Annular Orice Constant Area Orice Orice with Variable Area Round Holes Orice with Variable Area Slot Variable Area Orice Variable Orice
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Fixed-Displacement Pump
Simulate xed-displacement hydraulic pump Pumps and Motors The Fixed-Displacement Pump block represents a positive, xed-displacement pump of any type as a data-sheet-based model. The key parameters required for this block are pump displacement, volumetric and total efciencies, nominal pressure, and angular velocity. All these parameters are generally provided in the data sheets or catalogs. The xed-displacement pump is represented with the following equations:
q = Di kleak i p T = Di p / mech kleak = kHP / i kHP = Dinom (1 V )i nom i pnom
p = pP pT
where
q p pP,pT T D
Pump delivery Pressure differential across the pump Gauge pressures at the block terminals Torque at the pump driving shaft Pump displacement Pump angular velocity Leakage coefcient
kleak
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kHP
Hagen-Poiseuille coefcient Pump volumetric efciency Pump mechanical efciency Fluid kinematic viscosity Fluid density Pump nominal pressure Pump nominal angular velocity Nominal uid kinematic viscosity
V mech
pnom
nom nom
The leakage ow is determined based on the assumption that it is linearly proportional to the pressure differential across the pump and can be computed by using the Hagen-Poiseuille formula
p=
where
qleak d, l
128l d
4
qleak =
qleak kHP
Leakage ow Geometric parameters of the leakage path Fluid dynamic viscosity, = .
The leakage ow at p = pnom and = nom can be determined from the catalog data
qleak = Dnom (1 V )
which provides the formula to determine the Hagen-Poiseuille coefcient
kHP =
Dnom (1 V )i nom i pnom
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The pump mechanical efciency is not usually available in data sheets, therefore it is determined from the total and volumetric efciencies by assuming that the hydraulic efciency is negligibly small
mech = total / V
The block positive direction is from port T to port P. This means that the pump transfers uid from T to P provided that the shaft S rotates in the positive direction. The pressure differential across the pump is determined as p = pP pT .
The model is based on the following assumptions: Fluid compressibility is neglected. No loading on the pump shaft, such as inertia, friction, spring, and so on, is considered. Leakage inside the pump is assumed to be linearly proportional to its pressure differential.
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Pump displacement Pump displacement. The default value is 5e-6 m^3/rad. Volumetric efciency Pump volumetric efciency specied at nominal pressure, angular velocity, and uid viscosity. The default value is 0.92. Total efciency Pump total efciency, which is determined as a ratio between the hydraulic power at the pump outlet and mechanical power at the driving shaft at nominal pressure, angular velocity, and uid viscosity. The default value is 0.8.
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Nominal pressure Pressure differential across the pump, at which both the volumetric and total efciencies are specied. The default value is 1e7 Pa. Nominal angular velocity Angular velocity of the driving shaft, at which both the volumetric and total efciencies are specied. The default value is 188 rad/s. Nominal kinematic viscosity Working uid kinematic viscosity, at which both the volumetric and total efciencies are specied. The default value is 18 cSt.
Global Parameters
Fluid kinematic viscosity The parameter is determined by the type of working uid selected for the system under design. Use the Hydraulic Fluid block or the Custom Hydraulic Fluid block to specify the uid properties. The block has the following ports:
T
Ports

P

S
Examples
The Power Unit with Fixed-Displacement Pump demo (sh_power_unit_fxd_dspl_pump) contains a xed-displacement pump, which is driven by a motor through a compliant transmission, a pressure-relief valve, and a variable orice, which simulates system uid consumption. The motor model is represented as an Ideal Angular Velocity Source block, which rotates the shaft at 188 rad/s at zero torque. The load on the shaft decreases the velocity with a slip coefcient of 1.2
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(rad/s)/Nm. The load on the driving shaft is measured with the torque sensor. The shaft between the motor and the pump is assumed to be compliant and simulated with rotational spring and damper. The simulation starts with the variable orice open, which results in a low system pressure and the maximum ow rate going to the system. The orice starts closing at 0.5 s, and is closed completely at 3 s. The output pressure builds up until it reaches the pressure setting of the relief valve (75e5 Pa), and is maintained at this level by the valve. At 3 s, the variable orice starts opening, thus returning the system to its initial state.
See Also
Centrifugal Pump Variable-Displacement Pressure-Compensated Pump Variable-Displacement Pump
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Gas-Charged Accumulator
Simulate hydraulic accumulator with gas as compressible medium Accumulators This block models a gas-charged accumulator. The accumulator consists of a precharged gas chamber and a uid chamber connected to a hydraulic system. The chambers are separated by a bladder, piston, or any kind of elastic diaphragm. If the uid pressure at the accumulator inlet becomes higher than the precharge pressure, uid enters the accumulator chamber and compresses the gas, thus storing hydraulic energy. A drop in the uid pressure at the inlet forces the stored uid back into the system. Normally, pressure in the gas chamber is equal to that of the uid chamber. But if pressure at the accumulator inlet (p) drops below the accumulators precharge value (ppr), the gas chamber gets isolated from the system with the inlet valve. In this case, pressure in the gas chamber remains constant and equal to the precharge value, while pressure at the inlet depends on pressure in the system to which the accumulator is connected. If pressure at the inlet builds up to the precharge value or higher, the chambers start interacting again. The accumulator is described with the following equations:
q=
dVF dt
for pinl <= ppr 0 1 VF = p pr k VA i 1 p for pinl > ppr

where
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VF VA p ppr k q t
Fluid volume Accumulator capacity Inlet gauge pressure Precharge pressure Specic heat ratio Volumetric ow rate Time
The model is based on the following assumptions: The gas compression is determined on the basis of the thermodynamics of ideal gases. The process is assumed to be polytropic. No loading on the separator, such as inertia, friction, and so on, is considered. Fluid compressibility is not taken into account.
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Capacity Accumulator capacity. The default value is 0.008 m^3. Preload pressure (gauge) Precharge gauge pressure. The default value is 1e6 Pa. Specic heat ratio Specic heat ratio (adiabatic index). No units. The default value is 1.4. To account for heat exchange, you can set it within a range between 1 (isothermal process) and 1.4 (adiabatic process). Initial volume Initial volume of uid in the accumulator. This parameter species the initial condition for use in computing the blocks initial state at the beginning of a simulation run. For more information, see Computing Initial Conditions. The default value is 0.
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Global Parameters Ports
Atmospheric pressure Absolute pressure of the environment. The default value is 101325 Pa. The block has one hydraulic conserving port associated with the accumulator inlet. The ow rate is positive if uid ows into the accumulator.
See Also
Spring-Loaded Accumulator
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Gradual Area Change
Simulate gradual enlargement or contraction Local Hydraulic Resistances The Gradual Area Change block represents a local hydraulic resistance, such as a gradual cross-sectional area change. The resistance represents a gradual enlargement (diffuser) if uid ows from inlet to outlet, or a gradual contraction if uid ows from outlet to inlet. The block is based on the Local Resistance block. It determines the pressure loss coefcient and passes its value to the underlying Local Resistance block. The block offers two methods of parameterization: by applying semi-empirical formulas (with a constant value of the pressure loss coefcient) or by table lookup for the pressure loss coefcient based on the Reynolds number. If you choose to apply the semi-empirical formulas, you provide geometric parameters of the resistance, and the pressure loss coefcient is determined according to the A.H. Gibson equations (see [1] and [2]):
K GE
K cor 1 = K cor 1
As i2.6 sin AL 2 As AL
2
for 0 < <= 45o for 45o < < 180 o
K GC
K cor i0.5 1 = K cor i0.5 1
As AL As AL
0.75
i1.6 sin
0.75
for 0 < <= 45o for 45o < < 180 o
i sin
where
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Gradual Area Change
KGE KGC Kcor AS AL
Pressure loss coefcient for the gradual enlargement, which takes place if uid ows from inlet to outlet Pressure loss coefcient for the gradual contraction, which takes place if uid ows from outlet to inlet Correction factor Small area Large area Enclosed angle
If you choose to specify the pressure loss coefcient by a table, you have to provide a tabulated relationship between the loss coefcient and the Reynolds number. In this case, the loss coefcient is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. The pressure loss coefcient, determined by either of the two methods, is then passed to the underlying Local Resistance block, which computes the pressure loss according to the formulas explained in the reference documentation for that block. The ow regime is checked in the underlying Local Resistance block by comparing the Reynolds number
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Gradual Area Change
to the specied critical Reynolds number value, and depending on the result, the appropriate formula for pressure loss computation is used. The Gradual Area Change block is bidirectional and computes pressure loss for both the direct ow (gradual enlargement) and return ow (gradual contraction). If the loss coefcient is specied by a table, the table must cover both the positive and the negative ow regions. Connections A and B are conserving hydraulic ports associated with the block inlet and outlet, respectively. The block positive direction is from port A to port B. This means that the ow rate is positive if uid ows from A to B, and the pressure loss is determined as p = pA pB .
The model is based on the following assumption: Fluid inertia is not taken into account. If you select parameterization by semi-empirical formulas, the transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. If you select parameterization by the table-specied relationship K=f(Re), the ow is assumed to be turbulent.
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Gradual Area Change
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Gradual Area Change
Small diameter Resistance small diameter. The default value is 0.01 m. Large diameter Resistance large diameter. The default value is 0.02 m. This parameter is used if Model parameterization is set to By semi-empirical formulas.
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Gradual Area Change
Cone angle The enclosed angle. The default value is 30 deg. This parameter is used if Model parameterization is set to By semi-empirical formulas. Model parameterization Select one of the following methods for block parameterization: By semi-empirical formulas Provide geometrical parameters of the resistance. This is the default method. By loss coefficient vs. Re table Provide tabulated relationship between the loss coefcient and the Reynolds number. The loss coefcient is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. The table must cover both the positive and the negative ow regions. Correction coefcient Correction factor used in the formula for computation of the loss coefcient. The default value is 1. This parameter is used if Model parameterization is set to By semi-empirical formulas. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 350. This parameter is used if Model parameterization is set to By semi-empirical formulas. Reynolds number vector Specify the vector of input values for Reynolds numbers as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values are
[-4000, -3000, -2000, -1000, -500, -200, -100, -50, -40, -30, -20, -15, -10, 10, 20, 30, 40, 50, 100, 200,
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Gradual Area Change
500, 1000, 2000, 4000, 5000, 10000]. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table.
Loss coefcient vector Specify the vector of output values for the loss coefcient as a tabulated 1-by-m array. The loss coefcient vector must be the same size as the Reynolds numbers vector. The default values are [0.25, 0.3, 0.65, 0.9, 0.65, 0.75, 0.90, 1.15,
1.35, 1.65, 2.3, 2.8, 3.10, 5, 2.7, 1.8, 1.46, 1.3, 0.9, 0.65, 0.42, 0.3, 0.20, 0.40, 0.42, 0.25]. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table.
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output
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Gradual Area Change
values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
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Gradual Area Change
Ports

A
Hydraulic conserving port associated with the resistance inlet.

B
Hydraulic conserving port associated with the resistance outlet.
References
[1] Flow of Fluids Through Valves, Fittings, and Pipe, Crane Valves North America, Technical Paper No. 410M [2] Idelchik, I.E., Handbook of Hydraulic Resistance, CRC Begell House, 1994
See Also
Elbow Local Resistance Pipe Bend Sudden Area Change T-junction
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Hydraulic Cartridge Valve Actuator
Simulate double-acting hydraulic actuator for cartridge valves Valve Actuators Use the Hydraulic Cartridge Valve Actuator block as a pilot actuator for cartridge valves, as well as pilot-operated pressure and control valves in applications where all the forces, except spring and pressure forces, and ow consumption can be neglected. This block represents a double-acting hydraulic valve actuator driven by three pressures. The actuator drives a valve (spool, poppet, etc.) whose position depends on pressures at ports A, B, and X and the force of the spring. Pressures at ports A and B tend to open the valve, while pressure at control port X together with the spring force act to close it. The valve remains closed as long as the aggregate pressure force is lower than the spring preload force. The poppet is forced off its seat as the preload force is reached and moves up proportionally to pressure increase until it passes the full stroke. Connections A, B, and X are hydraulic conserving ports associated with the actuator ports. Connection P is a physical signal port whose output corresponds to piston displacement. Pressures applied at ports A and B move the piston in the positive or negative direction, depending on the value of the Actuator orientation parameter, with pressure at port X acting in the opposite direction.
The model is based on the following assumptions: The ow consumption associated with the valve motion is assumed to be negligible. The inertia, friction, and hydraulic axial forces are assumed to be small and are not taken into account. The clearances between the valve and the washers are not taken into account.
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Port A poppet area Effective poppet area at port A. The parameter value must be greater than zero. The default value is 3.3e-4 m^2. Port A to port X area ratio Ratio between poppet areas at port A and port X. The parameter value must be greater than zero. The default value is 0.66.
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Preload force Spring preload force. The default value is 26 N. Spring rate Spring rate. The default value is 1.4e4 N/m. Poppet stroke Maximum poppet stroke. The parameter value must be greater than or equal to zero. The default value is 5e-3 m. Actuator orientation Species actuator orientation with respect to the globally assigned positive direction. The actuator can be installed in two different ways, depending upon whether it moves the piston in the positive or in the negative direction when pressure is applied at its inlet. If pressures applied at ports A and B move the poppet in the negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Actuator orientation All other block parameters are available for modication.
Ports

A

B

X
Hydraulic conserving port associated with the valve control terminal.
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Physical signal port that outputs poppet displacement.
See Also
2-Position Valve Actuator 3-Position Valve Actuator Cartridge Valve Insert Hydraulic Double-Acting Valve Actuator Hydraulic Single-Acting Valve Actuator Proportional and Servo-Valve Actuator
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Hydraulic Double-Acting Valve Actuator
Simulate double-acting hydraulic valve actuator Valve Actuators Use the Hydraulic Double-Acting Valve Actuator block as a pilot actuator for directional, pressure, or ow control valves in applications where all the forces, except spring force, and ow consumption can be neglected. The actuator consists of two single-acting actuators acting against each other. Each single-acting actuator consists of a piston, centering spring, and centering washer. When control pressure is applied to either hydraulic port, only one centering spring is compressed by its washer while the other butts against the valve body and exerts no force on the spool. When both control pressures are released, the springs force the washers against the valve body, and the spool centers between them. This design allows each actuator to have a different spring, preload force, and piston area.
As pressure applied to the piston develops enough force to overcome the spring preload, the piston moves to the opposite position until it reaches its maximum stroke. Pressure applied at port X shifts the valve in the x-direction, overcoming the spring located in the Y chamber. Pressure
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applied at port Y shifts the valve in the y-direction, overcoming the spring located in the X chamber. The actuator is simulated according to the following equations:
F = px i Ax py i A y Lx = strx Fmax x Fprx stry Fmax y Fpry
Ly =
If F >= 0,
0 for F <= Fpry s = Ly i F Fpry i or for Fpry < F < Fmax y for F >= Fmax y stry i or
If F < 0,
for |F | Fprx <= 0 s = Lx i | F | Fprx i or for Fprx < |F | Fmax x < for |F |>= Fmax x strx i or
where F s px py Ax Force acting on the valve Piston displacement Pressure in the actuator X chamber Pressure in the actuator Y chamber Valve face area in the X chamber
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Ay strx stry Fprx Fmaxx Fpry Fmaxy or
Valve face area in the Y chamber Valve stroke in x-direction Valve stroke in y-direction Chamber X spring preload force Chamber X spring maximum force Chamber Y spring preload force Chamber Y spring maximum force Actuator orientation with respect to the globally assigned positive direction. If pressure applied at port X moves the piston in positive direction, or equals 1. If pressure applied at port X moves the piston in negative direction, or equals 1.
Connections X and Y are hydraulic conserving ports associated with the valve chambers. Connection P is a physical signal port whose output corresponds to piston displacement. Pressure applied at port X moves the piston in the positive or negative direction depending on the value of the Actuator orientation parameter.
The model is based on the following assumptions: The ow consumption associated with the valve motion is assumed to be negligible. The inertia, friction, and hydraulic axial forces are assumed to be small and are not taken into account. The clearances between the valve and the washers are not taken into account.
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Piston area at port X Effective piston area at port X. The parameter value must be greater than zero. The default value is 2e-4 m^2. Piston area at port Y Effective piston area at port Y. The parameter value must be greater than zero. The default value is 2e-4 m^2. Preload force at port X Spring preload force at port X. The default value is 0. Preload force at port Y Spring preload force at port Y. The default value is 0. Spring maximum force at port X Chamber X spring maximum force. The parameter value must be greater than the spring preload force. The default value is 50 N. Spring maximum force at port Y Chamber Y spring maximum force. The parameter value must be greater than the spring preload force. The default value is 50 N. Piston stroke at port X Piston stroke in chamber X. The parameter value must be greater than or equal to zero. The default value is 5e-3 m. Piston stroke at port Y Piston stroke in chamber Y. The parameter value must be greater than or equal to zero. The default value is 5e-3 m. Actuator orientation Species actuator orientation with respect to the globally assigned positive direction. The actuator can be installed in two different ways, depending upon whether it moves the piston in the positive or in the negative direction when pressure is applied at its inlet. If pressure applied at port X moves the piston in the negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction.
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Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Actuator orientation All other block parameters are available for modication.
Ports

X
Hydraulic conserving port associated with the valve X chamber.

Y
Hydraulic conserving port associated with the valve Y chamber.

