ADAMS - Hydraulics Component Reference

ADAMS/Hydraulics Component Reference
Overview
ADAMS/Hydraulics is a modeling and simulating environment for fluid power systems that is a plugin to ADAMS/View. It and its supporting documentation are the result of two years of research and development with MBS Models Oy. A cooperative agreement between MBS Models Oy and MSC.Software has made ADAMS/Hydraulics available for use with MSC.ADAMS.

Introducing ADAMS/Hydraulics 3 ADAMS/Hydraulics Components 13 Density of the Fluid and Bernoullis Equation 285 ADAMS/Hydraulics Functions 295 Command Language Reference 309 Run-Time Function Reference 341 Index 355
ii
ADAMS/Hydraulics Component Reference Copyright
The information in this document is furnished for informational use only, may be revised from time to time, and should not be construed as a commitment by MSC.Software Corporation or MBS Models Oy. MSC.Software Corporation and MBS Models Oy assume no responsibility or liability for any errors or inaccuracies that may appear in this document. Copyright Information This document contains proprietary and copyrighted information and may not be copied, reproduced, translated, or reduced to any electronic medium without prior consent, in writing, from MSC.Software Corporation. 2003 of content by MBS Models Oy. MBS Models Oy, Eloniemenkatu 17, 08150 Lohja, Finland, tel. +358-19-321000, fax +358-19-321067 2003 of format and approach by MSC.Software Corporation. All rights reserved. Printed in the United States of America. Software/Credits MSC.ADAMS software is Copyright 2003 MSC.Software Corporation. All Rights Reserved. The ADAMS/Hydraulics software module is developed and owned by MBS Models Oy of Finland. Copyright 2003 MBS Models Oy. MSC.Software Corporation has an exclusive right to sell and market the ADAMS/Hydraulics software module worldwide. Our special thanks to the Institute of Hydraulics and Automation of Tampere University of Technology in Finland for their technical support in the development of the ADAMS/Hydraulics software module. Trademarks ADAMS, ADAMS/, ADAMS/Hydraulics, MSC, MSC., MSC.ADAMS, and the MSC.Software logo are either trademarks or registered trademarks of MSC.Software Corporation in the United States and/or other countries. All other trademarks are the property of their respective companies. Government Use Use, duplication, or disclosure by the U.S. Government is subject to restrictions as set forth in FAR 12.212 (Commercial Computer Software) and DFARS 227.7202 (Commercial Computer Software and Commercial Computer Software Documentation), as applicable.
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Introducing ADAMS/Hydraulics
Overview
This chapter gives you an overview of ADAMS/Hydraulics, including definitions of components in the ADAMS/Hydraulics library of components. The following topics are included:

Types of Hydraulic Components, 4 Topology, 7 Resistances and Volumes, 8 Component Modeling, 9 Starting ADAMS/Hydraulics, 10 Setting System Defaults, 11
ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics
About ADAMS/Hydraulics
You can use ADAMS/Hydraulics to graphically build and refine virtual models of fluid power systems. You can couple models of fluid power systems with models of mechanical systems that are built with ADAMS/View and perform coupled system simulation. This guide provides you with definitions of key words in ADAMS/Hydraulics and describes each of the components in the ADAMS/Hydraulics component library in alphabetical order. It also provides advanced information on the equations used in ADAMS/Hydraulics. This guide assumes that you know how to run ADAMS/View or ADAMS/Solver. It also assumes that you have a moderate understanding of hydraulics. To run through a tutorial of ADAMS/Hydraulics, see the guide, Getting Started Using ADAMS/Hydraulics. For information on fluid dynamics, refer to Bibliography on page 353.
Types of Hydraulic Components

The following sections explain the different types of hydraulic components you can use in the ADAMS/Hydraulics:

Fluid Component (Essential), 4 Volume Components, 5 Flow and Volume Components, 6 Miscellaneous Components, 7
Fluid Component (Essential)

