Modeling a Hydraulic Actuation System
Model a hydraulic actuation system. A double-acting hydraulic cylinder controlled by a four-way directional valve is modeled using SimHydraulics® components.
SimHydraulics is used to optimize system-level performance and to create plant models for control design. The models you create support your entire development process, including hardware-in-the-loop simulations.
With SimHydraulics you build a model of a system just as you would assemble a physical system. The symbols used in your model are based on the ISO 1219 fluid power standard. SimHydraulics employs a physical network approach to model building: components (blocks) corresponding to physical elements such as pumps, motors, and valves, are joined by lines corresponding to the physical connections that transmit power. This approach lets you describe the physical structure of a system rather than the underlying mathematics.
From your model, which closely resembles a hydraulic schematic, SimHydraulics automatically constructs equations that characterize the behavior of the system. These equations are integrated with the rest of the Simulink model.
SimHydraulics libraries provide more than 45 models of hydraulic and mechanical components, including models for pumps, cylinders, accumulators, and hydraulic flow lines. You can easily represent most commercially available hydraulic components.
You can use the sensor blocks in Simscape to measure values for any hydromechanical variable, such as pressure, flow, position, velocity and force, and then pass these signals into standard Simulink blocks. Source blocks enable Simulink signals to assign values to any hydromechanical variable. Sensor and source blocks let you develop an entire control algorithm in Simulink and connect it with a SimHydraulics network.
SimHydraulics includes spring-loaded and gas-charged accumulator models, as well as two pipeline models:
A library of local resistance blocks lets you include pressure loss associated with elbows, bends, and cross-sectional flow area changes.
SimHydraulics provides actuators and pumps that let you:
The valves library lets you model:
The valves library also includes actuator models to simulate electromagnetic, discrete and proportional actuators, and servo-valves.
You can combine the blocks in the SimHydraulics libraries to create custom hydraulic models. In addition, Simscape (required by SimHydraulics) contains a foundation library that includes a set of basic building blocks for different physical domains; these blocks define the pressure/flow relationship for basic physical effects, such as fluid compressibility, fluid inertia, mechanical friction, energy transduction, and flow through fixed and variable orifices. You can combine these building blocks with SimHydraulics blocks to model a component that spans different physical domains. As with Simulink, you can then group this assembly of blocks into a subsystem and parameterize it to reuse and share the custom component.
Modeling a Custom Hydraulic Valve
Model a custom hydraulic servovalve with flapper and spool dynamics. Configure model to include or neglect hydraulic forces on the spool.
The Simscape language enables you to extend the libraries of physical components. It is based on the MATLAB programming language, well-known by engineers. Using this object-oriented modeling language, you can define custom components, complete with parameterization, physical connections, and equations represented as acausal implicit differential algebraic equations (DAEs). The Simulink block and dialog box for the component are automatically created from the Simscape file.
Simscape Language: Hydraulic Example
Model custom hydraulic components. A fixed hydraulic orifice is defined using implicit equations.
SimHydraulics models can include physical signals that have units associated with them. You specify the units and parameter values in block dialogs, and Simscape performs the necessary unit-conversion operations when solving a physical network. A Physical Signals block library in Simscape lets you perform math operations on physical signals and graphically input equations inside the physical network. Physical signal ports are used in Simscape block diagrams to better integrate physical signals into your physical system, which increases computational speed.
SimHydraulics employs efficient methods for defining density, viscosity, and bulk modulus—the fluid properties that affect system behavior. SimHydraulics provides 18 commonly used hydraulic fluids, such as Skydrol LD-4, HyJet 4A, and Fluid MIL-F-83828. Properties for these fluids are automatically calculated when you input the temperature and amount of trapped air. You can define a fluid by entering its fluid properties.
You can generate a linear model (continuous or discrete time) from your nonlinear SimHydraulics model. You can analyze the linear model's behavior about a certain operating point, or you can create a controller by applying linear control theory to the system. You can also automatically calculate the steady-state solution of your SimHydraulics model to remove unwanted transients at the start of simulation, thus reducing the amount of time needed to simulate your system.
As a physical modeling product built on Simscape, SimHydraulics provides expanded capabilities for modeling hydraulic systems. You can create your physical plant model using physical connections, and, through Simscape interface blocks, connect it directly to your control model built with signal flows in Simulink. As a result, you can test your entire system within the Simulink environment.
Integrating Physical Systems and Controller
Detect system integration issues in simulation. Mechanical, hydraulic, electrical, and control systems are gradually integrated into a full system model.