P
Physical signal port that outputs piston displacement.
Examples
The following illustration shows a typical control unit of a variable-displacement pump that provides load sensing and pressure limiting (see [1]). In the unit, the load-sensing compensator varies the pump displacement to maintain a preset pressure differential across the variable orice, while the pressure-limiting compensator does not allow the pump pressure to exceed the pressure limit.
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The Hydraulic Actuator with Load-Sensing Variable-Displacement Pump demo (sh_hydraulic_actuator_load_sensing_pump) implements this type of control. The next illustration shows the schematic of the Load-Sensing and Pressure-Limiting Control block in the demo.
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There are three hydraulic valve actuators in the model: SA1 A single-acting actuator that controls the Pressure-Limiting Valve. SA A single-acting valve actuator that acts on the pump displacement control device (yoke control). DAA A double-acting valve actuator that controls the Load-Sensing Valve. Its output is proportional to the difference between the pump pressure (port P) and the load pressure (port A). Open the demo model to see the parameter settings for the blocks.
References
[1] F. Yeapple, Fluid Power Design Handbook, Marcel Dekker, Inc., 1995
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See Also
2-Position Valve Actuator 3-Position Valve Actuator Hydraulic Single-Acting Valve Actuator Proportional and Servo-Valve Actuator
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Hydraulic Fluid
Set working uid properties by selecting from list of predened uids Hydraulic Utilities The Hydraulic Fluid block lets you specify the type of hydraulic uid used in a loop of hydraulic blocks. It provides the hydraulic uid properties, such as kinematic viscosity, density, and bulk modulus, for all the hydraulic blocks in the loop. These uid properties are assumed to be constant during simulation time. The density is determined by the type of uid, while kinematic viscosity additionally requires that the temperature is specied. The bulk modulus value shown in the block dialog box is the bulk modulus of pure liquid, and is determined by the type of uid and by the temperature. When the uid properties are used in hydraulic blocks, such as Constant Volume Chamber or Variable Volume Chamber, the uid is represented as a mixture of liquid and a small amount of entrained, nondissolved gas, which is specied in the Hydraulic Fluid block as Relative amount of trapped air. The mixture bulk modulus in these blocks is determined as:
pa 1 + pa + p E = El p1 / n a 1+ E n+1 l ni( pa + p)
n
1/ n
where
El p
Pure liquid bulk modulus Atmospheric pressure Relative gas content at atmospheric pressure, = VG/VL Gas volume at atmospheric pressure
VG
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Hydraulic Fluid
VL n
Volume of liquid Gas-specic heat ratio
The main objective of representing uid as a mixture of liquid and gas is to introduce an approximate model of cavitation, which takes place in a chamber if pressure drops below uid vapor saturation level. As it is seen in the graph below, the bulk modulus of a mixture decreases at p pa , thus considerably slowing down further pressure change. At high pressure, p >> pa , a small amount of nondissolved gas has practically no effect on the system behavior.
Cavitation is an inherently thermodynamic process, requiring consideration of multiple-phase uids, heat transfers, etc., and as such cannot be accurately simulated with SimHydraulics software. But the
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Hydraulic Fluid
simplied version implemented in the block is good enough to signal if pressure falls below dangerous level, and to prevent computation failure that normally occurs at negative pressures. If it is known that cavitation is unlikely in the system under design, you can set the relative gas content in the uid properties to zero, thus increasing the speed of computations. The Hydraulic Fluid block offers a selection of predened uids. See Examples on page 2-167 for how you can get information on the uid properties used in the block. Once you select a uid name, you can also specify the temperature of the uid and the relative amount of entrained, nondissolved gas. The Hydraulic Fluid block has one port. You can connect it to a hydraulic diagram by branching a connection line off the main line and connecting it to the port. When you connect the Hydraulic Fluid block to a hydraulic line, the software automatically identies the hydraulic blocks connected to the particular loop and propagates the hydraulic uid properties to all the hydraulic blocks in the loop. Each topologically distinct hydraulic loop in a diagram requires a Hydraulic Fluid block or Custom Hydraulic Fluid block to be connected to it. Therefore, there must be as many Hydraulic Fluid blocks (or Custom Hydraulic Fluid blocks) as there are loops in the system. Note If no Hydraulic Fluid block or Custom Hydraulic Fluid block is attached to a loop, the hydraulic blocks in this loop use the default uid, which is Skydrol LD-4 at 60C and with a 0.005 ratio of entrapped air.
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Hydraulic Fluid
Hydraulic uid Hydraulic uid type. Select one of the predened uids: Skydrol LD-4 (default) Skydrol 500B-4 Skydrol-5 HyJet-4A Fluid MIL-F-83282
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Hydraulic Fluid
Fluid MIL-F-5606 Fluid MIL-F-87257 Oil-10W Oil-30W Oil-50W Oil SAE-30 Oil SAE-50 Transmission fluid ATF (Dexron III) ISO VG 22 (ESSO UNIVIS N 22) ISO VG 32 (ESSO UNIVIS N 32) ISO VG 46 (ESSO UNIVIS N 46) Brake fluid DOT3 Brake fluid DOT4 Brake fluid DOT5 Gasoline Diesel fuel Jet fuel Water-Glycol 60/40 Water Relative amount of trapped air Amount of entrained, nondissolved gas in the uid. The amount is specied as the ratio of gas volume at normal conditions to the uid volume in the chamber. The default value is 0.005. System temperature Fluid temperature (C). The default value is 60.
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Hydraulic Fluid
Viscosity derating factor Proportionality coefcient that you can use to adjust uid viscosity, if needed. Specify a value between 0.5 and 1.5. The default value is 1. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Hydraulic uid All other block parameters are available for modication.
Ports Examples
The block has one hydraulic conserving port. You can get information on the uids and their properties through the MATLAB command line. In the following example, the rst command brings you the list of available uids, and the second command plots the properties of a selected uid from the list, in this case, Skydrol LD-4.
1 In the MATLAB Command Window, type:
props = sh_stockfluidproperties
The system responds with a list of available uids:

props = skydrol_ld_4: skydrol_500_4: skydrol_5: hy_jet: f_83282: f_5606: f_87257: oil_10w: [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 struct] struct] struct] struct] struct] struct] struct] struct]
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Hydraulic Fluid
oil_30w: oil_50w: oil_sae_30: oil_sae_50: atf_dexron: iso_vg_32: gasoline: diesel_fuel: jet_fuel: water_glycol:
[1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1 [1x1
struct] struct] struct] struct] struct] struct] struct] struct] struct] struct]
2 To plot the properties of the rst uid in the list, Skydrol LD-4, type:
props.skydrol_ld_4.plot()
The plot window opens:
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Hydraulic Fluid
Fluid properties for the Skydrol family of hydraulic uids were obtained from literature provided by the manufacturer, Solutia, Inc. More information is available on their website at: http://www.skydrol.com.
See Also
Custom Hydraulic Fluid
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Hydraulic Motor
Simulate xed-displacement hydraulic motor Pumps and Motors The Hydraulic Motor block represents a positive, xed-displacement hydraulic motor of any type as a data-sheet-based model. The key parameters required to parameterize the block are motor displacement, volumetric and total efciencies, nominal pressure, and angular velocity. All these parameters are generally provided in the data sheets or catalogs. The motor is represented with the following equations:
q = Di + kleak i p T = Di pimech kleak = kHP / i kHP = Dinom (1 V )i nom i pnom
p = pA pB
where
q p pA,pB T D
Flow rate through the motor Pressure differential across the motor Gauge pressures at the block terminals Torque at the motor output shaft Motor displacement Output shaft angular velocity Leakage coefcient
kleak
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Hydraulic Motor
kHP
Hagen-Poiseuille coefcient Motor volumetric efciency Motor mechanical efciency Fluid kinematic viscosity Fluid density Motor nominal pressure Motor nominal angular velocity Nominal uid kinematic viscosity
V mech
pnom
nom nom
The leakage ow is determined based on the assumption that it is linearly proportional to the pressure differential across the motor and can be computed by using the Hagen-Poiseuille formula
p=
where
qleak d, l
128l d
4
qleak =
qleak kHP
qleak = Dnom (1 V )
kHP =
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Hydraulic Motor
The motor mechanical efciency is not usually available in data sheets, therefore it is determined from the total and volumetric efciency by assuming that the hydraulic efciency is negligibly small
mech = total / V
The block hydraulic positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and rotates the output shaft in the globally assigned positive direction. The pressure differential across the motor is determined as p = pA pB , and positive pressure differential accelerates the shaft in the positive direction.
The model is based on the following assumptions: Fluid compressibility is neglected. No loading on the motor shaft, such as inertia, friction, spring, and so on, is considered. Leakage inside the motor is assumed to be linearly proportional to its pressure differential.
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Hydraulic Motor
Motor displacement Motor displacement. The default value is 5e-6 m^3/rad. Volumetric efciency Motor volumetric efciency specied at nominal pressure, angular velocity, and uid viscosity. The default value is 0.92. Total efciency Motor total efciency, which is determined as a ratio between the mechanical power at the output shaft and hydraulic power at the motor inlet at nominal pressure, angular velocity, and uid viscosity. The default value is 0.8.
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Hydraulic Motor
Nominal pressure Pressure differential across the motor, at which both the volumetric and total efciencies are specied. The default value is 1e7 Pa. Nominal angular velocity Angular velocity of the output shaft, at which both the volumetric and total efciencies are specied. The default value is 188 rad/s. Nominal kinematic viscosity Working uid kinematic viscosity, at which both the volumetric and total efciencies are specied. The default value is 18 cSt.
Global Parameters
A
Ports
Hydraulic conserving port associated with the motor inlet.

B
Hydraulic conserving port associated with the motor outlet.

S
Mechanical rotational conserving port associated with the motor output shaft.
See Also
Variable-Displacement Motor
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Hydraulic Pipeline
Simulate hydraulic pipeline with resistive and uid compressibility properties Pipelines The Hydraulic Pipeline block models hydraulic pipelines with circular and noncircular cross sections. The block accounts for friction loss along the pipe length and for uid compressibility. The block does not account for uid inertia and cannot be used for predicting effects like water hammer or changes in pressure caused by uid acceleration. The model is built of Simscape Foundation library building blocks and its schematic diagram is shown below.
The Resistive Tube blocks account for friction losses, while the Constant Volume Chamber block accounts for uid compressibility. By using the block parameters, you can set the model to simulate pipeline with rigid or compliant walls, including simulation of hydraulic hoses with elastic and viscoelastic properties. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure loss is determined as p = pA pB .
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Hydraulic Pipeline
The model is based on the following assumptions: Flow is assumed to be fully developed along the pipe length. Fluid inertia is not taken into account.
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Hydraulic Pipeline
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Hydraulic Pipeline
Pipe cross section type The parameter can have one of two values: Circular or Noncircular. For a circular pipe, you need to specify its internal diameter. For a noncircular pipe, you need to specify its hydraulic diameter and pipe cross-sectional area. The default value of the parameter is Circular.
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Hydraulic Pipeline
Pipe internal diameter Pipe internal diameter. The parameter is used if Pipe cross section type is set to Circular. The default value is 0.01 m. Noncircular pipe cross-sectional area Pipe cross-sectional area. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 1e-4 m^2. Noncircular pipe hydraulic diameter Hydraulic diameter of the pipe cross section. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 0.0112 m. Geometrical shape factor The parameter is used for computing friction factor at laminar ow and depends of the shape of the pipe cross section. For a pipe with noncircular cross section, you must set the factor to an appropriate value, for example, 56 for a square, 96 for concentric annulus, 62 for rectangle (2:1), and so on (see [1]). The default value is 64, which corresponds to a pipe with a circular cross section. Pipe length Pipe geometrical length. The default value is 5 m. Aggregate equivalent length of local resistances This parameter represents total equivalent length of all local resistances associated with the pipe. You can account for the pressure loss caused by local resistances, such as bends, ttings, armature, inlet/outlet losses, and so on, by adding to the pipe geometrical length an aggregate equivalent length of all the local resistances. This length is added to the geometrical pipe length only for hydraulic resistance computation. The uid volume depends on pipe geometrical length only. The default value is 1 m. Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing.
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Hydraulic Pipeline
Laminar ow upper margin Species the Reynolds number at which the laminar ow regime is assumed to start converting into turbulent. Mathematically, this is the maximum Reynolds number at fully developed laminar ow. The default value is 2000. Turbulent ow lower margin Species the Reynolds number at which the turbulent ow regime is assumed to be fully developed. Mathematically, this is the minimum Reynolds number at turbulent ow. The default value is 4000. Pipe wall type The parameter is available only for circular pipes and can have one of two values: Rigid or Flexible. If the parameter is set to Rigid, wall compliance is not taken into account, which can improve computational efciency. The value Flexible is recommended for hoses and metal pipes where wall compliance can affect the system behavior. The default value is Rigid. Static pressure-diameter coefcient Coefcient that establishes relationship between the pressure and the internal diameter at steady-state conditions. This coefcient can be determined analytically for cylindrical metal pipes or experimentally for hoses. The parameter is used if the Pipe wall type parameter is set to Flexible. The default value is 2e-10 m/Pa. Viscoelastic process time constant Time constant in the transfer function that relates pipe internal diameter to pressure variations. By using this parameter, the simulated elastic or viscoelastic process is approximated with the rst-order lag. The value is determined experimentally or provided by the manufacturer. The parameter is used if the Pipe wall type parameter is set to Flexible. The default value is 0.008 s.
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Hydraulic Pipeline
Specic heat ratio Gas-specic heat ratio for the Constant Volume Chamber block. The default value is 1.4. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Pipe cross section type Pipe wall type All other block parameters are available for modication. The actual set of modiable block parameters depends on the values of the Pipe cross section type and Pipe wall type parameters at the time the model entered Restricted mode.
Global Parameters
Ports

A
Hydraulic conserving port associated with the pipe inlet.

B
Hydraulic conserving port associated with the pipe outlet.
References
[1] White, F.M., Viscous Fluid Flow, McGraw-Hill, 1991
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Hydraulic Pipeline
See Also
Linear Hydraulic Resistance Resistive Tube Segmented Pipeline
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Hydraulic Pipe LP
Simulate hydraulic pipeline with resistive, uid compressibility, and elevation properties Low-Pressure Blocks The Hydraulic Pipe LP block models hydraulic pipelines with circular and noncircular cross sections. The block accounts for friction loss along the pipe length and for uid compressibility. The block does not account for uid inertia and cannot be used for predicting effects like water hammer or changes in pressure caused by uid acceleration. The model is built of Simscape Foundation library building blocks and its schematic diagram is shown below.
The Resistive Pipe LP blocks account for friction losses, while the Constant Volume Chamber block accounts for uid compressibility. By using the block parameters, you can set the model to simulate pipeline with rigid or compliant walls, including simulation of hydraulic hoses with elastic and viscoelastic properties. The difference in elevation between ports A and B is distributed evenly between pipe segments. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure loss is determined as p = pA pB .
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Hydraulic Pipe LP
The model is based on the following assumptions: Flow is assumed to be fully developed along the pipe length. Fluid inertia is not taken into account. The block dialog box contains three tabs: Basic Parameters on page 2-184 Wall Compliance on page 2-187 Vertical Position on page 2-190
Basic Parameters
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Hydraulic Pipe LP
Pipe cross section type The parameter can have one of two values: Circular or Noncircular. For a circular pipe, you need to specify its internal diameter. For a noncircular pipe, you need to specify its hydraulic diameter and pipe cross-sectional area. The default value of the parameter is Circular. Pipe internal diameter Pipe internal diameter. The parameter is used if Pipe cross section type is set to Circular. The default value is 0.01 m.
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Hydraulic Pipe LP
Noncircular pipe cross-sectional area Pipe cross-sectional area. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 1e-4 m^2. Noncircular pipe hydraulic diameter Hydraulic diameter of the pipe cross section. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 0.0112 m. Geometrical shape factor The parameter is used for computing friction factor at laminar ow and depends of the shape of the pipe cross section. For a pipe with noncircular cross section, you must set the factor to an appropriate value, for example, 56 for a square, 96 for concentric annulus, 62 for rectangle (2:1), and so on (see [1]). The default value is 64, which corresponds to a pipe with a circular cross section. Pipe length Pipe geometrical length. The default value is 5 m. Aggregate equivalent length of local resistances This parameter represents total equivalent length of all local resistances associated with the pipe. You can account for the pressure loss caused by local resistances, such as bends, ttings, armature, inlet/outlet losses, and so on, by adding to the pipe geometrical length an aggregate equivalent length of all the local resistances. This length is added to the geometrical pipe length only for hydraulic resistance computation. The uid volume depends on pipe geometrical length only. The default value is 1 m. Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing. Laminar ow upper margin Species the Reynolds number at which the laminar ow regime is assumed to start converting into turbulent. Mathematically,
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Hydraulic Pipe LP
this is the maximum Reynolds number at fully developed laminar ow. The default value is 2000. Turbulent ow lower margin Species the Reynolds number at which the turbulent ow regime is assumed to be fully developed. Mathematically, this is the minimum Reynolds number at turbulent ow. The default value is 4000.
Wall Compliance
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Hydraulic Pipe LP
Pipe wall type The parameter is available only for circular pipes and can have one of two values: Rigid or Flexible. If the parameter is set to Rigid, wall compliance is not taken into account, which can improve computational efciency. The value Flexible is recommended for hoses and metal pipes where wall compliance can affect the system behavior. The default value is Rigid. Static pressure-diameter coefcient Coefcient that establishes relationship between the pressure and the internal diameter at steady-state conditions. This coefcient can be determined analytically for cylindrical metal pipes or experimentally for hoses. The parameter is used if the Pipe wall
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Hydraulic Pipe LP
type parameter is set to Flexible. The default value is 2e-12 m/Pa. Viscoelastic process time constant Time constant in the transfer function that relates pipe internal diameter to pressure variations. By using this parameter, the simulated elastic or viscoelastic process is approximated with the rst-order lag. The value is determined experimentally or provided by the manufacturer. The parameter is used if the Pipe wall type parameter is set to Flexible. The default value is 0.01 s. Specic heat ratio Gas-specic heat ratio for the Constant Volume Chamber block. The default value is 1.4. If Pipe cross section type is set to Noncircular, then this is the only parameter on the Wall Compliance tab.
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Hydraulic Pipe LP
Vertical Position
Port A elevation wrt reference plane The parameter species vertical position of the pipe port A with respect to the reference plane. The default value is 0. Port B elevation wrt reference plane The parameter species vertical position of the pipe port B with respect to the reference plane. The default value is 0. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters:
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Hydraulic Pipe LP
Pipe cross section type Pipe wall type All other block parameters are available for modication. The actual set of modiable block parameters depends on the values of the Pipe cross section type and Pipe wall type parameters at the time the model entered Restricted mode.
Global Parameters
Ports

A

B
References See Also
[1] White, F.M., Viscous Fluid Flow, McGraw-Hill, 1991 Hydraulic Pipeline Linear Hydraulic Resistance Resistive Pipe LP Resistive Tube Segmented Pipeline Segmented Pipe LP
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Hydraulic Single-Acting Valve Actuator
Simulate single-acting hydraulic valve actuator Valve Actuators Use the Hydraulic Single-Acting Valve Actuator block as a pilot actuator for directional, pressure, or ow control valves in applications where all the forces, except spring force, and ow consumption can be neglected.
The actuator consists of a piston and a spring. The spring, which can be preloaded, tends to keep the piston at the initial position. As pressure applied to the piston develops enough force to overcome the spring preload, the piston moves to the opposite position until it reaches its maximum stroke. The actuator is simulated according to the following equations:
F = pi A L= stroke Fmax Fpr
for F <= Fpr 0 s = Li F Fpr i or for Fpr < F < Fmax for F >= Fmax x strokei or
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where p s A F Fpr Fmax stroke or Pressure applied to the piston Piston displacement Piston area Instantaneous spring force Spring preload force Spring force at maximum piston displacement Piston stroke Actuator orientation with respect to the globally assigned positive direction. If pressure applied at port X moves the piston in positive direction, or equals 1. If pressure applied at port X moves the piston in negative direction, or equals 1.
Connection X is a hydraulic conserving port associated with the valve chamber. Connection P is a physical signal port whose output corresponds to piston displacement. Pressure applied at port X moves the piston in the positive or negative direction, depending on the value of the Actuator orientation parameter.
The model is based on the following assumptions: No loading, such as inertia, friction, hydraulic force, and so on, is taken into account. The only force considered is a spring force. No ow consumption associated with the piston motion, leakage, or uid compressibility is taken into account.
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Piston area Effective piston area. The default value is 2e-4 m^2. Preload force Spring preload force. The default value is 20 N. Full stroke force Force necessary to move the piston to maximum stroke. The default value is 70 N. Piston stroke Piston stroke. The default value is 5e-3 m. Actuator orientation Species actuator orientation with respect to the globally assigned positive direction. The actuator can be installed in two different
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ways, depending upon whether it moves the piston in the positive or in the negative direction when pressure is applied at its inlet. If pressure applied at port X moves the piston in the negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Actuator orientation All other block parameters are available for modication.
Ports

X
Hydraulic conserving port associated with the valve chamber.

