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Hydraulic
Servo-systems
Modelling, Identification and Control
Springer
CONTENTS
Notation xxi
1 Introduction 1
1.1 Historical View and Motivation for Hydraulic Systems 1
1.2 Aims and Focus of the Book -. 3
1.3 Outline of the Chapters 5
1.4 Background of the Work and Bibliographical Notes 7
2 General Description of Hydraulic Servo-systems 9
2.1 Basic Structure of Hydraulic Servo-systems 9
2.2 Description of the Components 10
2.2.1 Valves 11
2.2.2 Pumps and Actuators 16
2.2.3 Power Supplies 18
2.3 Classification of Hydraulic Servo-systems 19
2.4 Measurement and Control Devices 21
2.4.1 Control Loops 21
2.4.2 Sensors/Transducers 23
2.5 Application Examples 26
2.5.1 Hydraulically Actuated Manipulators : 26
2.5.2 Hydraulic Automatic Gauge Control for Rolling Mills 26
3 Physical Fundamentals of Hydraulics 29
3.1 Physical Properties of Fluids 29
3.1.1 Viscosity and Related Quantities 29
3.1.2 Mass Density, Bulk Modulus and Related Quantities 31
3.1.3 Effective Bulk Modulus 32
3.1.4 Section Summary 36
3.2 General Equations of Fluid Motion 36
3.2.1 Continuity Equation and Pressure Transients 37
3.2.2 Navier-Stokes Equation 38
3.2.3 Bernoulli's Theorem 39
3.2.4 Section Summary : 40
3.3 Flow Through Passages 40
3.3.1 Flow Establishment in Pipelines 41
3.3.2 Flow Through Orifices 42
3.3.3 Flow Through Valves 48
xvi Contents
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