The fluid component is a special entity. It stores data on fluid properties and formulates equations of state for a fluid. You cannot connect fluid with any other component directly, although other components can reference it. ADAMS/Hydraulics handles this for you automatically. For more information, see Fluid on page 135.
Volume Components
The following table lists the volume components:
The component: Junction2 Junction3 Junction4 Pressure Source Reservoir Tank Page:
161 163 167 215 223 271
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Flow and Volume Components

The following table lists the flow components:
The component: Accumulator Check Valve Check Valve with Pilot (to close) Check Valve with Pilot (to open) Counter Balance Valve with Pilot Cylinder1 Cylinder2 Cylinder1f Cylinder2ff Directional Control Valve 2/2 Directional Control Valve 3/2 Directional Control Valve 4/3 Flow Source Generic Pump/Motor Page:
17 31 35 41 47 53 65 81 93 107 115 123 133 157
The component: Laminar Orifice Servovalve 4/3 Pressure Relief Valve One-Way Restrictor Valve Orifice Pipe (level 1) Pipe (level 2) Pressure-Reducing Valve Pump/Motor Shuttle Valve Spline Orifice Two-Way Cartridge Valve Two-Way Flow Control Valve
Page:
171 227 211 179 185 191 197 205 217 241 247 273 279
Mixed-Volume Flow Components

The following table lists the mixed-volume flow components:
The element: Sum of Flows Sum of Flows2 Sum of Flows3 Sum of Flows4 Page:
263 265 267 269
Miscellaneous Components
The following table lists the miscellaneous components:
The element: Force Source One-DOF Translational Mass Page:
133 175
Topology
In ADAMS/Hydraulics, each component has one or more ports. The ports are either:
One-way - A one-way port only inputs or outputs data, but not both. An example of a one-way port is a pilot port of a valve; the port inputs (senses) pressure, but does not output anything. Two-way - A two-way port inputs and outputs data. The most common twoway port is a flow-pressure port. Components with fluid volume in them, such as reservoir, input the volumetric flow rate and output (compute) pressure, while resistance-based components commonly input pressure and output (compute) volumetric flow rate.
You can only connect ports to each other if their input and output data types match. ADAMS/Hydraulics allows you to connect only matching port pairs to each other. That is, you cannot directly connect ports of two volumes with each other (both output pressure and input flow rate), instead, you must put a resistance between them, such as an orifice, which inputs volumetric flow rate and outputs pressure. This is similar to mass-force relationships in mechanics. You cannot connect a force to another force directly, you must have a mass between them.
Resistances and Volumes

The basic modeling components of a fluid power system are resistances of flow (an orifice is the simplest real-world example of a resistance) and volumes of fluid. In ADAMS/Hydraulics, resistances and volumes are combined to create simple or complicated models. Some fundamental assumptions about these components include:
A flow resistance, such as an orifice, is assumed to have a two-dimensional crosssection area (zero volume). A flow of fluid through this resistance causes a pressure drop. Likewise, a pressure difference that is present over a flow resistance causes a fluid flow. A cross section of an orifice is assumed to be circular; that is, the hydraulic diameter is internally computed from a given cross-section area, assuming this dependency: A = *D2/4. A volume always has a finite size. Pressure in a volume is computed based on the equation of state for fluid. Pressure values are always regarded as absolute pressures.
Component Modeling
For flexibility and to have the ability to expand its library, ADAMS/Hydraulics builds component models using a modular approach, where it applies. Figure 1 shows the principle of component modeling used in ADAMS/Hydraulics. In most hydraulic components there is a spool, poppet, or similar mechanical device, whose position is controlled either externally by an input current, manually, or internally through springs, port, and/or control pressures, flow forces, and so on. The position of the spool then adjusts the flow cross-section areas. The flow cross-section area together with a pressure drop over it define the flow rate through the flow cross-section area. Note that ADAMS/Hydraulics ignores any possible transient effects due to a change of the crosssection area. The spool position model and the flow cross-section area models are specific for each particular component. ADAMS/Hydraulics bases the flow model for most of the component models on the ORIFIC function (see ORIFIC - Flow Through an Orifice on page 304).
Figure 1. Component Modeling in ADAMS/Hydraulics
Component Model (Control Model) Spool Position Model Flow Cross-Section Area Model Flow Model
Input or feedback Spool Position Model
Spool Position
Flow Cross-Section Area
Flow
Flow CrossSection Area Model
Flow Model
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Starting ADAMS/Hydraulics
Because ADAMS/Hydraulics is a plugin for ADAMS/View, ADAMS/Car, ADAMS/Rail, and ADAMS/Engine, you need to load ADAMS/Hydraulics when you use ADAMS/Hydraulics with any of these products.
To start ADAMS/Hydraulics:
1 2 3 4
Start the MSC.ADAMS product in which you are creating your ADAMS/Hydraulics model. From the Tools menu, point to Plugin Manager. Select the Load checkbox next to hydraulics. Select OK. MSC.ADAMS loads the ADAMS/Hydraulics plugin. If you receive an error message, you might have a problem with your licensing. Contact your system administrator or local MSC.ADAMS expert.
Note: To automatically load ADAMS/Hydraulics each time ADAMS/View starts up, select Load at Startup.
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Setting System Defaults