P
Physical signal port that outputs piston displacement.
Examples
The following example shows a model of a pressure-relief valve built using the Hydraulic Single-Acting Valve Actuator and Orice with Variable Area Round Holes blocks.
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See Also
2-Position Valve Actuator 3-Position Valve Actuator Hydraulic Double-Acting Valve Actuator Proportional and Servo-Valve Actuator
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Local Resistance
Simulate all kinds of hydraulic resistances specied by loss coefcient Local Hydraulic Resistances The Local Resistance block represents a generic local hydraulic resistance, such as a bend, elbow, tting, lter, local change in the ow cross section, and so on. The pressure loss caused by resistance is computed based on the pressure loss coefcient, which is usually provided in catalogs, data sheets, or hydraulic textbooks. The pressure loss coefcient can be specied either as a constant, or by a table, in which it is tabulated versus Reynolds number. The pressure loss is determined according to the following equations:
q| q| for Re > Recr K 2 A2 p= K iRe cr i q for Re <= Recr 2 DH i A p = pA pB const K = K (Re) Re = qi DH Ai 4A
DH =
where
q p
Flow rate Pressure loss
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Local Resistance
pA,pB K
Gauge pressures at the block terminals Pressure loss coefcient, which can be specied either as a constant, or as a table-specied function of the Reynolds number Reynolds number Reynolds number of the transition from laminar to turbulent ow Orice hydraulic diameter Passage area Fluid density Fluid kinematic viscosity
Re Recr DH A
Two block parameterization options are available: By semi-empirical formulas The pressure loss coefcient is assumed to be constant for a specic ow direction. The ow regime can be either laminar or turbulent, depending on the Reynolds number. By table-specied K=f(Re) relationship The pressure loss coefcient is specied as function of the Reynolds number. The ow regime is assumed to be turbulent all the time. It is your responsibility to provide the appropriate values in the K=f(Re) table to ensure turbulent ow. The resistance can be symmetrical or asymmetrical. In symmetrical resistances, the pressure loss practically does not depend on ow direction and one value of the coefcient is used for both the direct and reverse ow. For asymmetrical resistances, the separate coefcients are provided for each ow direction. If the loss coefcient is specied by a table, the table must cover both the positive and the negative ow regions.
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Local Resistance
Connections A and B are conserving hydraulic ports associated with the block inlet and outlet, respectively. The block positive direction is from port A to port B. This means that the ow rate is positive if uid ows from A to B, and the pressure loss is determined as p = pA pB .
The model is based on the following assumption: Fluid inertia is not taken into account. If you select parameterization by semi-empirical formulas, the transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. If you select parameterization by the table-specied relationship K=f(Re), the ow is assumed to be completely turbulent.
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Local Resistance
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Local Resistance
Resistance area The smallest passage area. The default value is 1e-4 m^2. Model parameterization Select one of the following methods for specifying the pressure loss coefcient: By semi-empirical formulas Provide a scalar value for the pressure loss coefcient. For asymmetrical resistances, you have to provide separate coefcients for direct and reverse ow. This is the default method.
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Local Resistance
By loss coefficient vs. Re table Provide tabulated data of loss coefcients and corresponding Reynolds numbers. The loss coefcient is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. For asymmetrical resistances, the table must cover both the positive and the negative ow regions. Pressure loss coefcient for direct ow Loss coefcient for the direct ow (owing from A to B). For simple ideal congurations, the value of the coefcient can be determined analytically, but in most cases its value is determined empirically and provided in textbooks and data sheets (for example, see [1]). The default value is 2. This parameter is used if Model parameterization is set to By semi-empirical formulas. Pressure loss coefcient for reverse ow Loss coefcient for the reverse ow (owing from B to A). The parameter is similar to the loss coefcient for the direct ow and must be set to the same value if the resistance is symmetrical. The default value is 2. This parameter is used if Model parameterization is set to By semi-empirical formulas. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 150. This parameter is used if Model parameterization is set to By semi-empirical formulas. Reynolds number vector Specify the vector of input values for Reynolds numbers as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values are
[-4000, -3000, -2000, -1000, -500, -200, -100, -50, -40, -30, -20, -15, -10, 10, 20, 30, 40, 50, 100, 200,
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Local Resistance
500, 1000, 2000, 4000, 5000, 10000]. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table.
Loss coefcient vector Specify the vector of output values for the loss coefcient as a tabulated 1-by-m array. The loss coefcient vector must be the same size as the Reynolds numbers vector. The default values are [0.25, 0.3, 0.65, 0.9, 0.65, 0.75, 0.90, 1.15,
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output
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Local Resistance
values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table.
Global Parameters
Ports

A

B
References
[1] Idelchik, I.E., Handbook of Hydraulic Resistance, CRC Begell House, 1994
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Local Resistance
See Also
Elbow Gradual Area Change Pipe Bend Sudden Area Change T-junction
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Needle Valve
Simulate hydraulic needle valve Flow Control Valves The Needle Valve block models a variable orice created by a conical needle and a round sharp-edged orice in thin material.
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Needle Valve
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + x hmax = ds tan
( 2)
for h <= 0 for 0 < h < hmax for h >= hmax
Aleak A(h) = ( ds h cos isin )ih sin + Aleak A max + Aleak p = pA pB Re = qi DH A(h)i CD = Re cr 4 A(h)
2 ds 4
CDL
DH =
Amax =
where
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Needle Valve
q p pA,pB CD A(h) x0 x h hmax ds
Flow rate Pressure differential Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Initial opening Needle displacement from initial position Valve opening Maximum needle stroke Orice diameter Needle angle Fluid density Valve instantaneous hydraulic diameter Fluid kinematic viscosity Closed valve leakage area Maximum valve open area

DH
Aleak Amax
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Needle Valve
The ow passage area is assumed to be equal to the frustum side surface area.
Valve orice diameter The diameter of the orice of the valve. The default value is 0.005 m. Needle cone angle The angle of the valve conical needle. The parameter value must be in the range between 0 and 180 degrees. The default value is 90 degrees.
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Needle Valve
Initial opening The initial opening of the valve. You can specify both positive and negative values. The default value is 0. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.65. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 10. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
Ports
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Needle Valve

B

S
See Also
Ball Valve Poppet Valve Pressure-Compensated Flow Control Valve
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Orifice with Variable Area Round Holes
Simulate hydraulic variable orice shaped as set of round holes drilled in sleeve Orices The block models a variable orice created by a cylindrical spool and a set of round holes drilled in the sleeve. All the holes are of the same diameter, evenly spread along the sleeve perimeter, and their center lines are located in the same plane. The ow rate through the orice is proportional to the orice opening and to the pressure differential across the orice. The following schematic shows the cross section of an orice with variable round holes, where
q h x d0
Flow rate Orice opening Spool displacement from initial position Orice hole diameter
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The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + xi or
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Aleak 2h 2h 1 2 A(h) = zi d0 2 arccos 1 sin 2 arccos 1 + Aleak d0 d0 8 Amax + Aleak p = pA pB Re = qi DH A(h)i CD = Re cr 4 A(h)
2 d0 4
for h <= 0 for 0 < h < d0 for h >= d0
CDL
DH =
Amax =
where
q p pA,pB CD A(h) d0 z x0
Flow rate Pressure differential Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Hole diameter Number of holes Initial opening
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x h or
Spool displacement from initial position Orice opening Orice orientation indicator. The variable assumes +1 value if a spool displacement in the globally assigned positive direction opens the orice, and 1 if positive motion decreases the opening. Fluid density Instantaneous orice hydraulic diameter Fluid kinematic viscosity Closed orice leakage area Fully open orice passage area
DH
Aleak Amax
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential
S opens or closes the orice depending on the value of the parameter
is determined as p = pA pB . Positive signal at the physical signal port Orice orientation.
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Diameter of round holes Diameter of the orice holes. The default value is 5e-3 m. Number of round holes Number of holes. The default value is 6. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.6.
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Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The value of initial opening does not depend on the orice orientation. The default value is 0. Orice orientation The parameter is introduced to specify the effect of the orice control member motion on the valve opening. The parameter can be set to one of two options: Opens in positive direction or Opens in negative direction. The value Opens in positive direction species an orice whose control member opens the valve when it is shifted in the globally assigned positive direction. The parameter is extremely useful for building a multi-orice valve with all the orices being controlled by the same spool. The default value is Opens in positive direction. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 10. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-15 m^2. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter:
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Orice orientation All other block parameters are available for modication.
Global Parameters
Ports

A

B

S
Physical signal port to control spool displacement. The ow rate is positive if uid ows from port A to port B. Positive signal at the physical signal port S opens or closes the orice depending on the value of the parameter Orice orientation.
See Also
Annular Orice Constant Area Orice Fixed Orice Orice with Variable Area Slot Variable Area Orice Variable Orice
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Orifice with Variable Area Slot
Simulate hydraulic variable orice shaped as rectangular slot Orices The block models a variable orice created by a cylindrical sharp-edged spool and a rectangular slot in a sleeve. The ow rate through the orice is proportional to the orice opening and to the pressure differential across the orice. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + xi or bih + Aleak A(h) = Aleak p = pA pB Re = qi DH A(h)i CD = Re cr 4 A(h)
2
for h > 0 for h <= 0
CDL
DH =
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where
q p pA,pB CD A(h) b x0 x h or
Flow rate Pressure differential Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Width of the orice slot Initial opening Spool displacement from initial position Orice opening Orice orientation indicator. The variable assumes +1 value if a spool displacement in the globally assigned positive direction opens the orice, and 1 if positive motion decreases the opening. Fluid density Instantaneous orice hydraulic diameter Fluid kinematic viscosity Closed orice leakage area
DH
Aleak
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential
S opens or closes the orice depending on the value of the parameter
is determined as p = pA pB . Positive signal at the physical signal port Orice orientation.
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Orice width The width of the rectangular slot. The default value is 1e-2 m. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and
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usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The value of initial opening does not depend on the orice orientation. The default value is 0. Orice orientation The parameter is introduced to specify the effect of the orice control member motion on the valve opening. The parameter can be set to one of two options: Opens in positive direction or Opens in negative direction. The value Opens in positive direction species an orice whose control member opens the valve when it is shifted in the globally assigned positive direction. The parameter is extremely useful for building a multi-orice valve with all the orices being controlled by the same spool. The default value is Opens in positive direction. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
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Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Orice orientation All other block parameters are available for modication.
Global Parameters
Ports

A

B

S
See Also
Annular Orice Constant Area Orice Fixed Orice
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Orice with Variable Area Round Holes Variable Area Orice Variable Orice
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Pilot-Operated Check Valve
Simulate hydraulic check valve that allows ow in one direction, but can be disabled by pilot pressure Directional Valves The Pilot-Operated Check Valve block represents a hydraulic pilot-operated check valve as a data-sheet-based model. The purpose of the check valve is to permit ow in one direction and block it in the opposite direction, as shown in the following gure.
Unlike a conventional check valve, the pilot-operated check valve can be opened by inlet pressure pA, pilot pressure pX, or both. The force acting on the poppet is determined as
F = p A i AA + p X i AX pB i AB
where
pA,pB
Gauge pressures at the valve terminals Gauge pressure at the pilot terminal Area of the spool in the A chamber
pX
AA
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AB AX
Area of the spool in the B chamber Area of the pilot chamber
This equation is commonly used in a slightly modied form
pe = p A + p X ik p pB
where kp = AX/AA is usually referred to as pilot ratio and pe is the equivalent pressure differential across the poppet. The valve remains closed while this pressure differential across the valve is lower than the valve cracking pressure. When cracking pressure is reached, the value control member (spool, ball, poppet, etc.) is forced off its seat, thus creating a passage between the inlet and outlet. If the ow rate is high enough and pressure continues to rise, the area is further increased until the control member reaches its maximum. At this moment, the valve passage area is at its maximum. The valve maximum area and the cracking and maximum pressures are generally provided in the catalogs and are the three key parameters of the block. In addition to the maximum area, the leakage area is also required to characterize the valve. The main purpose of the parameter is not to account for possible leakage, even though this is also important, but to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Theoretically, the parameter can be set to zero, but it is not recommended. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
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2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i
pe = p A + p X ik p pB
for pe <= pcrack Aleak A( p) = Aleak + ki( pe pcrack ) for pcrack < pe < pmax A for pe >= pmax max k= Amax Aleak pmax pcrack
p = pA pB Re = qi DH A( p)i CD = Re cr 4 A( p)
2
CDL
DH =
where
q p
Flow rate through the valve Pressure differential across the valve Equivalent pressure differential across the control member
pe
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pA,pB
Gauge pressures at the valve terminals Gauge pressure at the pilot terminal Pilot ratio, kp = pX/pA Valve gain coefcient Flow discharge coefcient Instantaneous orice passage area Fully open valve passage area Closed valve leakage area Valve cracking pressure Pressure needed to fully open the valve Instantaneous orice hydraulic diameter Fluid density Fluid kinematic viscosity
pX kp k
CD A(p) Amax Aleak pcrack pmax DH
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the valve, such as inertia, friction, spring, and so on, is considered. No ow consumption is associated with the pilot chamber. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
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Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2. Cracking pressure Pressure level at which the orice of the valve starts to open. The default value is 3e4 Pa. Maximum opening pressure Pressure differential across the valve needed to fully open the valve. Its value must be higher than the cracking pressure. The default value is 1.2e5 Pa.
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Pilot ratio Ratio between effective area in the pilot chamber to the effective area in the inlet chamber. The default value is 5. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
Ports
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B

X
Hydraulic conserving port associated with the valve pilot terminal.
See Also
Check Valve
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Pipe Bend
Simulate hydraulic resistance in pipe bend Local Hydraulic Resistances The Pipe Bend block represents a pipe bend as a local hydraulic resistance. The pressure loss in the bend is assumed to consist of Loss in the straight pipe Loss due to curvature The loss in a straight pipe is simulated with the Resistive Tube block. The loss due to curvature is simulated with the Local Resistance block, and the pressure loss coefcient is determined in accordance with the Crane Co. recommendations (see [1], p. A-29). The ow regime is checked in the underlying Local Resistance block by comparing the Reynolds number to the specied critical Reynolds number value. The pressure loss due to curvature for turbulent ow regime is determined according to the following formula:
p= K
where
q p K A
2 A2
q| q|
Flow rate Pressure loss Pressure loss coefcient Bend cross-sectional area Fluid density
For laminar ow regime, the formula for pressure loss computation is modied, as described in the reference documentation for the Local Resistance block.
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Pipe Bend
The pressure loss coefcient is determined according to the table provided in [1], p. A-29:
K = f (r, d, )
where
d r
Pipe internal diameter Curvature radius (d r 20d) Bend angle in degrees (0 180)
Correction for non-90o bends is performed with the empirical formula (see [2], Fig. 4.6):
K corr = (0.0142 3.703i105 )

Connections A and B are conserving hydraulic ports associated with the block inlet and outlet, respectively. The block positive direction is from port A to port B. This means that the ow rate is positive if uid ows from A to B, and the pressure differential is determined as p = pA pB .
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Pipe Bend
Warning The formulas used in the Pipe Bend block are very approximate, especially in the laminar and transient ow regions. For more accurate results, use a combination of the Local Resistance block with a table-specied K=f(Re) relationship and the Resistive Tube block.
The model is based on the following assumptions: Fluid inertia, uid compressibility, and wall compliance are not taken into account. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. The bend is assumed to be made of a clean commercial steel pipe.
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Pipe Bend
Pipe diameter The internal diameter of the pipe. The default value is 0.01 m. Bend radius The radius of the bend. The default value is 0.04 m. Bend angle The angle of the bend. The value must be in the range between 0 and 180 degrees. The default value is 90 deg.
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Pipe Bend
Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 350.
Global Parameters
Ports

A
Hydraulic conserving port associated with the bend inlet.

B
Hydraulic conserving port associated with the bend outlet.
References
[1] Flow of Fluids Through Valves, Fittings, and Pipe, Crane Valves North America, Technical Paper No. 410M [2] George R. Keller, Hydraulic System Analysis, Published by the Editors of Hydraulics & Pneumatics Magazine, 1970
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Pipe Bend
See Also
Elbow Gradual Area Change Local Resistance Resistive Tube Sudden Area Change T-junction
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Poppet Valve
Simulate hydraulic poppet valve Flow Control Valves The Poppet Valve block models a variable orice created by a cylindrical sharp-edged stem and a conical seat.
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Poppet Valve
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + x Aleak A(h) = ( ds + h cos isin )ih sin + Aleak A max + Aleak p = pA pB Re = qi DH A(h)i CD = Re cr 4 A(h)
2 ds 4
for h <= 0 for 0 < h < hmax for h >= hmax
CDL
DH =
Amax =
where
q p pA,pB
Flow rate Pressure differential Gauge pressures at the block terminals
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Poppet Valve
CD A(h) x0 x h hmax ds
Flow discharge coefcient Instantaneous orice passage area Initial opening Stem displacement from initial position Valve opening Maximum valve opening. The passage area remains constant and equal to Amax after this. Stem diameter Cone angle Fluid density Valve instantaneous hydraulic diameter Fluid kinematic viscosity Closed valve leakage area Maximum valve open area

DH
Aleak Amax
The model is based on the following assumptions: Fluid inertia is not taken into account. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. The ow passage area is assumed to be equal to the frustum side surface area.
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Poppet Valve
Valve stem diameter The diameter of the valve stem. The default value is 0.01 m. Seat cone angle The angle of the valve conical seat. The parameter value must be in the range between 0 and 180 degrees. The default value is 120 degrees. Initial opening The initial opening of the valve. The parameter value must be nonnegative. The default value is 0. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and
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Poppet Valve
usually is provided in textbooks or manufacturer data sheets. The default value is 0.65. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 10. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
Ports

A

B
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Poppet Valve
See Also
Ball Valve Needle Valve Pressure-Compensated Flow Control Valve
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Pressure-Compensated Flow Control Valve
Simulate hydraulic pressure compensating valve Flow Control Valves The Pressure-Compensated Flow Control Valve block represents a pressure-compensated ow control valve as a data-sheet-based model. The valve is based on a Pressure Compensator block installed upstream from a Variable Orice block, as shown in the following illustration.
Depending on data listed in the manufacturers catalogs or data sheets for your particular valve, you can choose one of the following model parameterization options: By maximum area and opening Use this option if the data sheet provides only the orice maximum area and the control member maximum stroke. By area vs. opening table Use this option if the catalog or data sheet provides a table of the orice passage area based on the control member displacement A=A(h).
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In the rst case, the passage area is assumed to be linearly dependent on the control member displacement, that is, the orice is assumed to be closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. In the second case, the passage area is determined by one-dimensional interpolation from the table A=A(h). In both cases, a small leakage area is assumed to exist even after the orice is completely closed. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure differential is determined as p = pA pB . Positive signal at port C opens the valve.
Assumptions and Limitations
The model is based on the following assumption: Fluid inertia is not taken into account.
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Model parameterization Select one of the following methods for specifying the orice: By maximum area and opening Provide values for the maximum orice area and the maximum orice opening. The passage area is linearly dependent on the control member displacement, that is, the orice is closed at the initial position
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of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. This is the default method. By area vs. opening table Provide tabulated data of orice openings and corresponding orice areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Orice maximum area Specify the area of a fully opened orice. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Model parameterization is set to By maximum area and opening. Orice maximum opening Specify the maximum displacement of the control member. The parameter value must be greater than zero. The default value is 5e-4 m. This parameter is used if Model parameterization is set to By maximum area and opening. Tabulated orice openings Specify the vector of input values for orice openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-2e-3,0,5e-3,15e-3]. This parameter is used if Model parameterization is set to By area vs. opening table. Tabulated orice openings values will be used together with Tabulated orice area values for one-dimensional table lookup. Tabulated orice area Specify the vector of output values for orice area as a tabulated 1-by-m array. The orice area vector must be the same size as the orice openings vector. All the values must be positive. The default values, in m^2, are [1e-12,4e-12,1.e-5,1.02e-5]. This
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parameter is used if Model parameterization is set to By area vs. opening table. Interpolation method This parameter is used if Model parameterization is set to By area vs. opening table. Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. Extrapolation method This parameter is used if Model parameterization is set to By area vs. opening table. Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument.
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For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. Pressure differential across the orice Pressure difference that must be maintained across the element by the pressure compensator. The default value is 6e5 Pa. Pressure reducing valve regulation range Pressure increase over the preset level needed to fully close the valve. Must be less than 0.2 of the Pressure differential across the orice parameter value. The default value is 5e4 Pa. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The value of initial opening does not depend on the orice orientation. The default value is 0. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should
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be exercised if the parameter is set to 0. The default value is 1e-12 m^2. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
Ports

A

B

C
Physical signal control port.
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See Also
Ball Valve Needle Valve Poppet Valve
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Pressure Compensator
Simulate hydraulic pressure compensating valve Pressure Control Valves The Pressure Compensator block represents a hydraulic pressure compensating valve, or pressure compensator. Pressure compensators are used to maintain preset pressure differential across a hydraulic component to minimize the inuence of pressure variation on a ow rate passing through the component. The following illustration shows typical applications of a pressure compensator, where it is used in combination with the orice installed downstream (left gure) or upstream (right gure). The compensator can be also used in combination with metering pumps, ow dividers, and so on.
The block is implemented as a data-sheet-based model, based on parameters usually provided in the manufacturers catalogs or data sheets. Pressure compensator is a normally open valve. Its opening is proportional to pressure difference between ports X and Y and the spring force. The following illustration shows typical relationship between the valve passage area A and the pressure difference pxy.
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The orice remains fully open until the pressure difference is lower than valve preset pressure determined by the spring preload. When the preset pressure is reached, the valve control member is forced off its stop and starts closing the orice, thus trying to maintain pressure differential at preset level. Any further increase in the pressure difference causes the control member to close the orice even more, until the point when the orice if fully closed. The pressure increase that is necessary to close the valve is referred to as regulation range, or pressure compensator static error, and usually is provided in manufacturers catalog or data sheets. The main parameters of the block are the valve maximum area and regulation range. In addition, you need to specify the leakage area of the valve. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical
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integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is computed according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + xi or Amax for pxy <= pset A(h) = Amax ki( p pset ) for pset < pxy < pmax A for pxy >= pmax leak k= Amax Aleak preg
p = pA pB pxy = px py Re = qi DH A(h)i
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CD CDL = Re cr DH =
where
q p
4 A(h)
Flow rate Pressure differential across the valve Pressure differential across valve control terminals Gauge pressures at the valve main terminals Gauge pressures at the valve control terminals Valve preset pressure Pressure needed to fully close the orice Regulation range Instantaneous orice passage area Orice maximum area Flow discharge coefcient Fluid density Instantaneous orice hydraulic diameter Fluid kinematic viscosity Closed orice leakage area
pxy
pA,pB
px,py
pset pmax preg A(h) Amax CD
DH
Aleak
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure differential is determined as p = pA pB . The control pressure differential is
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measured as pxy = px py , and it creates a force acting against the spring preload.
Assumptions and Limitations
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the valve, such as inertia, friction, spring, and so on, is considered. Flow consumption associated with the spool motion is neglected.
Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2.
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Valve pressure setting Pressure difference that must be maintained across an element connected to ports X and Y. At this pressure the valve orice starts to close. The default value is 3e6 Pa. Valve regulation range Pressure increase over the preset level needed to fully close the valve. Must be less than 0.2 of the Valve pressure setting parameter value. The default value is 1.5e5 Pa. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
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Ports

A

B

X
Hydraulic conserving port associated with the pressure control terminal that opens the orice.
Y
Hydraulic conserving port associated with the pressure control terminal that closes the orice.
See Also
Pressure Reducing Valve Pressure Relief Valve
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Pressure Reducing Valve
Simulate pressure control valve maintaining reduced pressure in portion of system Pressure Control Valves The Pressure Reducing Valve block represents a hydraulic pressure-reducing valve as a data-sheet-based model. Pressure-reducing valves are used to maintain reduced pressure in a portion of a system. The following gure shows the typical dependency between the valve passage area A and the pressure pB downstream from the valve.
The pressure-reducing valve is a normally open valve and it remains fully open while outlet pressure is lower than the valve preset pressure. When the preset pressure is reached, the value control member (spool, ball, poppet, etc.) is forced off its stop and starts closing the orice, thus
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trying to maintain outlet pressure at preset level. Any further increase in the outlet pressure causes the control member to close the orice even more until the point when the orice if fully closed. The pressure increase that is necessary to close the valve is referred to as regulation range, and is generally provided in the catalogs, along with the valve maximum area. The valve maximum area and regulation range are the key parameters of the block. In addition to the maximum area, the leakage area is also required to characterize the valve. The main purpose of the parameter is not to account for possible leakage, even though this is also important, but to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Theoretically, the parameter can be set to zero, but it is not recommended. The block is built as a structural model based on the Pressure Compensator block, as shown in the following schematic.
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Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2. Valve pressure setting Preset pressure level, at which the orice of the valve starts to close. The default value is 5e6 Pa. Valve regulation range Pressure increase over the preset level needed to fully close the valve. Must be less than 0.2 of the Valve pressure setting parameter value. The default value is 5e5 Pa. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and
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usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12m^2.
Global Parameters
Ports

A

B
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Examples
The Power Unit with Pressure Reducing Valve demo (sh_power_unit_pressure_red_valve) illustrates the use of the Pressure Reducing Valve block in hydraulic systems. The pressure reducing valve is set to 20e5 Pa and maintains this pressure downstream, as long as the upstream pressure is higher than this setting. Pressure Compensator Pressure Relief Valve
See Also
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Simulate pressure control valve maintaining preset pressure in system Pressure Control Valves The Pressure Relief Valve block represents a hydraulic pressure relief valve as a data-sheet-based model. The following gure shows the typical dependency between the valve passage area A and the pressure differential p across the valve.
The valve remains closed while pressure at the valve inlet is lower than the valve preset pressure. When the preset pressure is reached, the value control member (spool, ball, poppet, etc.) is forced off its seat, thus creating a passage between the inlet and outlet. Some uid is diverted to a tank through this orice, thus reducing the pressure at the inlet. If
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this ow rate is not enough and pressure continues to rise, the area is further increased until the control member reaches its maximum. At this moment, the maximum ow rate is passing through the valve. The value of a maximum ow rate and the pressure increase over the preset level to pass this ow rate are generally provided in the catalogs. The pressure increase over the preset level is frequently referred to as valve steady state error, or regulation range. The valve maximum area and regulation range are the key parameters of the block. In addition to the maximum area, the leakage area is also required to characterize the valve. The main purpose of the parameter is not to account for possible leakage, even though this is also important, but to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Theoretically, the parameter can be set to zero, but it is not recommended. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). The ow rate is determined according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i for p <= pset Aleak A( p) = Aleak + ki( p pset ) for pset < p < pmax A for p >= pmax max k= Amax preg
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p = pA pB Re = qi DH A( p)i CD = Re cr 4 A( p)
2
CDL
DH =
where
q p pA,pB CD A(p) Amax Aleak preg pset pmax DH
Flow rate through the valve Pressure differential across the valve Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area Fully open valve passage area Closed valve leakage area Regulation range Valve preset pressure Valve pressure at maximum opening Instantaneous orice hydraulic diameter Fluid density Fluid kinematic viscosity
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The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential is determined as p = pA pB .
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the valve, such as inertia, friction, spring, and so on, is considered. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
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Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2. Valve pressure setting Preset pressure level, at which the orice of the valve starts to open. The default value is 50e5 Pa. Valve regulation range Pressure increase over the preset level needed to fully open the valve. Must be less than 0.2 of the Valve pressure setting parameter value. The default value is 5e5 Pa. Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12m^2.
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Global Parameters
Ports

A

B
Examples
The Power Unit with Fixed-Displacement Pump demo (sh_power_unit_fxd_dspl_pump) illustrates the use of the Pressure Relief Valve block in hydraulic systems. The valve is set to 75e5 Pa and starts diverting uid to tank as soon as the pressure at its inlet reaches this value. Pressure Compensator Pressure Reducing Valve
See Also
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Proportional and Servo-Valve Actuator
Simulate continuous valve driver with output proportional to input signal Valve Actuators The Proportional and Servo-Valve Actuator block represents an electromagnetic actuator that is used in proportional and servo-valves to drive a spool or other working member. The block is intended to work with one of the directional valve models to form a desirable conguration of a proportional or servo-valve. The block is implemented as a data-sheet-based model and reproduces only the input/output relationship, or the actuators transient response, as presented in the catalog or data sheet. The Proportional and Servo-Valve Actuator block is built using the blocks from the Physical Signals library. Both the input and the output of the block are physical signals. The block diagram of the model is shown in the following gure.
The model consists of the rst-order lag, PS Integrator, PS Saturation block, and the PS Subtract block that closes the feedback. The conguration is found to be suitable to simulate behavior of servo-valves and high-quality proportional valves. The typical transient responses of a servo-valve or a high-quality proportional valve are shown in the following gure. The only difference between the two responses in the gure is the value of the saturation. The response that corresponds to 100% of the input signal is considerable slower than that with the 20% saturation.
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You can adjust the block parameters, such as saturation, gain, and time constant, to make the transient responses close enough to those provided in the data sheet. The most effective way to adjust the parameters is to use the Optimization Toolbox software.
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Gain Gain of the rst-order lag. The default value is 377. Time constant Time constant of the rst-order lag. The default value is 0.002 s. Saturation Saturation level of the Saturation block in the actuator model. The default value is 0.3.
Ports
The block has one physical signal input port and one physical signal output port.
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Examples
The Closed-Loop Electrohydraulic Actuator with Proportional Valve demo (sh_closed_loop_actuator) illustrates the use of the Proportional and Servo-Valve Actuator block in hydraulic systems. 2-Position Valve Actuator 3-Position Valve Actuator Hydraulic Double-Acting Valve Actuator Hydraulic Single-Acting Valve Actuator
See Also
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Reservoir
Simulate pressurized hydraulic reservoir Hydraulic Utilities The Reservoir block represents a pressurized hydraulic reservoir, in which uid is stored under a specied pressure. The pressure remains constant regardless of volume change. The block accounts for pressure loss in the return line that can be caused by a lter, ttings, or some other local resistance. The loss is specied with the pressure loss coefcient. The block computes the volume of uid in the tank and exports it outside through the physical signal port V. The uid volume value does not affect the results of simulation. It is introduced merely for information purposes. It is possible for the uid volume to become negative during simulation, which signals that the uid volume is not enough for the proper operation of the system. By viewing the results of the simulation, you can determine the extent of the uid shortage.
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Reservoir
Pressurization level The pressure inside the reservoir. The default value is 0. Initial uid volume The initial volume of uid in the tank. The default value is 0.02 m^3. Return line diameter The diameter of the return line. The default value is 0.02 m. Pressure loss coefcient in return line The value of the pressure loss coefcient, to account for pressure loss in the return line. The default value is 1.
Ports

P
Hydraulic conserving port associated with the pump line.
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Reservoir
Hydraulic conserving port associated with the return line.

V
See Also
Constant Head Tank Hydraulic Reference Variable Head Tank
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Resistive Pipe LP
Simulate hydraulic pipeline which accounts for friction losses and port elevations Low-Pressure Blocks The Resistive Pipe LP block models hydraulic pipelines with circular and noncircular cross sections and accounts for resistive property only. In other words, the block is developed with the basic assumption of the steady state uid momentum conditions. Neither uid compressibility nor uid inertia is considered in the model, meaning that features such as water hammer cannot be investigated. If necessary, you can add uid compressibility, uid inertia, and other effects to your model using other blocks, thus producing a more comprehensive model. The end effects are also not considered, assuming that the ow is fully developed along the entire pipe length. To account for local resistances, such as bends, ttings, inlet and outlet losses, and so on, all the resistances are converted into their equivalent lengths, and then the total length of all the resistances is added to the pipe geometrical length. Pressure loss due to friction is computed with the Darcy equation, in which losses are proportional to the ow regime-dependable friction factor and the square of the ow rate. The friction factor in turbulent regime is determined with the Haaland approximation (see [1]). The friction factor during transition from laminar to turbulent regimes is determined with the linear interpolation between extreme points of the regimes. As a result of these assumptions, the tube is simulated according to the following equations:
p= f
( L + Leq )
DH
2 A2
qi q| +i g ( zB z A ) |
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Resistive Pipe LP
K s / Re f fL f = fL + T ( Re ReL ) ReT ReL 1 2 6.9 r / D 1.11 H 1.8 log10 . + Re 3.7 Re =

where p q Re ReL ReT Ks fL fT A DH L Leq r
for Re <= ReL for ReL < Re < ReT for Re >= ReT
qi DH Ai
Pressure loss along the pipe due to friction Flow rate through the pipe Reynolds number Maximum Reynolds number at laminar ow Minimum Reynolds number at turbulent ow Shape factor that characterizes the pipe cross section Friction factor at laminar border Friction factor at turbulent border Pipe cross-sectional area Pipe hydraulic diameter Pipe geometrical length Aggregate equivalent length of local resistances Height of the roughness on the pipe internal surface
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Resistive Pipe LP
z A, z B g
Fluid kinematic viscosity Elevations of the pipe port A and port B, respectively Gravity acceleration
The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure loss is determined as p = pA pB .
The model is based on the following assumptions: Flow is assumed to be fully developed along the pipe length. Fluid inertia, uid compressibility, and wall compliance are not taken into account. The block dialog box contains two tabs: Basic Parameters on page 2-281 Vertical Position on page 2-284
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Resistive Pipe LP
Basic Parameters
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Resistive Pipe LP
Pipe cross section type The parameter can have one of two values: Circular or Noncircular. For a circular pipe, you need to specify its internal diameter. For a noncircular pipe, you need to specify its hydraulic diameter and pipe cross-sectional area. The default value of the parameter is Circular. Internal diameter Pipe internal diameter. The parameter is used if Pipe cross section type is set to Circular. The default value is 0.01 m.
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Resistive Pipe LP
Noncircular pipe cross-sectional area Pipe cross-sectional area. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 1e-4 m^2. Noncircular pipe hydraulic diameter Hydraulic diameter of the pipe cross section. The parameter is used if Pipe cross section type is set to Noncircular. The default value is 0.0112 m. Geometrical shape factor The parameter is used for computing friction factor at laminar ow and depends of the shape of the pipe cross section. For a pipe with noncircular cross section, you must set the factor to an appropriate value, for example, 56 for a square, 96 for concentric annulus, 62 for rectangle (2:1), and so on (see [1]). The default value is 64, which corresponds to a pipe with a circular cross section. Pipe length Pipe geometrical length. The default value is 5 m. Aggregate equivalent length of local resistances This parameter represents total equivalent length of all local resistances associated with the pipe. You can account for the pressure loss caused by local resistances, such as bends, ttings, armature, inlet/outlet losses, and so on, by adding to the pipe geometrical length an aggregate equivalent length of all the local resistances. The default value is 1 m. Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing. Laminar ow upper margin Species the Reynolds number at which the laminar ow regime is assumed to start converting into turbulent. Mathematically, this is the maximum Reynolds number at fully developed laminar ow. The default value is 2000.
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Resistive Pipe LP
Turbulent ow lower margin Species the Reynolds number at which the turbulent ow regime is assumed to be fully developed. Mathematically, this is the minimum Reynolds number at turbulent ow. The default value is 4000.
Vertical Position
Port A elevation wrt reference plane The parameter species vertical position of the pipe port A with respect to the reference plane. The default value is 0.
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Resistive Pipe LP
Port B elevation wrt reference plane The parameter species vertical position of the pipe port B with respect to the reference plane. The default value is 0. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Pipe cross section type All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Pipe cross section type parameter at the time the model entered Restricted mode.
Global Parameters
Ports