You can change the following system defaults:
Environment pressure - Environment pressure defaults to pressure in STP (standard temperature and pressure, p STP = ( 101325 ) Pa or its equivalent in the applied unit system). All pressure ports of component models are, by default, connected to environment pressure. Therefore, you can leave any port unconnected, which is functionally equivalent to connecting that port to a tank operating under environment pressure. In other words, you probably use a tank component only if you want the:

Tank pressure to differ from environment pressure. Tank symbol to appear on the screen.
In the equations in this guide, we use the symbol pe [force/length2] to refer to environment pressure.
Junction volume - Junctions are basic connection elements located between the component models that output flow rate. Junctions require flow rate as input and then compute (output) pressure at that point of the circuit. ADAMS/Hydraulics treats junctions as small volumes. Junction volume defaults to 1e-6 m3. X penetration tolerance - Without a finite stopping distance, the velocity of a limited travel spool/poppet becomes discontinuous at both ends. To avoid that, ADAMS/Hydraulics applies a virtual impact stiffness to all components with spools or poppets. ADAMS/Hydraulics internally applies appropriate impact properties so that spool/poppet relative penetration does not exceed the value of given X penetration tolerance under normal operating conditions. The lower the value you use for this default, the stiffer the end stops become, and thus, potentially, introduce some numerical difficulties at extremes. The X penetration tolerance defaults to 0.001 (no units).
12
Hysteresis limit - There is an opening-closing hysteresis modeled for most valves with a poppet. The hysteresis limit sets a relative opening limit at which a valve is considered to be open with respect to hysteresis. That is, if the poppet begins to open from the zero position, but returns back before reaching relative position equal to the hysteresis limit, then it returns along the same characteristic curve that it followed when opening. Also, if the poppet opens beyond a given limit, then you can observe hysteresis in its characteristics. The hysteresis limit defaults to 0.001 (no units).
To set the defaults:

1
From the Hydraulics menu, point to Defaults, and then select Set. The Hydraulics Defaults Set dialog box appears.
2 3
Set the defaults as desired. Select OK.
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ADAMS/Hydraulics Components
Overview
This chapter provides information on each of the components you use in ADAMS/Hydraulics. The following section provides the alphabetical listing and page number for each component:

Accumulator, 17 Gas-Charged Accumulator, 23 Check Valve, 31 Check Valve with Pilot (to close), 35 Check Valve with Pilot (to open), 41 Counter Balance Valve with Pilot, 47 Cylinder1, 53 Cylinder2, 65 Cylinder1f, 81 Cylinder2ff, 93 Directional Control Valve 2/2, 107 Directional Control Valve 3/2, 115 Directional Control Valve 4/3, 123
14
ADAMS/Hydraulics Component Reference ADAMS/Hydraulics Components
Flow Source, 133 Fluid, 135 Force Source, 155 Generic Pump/Motor, 157 Junction2, 161 Junction3, 163 Junction4, 167 Laminar Orifice, 171 One-DOF Translational Mass, 175 One-Way Restrictor Valve, 179 Orifice, 185 Pipe (level 1), 191 Pipe (level 2), 197 Pressure-Reducing Valve, 205 Pressure Relief Valve, 211 Pressure Source, 215 Pump/Motor, 217 Reservoir, 223 Servovalve 4/3, 227 Shuttle Valve, 241 Spline Orifice, 247 Spool Valve 4/3p, 251
15
Sum of Flows, 263 Sum of Flows2, 265 Sum of Flows3, 267 Sum of Flows4, 269 Tank, 271 Two-Way Cartridge Valve, 273 Two-Way Flow Control Valve, 279
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Accumulator
Accumulator
Screen Icon
P
Description
ADAMS/Hydraulics assumes that for an accumulator:
There is a chamber of ideal gas inside, which is then compressed by the entering flow of fluid. Its internal effective volume is completely occupied by gas at setting pressure and temperature. Temperature has changed from setting temperature to fluid temperature slowly. Pressure has changed from setting pressure to initial operating pressure slowly. The compression process during an analysis is polytropic (from fluid pressure and initial operating pressure). Internal delays and inertial forces can be neglected. Compressibility of gas dominates that of fluid and (fluid inside an accumulator is treated incompressible). Fluid flows into an accumulator through a fixed sized orifice.
Note: For the MSC.ADAMS 2003 release, this component is replaced by the new gas_charged_accumulator component. The original component is available to
ensure upward compatibility, but has been removed from the menus. You should stop using this component as it may not be available in future releases of ADAMS/Hydraulics.
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Edited by Foxit Reader ADAMS/Hydraulics Component Reference Copyright(C) by Foxit Software Company,2005-2006 Accumulator For Evaluation Only.
Port Topology
For port: Input:
p P : pressure at port P [force/length2]
Output:
Q P : volumetric flow rate out STP from port P in STP [length3/time]
Dialog Box Parameters
The following table shows the values you enter in the Create and Modify Accumulator dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
Table 1. Dialog Box Parameters For the parameter:
General
Enter:
Units:
Symbol:
Mechanical Volume
Effective mechanical volume of the accumulator.
length3
Veff
Charging
Set Pressure of Gas
Set pressure of gas of the accumulator. Set temperature of gas of the accumulator.
force/length2 temperature
p set
Set Temperature of Gas

Process
T set
Initial Pressure
Initial operating pressure of the accumulator. Exponent for polytropic process.
force/length2 --
p ic
Polytropic Exponent
ADAMS/Hydraulics Component Reference Accumulator
19