A

B
References See Also
[1] White, F.M., Viscous Fluid Flow, McGraw-Hill, 1991 Hydraulic Pipeline Hydraulic Pipe LP
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Resistive Pipe LP
Linear Hydraulic Resistance Resistive Tube Segmented Pipeline Segmented Pipe LP
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Segmented Pipeline
Simulate hydraulic pipeline with resistive, uid inertia, and uid compressibility properties Pipelines The Segmented Pipeline block models hydraulic pipelines with circular cross sections. Hydraulic pipelines, which are inherently distributed parameter elements, are represented with sets of identical, connected in series, lumped parameter segments. It is assumed that the larger the number of segments, the closer the lumped parameter model becomes to its distributed parameter counterpart. The equivalent circuit of a pipeline adopted in the block is shown below, along with the segment conguration.
Pipeline Equivalent Circuit
Segment Configuration
The model contains as many Constant Chamber blocks as there are segments. The chamber lumps uid volume equal to
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Segmented Pipeline
V=
where
V d L N
i d2 L 4 N
Fluid volume Pipe diameter Pipe length Number of segments
The Constant Chamber block is placed between two branches, each consisting of a Resistive Tube block and a Fluid Inertia block. Every Resistive Tube block lumps (L+L_ad)/(N+1)-th portion of the pipe length, while Fluid Inertia block has L/(N+1) length (L_ad denotes additional pipe length equal to aggregate equivalent length of pipe local resistances, such as tting, elbows, bends, and so on). The nodes to which Constant Chamber blocks are connected are assigned names N_1, N_2, , N_n (n is the number of segments). Pressures at these nodes are assumed to be equal to average pressure of the segment. Intermediate nodes between Resistive Tube and Fluid Inertia blocks are assigned names nn_0, nn_1, nn_2, , nn_n. The Constant Chamber blocks are named ch_1, ch_2, , ch_n, Resistive Tube blocks are named tb_0, tb_1, tb_2, , tb_n, and Fluid Inertia blocks are named fl_in_0, fl_in_1, fl_in_2, , fl_in_n. The number of segments is the block parameter. In determining the number of segments needed, you have to nd a compromise between the accuracy and computational burden for a particular application. It is practically impossible to determine analytically how many elements are necessary to get the results with a specied accuracy. The golden rule is to use as many elements as possible based on computational considerations, and an experimental assessment is perhaps the only reliable way to make any conclusions. As an approximate estimate, you can use the following formula:
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Segmented Pipeline
N>
where
N L c
4L i c
Number of segments Pipe length Speed of sound in the uid Maximum frequency to be observed in the pipe response
The table below contains an example of simulation of a pipeline where the rst four true eigenfrequencies are 89.1 Hz, 267 Hz, 446 Hz, and 624 Hz. Number of Segments 1 2 4 8 1st Mode 112.3 107.2 97.7 93.2 2nd Mode 271.8 284.4 271.9 3rd Mode 432.9 435.5 4th Mode 689 628
As you can see, the error is less than 5% if an eight-segmented version is used. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure loss is determined as p = pA pB .
The model is based on the following assumption: Flow is assumed to be fully developed along the pipe length.
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Segmented Pipeline
Pipe internal diameter Internal diameter of the pipe. The default value is 0.01 m. Pipe length Pipe geometrical length. The default value is 5 m. Number of segments Number of lumped parameter segments in the pipeline model. The default value is 1.
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Segmented Pipeline
Aggregate equivalent length of local resistances This parameter represents total equivalent length of all local resistances associated with the pipe. You can account for the pressure loss caused by local resistances, such as bends, ttings, armature, inlet/outlet losses, and so on, by adding to the pipe geometrical length an aggregate equivalent length of all the local resistances. This length is added to the geometrical pipe length only for hydraulic resistance computation. Both the uid volume and uid inertia are determined based on pipe geometrical length only. The default value is 1 m. Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing. Laminar ow upper margin Species the Reynolds number at which the laminar ow regime is assumed to start converting into turbulent. Mathematically, this is the maximum Reynolds number at fully developed laminar ow. The default value is 2000. Turbulent ow lower margin Species the Reynolds number at which the turbulent ow regime is assumed to be fully developed. Mathematically, this is the minimum Reynolds number at turbulent ow. The default value is 4000. Pipe wall type The parameter can have one of two values: Rigid or Compliant. If the parameter is set to Rigid, wall compliance is not taken into account, which can improve computational efciency. The value Compliant is recommended for hoses and metal pipes where wall compliance can affect the system behavior. The default value is Rigid. Static pressure-diameter coefcient Coefcient that establishes relationship between the pressure and the internal diameter at steady-state conditions. This coefcient
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Segmented Pipeline
can be determined analytically for cylindrical metal pipes or experimentally for hoses. The parameter is used if the Pipe wall type parameter is set to Compliant, and the default value is 2e-10 m/Pa. Viscoelastic process time constant Time constant in the transfer function that relates pipe internal diameter to pressure variations. By using this parameter, the simulated elastic or viscoelastic process is approximated with the rst-order lag. The value is determined experimentally or provided by the manufacturer. The default value is 0.008 s. Specic heat ratio Gas-specic heat ratio for the Constant Volume Chamber block. The default value is 1.4. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Pipe wall type All other block parameters are available for modication.
Global Parameters
Ports

A
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Segmented Pipeline
See Also
Hydraulic Pipeline Linear Hydraulic Resistance Resistive Tube
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Segmented Pipe LP
Simulate hydraulic pipeline with resistive, uid inertia, uid compressibility, and elevation properties Low-Pressure Blocks The Segmented Pipe LP block models hydraulic pipelines with circular cross sections. Hydraulic pipelines, which are inherently distributed parameter elements, are represented with sets of identical, connected in series, lumped parameter segments. It is assumed that the larger the number of segments, the closer the lumped parameter model becomes to its distributed parameter counterpart. The equivalent circuit of a pipeline adopted in the block is shown below, along with the segment conguration.
Pipeline Equivalent Circuit
Segment Configuration
The model contains as many Constant Chamber blocks as there are segments. The chamber lumps uid volume equal to
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Segmented Pipe LP
V=
where
V d L N
i d2 L 4 N
Fluid volume Pipe diameter Pipe length Number of segments
The Constant Chamber block is placed between two branches, each consisting of a Resistive Tube block and a Fluid Inertia block. Every Resistive Tube block lumps (L+L_ad)/(N+1)-th portion of the pipe length, while Fluid Inertia block has L/(N+1) length (L_ad denotes additional pipe length equal to aggregate equivalent length of pipe local resistances, such as tting, elbows, bends, and so on). The nodes to which Constant Chamber blocks are connected are assigned names N_1, N_2, , N_n (n is the number of segments). Pressures at these nodes are assumed to be equal to average pressure of the segment. Intermediate nodes between Resistive Tube and Fluid Inertia blocks are assigned names nn_0, nn_1, nn_2, , nn_n. The Constant Chamber blocks are named ch_1, ch_2, , ch_n, Resistive Tube blocks are named tb_0, tb_1, tb_2, , tb_n, and Fluid Inertia blocks are named fl_in_0, fl_in_1, fl_in_2, , fl_in_n. The number of segments is the block parameter. In determining the number of segments needed, you have to nd a compromise between the accuracy and computational burden for a particular application. It is practically impossible to determine analytically how many elements are necessary to get the results with a specied accuracy. The golden rule is to use as many elements as possible based on computational considerations, and an experimental assessment is perhaps the only reliable way to make any conclusions. As an approximate estimate, you can use the following formula:
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Segmented Pipe LP
N>
where
N L c
4L i c
Number of segments Pipe length Speed of sound in the uid Maximum frequency to be observed in the pipe response
The table below contains an example of simulation of a pipeline where the rst four true eigenfrequencies are 89.1 Hz, 267 Hz, 446 Hz, and 624 Hz. Number of Segments 1 2 4 8 1st Mode 112.3 107.2 97.7 93.2 2nd Mode 271.8 284.4 271.9 3rd Mode 432.9 435.5 4th Mode 689 628
As you can see, the error is less than 5% if an eight-segmented version is used. The difference in elevation between ports A and B is distributed evenly between pipe segments. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B, and the pressure loss is determined as p = pA pB .
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Segmented Pipe LP
The model is based on the following assumption: Flow is assumed to be fully developed along the pipe length.
The block dialog box contains three tabs: Basic Parameters on page 2-297 Wall Compliance on page 2-299 Vertical Position on page 2-302
Basic Parameters
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Segmented Pipe LP
Pipe internal diameter Internal diameter of the pipe. The default value is 0.01 m. Pipe length Pipe geometrical length. The default value is 5 m. Number of segments Number of lumped parameter segments in the pipeline model. The default value is 1. Aggregate equivalent length of local resistances This parameter represents total equivalent length of all local resistances associated with the pipe. You can account for the pressure loss caused by local resistances, such as bends, ttings, armature, inlet/outlet losses, and so on, by adding to the pipe geometrical length an aggregate equivalent length of all the local resistances. This length is added to the geometrical pipe length only for hydraulic resistance computation. Both the uid volume and uid inertia are determined based on pipe geometrical length only. The default value is 1 m. Internal surface roughness height Roughness height on the pipe internal surface. The parameter is typically provided in data sheets or manufacturers catalogs. The default value is 1.5e-5 m, which corresponds to drawn tubing. Laminar ow upper margin Species the Reynolds number at which the laminar ow regime is assumed to start converting into turbulent. Mathematically, this is the maximum Reynolds number at fully developed laminar ow. The default value is 2000. Turbulent ow lower margin Species the Reynolds number at which the turbulent ow regime is assumed to be fully developed. Mathematically, this is the minimum Reynolds number at turbulent ow. The default value is 4000.
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Segmented Pipe LP
Wall Compliance
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Segmented Pipe LP
Pipe wall type The parameter can have one of two values: Rigid or Flexible. If the parameter is set to Rigid, wall compliance is not taken into account, which can improve computational efciency. The value Flexible is recommended for hoses and metal pipes where wall compliance can affect the system behavior. The default value is Rigid. Static pressure-diameter coefcient Coefcient that establishes relationship between the pressure and the internal diameter at steady-state conditions. This coefcient can be determined analytically for cylindrical metal pipes or experimentally for hoses. The parameter is used if the Pipe wall
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Segmented Pipe LP
type parameter is set to Flexible. The default value is 2e-12 m/Pa. Viscoelastic process time constant Time constant in the transfer function that relates pipe internal diameter to pressure variations. By using this parameter, the simulated elastic or viscoelastic process is approximated with the rst-order lag. The value is determined experimentally or provided by the manufacturer. The parameter is used if the Pipe wall type parameter is set to Flexible. The default value is 0.01 s. Specic heat ratio Gas-specic heat ratio for the Constant Volume Chamber block. The default value is 1.4.
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Segmented Pipe LP
Vertical Position
Port A elevation wrt reference plane The parameter species vertical position of the pipe port A with respect to the reference plane. The default value is 0. Port B elevation wrt reference plane The parameter species vertical position of the pipe port B with respect to the reference plane. The default value is 0. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter:
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Segmented Pipe LP
Pipe wall type All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Pipe wall type parameter at the time the model entered Restricted mode.
Global Parameters
Ports

A

B
References See Also
[1] White, F.M., Viscous Fluid Flow, McGraw-Hill, 1991 Hydraulic Pipeline Hydraulic Pipe LP Linear Hydraulic Resistance Resistive Pipe LP Resistive Tube Segmented Pipeline
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Shuttle Valve
Simulate hydraulic valve that allows ow in one direction only Directional Valves The Shuttle Valve block represents a hydraulic shuttle valve as a data-sheet-based model. The valve has two inlet ports (A and A1) and one outlet port (B). The valve is controlled by pressure differential
pc = pA pA1 . The valve permits ow either between ports A and B or between ports A1 and B, depending on the pressure differential pc. Initially, path A-B is assumed to be opened. To open path A1-B (and close A-B at the same time), pressure differential must be less than the valve cracking pressure (pcr <=0).
When cracking pressure is reached, the value control member (spool, ball, poppet, etc.) is forced off its seat and moves to the opposite seat, thus opening one passage and closing the other. If the ow rate is high enough and pressure continues to change, the control member continues to move until it reaches its extreme position. At this moment, one of the valve passage areas is at its maximum. The valve maximum area and the cracking and maximum pressures are generally provided in the catalogs and are the three key parameters of the block. The relationship between the A-B, A1B path openings and control pressure pc is shown in the following illustration.
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Shuttle Valve
In addition to the maximum area, the leakage area is also required to characterize the valve. The main purpose of the parameter is not to account for possible leakage, even though this is also important, but to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Theoretically, the parameter can be set to zero, but it is not recommended. The model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number for each orice (ReAB,ReA1B) and comparing its value with the critical Reynolds number (Recr). The ow rate through each of the orices is determined according to the following equations:
q AB
2 | pAB |i sign ( pAB ) for Re AB >= Recr CD i A AB = DHAB 2C i A pAB for Re AB < Recr DL AB i
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Shuttle Valve
q A1 B
2 | pA1 B |i sign ( pA1 B ) for Re A1 B >= Recr CD i A A1 B = DHA1 B 2C i A pA1 B for Re A1 B < Recr DL A1 B i Aleak for pAB <= pcr = Aleak + ki( pAB pcr ) for pcr < pAB < pcr + pop A for pAB >= pcr + pop max for pA1 B >= pcr + pop Aleak = Amax ki( pA1 B pcr ) for pcr < pA1 B < pcr + pop A for pA1 B <= pcr max
A AB
A A1 B
k=
Amax Aleak pop
pAB = pA pB pA1 B = pA1 pB Re AB = q AB i DHAB A AB i q A1 B i DHA1 B A A1 B i

2
Re A1 B =
CDL
CD = Re cr
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Shuttle Valve
DHAB =
4 A AB 4 A A1 B
DHA1 B =
where qAB,qA1B pAB,pA1B pA,pA1,pB CD AAB,AA1B Amax Aleak pcr popx DHAB,DHA1B
Flow rates through the AB and A1B orices Pressure differentials across the AB and A1B orices Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice AB and A1B passage areas Fully open orice passage area Closed valve leakage area Valve cracking pressure differential Pressure differential needed to fully shift the valve Instantaneous orice hydraulic diameters Fluid density Fluid kinematic viscosity
The block positive direction is from port A to port B and from port A1 to port B. Control pressure is determined as pc = pA pA1 .
The model is based on the following assumptions: Valve opening is linearly proportional to the pressure differential. No loading on the valve, such as inertia, friction, spring, and so on, is considered.
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Shuttle Valve
The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
Maximum passage area Valve passage maximum cross-sectional area. The default value is 1e-4 m^2. Cracking pressure Pressure differential level at which the orice of the valve starts to open. The default value is -1e4 Pa. Opening pressure Pressure differential across the valve needed to shift the valve from one extreme position to another. The default value is 1e4 Pa.
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Shuttle Valve
Flow discharge coefcient Semi-empirical parameter for valve capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2.
Global Parameters
Ports

A
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Shuttle Valve
A1

B
See Also
Check Valve Pilot-Operated Check Valve
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Single-Acting Hydraulic Cylinder
Simulate hydraulic actuator exerting force in one direction Hydraulic Cylinders The Single-Acting Hydraulic Cylinder block models a device that converts hydraulic energy into mechanical energy in the form of translational motion. Hydraulic uid pumped under pressure into the cylinder chamber forces the piston to move and exert force on the cylinder rod. Single-acting cylinders transfer force and motion in one direction only. Use an external device, such as a spring, weight, or another opposite installed cylinder, to move the rod in opposite direction. The model of the cylinder is built of Simscape Foundation library blocks. The schematic diagram of the model is shown below.
Connections R and C are mechanical translational conserving ports corresponding to the cylinder rod and cylinder clamping structure,
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respectively. Connection A is a hydraulic conserving port associated with the cylinder inlet. The physical signal output port provides rod displacement. The energy through port A is directed to the Translational Hydro-Mechanical Converter block and the Piston Chamber block. The converter transforms hydraulic energy into mechanical energy, while the chamber accounts for the uid compressibility in the cylinder chamber. The rod motion is limited with the mechanical Translational Hard Stop block in such a way that the rod can travel only between cylinder caps. The Ideal Translational Motion Sensor block in the schematic is introduced to determine an instantaneous piston position, which is necessary for the Piston Chamber block. The block directionality is adjustable and can be controlled with the Cylinder orientation parameter.
The model is based on the following assumptions: No leakage, internal or external, is taken into account. No loading on piston rod, such as inertia, friction, spring, and so on, is taken into account. If necessary, you can easily add them by connecting an appropriate building block to cylinder port R.
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Piston area Effective piston area. The default value is 0.001 m^2. Piston stroke Piston maximum travel between caps. The default value is 0.1 m. Piston initial position The distance that the piston is extended at the beginning of simulation. You can set the piston position to any point within its stroke. The default value is 0, which corresponds to the fully retracted position.
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Dead volume Fluid volume that remains in the chamber after the rod is fully retracted. The default value is 1e-4 m^3. Specic heat ratio Gas-specic heat ratio for the Piston Chamber block. The default value is 1.4. Contact stiffness Species the elastic property of colliding bodies for the Translational Hard Stop block. The greater the value of the parameter, the less the bodies penetrate into each other, the more rigid the impact becomes. Lesser value of the parameter makes contact softer, but generally improves convergence and computational efciency. The default value is 1e6 N/m. Contact damping Species dissipating property of colliding bodies for the Translational Hard Stop block. At zero damping, the impact is close to an absolutely elastic one. The greater the value of the parameter, the more energy dissipates during an interaction. Keep in mind that damping affects slider motion as long as the slider is in contact with the stop, including the period when slider is pulled back from the contact. For computational efciency and convergence reasons, The MathWorks recommends that you assign a nonzero value to this parameter. The default value is 150 N*s/m. Cylinder orientation Species cylinder orientation with respect to the globally assigned positive direction. The cylinder can be installed in two different ways, depending upon whether it exerts force in the positive or in the negative direction when pressure is applied at its inlet. If pressure applied at port A exerts force in negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction.
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Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Cylinder orientation All other block parameters are available for modication.
Global Parameters
A
Ports
Hydraulic conserving port associated with the cylinder inlet.

R

C
Mechanical translational conserving port associated with the cylinder clamping structure. The block also has a physical signal output port, which outputs rod displacement.
See Also
Double-Acting Hydraulic Cylinder Ideal Translational Motion Sensor Translational Hard Stop Translational Hydro-Mechanical Converter Piston Chamber
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Single-Acting Rotary Actuator
Simulate single-acting hydraulic rotary actuator Hydraulic Cylinders The Single-Acting Rotary Actuator block models a single-acting hydraulic rotary actuator, which directly converts hydraulic energy into mechanical rotational energy without employing intermediary transmissions such as rack-and-pinion, sliding spline, chain, and so on. Single-acting actuators generate torque and motion in a single direction only. Use an external device, such as a spring or another opposite installed actuator, to move the shaft in opposite direction. The model of the actuator is built of Simscape Foundation library blocks. The schematic diagram of the model is shown below.
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The blocks in the diagram perform the following functions: Rotational Hydro-Mechanical Converter Rotational Hard Stop Linear Hydraulic Resistance Piston Chamber Ideal Translational Motion Sensor Wheel and Axle Converts hydraulics energy into mechanical rotational energy and vice versa. Imposes limits on shaft rotation. Accounts for leakages. Accounts for uid compressibility. Determines an instantaneous shaft position, which is necessary for the Piston Chamber block. Converts shaft rotation into translational motion to provide input to the Ideal Translational Motion Sensor block
Connection A is a hydraulic conserving port corresponding to the actuator chamber. Connection S is a mechanical rotational conserving port associated with the actuator shaft. The block directionality is adjustable and can be controlled with the Actuator orientation parameter.
The model is based on the following assumption: No loading, such as inertia, friction, spring, and so on, is taken into account. If necessary, you can easily add them by connecting an appropriate building block to port S.
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Actuator displacement Effective displacement of the actuator. The default value is 4.5e-5 m^3/rad. Shaft stroke Shaft maximum travel between stops. The default value is 5.1 rad. Shaft initial angle The position of the shaft at the beginning of simulation. You can set the shaft position to any angle within its stroke. The default
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value is 0, which corresponds to the shaft position at the very beginning of the stroke. Dead volume Fluid volume that remains in the chamber when the shaft is positioned at the very beginning of the stroke. The default value is 1e-4 m^3. Leak coefcient Leak coefcient for the Linear Hydraulic Resistance block. The default value is 1e-14 (m^3/s)/Pa. Specic heat ratio Gas-specic heat ratio for the Piston Chamber block. The default value is 1.4. Contact stiffness Species the elastic property of colliding bodies for the Rotational Hard Stop block. The greater the value of the parameter, the less the bodies penetrate into each other, the more rigid the impact becomes. Lesser value of the parameter makes contact softer, but generally improves convergence and computational efciency. The default value is 1e6 N*m/rad. Contact damping Species dissipating property of colliding bodies for the Rotational Hard Stop block. At zero damping, the impact is close to an absolutely elastic one. The greater the value of the parameter, the more energy dissipates during an interaction. Keep in mind that damping affects slider motion as long as the slider is in contact with the stop, including the period when slider is pulled back from the contact. For computational efciency and convergence reasons, The MathWorks recommends that you assign a nonzero value to this parameter. The default value is 150 N*m/(rad/s). Actuator orientation Species actuator orientation with respect to the globally assigned positive direction. The actuator can be installed in two different ways, depending upon whether it generates torque in the positive or in the negative direction when pressure is applied at its inlet.
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If pressure applied at port A generates torque in the negative direction, set the parameter to Acts in negative direction. The default value is Acts in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Actuator orientation All other block parameters are available for modication.
Global Parameters
A
Ports
Hydraulic conserving port associated with the actuator inlet.

S
Mechanical rotational conserving port associated with the actuator shaft.
See Also
Ideal Translational Motion Sensor Linear Hydraulic Resistance Rotational Hard Stop Rotational Hydro-Mechanical Converter Piston Chamber Wheel and Axle
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Spool Orifice Hydraulic Force
Simulate axial hydraulic force exerted on spool Valve Forces The Spool Orice Hydraulic Force block simulates the steady-state axial hydraulic force exerted on the spool by uid owing through the orice. The orice is supposed to be rectangular with the width considerably larger than the radial clearance between the spool and the sleeve. The force is simulated according to the following equations:
F= p
q2 cos i or A
= 0.3663 + 0.8373(1 exp( x / 1.848)) x = x0 + si or

2 2 A = bi x + bi
for x > 0 for x <= 0
where F q A x0 s b Axial hydraulic force Flow rate through the orice Fluid density Orice area Jet angle (rad) Orice initial opening Spool displacement Orice width
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or
Radial clearance Orientation parameter with respect to the globally assigned positive direction. If the orice is opened while the spool is shifted in positive direction, or equals 1. If the orice is opened while the spool is shifted in negative direction, or equals 1.
Connections A and B are hydraulic conserving ports that should be connected in series with the orice block to monitor the ow rate. Connection S is a physical signal port that provides the spool displacement. Connection F is a physical signal port that outputs the hydraulic axial force value. This port should be connected to the control port of an Ideal Force Source block. The force computed in the block always acts to close the orice.
The model is based on the following assumptions: The transient effects are assumed to be negligible. The jet angle approximation is based on the Richard von Mises equation. The block can be used with rectangular orices whose width is considerably larger than the axial opening.
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Orice width Orice width. The parameter must be greater than zero. The default value is 0.01 m. Radial clearance The radial clearance between the spool and the sleeve. The default value is 1e-5 m. Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0. Orice orientation The parameter is introduced to specify the effect of the force on the orice opening. The parameter can be set to one of two options: Opens in positive direction or Opens in negative direction. The value Opens in positive direction species
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an orice that opens when the spool moves in the globally assigned positive direction. The default value is Opens in positive direction. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameter: Orice orientation All other block parameters are available for modication.
Ports

A
Hydraulic conserving port associated with an orice inlet.

B
Hydraulic conserving port associated with an orice outlet.

S
Physical signal port that provides the spool displacement.

F
Physical signal port that outputs hydraulic axial force.
Examples
The following example shows a model of a 4-way, 3-position, hydraulically-operated directional valve where the hydraulic axial forces acting on the spool are being taken into consideration.
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The spool (mass M1, viscous friction TD1) is shifted by the servo-actuator simulated by two Translational Hydro-Mechanical Converter blocks. Connections A_S and B_S are hydraulic ports for applying pilot control pressure. Four variable orices are represented by subsystems: Orice with Hydraulic Force PA Orice with Hydraulic Force PB Orice with Hydraulic Force AT
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Orice with Hydraulic Force BT The structure of a subsystem is shown in the following illustration.
It consists of an Orice with Variable Area Slot block, which simulates hydraulic properties of the orice, connected in series with a Spool Orice Hydraulic Force block. The force value computed in the block is exported through its port F and passed to the Force block. The forces on all four orices (F_PA, F_PB, F_AT, F_BT) are applied to the valve spool as it is shown in the rst schematic. For more details and for parameter settings, see the Hydraulic System with Servo-Valve demo (sh_hydraulic_system_with_servo_valve).
See Also
Valve Hydraulic Force
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Simulate hydraulic accumulator with spring used for energy storage Accumulators This block represents a spring-loaded accumulator, where uid entering the accumulator compresses the spring, thus storing hydraulic energy. Since the spring compression increases as uid enters the chamber and decreases as the accumulator is discharged, the pressure is not constant. The spring is preloaded. Therefore, uid starts entering the chamber only after the inlet pressure crosses over this threshold. The accumulator is described with the following equations:
q=
dVF dt for p <= p pr for p pr < p < pmax for p >= pmax
0 VF = k p p pr Vmax
k=
where
p q Vmax VF ppr pmax
Vmax pmax p pr
Pressure at the accumulator inlet Flow rate into accumulator Accumulator capacity (maximum volume) Instantaneous volume of uid in the accumulator Preload pressure Pressure needed to fully ll the accumulator
The block positive direction is from port A into the accumulator. This means that the ow rate is positive if it ows into the accumulator.
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The model is based on the following assumptions: The spring has linear characteristics. No loading on the separator, such as inertia, friction, and so on, is considered. Fluid compressibility is not taken into account.
Capacity Accumulator volumetric capacity. The default value is 0.008 m^3. Preload pressure Pressure at which uid starts entering the chamber. The default value is 1e6 Pa. Maximum pressure Pressure at which the accumulator is fully charged. The default value is 3e6 Pa.
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Initial uid volume Initial volume of uid in the accumulator. This parameter species the initial condition for use in computing the blocks initial state at the beginning of a simulation run. For more information, see Computing Initial Conditions. The default value is 0.
Ports
The block has one hydraulic conserving port associated with the accumulator inlet. The ow rate is positive if uid ows into the accumulator.
See Also
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Sudden Area Change
Simulate sudden enlargement or contraction Local Hydraulic Resistances The Sudden Area Change block represents a local hydraulic resistance, such as a sudden cross-sectional area change. The resistance represents a sudden enlargement if uid ows from inlet to outlet, or a sudden contraction if uid ows from outlet to inlet. The block is based on the Local Resistance block. It determines the pressure loss coefcient and passes its value to the underlying Local Resistance block. The block offers two methods of parameterization: by applying semi-empirical formulas (with a constant value of the pressure loss coefcient) or by table lookup for the pressure loss coefcient based on the Reynolds number. If you choose to apply the semi-empirical formulas, you provide geometric parameters of the resistance, and the pressure loss coefcient is determined automatically according to the following equations (see [1]):
K SE
A = K cor 1 S AL
K SC
where
KSE KSC Kcor
A = K cor i0.5 1 S AL
0.75
Pressure loss coefcient for the sudden enlargement, which takes place if uid ows from inlet to outlet Pressure loss coefcient for the sudden contraction, which takes place if uid ows from outlet to inlet Correction factor
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Sudden Area Change
AS AL
Small area Large area
If you choose to specify the pressure loss coefcient by a table, you have to provide a tabulated relationship between the loss coefcient and the Reynolds number. In this case, the loss coefcient is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. The pressure loss coefcient, determined by either of the two methods, is then passed to the underlying Local Resistance block, which computes the pressure loss according to the formulas explained in the reference documentation for that block. The ow regime is checked in the underlying Local Resistance block by comparing the Reynolds number to the specied critical Reynolds number value, and depending on the result, the appropriate formula for pressure loss computation is used. The Sudden Area Change block is bidirectional and computes pressure loss for both the direct ow (sudden enlargement) and return ow (sudden contraction). If the loss coefcient is specied by a table, the table must cover both the positive and the negative ow regions. Connections A and B are conserving hydraulic ports associated with the block inlet and outlet, respectively. The block positive direction is from port A to port B. This means that the ow rate is positive if uid ows from A to B, and the pressure loss is determined as p = pA pB .
The model is based on the following assumption: Fluid inertia is not taken into account. If you select parameterization by semi-empirical formulas, the transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. If you select parameterization by the table-specied relationship K=f(Re), the ow is assumed to be turbulent.
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Sudden Area Change
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Sudden Area Change
Small diameter Resistance small diameter. The default value is 0.01 m. Large diameter Resistance large diameter. The default value is 0.02 m. This parameter is used if Model parameterization is set to By semi-empirical formulas. Model parameterization Select one of the following methods for block parameterization:
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Sudden Area Change
By semi-empirical formulas Provide geometrical parameters of the resistance. This is the default method. By loss coefficient vs. Re table Provide tabulated relationship between the loss coefcient and the Reynolds number. The loss coefcient is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. The table must cover both the positive and the negative ow regions. Correction coefcient Correction factor used in the formula for computation of the loss coefcient. The default value is 1. This parameter is used if Model parameterization is set to By semi-empirical formulas. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 110. This parameter is used if Model parameterization is set to By semi-empirical formulas. Reynolds number vector Specify the vector of input values for Reynolds numbers as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values are
[-4000, -3000, -2000, -1000, -500, -200, -100, -50, -40, -30, -20, -15, -10, 10, 20, 30, 40, 50, 100, 200, 500, 1000, 2000, 4000, 5000, 10000]. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table.
Loss coefcient vector Specify the vector of output values for the loss coefcient as a tabulated 1-by-m array. The loss coefcient vector must be the
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Sudden Area Change
same size as the Reynolds numbers vector. The default values are [0.25, 0.3, 0.65, 0.9, 0.65, 0.75, 0.90, 1.15,
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last
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Sudden Area Change
specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By loss coefficient vs. Re table. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
Ports

A
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Sudden Area Change
References See Also
[1] Idelchik, I.E., Handbook of Hydraulic Resistance, CRC Begell House, 1994 Elbow Gradual Area Change Local Resistance Pipe Bend T-junction
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T-junction
Simulate hydraulic resistance of T-junction in pipe Local Hydraulic Resistances The T-junction block represents a T-junction (wye connection) consisting, in general, of a main run and a branch merging to the main run. The junction as a hydraulic resistance is built of three Local Resistance blocks, as shown in the following diagram.
To specify pressure loss for all possible ow directions, you have to provide six pressure loss coefcients. The ow regime is checked in the underlying Local Resistance blocks by comparing the Reynolds number to the specied critical Reynolds number value, and depending on the result, the appropriate formula for pressure loss computation is used. For more information, see the reference documentation for the Local Resistance block. The block positive direction is from port A to port B, from port A to port A1, and from port A1 to port B.
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T-junction
The model is based on the following assumption: Fluid inertia is not taken into account. The transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr.
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T-junction
Main pipe diameter The internal pipe diameter of the main run. The default value is 0.01 m.
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T-junction
Branch pipe diameter The internal pipe diameter of the branch. The default value is 0.01 m. A-B pressure loss coefcient The pressure loss coefcient between ports A and B when uid ows in the direction from A to B. The default value is 1.12. B-A pressure loss coefcient The pressure loss coefcient between ports A and B when uid ows in the direction from B to A. The default value is 1.12. A-A1 pressure loss coefcient The pressure loss coefcient between ports A and A1 when uid ows in the direction from A to A1. The default value is 1.36. A1-A pressure loss coefcient The pressure loss coefcient between ports A and A1 when uid ows in the direction from A1 to A. The default value is 1.65. A1-B pressure loss coefcient The pressure loss coefcient between ports A1 and B when uid ows in the direction from A1 to B. The default value is 1.6. B-A1 pressure loss coefcient The pressure loss coefcient between ports A1 and B when uid ows in the direction from B to A1. The default value is 1.8. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place when the Reynolds number reaches this value. The value of the parameter depends on geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 120.
Global Parameters
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T-junction
Ports

A
Hydraulic conserving port associated with the main run inlet.

B
Hydraulic conserving port associated with the main run outlet.

A1
Hydraulic conserving port associated with the branch inlet.
See Also
Elbow Gradual Area Change Local Resistance Pipe Bend Sudden Area Change
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Simulate axial hydraulic static force exerted on valve Valve Forces The Valve Hydraulic Force block simulates axial hydraulic static force exerted on a valve by uid owing through the orice. The relationship between the valve opening, the pressure drop, and the force is provided as a two-dimensional table, which is processed by the PS Lookup Table (2D) block. The table can be obtained experimentally or analytically and can represent both the hydraulic static axial force and pressure forces. The force matrix must be rectangular and contain as many rows as there are pressure differential measurements and as many columns as there are valve openings. The pressure differential and opening vectors must be arranged in strictly ascending order and cover the whole range of valve operation. Connect the block in parallel with the orice whose ow induces the force. Connections A and B are hydraulic conserving ports that should be connected to the valve block ports in such a way as to monitor the pressure differential across the valve. Connection S is a physical signal port that provides the valve control member displacement. Connection F is a physical signal port that outputs the hydraulic axial force value. This port should be connected to the control port of an Ideal Force Source block. The pressure differential inside the block is determined as p = pA pB . The force orientation is specied by the table values and can be positive or negative with respect to the globally assigned positive direction, depending on the value of the Orice orientation parameter.
The model is based on the following assumption: No transient effects can be simulated.
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Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The default value is 0.
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Orice orientation The parameter is introduced to specify the effect of the valve opening on the valve force. The parameter can be set to one of two options: Opens in positive direction or Opens in negative direction. The value Opens in positive direction species an orice that opens when the valve is shifted in the globally assigned positive direction. The default value is Opens in positive direction. Tabulated valve openings Specify the vector of input values for valve openings as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [0,1e-3,2e-3,3e-3,4e-3]. The Tabulated valve openings values will be used together with Tabulated pressure differentials for two-dimensional table lookup in the Hydraulic axial force table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in Pa, are [-100e5,-75e5,-50e5,-25e5,0,25e5,50e5,75e5,100e5]. Hydraulic axial force table Specify the output values for the hydraulic axial force as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species an axial force corresponding to a specic combination of valve opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in N, are:
[0, -127.3576, 0, -95.5182, 0, -63.6788, 0, -31.8394, -27.8944, -20.9208, -13.9472, -6.9736, 227.2513, 170.4385, 113.6256, 56.8128, 575.3104; 431.4828; 287.6552; 143.8276; ... ... ... ...
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0, 196.3495, 392.6991, 589.0486, 785.3982,
0, 120.7506, 241.5013, 362.2519, 483.0025,
0, 97.5709, 195.1418, 292.7126, 390.2835,
0, 111.9898, 223.9797, 335.9695, 447.9594,
0; 150.9306; 301.8613; 452.7919; 603.7225]
... ... ... ...
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic Uses the bicubic interpolation algorithm. Spline Uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (2D) block reference page. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument.
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For more information on extrapolation algorithms, see the PS Lookup Table (2D) block reference page. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Orice orientation Interpolation method Extrapolation method All other block parameters are available for modication.
Ports

A
Hydraulic conserving port associated with a valve port.

B
Hydraulic conserving port associated with another valve port to monitor the pressure differential.
S
Physical signal port that provides the valve control member displacement.
F
Physical signal port that outputs hydraulic axial force.
Examples
The following example shows a model of a poppet valve built of a Poppet Valve block and a Valve Hydraulic Force block. The Valve Hydraulic Force block is connected in parallel and provides tabulated data to compute hydraulic force acting on the valve. The force value is exported through the F port.
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See Also
Spool Orice Hydraulic Force
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Variable Head Tank
Simulate tank with constant pressurization and volume-dependent uid level Low-Pressure Blocks The Variable Head Tank block represents a pressurized hydraulic reservoir, in which uid is stored under a specied pressure. The pressurization remains constant regardless of volume change. The block accounts for the uid level change caused by the volume variation, as well as for pressure loss in the connecting pipe that can be caused by a lter, ttings, or some other local resistance. The loss is specied with the pressure loss coefcient. The block computes the volume of uid in the tank and exports it outside through the physical signal port V. The pressure at the tank inlet is computed with the following equations:
p = pelev ploss + p pr pelev = i gi H ploss = K 2 A2 p q| q|
Ap =
i d2 4
V for constant-area tank H = A f (V ) for table-specified tank V = V0 + qit

where
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Variable Head Tank
p pelev ploss ppr g

H
Pressure at the tank inlet Pressure due to uid level Pressure loss in the connecting pipe Pressurization Fluid density Acceleration of gravity Fluid level with respect to the bottom of the tank Pressure loss coefcient Connecting pipe area Connecting pipe diameter Flow rate Instantaneous uid volume Initial uid volume Tank cross-sectional area Simulation time
K Ap d q V V0 A t
For a tank with a variable cross-sectional area, the relationship between uid level and volume is specied with the table lookup
H = f (V )
You have a choice of three interpolation methods and two extrapolation methods. Connection T is a hydraulic conserving port associated with the tank inlet. Connection V is a physical signal port. The ow rate is considered positive if it ows into the tank.
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Variable Head Tank
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Variable Head Tank
Initial uid volume The initial volume of uid in the tank. This parameter must be greater than zero. The default value is 20 l. Pressurization Gage pressure acting on the in the tank. It can be created by a gas cushion, membrane, bladder, or piston, as in bootstrap reservoirs. This parameter must be greater than or equal to zero. The default value is 0, which corresponds to a tank connected to atmosphere. Level/Volume relationship Select one of the following block parameterization options: Linear Provide a value for the tank cross-sectional area. The level is assumed to be linearly dependent on the uid volume. This is the default method.
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Variable Head Tank
Table-specified Provide tabulated data of uid volumes and uid levels. The level is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Tank cross-section area The cross-sectional area of the tank. This parameter must be greater than zero. The default value is 0.8 m^2. This parameter is used if Level/Volume relationship is set to Linear. Tabulated uid volumes Specify the vector of input values for uid volume as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in m^3, are [0 0.0028 0.0065 0.0114 0.0176 0.0252 0.0344
0.0436 0.0512 0.0574 0.0623 0.066 0.0688 0.0707 0.072 0.0727]. This parameter is used if Level/Volume relationship is set to Table-specified.
Tabulated uid levels Specify the vector of output values for the uid level as a tabulated 1-by-m array. The pump displacements vector must be the same size as the control member positions vector. The default values, in meters, are [0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0.22 0.24 0.26 0.28 0.3]. This parameter is used if Level/Volume relationship is set to Table-specified. Inlet pipeline diameter The diameter of the connecting pipe. This parameter must be greater than zero. The default value is 0.02 m. Pipeline pressure loss coefcient The value of the pressure loss coefcient, to account for pressure loss in the connecting pipe. This parameter must be greater than zero. The default value is 1.2. The loss is computed with the equation similar to that used in the Fixed Orice block:
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Variable Head Tank
q=
1 K
Ap
2 p
The Critical Reynolds number is set to 15. Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Level/Volume relationship is set to Table-specified. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument.
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Variable Head Tank
For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Level/Volume relationship is set to Table-specified.
Ports

T
Hydraulic conserving port associated with the tank inlet.