Q=f(A,dp)
Enter:
Units:
Symbol:
Nom Pressure Drop
Nominal volumetric flow rate through the accumulator orifice. Pressure drop at nominal volumetric flow rate. Density of the reference fluid (the fluid used for the measurement).
length3/time force/length2 mass/length3
Q nom p nom ref
PA Nom Flowrate
Ref Fluid Density
States
Vg :
Volume of gas inside the accumulator [length3]
ADAMS/Hydraulics Formulation
Gas Compression Process Model
Assuming the following:
Accumulators internal effective volume is completely occupied by gas at setting pressure and temperature. Temperature has changed from setting temperature to fluid temperature slowly. Pressure has changed from setting pressure to initial operating pressure slowly.
You can write the following equation for the initial operating volume of gas at fluid temperature T and initial operating pressure pic :
T p set V ic = V eff -------- -------T set p ic
(1)
20
If the initial operating pressure is so low that Vic > V eff , then the initial operating volume must be set equal to the total effective volume and the initial operating pressure must be adjusted accordingly, such that:
V ic = V eff T p ic = p set -------T set
(2) (3)
If you assume that the compressibility of gas dominates that of fluid (fluid inside an accumulator is treated incompressible), the equation for volume of gas inside the accumulator is:
mP V g = V ic + Q P dt = V ic + ------ dt ic
(4)
where:
QP ic
volumetric flow rate of fluid out of the accumulator [length3/time] density of fluid at initial operating pressure [mass/length3]
If you assume a polytropic compression process during an analysis starting from system pressure and initial operating pressure, you can solve for the instantaneous pressure of gas:
V ic p g = p ic ------ Vg
(5)
If you ignore internal delays and inertial forces, you can assume that the internal fluid pressure is equal to that of gas:
pf = pg
Flow Model (6)
If you assume that fluid flows into an accumulator through a fixed-sized orifice, you can solve the effective cross-section area of accumulator inlet orifice from nominal flow rate values as follows. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
21
Q nom A = ----------------------------2p nom C d ----------------- ref
(7)
ADAMS/Hydraulics calculates the rate in and out of the accumulator using ORIFIC function, such that: If Vg = V eff and p P < pg then:
mP = 0
(8)
else:
m P = ORIFIC ( 1.0, C d, Re tr, A, p f, p P, 0 ) Q P STP mP = ----------------- fluid STP
(9)
(10)
Figure 2 on page 22 gives an example of accumulator pressure as a function of fluid
volume inside the accumulator. Parameter values in the example are:

Set pressure of gas pset = 100 bar Effective volume of the accumulator V eff = 33.5 l Set temperature of gas Tset = 293.15 K Fluid temperature T = 293.15 K Initial operating pressure of the accumulator p ic = 100 bar Polytropic exponent = 1.4
22
Figure 2. Example of Pressure In Accumulator as a Function of Fluid Volume in the Accumulator

Pressure of Hydropneumatic Accumulator as a Function of Fluid Volume 200
180
160
140
Pressure [bar]
120
100
80
60
40
20
0 0 2 4 6 8 Fluid Volume [l] 10 12 14
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Gas-Charged Accumulator
Gas-Charged Accumulator
Screen Icon
P
Description
ADAMS/Hydraulics assumes that for a gas-charged accumulator:
There is a chamber of ideal or real gas inside, which is then compressed by the entering flow of fluid. Its internal effective volume is completely occupied by gas at setting pressure and temperature. Internal delays and inertial forces can be neglected. Compressibility of gas dominates that of fluid (fluid inside an accumulator is treated incompressible). Fluid flows into an accumulator through a fixed-sized orifice.
Port Topology
For port: Input:
p P : pressure at port P [force/length2]
Output:
Q P : volumetric flow rate out STP from port P in STP [length3/time]
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ADAMS/Hydraulics Component Reference Gas-Charged Accumulator
The following table shows the values you enter in the Create and Modify Gas Charged Accumulator dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 26.
General
Enter:
Units:
Symbol:
Mechanical Volume
Effective mechanical volume of the accumulator.
length3
Veff
Charging
Set Pressure of Gas
Set pressure of gas of the accumulator. Set temperature of gas of the accumulator.
force/length2 temperature
p set
Set Temperature of Gas

Process
T set
Initial Pressure
Initial operating pressure of the accumulator. Initial operating temperature of the accumulator. Temperature outside of the accumulator. Method to select either real or ideal gas for the accumulator. The options are: ideal_gas nitrogen
force/length2 temperature temperature
p ic
Initial Temperature
T ic
Environment Temperature Function Process Gas
T env
--
gas
25

Heat Transfer Process
Enter:
Units:
Symbol:
ItoX
Method to characterize the heat transfer process between the accumulator gas and the environment. The options are: adiabatic - No heat transfer (process assumed fast or well isolated). isothermal - Infinite heat transfer (gas temperature remains the same as the environment temperature). custom - Based on a userdefined heat transfer coefficient. Sets the rate at which heat is transferred between the accumulator gas and the environment.
--
Heat Transfer Coefficient custom