V
See Also
Constant Head Tank Reservoir
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Variable Orifice
Simulate generic hydraulic variable orice Orices The block represents a variable orice of any type as a data-sheet-based model. Depending on data listed in the manufacturers catalogs or data sheets for your particular orice, you can choose one of the following model parameterization options: By maximum area and opening Use this option if the data sheet provides only the orice maximum area and the control member maximum stroke. By area vs. opening table Use this option if the catalog or data sheet provides a table of the orice passage area based on the control member displacement A=A(h). By pressure-flow characteristic Use this option if the catalog or data sheet provides a two-dimensional table of the pressure-ow characteristics q=q(p,h). In the rst case, the passage area is assumed to be linearly dependent on the control member displacement, that is, the orice is assumed to be closed at the initial position of the control member (zero displacement), and the maximum opening takes place at the maximum displacement. In the second case, the passage area is determined by one-dimensional interpolation from the table A=A(h). In both cases, a small leakage area is assumed to exist even after the orice is completely closed. Physically, it represents a possible clearance in the closed valve, but the main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. In the rst and second cases, the model accounts for the laminar and turbulent ow regimes by monitoring the Reynolds number (Re) and comparing its value with the critical Reynolds number (Recr). After the
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Variable Orifice
area has been determined, the ow rate is computed according to the following equations:
2 CD i A | p|i sign ( p) for Re >= Recr q= 2C i A DH p for Re < Recr DL i h = x0 + xi or hi Amax / hmax + Aleak A(h) = Aleak p = pA pB Re = qi DH A(h)i CD = Re cr 4 A(h)
2
for h > 0 for h <= 0
CDL
DH =
where
q p pA,pB CD A(h)
Flow rate Pressure differential Gauge pressures at the block terminals Flow discharge coefcient Instantaneous orice passage area
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Variable Orifice
Amax hmax x0 x h or
Orice maximum area Control member maximum displacement Initial opening Control member displacement from initial position Orice opening Orice orientation indicator. The variable assumes +1 value if the control member displacement in the globally assigned positive direction opens the orice, and 1 if positive motion decreases the opening. Fluid density Instantaneous orice hydraulic diameter Fluid kinematic viscosity Closed orice leakage area
DH
Aleak
In the third case, when an orice is dened by its pressure-ow characteristics, the ow rate is determined by two-dimensional interpolation. In this case, neither ow regime nor leakage ow rate is taken into account, because these features are assumed to be introduced through the tabulated data. Pressure-ow characteristics are specied with three data sets: array of orice openings, array of pressure differentials across the orice, and matrix of ow rate values. Each value of a ow rate corresponds to a specic combination of an opening and pressure differential. In other words, characteristics must be presented as the Cartesian mesh, i.e., the function values must be specied at vertices of a rectangular array. The argument arrays (openings and pressure differentials) must be strictly monotonically increasing. The vertices can be nonuniformly spaced. You have a choice of three interpolation methods and two extrapolation methods. The block positive direction is from port A to port B. This means that the ow rate is positive if it ows from A to B and the pressure differential is determined as p = pA pB . Positive signal at the physical signal
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Variable Orifice
port S opens or closes the orice depending on the value of the orice orientation indicator.
The model is based on the following assumptions: Fluid inertia is not taken into account. For orices specied by the passage area (the rst two parameterization options), the transition between laminar and turbulent regimes is assumed to be sharp and taking place exactly at Re=Recr. For orices specied by pressure-ow characteristics (the third parameterization option), the model does not explicitly account for the ow regime or leakage ow rate, because the tabulated data is assumed to account for these characteristics.
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Variable Orifice
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Variable Orifice
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Variable Orifice
Model parameterization Select one of the following methods for specifying the orice: By maximum area and opening Provide values for the maximum orice area and the maximum orice opening. The passage area is linearly dependent on the control member displacement, that is, the orice is closed at the initial position of the control member (zero displacement), and the maximum
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Variable Orifice
opening takes place at the maximum displacement. This is the default method. By area vs. opening table Provide tabulated data of orice openings and corresponding orice areas. The passage area is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. By pressure-flow characteristic Provide tabulated data of orice openings, pressure differentials, and corresponding ow rates. The ow rate is determined by two-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Orice maximum area Specify the area of a fully opened orice. The parameter value must be greater than zero. The default value is 5e-5 m^2. This parameter is used if Model parameterization is set to By maximum area and opening. Orice maximum opening Specify the maximum displacement of the control member. The parameter value must be greater than zero. The default value is 5e-4 m. This parameter is used if Model parameterization is set to By maximum area and opening. Tabulated orice openings Specify the vector of input values for orice openings as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.002 0 0.002 0.005 0.015]. If Model parameterization is set to By area vs. opening table, the Tabulated orice openings values will be used together with Tabulated orice area values for one-dimensional table lookup. If Model parameterization is set to By pressure-flow characteristic, the Tabulated orice openings values will
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Variable Orifice
be used together with Tabulated pressure differentials and Tabulated ow rates for two-dimensional table lookup. Tabulated orice area Specify the vector of output values for orice area as a tabulated 1-by-m array. The orice area vector must be the same size as the orice openings vector. All the values must be positive. The default values, in m^2, are [1e-09 2.0352e-07 4.0736e-05 0.00011438 0.00034356]. This parameter is used if Model parameterization is set to By area vs. opening table. Tabulated pressure differentials Specify the vector of input values for pressure differentials as a tabulated 1-by-n array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in Pa, are [-1e+07 -5e+06 -2e+06 2e+06 5e+06 1e+07]. This parameter is used if Model parameterization is set to By pressure-flow characteristic. Tabulated ow rates Specify the output values for ow rates as a tabulated m-by-n matrix, dening the function values at the input grid vertices. Each value in the matrix species ow rate taking place at a specic combination of orice opening and pressure differential. The matrix size must match the dimensions dened by the input vectors. The default values, in m^3/s, are:
[-1e-07 -7.0711e-08 -4.4721e-08 4.4721e-08 7.0711e-08 1e-07; -2.0352e-05 -1.4391e-05 -9.1017e-06 9.1017e-06 1.4391e-05 2.0352e-05; -0.0040736 -0.0028805 -0.0018218 0.0018218 0.0028805 0.0040736; -0.011438 -0.0080879 -0.0051152 0.0051152 0.0080879 0.011438; -0.034356 -0.024293 -0.015364 0.015364 0.024293 0.034356;]

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Variable Orifice
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear For one-dimensional table lookup (By area vs. opening table), uses a linear interpolation function. For two-dimensional table lookup (By pressure-flow characteristic), uses a bilinear interpolation algorithm, which is an extension of linear interpolation for functions in two variables. Cubic For one-dimensional table lookup (By area vs. opening table), uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic interpolation algorithm. Spline For one-dimensional table lookup (By area vs. opening table), uses the cubic spline interpolation algorithm. For two-dimensional table lookup (By pressure-flow characteristic), uses the bicubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the
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Variable Orifice
two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) and PS Lookup Table (2D) block reference pages. Orice orientation The parameter is introduced to specify the effect of the orice control member motion on the valve opening. The parameter can be set to one of two options: Opens in positive direction or Opens in negative direction. The value Opens in positive direction species an orice whose control member opens the valve when it is shifted in the globally assigned positive direction. The parameter is extremely useful for building a multi-orice valve with all the orices being controlled by the same spool. The default value is Opens in positive direction. Flow discharge coefcient Semi-empirical parameter for orice capacity characterization. Its value depends on the geometrical properties of the orice, and usually is provided in textbooks or manufacturer data sheets. The default value is 0.7. Initial opening Orice initial opening. The parameter can be positive (underlapped orice), negative (overlapped orice), or equal to zero for zero lap conguration. The value of initial opening does not depend on the orice orientation. The default value is 0. Critical Reynolds number The maximum Reynolds number for laminar ow. The transition from laminar to turbulent regime is supposed to take place
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Variable Orifice
when the Reynolds number reaches this value. The value of the parameter depends on orice geometrical prole, and the recommendations on the parameter value can be found in hydraulic textbooks. The default value is 12. Leakage area The total area of possible leaks in the completely closed valve. The main purpose of the parameter is to maintain numerical integrity of the circuit by preventing a portion of the system from getting isolated after the valve is completely closed. An isolated or hanging part of the system could affect computational efciency and even cause failure of computation. Extreme caution should be exercised if the parameter is set to 0. The default value is 1e-12 m^2. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Orice orientation Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
Global Parameters
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Variable Orifice
Ports

A

B

S
Examples
The Hydraulic Flapper-Nozzle Amplier demo (sh_hydraulic_flapper_nozzle_amplifier) illustrates the use of the Variable Orice block in hydraulic systems. Annular Orice Constant Area Orice Fixed Orice Orice with Variable Area Round Holes Orice with Variable Area Slot PS Lookup Table (1D) PS Lookup Table (2D) Variable Area Orice
See Also
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Variable-Displacement Hydraulic Machine
Simulate variable-displacement reversible hydraulic machine with regime-dependable efciency Pumps and Motors The Variable-Displacement Hydraulic Machine block represents a variable-displacement hydraulic machine of any type as a data-sheet-based model. The model accounts for the power ow direction and simulates the machine in both the motor and pump mode. The efciency of the machine is variable, and you can set it in accordance with experimental data provided in the catalog or data sheet. The machine displacement is controlled by the signal provided through the physical signal port C. The machine efciency is simulated by implementing regime-dependable leakage and friction torque based on the experimentally established correlations between the machine efciencies and pressure, angular velocity, and displacement. With respect to the relationship between the control signal and the displacement, two block parameterization options are available: By the maximum displacement and stroke The displacement is assumed to be linearly dependent on the control member position. By table-specied relationship between the control member position and the machine displacement The displacement is determined by one-dimensional table lookup based on the control member position. You have a choice of three interpolation methods and two extrapolation methods. The variable-displacement machine is represented with the following equations:
q = Di km i qL T = Di p + km iTfr
2-369
Dmax ix D = xmax D( x) p = pA pB
where
q p pA,pB D Dmax x xmax T
Machine ow rate Pressure differential across the machine Gauge pressures at the block terminals Machine instantaneous displacement Machine maximum displacement Control member displacement Control member maximum stroke Torque at the machine shaft Machine shaft angular velocity Leakage ow Friction torque Machine type coefcient. km = 1 for the pump, km = 1 for the motor.
qL Tfr km
The key parameters that determine machine efciency are its leakage and friction on the shaft. In the block, these parameters are specied with experimentally-based correlations similar to [1]
p qL = DiikL1 pnom
kLP
D Dmax
kLD
nom
kL
2-370
p Tfr = Di pikF1 pnom

where
pnom
kFP
D Dmax
kFD
nom
kF
Nominal pressure Nominal angular velocity Leakage proportionality coefcient Friction proportionality coefcient Approximating coefcients
nom
kL1 kF1 kLP, kLD, kL, kFP, kFD, kF
The approximating coefcients are determined from the efciency plots, usually provided by the machine manufacturer. With the leakage known, the pump volumetric efciency can be expressed as
vp =
p D qL = 1 kL1 D pnom
kLP
D Dmax
kLD
nom
kL
For a motor, the expression looks like the following
vm =
D = D + qL
1 p 1 + kL1 pnom
kLP
D Dmax
kLD
nom
kL
The mechanical efciency is based on the known friction torque
2-371
mp =
Dp D p + Tfr
1 p 1 + kF1 pnom
kFP
D Dmax
kFD
nom
kF
mm =
D p Tfr Dp
p = 1 kF1 pnom
kFP
D Dmax
kFD
nom
kF
The curve-tting procedure is based on the comparison of the efciency, determined with one of the above expressions, and the experimental data exp = f ( p, D, ) , an example of which is shown in the following plot.
2-372
The procedure can be performed with the Optimization Toolbox software. For instance, the pump volumetric efciency approximating coefcients can be found by solving the following problem:
min F ( x)
x
x = [ kL1 , kLP , kLD , kL ]

k LP 1 kL1 pi F ( x) = exp pi , D j , k pnom i j k
Dj Dmax
kLD
k nom
kL
where
i j k
Number of experimental pressure points, from 1 to n Number of experimental displacement points, from 1 to m Number of experimental angular velocity points, from 1 to l
Connections A and B are hydraulic conserving ports associated with the machine inlet and outlet, respectively. Connection S is a mechanical rotational conserving port associated with the machine shaft. Connection C is a physical signal port that controls machine displacement. The ow rate from port A to port B causes the shaft to rotate in positive direction, provided positive signal is applied to port C.
The model is based on the following assumptions: Fluid compressibility is neglected. No inertia on the machine shaft is considered. The model is applicable only for uid and uid temperature at which the approximating coefcients have been determined.
2-373
Extreme caution must be exercised to not exceed the limits within which the approximating coefcients have been determined. The extrapolation could result in large errors.
The block dialog box contains three tabs: Displacement on page 2-375 Nominal Parameters on page 2-379 Efciencies on page 2-380
2-374
Displacement
2-375
Displacement is specied Select one of the following block parameterization options: By maximum displacement and control member stroke Provide values for maximum machine displacement and maximum stroke. The displacement is assumed to be linearly dependent on the control member position. This is the default method. By displacement vs. control member position table Provide tabulated data of machine displacements and
2-376
control member positions. The displacement is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Maximum displacement Machine maximum displacement. The default value is 5e-6 m^3/rad. This parameter is used if displacement is specied as By maximum displacement and control member stroke. Maximum stroke Maximum control member stroke. The default value is 0.005 m. This parameter is used if displacement is specied as By maximum displacement and control member stroke. Control member positions table Specify the vector of input values for control member position as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.0075 -0.0025 0 0.0025 0.0075]. This parameter is used if displacement is specied as By displacement vs. control member position table. Pump displacements table Specify the vector of output values for the machine displacement as a tabulated 1-by-m array. The machine displacements vector must be the same size as the control member positions vector. The default values, in m^3/rad, are [-5e-06 -3e-06 0 3e-06 5e-06]. This parameter is used if displacement is specied as By displacement vs. control member position table. Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP).
2-377
Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if displacement is specied as By displacement vs. control member position table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if displacement is specied as By displacement vs. control member position table.
2-378
Nominal Parameters
Nominal pressure Nominal pressure differential across the machine. The default value is 1e7 Pa. Nominal angular velocity Nominal angular velocity of the output shaft. The default value is 188 rad/s.
2-379
Shaft velocity at peak friction The friction torque on the machine shaft ideally should be introduced as Tfrsign(). To avoid discontinuity at > 0, the friction is dened as Tfrtanh(4 /max ), where max is a small velocity, representing the shaft velocity at peak friction, at which tanh(4 /max ) is equal to 0.999. The default value of max is 0.01 rad/s.
Efficiencies
2-380
Volumetric efciency proportionality coefcient Approximating coefcient kL1 in the block description preceding. The default value is 0.05. Volumetric efciency pressure coefcient Approximating coefcient kLP in the block description preceding. The default value is 0.65. Volumetric efciency angular velocity coefcient Approximating coefcient kL in the block description preceding. The default value is -0.2. Volumetric efciency displacement coefcient Approximating coefcient kLD in the block description preceding. The default value is -0.8. Mechanical efciency proportionality coefcient Approximating coefcient kF1 in the block description preceding. The default value is 0.06. Mechanical efciency pressure coefcient Approximating coefcient kFP in the block description preceding. The default value is -0.65. Mechanical efciency angular velocity coefcient Approximating coefcient kF in the block description preceding. The default value is 0.2. Mechanical efciency displacement coefcient Approximating coefcient kFD in the block description preceding. The default value is -0.75. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Displacement is specied Interpolation method Extrapolation method
2-381
All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Displacement is specied parameter at the time the model entered Restricted mode.
Ports

A
Hydraulic conserving port associated with the machine inlet.

B
Hydraulic conserving port associated with the machine outlet.

C
Physical signal port that controls machine displacement.

S
Mechanical rotational conserving port associated with the machine shaft.
References See Also
[1] C.R. Cornell, Dynamic Simulation of a Hydrostatically Propelled Vehicle, SAE paper 811253, 1981, p. 22 Variable-Displacement Motor Variable-Displacement Pump
2-382
Simulate variable-displacement reversible hydraulic motor Pumps and Motors The Variable-Displacement Motor block represents a variable-displacement reversible motor of any type as a data-sheet-based model. The motor displacement is controlled by the signal provided through the physical signal port C. The motor efciency is determined based on volumetric and total efciencies, nominal pressure, and nominal angular velocity. All these parameters are generally provided in the data sheets or catalogs. Two block parameterization options are available: By the motor maximum displacement and stroke The displacement is assumed to be linearly dependent on the control member position. By table-specied relationship between the control member position and the motor displacement The displacement is determined by one-dimensional table lookup based on the control member position. You have a choice of three interpolation methods and two extrapolation methods. The variable-displacement motor is represented with the following equations:
q = Di kleak i p T = Di pimech Dmax ix D = xmax D( x) kleak = kHP / i
2-383
kHP =
Dinom (1 V )i nom i pnom
p = pA pB
where
q p pA,pB D Dmax x xmax T
Motor ow rate Pressure differential across the motor Gauge pressures at the block terminals Motor instantaneous displacement Motor maximum displacement Control member displacement Control member maximum stroke Torque at the motor output shaft Output shaft angular velocity Leakage coefcient Hagen-Poiseuille coefcient Motor volumetric efciency Motor mechanical efciency Fluid kinematic viscosity Fluid density Motor nominal pressure Motor nominal angular velocity Nominal uid kinematic viscosity
kleak kHP
V mech
pnom
nom nom
2-384
p=
where
qleak d, l
128l d
4
qleak =
kHP
qleak
qleak = Dnom (1 V )
kHP =
The motor mechanical efciency is not usually available in data sheets, therefore it is determined from the total and volumetric efciencies by assuming that the hydraulic efciency is negligibly small
mech = total / V
The block positive direction is from port A to port B. This means that the motor rotates its shaft in the globally assigned positive direction if the uid ows from port A to port B and a positive signal is applied to port C.
2-385
The model is based on the following assumptions: Fluid compressibility is neglected. No loading on the motor shaft, such as inertia, friction, spring, and so on, is considered. Leakage inside the motor is assumed to be linearly proportional to its pressure differential.
2-386
2-387
Model parameterization Select one of the following block parameterization options: By maximum displacement and control member stroke Provide values for maximum motor displacement and
2-388
maximum stroke. The displacement is assumed to be linearly dependent on the control member position. This is the default method. By displacement vs. control member position table Provide tabulated data of motor displacements and control member positions. The displacement is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Maximum displacement Motor maximum displacement. The default value is 5e-6 m^3/rad. This parameter is used if Model parameterization is set to By maximum displacement and control member stroke. Maximum stroke Maximum control member stroke. The default value is 0.005 m. This parameter is used if Model parameterization is set to By maximum displacement and control member stroke. Control member positions table Specify the vector of input values for control member position as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.0075 -0.0025 0 0.0025 0.0075]. This parameter is used if Model parameterization is set to By displacement vs. control member position table. Pump displacements table Specify the vector of output values for the motor displacement as a tabulated 1-by-m array. The motor displacements vector must be the same size as the control member positions vector. The default values, in m^3/rad, are [-5e-06 -3e-06 0 3e-06 5e-06]. This parameter is used if Model parameterization is set to By displacement vs. control member position table.
2-389
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By displacement vs. control member position table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By displacement vs. control member position table.
2-390
Volumetric efciency Motor volumetric efciency specied at nominal pressure, angular velocity, and uid viscosity. The default value is 0.85. Total efciency Motor total efciency, which is determined as a ratio between the hydraulic power at the motor inlet and mechanical power at the output shaft at nominal pressure, angular velocity, and uid viscosity. The default value is 0.75. Nominal pressure Pressure differential across the motor, at which both the volumetric and total efciencies are specied. The default value is 1e7 Pa. Nominal angular velocity Angular velocity of the output shaft, at which both the volumetric and total efciencies are specied. The default value is 188 rad/s. Nominal kinematic viscosity Working uid kinematic viscosity, at which both the volumetric and total efciencies are specied. The default value is 18 cSt. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
2-391
Global Parameters
A
Ports
Hydraulic conserving port associated with the motor inlet.

B
Hydraulic conserving port associated with the motor outlet.

C
Physical signal port that controls motor displacement.

S
Mechanical rotational conserving port associated with the motor output shaft.
See Also
Hydraulic Motor
2-392
Variable-Displacement Pressure-Compensated Pump
Simulate hydraulic pump maintaining preset pressure at outlet by regulating its ow delivery Pumps and Motors The Variable-Displacement Pressure-Compensated Pump block represents a positive, variable-displacement, pressure-compensated pump of any type as a data-sheet-based model. The key parameters required to parameterize the block are the pump maximum displacement, regulation range, volumetric and total efciencies, nominal pressure, and angular velocity. All these parameters are generally provided in the data sheets or catalogs. The following gure shows the delivery-pressure characteristic of the pump.
The pump tries to maintain preset pressure at its outlet by adjusting its delivery ow in accordance with the system requirements. If pressure differential across the pump is less than the setting pressure, the pump outputs its maximum delivery corrected for internal leakage. After
2-393
the pressure setting has been reached, the output ow is regulated to maintain preset pressure by changing the pumps displacement. The displacement can be changed from its maximum value down to zero, depending upon system ow requirements. The pressure range between the preset pressure and the maximum pressure, at which the displacement is zero, is referred to as regulation range. The smaller the range, the higher the accuracy at which preset pressure is maintained. The range size also affects the pump stability, and decreasing the range generally causes stability to decrease. The variable-displacement, pressure-compensated pump is represented with the following equations:
q = Di kleak i p T = Di p / mech for p <= pset Dmax D = Dmax K ( p pset ) for pset < p < pmax 0 for p >= pmax pmax = pset + preg K = Dmax / ( pmax pset ) kleak = kHP / i kHP = Dinom (1 V )i nom i pnom
p = pP pT
where
2-394
q p pP,pT D Dmax pset pmax T
Pump delivery Pressure differential across the pump Gauge pressures at the block terminals Pump instantaneous displacement Pump maximum displacement Pump setting pressure Maximum pressure, at which the pump displacement is zero Torque at the pump driving shaft Pump angular velocity Leakage coefcient Hagen-Poiseuille coefcient Pump volumetric efciency Pump mechanical efciency Fluid kinematic viscosity Fluid density Pump nominal pressure Pump nominal angular velocity Nominal uid kinematic viscosity
kleak kHP
V mech
pnom
nom nom
p=
where
128l d
4
qleak =
kHP
qleak
2-395
qleak d, l
qleak = Dnom (1 V )
kHP =
mech = total / V
The block positive direction is from port T to port P. This means that the pump transfers uid from T to P provided that the shaft S rotates in the positive direction. The pressure differential across the pump is determined as p = pP pT .
2-396
Maximum displacement Pump displacement. The default value is 5e-6 m^3/rad. Setting pressure Pump pressure setting. The default value is 1e7 Pa. Pressure regulation range Pressure range required to change the pump displacement from its maximum to zero. The default value is 6e5 Pa.
2-397
Volumetric efciency Pump volumetric efciency specied at nominal pressure, angular velocity, and uid viscosity. The default value is 0.85. Total efciency Pump total efciency, which is determined as a ratio between the hydraulic power at the pump outlet and mechanical power at the driving shaft at nominal pressure, angular velocity, and uid viscosity. The default value is 0.75. Nominal pressure Pressure differential across the pump, at which both the volumetric and total efciencies are specied. The default value is 1e7 Pa. Nominal angular velocity Angular velocity of the driving shaft, at which both the volumetric and total efciencies are specied. The default value is 188 rad/s. Nominal kinematic viscosity Working uid kinematic viscosity, at which both the volumetric and total efciencies are specied. The default value is 18 cSt.
Global Parameters
T
Ports

P

S
2-398
Examples
The Closed-Loop Electrohydraulic Actuator with Proportional Valve demo (sh_closed_loop_actuator) illustrates the use of the Variable-Displacement Pressure-Compensated Pump block in hydraulic systems. Centrifugal Pump Fixed-Displacement Pump Variable-Displacement Pump
See Also
2-399
Variable-Displacement Pump
Simulate variable-displacement reversible hydraulic pump Pumps and Motors The Variable-Displacement Pump block represents a variable-displacement reversible pump of any type as a data-sheet-based model. The pump delivery is proportional to the control signal provided through the physical signal port C. The pump efciency is determined based on volumetric and total efciencies, nominal pressure, and angular velocity. All these parameters are generally provided in the data sheets or catalogs. Two block parameterization options are available: By the pump maximum displacement and stroke The displacement is assumed to be linearly dependent on the control member position. By table-specied relationship between the control member position and pump displacement The displacement is determined by one-dimensional table lookup based on the control member position. You have a choice of three interpolation methods and two extrapolation methods. The variable-displacement pump is represented with the following equations:
q = Di kleak i p T = Di p / mech Dmax ix D = xmax D( x) kleak = kHP / i
2-400
kHP =
Dinom (1 V )i nom i pnom
p = pP pT
where q p pP,pT D Dmax x xmax T kleak kHP V mech pnom nom nom Pump delivery Pressure differential across the pump Gauge pressures at the block terminals Pump instantaneous displacement Pump maximum displacement Control member displacement Control member maximum stroke Torque at the pump driving shaft Pump angular velocity Leakage coefcient Hagen-Poiseuille coefcient Pump volumetric efciency Pump mechanical efciency Fluid kinematic viscosity Fluid density Pump nominal pressure Pump nominal angular velocity Nominal uid kinematic viscosity
2-401
p=
where qleak d, l
128l d
4
qleak =
qleak kHP
qleak = Dnom (1 V )
kHP =
mech = total / V
The block positive direction is from port T to port P. This means that the pump transfers uid from T to P as its driving shaft S rotates in the globally assigned positive direction and a positive signal is applied to port C.
2-402
2-403
Model parameterization Select one of the following block parameterization options: By maximum displacement and control member stroke Provide values for maximum pump displacement and maximum
2-404
control member stroke. The displacement is assumed to be linearly dependent on the control member position. This is the default method. By displacement vs. control member position table Provide tabulated data of pump displacements and control member positions. The displacement is determined by one-dimensional table lookup. You have a choice of three interpolation methods and two extrapolation methods. Maximum displacement Pump maximum displacement. The default value is 5e-6 m^3/rad. This parameter is used if Model parameterization is set to By maximum displacement and control member stroke. Maximum stroke Maximum control member stroke. The default value is 0.005 m. This parameter is used if Model parameterization is set to By maximum displacement and control member stroke. Control member positions table Specify the vector of input values for control member position as a tabulated 1-by-m array. The input values vector must be strictly monotonically increasing. The values can be nonuniformly spaced. You must provide at least three values. The default values, in meters, are [-0.0075 -0.0025 0 0.0025 0.0075]. This parameter is used if Model parameterization is set to By displacement vs. control member position table. Pump displacements table Specify the vector of output values for the pump displacement as a tabulated 1-by-m array. The pump displacements vector must be the same size as the control member positions vector. The default values, in m^3/rad, are [-5e-06 -3e-06 0 3e-06 5e-06]. This parameter is used if Model parameterization is set to By displacement vs. control member position table.
2-405
Interpolation method Select one of the following interpolation methods for approximating the output value when the input value is between two consecutive grid points: Linear Uses a linear interpolation function. Cubic Uses the Piecewise Cubic Hermite Interpolation Polinomial (PCHIP). Spline Uses the cubic spline interpolation algorithm. For more information on interpolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By displacement vs. control member position table. Extrapolation method Select one of the following extrapolation methods for determining the output value when the input value is outside the range specied in the argument list: From last 2 points Extrapolates using the linear method (regardless of the interpolation method specied), based on the last two output values at the appropriate end of the range. That is, the block uses the rst and second specied output values if the input value is below the specied range, and the two last specied output values if the input value is above the specied range. From last point Uses the last specied output value at the appropriate end of the range. That is, the block uses the last specied output value for all input values greater than the last specied input argument, and the rst specied output value for all input values less than the rst specied input argument. For more information on extrapolation algorithms, see the PS Lookup Table (1D) block reference page. This parameter is used if Model parameterization is set to By displacement vs. control member position table.
2-406
Volumetric efciency Pump volumetric efciency specied at nominal pressure, angular velocity, and uid viscosity. The default value is 0.85. Total efciency Pump total efciency, which is determined as a ratio between the hydraulic power at the pump outlet and mechanical power at the driving shaft at nominal pressure, angular velocity, and uid viscosity. The default value is 0.75. Nominal pressure Pressure differential across the pump, at which both the volumetric and total efciencies are specied. The default value is 1e7 Pa. Nominal angular velocity Angular velocity of the driving shaft, at which both the volumetric and total efciencies are specied. The default value is 188 rad/s. Nominal kinematic viscosity Working uid kinematic viscosity, at which both the volumetric and total efciencies are specied. The default value is 18 cSt. Restricted Parameters When your model is in Restricted editing mode, you cannot modify the following parameters: Model parameterization Interpolation method Extrapolation method All other block parameters are available for modication. The actual set of modiable block parameters depends on the value of the Model parameterization parameter at the time the model entered Restricted mode.
2-407
Global Parameters
T
Ports

P

C
Physical signal port that controls pump displacement.

S
See Also
Centrifugal Pump Fixed-Displacement Pump Variable-Displacement Pressure-Compensated Pump
2-408
Glossary
Glossary
across variables Variables that are measured with a gauge connected in parallel to an element. behavioral block implementation model A block that is implemented based on its physical behavior, described by a system of mathematical equations. An example of a behavioral block implementation is the Variable Orice block. conserving ports Bidirectional hydraulic or mechanical ports that represent physical connections and relate physical variables based on the Physical Network approach. constructional block implementation model A block that is constructed out of other blocks, connected in a certain way. An example of a constructional block implementation is the 4-Way Directional Valve block, which is constructed based on four Variable Orice blocks. data-sheet-based model A block with a set of parameters determined by data that is usually listed in the manufacturers catalogs or data sheets. globally assigned positive direction Direction considered positive for a model diagram. nonrestricted parameters Parameters that are available for modication when you open a model in Restricted mode. Usually, these are the block parameters with plain numerical values, such as Pipe internal diameter or Resistance area. Information on restricted and nonrestricted parameters is listed in block reference pages. physical signal ports Unidirectional ports (inports and outports) transferring signals that use an internal physical modeling engine for computations.
Glossary-1
Glossary
restricted parameters Parameters that are not available for modication when you open a model in Restricted mode. You have to be in Full mode to modify them. Usually, these are the block parameterization options, such as Pipe cross section type or Interpolation method. Information on restricted and nonrestricted parameters is listed in block reference pages. through variables Variables that are measured with a gauge connected in series to an element. vertical products Products in the Physical Modeling family that use Simscape platform and, as a result, share common functionality such as physical units management, editing modes, and so on. SimHydraulics software is one of the Simscape vertical products.
Glossary-2
Index
Symbols and Numerics
Index
G
Gas-Charged Accumulator block 2-136 Gradual Area Change block 2-140
2-Position Valve Actuator block 2-2 2-Way Directional Valve block 2-8 3-Position Valve Actuator block 2-19 3-Way Directional Valve block 2-25 4-Way Directional Valve block 2-37
H
Hydraulic Cartridge Valve Actuator block 2-149 Hydraulic Double-Acting Valve Actuator block 2-153 Hydraulic Fluid block 2-162 Hydraulic Motor block 2-170 Hydraulic Pipe LP block 2-183 Hydraulic Pipeline block 2-175 Hydraulic Single-Acting Valve Actuator block 2-192
A
accumulators gas-charged 2-136 spring-loaded 2-327 Annular Orice block 2-51
B
Ball Valve block 2-56
L
Local Resistance block 2-197
C
Cartridge Valve Insert block 2-62 Centrifugal Pump block 2-74 Check Valve block 2-92 Constant Head Tank block 2-98 Cylinder Friction block 2-102
N
Needle Valve block 2-206
O
Orice with Variable Area Round Holes block 2-212 Orice with Variable Area Slot block 2-219
D
Double-Acting Hydraulic Cylinder block 2-108 Double-Acting Rotary Actuator block 2-114
E
Elbow block 2-120
P
Pilot-Operated Check Valve block 2-225 Pipe Bend block 2-232 Poppet Valve block 2-238 Pressure Compensator block 2-253 Pressure Reducing Valve block 2-260 Pressure Relief Valve block 2-265 Pressure-Compensated Flow Control Valve block 2-244
F
Fixed Orice block 2-126 Fixed-Displacement Pump block 2-130
Index-1
Index
Proportional and Servo-Valve Actuator block 2-271
T
T-junction block 2-338 terminology Glossary-1
R
Reservoir block 2-275 Resistive Pipe LP block 2-278
V
Valve Hydraulic Force block 2-343 Variable Head Tank block 2-349 Variable Orice block 2-356 Variable-Displacement Hydraulic Machine block 2-369 Variable-Displacement Motor block 2-383 Variable-Displacement Pressure-Compensated Pump block 2-393 Variable-Displacement Pump block 2-400
S
Segmented Pipe LP block 2-294 Segmented Pipeline block 2-287 Shuttle Valve block 2-304 Single-Acting Hydraulic Cylinder block 2-311 Single-Acting Rotary Actuator block 2-316 Spool Orice Hydraulic Force block 2-321 Spring-Loaded Accumulator block 2-327 Sudden Area Change block 2-330
Index-2

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SimHydraulics 1 Reference

How to Contact The MathWorks

Web Newsgroup www.mathworks.com/contact_TS.html Technical Support

Blocks Alphabetical List

Local Hydraulic Resistances

Local Hydraulic Resistances

Pipe Bend Sudden Area Change T-junction

Variable Head Tank

Pumps and Motors

Pumps and Motors

Flow Control Valves

Poppet Valve Pressure-Compensated Flow Control Valve

Simulate hydraulic poppet valve Simulate hydraulic pressure compensating valve

Pressure Control Valves

Pressure Relief Valve

2-Position Valve Actuator

Purpose Library Description

2-Position Valve Actuator

2-Position Valve Actuator

Basic Assumptions and Limitations

2-Position Valve Actuator

Dialog Box and Parameters

2-Position Valve Actuator

2-Position Valve Actuator

2-Way Directional Valve

Purpose Library Description

2-Way Directional Valve

2-Way Directional Valve

Basic Assumptions and Limitations Dialog Box and Parameters

2-Way Directional Valve

2-Way Directional Valve

2-Way Directional Valve

2-Way Directional Valve

This parameter is used if Model parameterization is set to By

2-Way Directional Valve

2-Way Directional Valve

2-Way Directional Valve

The block has the following ports:

Hydraulic conserving port associated with the valve inlet.

Hydraulic conserving port associated with the valve outlet.

Physical signal port to control spool displacement.

2-Way Directional Valve

3-Way Directional Valve 4-Way Directional Valve

3-Position Valve Actuator

Purpose Library Description

3-Position Valve Actuator

3-Position Valve Actuator

Basic Assumptions and Limitations

3-Position Valve Actuator

Dialog Box and Parameters

3-Position Valve Actuator

The block has the following ports:

3-Position Valve Actuator

3-Way Directional Valve

Purpose Library Description

3-Way Directional Valve

hPA = hPA0 + x hAT = hAT 0 x

3-Way Directional Valve

3-Way Directional Valve

Basic Assumptions and Limitations