Q=f(A,dp)
power/ temperature
Nom Pressure Drop
Nominal volumetric flow rate through the accumulator orifice. Pressure drop at nominal volumetric flow rate. Density of the reference fluid (the fluid used for the measurement).
Q nom p nom ref
PA Nom Flowrate
Ref Fluid Density
States
Vg : Tg :
Volume of gas inside the accumulator [length3] Temperature of gas inside the accumulator [temperature]
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Gas Compression Process Model
The thermodynamic properties of nitrogen applied here are based on [5]. The governing equation of state for the gas inside the accumulator is:
p g V g = ZnRT g
(11)
where Z = 1 for ideal gas and for Z = f ( T g, g ) real gases. Assuming that accumulators internal effective volume is completely occupied by gas at setting pressure and temperature, then amount of gas ( n ) can be resolved from the following:
p set V eff = ZnRT set
(12)
Initial operating gas volume (starting point for an analysis) computes:

ZnRT ic V ic = ----------------p ic
(13)
If the initial operating volume becomes larger than the effective volume of the accumulator V ic > V eff , then the initial operating gas volume must be set equal to the total effective volume and the initial operating pressure must be adjusted accordingly, such that:
V ic = V eff ZnRT ic p ic = ----------------V ic
(14) (15)
Note: During static analysis, gas temperature is equal to the environment temperature.
T g = T env
(16)
27
ADAMS/Hydraulics assumes that the compressibility of gas dominates that of fluid (fluid inside an accumulator is treated incompressible) and, therefore, the equation for volume of gas inside the accumulator is: mP V g = Q P = -----(17) ic
V g = V ic + V g dt
(18)
where:
QP ic
volumetric flow rate of fluid out of the accumulator [length3/time] density of fluid at initial operating pressure [mass/length3]
The instantaneous pressure of gas computes:

ZnRT g p g = ---------------Vg
(19)
If you ignore internal delays and inertial forces, you can assume that the internal fluid pressure is equal to that of gas:
pf = pg
(20)
Gas temperature is computed based on the selected heat transfer process.
28
Method: Adiabatic
---- p g V g 0 T g = T ic + ---------------- dt m g cv
(21)
where:
---0 cv mg
thermal pressure coefficient [5, p. 42] specific heat at constant volume [5, p. 42] mass of gas
Method: Isothermal
T g = T env
Method: Custom
(22)
G ( T env T g ) ---- p g V g 0 T g = T ic + ------------------------------------------------------- dt m g cv
(23)
Flow Model
If you assume that fluid flows into an accumulator through a fixed-sized orifice, you can solve the effective cross-section area of accumulator inlet orifice from nominal flow rate values as follows. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q nom A = ----------------------------2p nom C d ----------------- ref
(24)
29
ADAMS/Hydraulics calculates the rate in and out of the accumulator using the ORIFIC function, such that: If Vg = V eff and p P < pg then:
mP = 0
(25)
else:
m P = ORIFIC ( 1.0, C d, Re tr, A, p f, p P, 0 ) mP Q P STP = ----------------- fluid STP
(26)
(27)
30
ADAMS/Hydraulics Component Reference Check Valve
31
Check Valve
Screen Icon
Functional Schematic
(+) A
(+) B
Description
ADAMS/Hydraulics assumes that for a check valve:

There is no volume inside the valve. The poppet is massless. The flow cross-section area is linearly dependent on poppet position.
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2]
Output:
Q A : volumetric flow rate out STP from port A in STP [length3/time] Q B : volumetric flow rate out STP from port B in STP [length3/time]
A B
32
The following table shows the values you enter in the Create and Modify Check Valve2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 33.
General
Enter:
Units:
Symbol:
Initial Position
Q=f(dp)
Initial relative poppet position, 0 x 1 --
AB Closing Pressure Drop AB1 Pressure Drop
Closing pressure drop of the valve. Pressure drop at first definition volumetric flow rate. First definition volumetric flow rate. Pressure drop at second definition volumetric flow rate.
force/length2 p c force/length2 p 1 length3/time Q 1 force/length2 p 2
AB1 Flowrate AB2 Pressure Drop
AB2 Flowrate
Second definition volumetric flow rate length3/time Q 2 (at maximum opening). Relative leakage 0 1 . Density of the reference fluid (the fluid used for the measurement).
AB Relative Leakage Ref Fluid Density
mass/length3 ref
Response
Time Constant Pressure Step
Opening time constant of the valve.
time
Pressure drop for which 0 was given. force/length2 p 0
33
Table 3. Dialog Box Parameters (continued) For the parameter:

Hysteresis
Enter:
Units:
Symbol:
Hysteresis Ratio
Pressure area ratio for hysteresis at ( x = 0 ), ( 0 1 ).
States
x:
Relative poppet position [], 0 x 1
Poppet Position Model
ADAMS/Hydraulics assumes that the check valve poppet is massless and closed at x = 0 . It also assumes that the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 x F s0 = F 0 Fd = c1 x F pA = A p p A F pB = A p p B Ff = k3 x pA pB
spring force closing the valve spring preload viscous damping force pressure force opening the valve pressure force closing the valve flow force closing the valve
(28) (29) (30) (31) (32) (33)
where:
c 1, k 1, k 3 constants (identified internally from input data) x Ap
relative poppet velocity [1/time] effective poppet pressure area [length2] pressure area ratio ( A closed Ap ), ( 1 ) []
34
ADAMS/Hydraulics calculates the pressure area ratio as follows (see ARATIO - Area Ratio of a Poppet on page 296):
= ARATIO ( x, x , 0, closed, 0 )
Flow Cross-Section Area Model
(34)
If you assume that point ( Q 2, p2 ) corresponds to the maximum opening, you can use that same point to compute the maximum flow cross-section area of the valve. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q 2 ref A max = ------ -----------C d 2p 2
(35)
Relative flow cross-section area, therefore, computes to:

R = LINPWL ( x, , 0 )
Flow Model
(36)
ADAMS/Hydraulics defines the flow model for a check valve using the ORIFIC function, such that:
m AB = ORIFIC ( R, C d, Re tr, A max, p A, p B, 0 ) m AB Q A STP = ----------------- fluid STP m AB Q B STP = ----------------- fluid STP
(37)
(38)
(39)
ADAMS/Hydraulics Component Reference Check Valve with Pilot (to close)
35
Check Valve with Pilot (to close)
Screen Icon
x (+) A (+) X
(+)
Description ADAMS/Hydraulics assumes that for a check valve with pilot (to close):

Sum of the pressure areas of ports A and B is equal to pilot pressure area (X). There is no volume inside a valve. Poppet is massless. Flow cross-section area is linearly dependent on the poppet position.
ADAMS/Hydraulics combines the spool position model and the flow cross-section area model in the model of a check valve.
36
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p X : pressure at port X [force/length2]
Output:
A B X
--

The following table shows the values you enter in the Create and Modify Check Valve with Pilot dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 38.
General Initial Position
Enter:
Units:
Symbol:
Initial relative poppet position,

0x1
---
BA Pressure Area Ratio Q=f(pA) A Closing Pressure A1 Pressure
Secondary pressure area ratio.
r BA
Closing pressure at port A. Pressure at port A at first definition volumetric flow rate. First definition volumetric flow rate.
force/length2 force/length2 length3/time
pc p A1
A1 Flowrate
Q1
37

A2 Pressure
Enter:
Units:
Symbol:
p A2
Pressure at port A at second definition volumetric flow rate. Second definition volumetric flow rate (at maximum opening). Relative leakage ( 0 1 ). Pressure at ports B and X during measurements. Density of the reference fluid (the fluid used for the measurement).
force/length2 length3/time -force/length2 mass/length3
A2 Flowrate
Q2 p BXref ref
AB Relative Leakage BX Ref Pressure
Ref Fluid Density
Response Time Constant Pressure Step
Opening time constant of the valve. Pressure drop for which 0 was given.
time force/length2
0 p 0
Hysteresis Hysteresis Ratio
--
States
x:
38
ADAMS/Hydraulics assumes that the check valve with pilot poppet is massless and closed at x = 0 . It also assumes the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 x F s0 = F 0 Fd = c1 x F pA = A pA p A F pB = A pB p B F pX = ( A pA + A pB )p X Ff = k3 x pA p B
spring force closing the valve spring preload viscous damping force pressure force opening the valve pressure force opening the valve pressure force closing the valve flow force closing the valve
(40) (41) (42) (43) (44) (45) (46)
where
c 1, k 1, k 3 x A pA A pB
constants (identified internally from input data) relative poppet velocity [1/time] pressure area for port A pressure [length2] pressure area ratio ( Aclosed ApA ), ( 1 ) [] pressure area for port B pressure [length2]
ADAMS/Hydraulics computes pressure area ratio as follows (see ARATIO - Area Ratio of a Poppet on page 296):
(47)
39
If you assume that point ( Q 2, pA2 ) corresponds to the maximum opening, you can use the same point to compute the maximum flow cross-section area for the valve. Default values C d = 0.6 and Retr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q2 ref A max = ------ ------------------------------------C d 2 ( p A2 p BXref )
(48)
The flow cross-section area, therefore, computes to:

R = LINPWL ( x, , 0 )
Flow Model
(49)
ADAMS/Hydraulics defines the flow model for a check valve using the ORIFIC function, such that:
(50)
(51)
(52)
40
ADAMS/Hydraulics Component Reference Check Valve with Pilot (to open)
41
Check Valve with Pilot (to open)
Screen Icon
A B
x (+) T (+) A (+) X B (+)
Description ADAMS/Hydraulics assumes that for a check valve with pilot (to open):
Sum of pressure areas of ports A, B, and X is equal to the pressure area of port T. There is no volume inside a valve. The poppet is massless. Flow cross-section area is linearly dependent on the poppet position.
42
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p X : pressure at port X [force/length2] p T : pressure at port T [force/length2]
Output:
A B X T
---
43
Input Parameters
The following table shows the values you enter in the Create and Modify Check Valve3 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 45.
General
Enter:
Units:
Symbol:
Initial Position BA Pressure Area Ratio XA Pressure Area Ratio

Q=f(pA)
Initial relative poppet position, 0 x 1 Secondary pressure area ratio (B/A). Pilot pressure area ratio (X/A).
----
x r BA r XA
A Closing Pressure Closing pressure at port A. A1 Pressure
force/length2 force/length2 length3/time force/length2 length3/time --
pc p A1
Pressure at port A at first definition volumetric flow rate. First definition volumetric flow rate. Pressure at port A at second definition volumetric flow rate. Second definition volumetric flow rate (at maximum opening). Relative leakage ( 0 1 ).
A1 Flowrate A2 Pressure
Q1 p A2
A2 Flowrate
Q2
AB Relative Leakage
44

BXT Ref Pressure
Enter:
Units:
Symbol:
p BXTref ref
Pressure at ports B, X, and T used during measurements. Density of the reference fluid (the fluid used for the measurement).
force/length2 mass/length3
Ref Fluid Density
Response

Hysteresis
time force/length2
0 p 0
Hysteresis Ratio
--
States
x:
45
ADAMS/Hydraulics assumes that the check valve with pilot poppet is massless and closed at x = 0 . It also assumes that the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 x F s0 = F 0 Fd = c1 x F pA = A pA p A F pB = A pB p B F pX = A pX p X F pT = A pT p T Ff = k3 x pA pB
spring force closing the valve spring preload viscous damping force pressure force opening the valve pressure force closing the valve pilot pressure force opening the valve pressure force closing/opening the valve flow force closing the valve
(53) (54) (55) (56) (57) (58) (59) (60)
where:
c 1, k 1, k 3 constants (identified internally from input data) x ApA ApB ApX ApT
relative poppet velocity [1/time] pressure area for port A pressure [length2] pressure area ratio ( Aclosed A p ), ( 1 ) [] pressure area for port B pressure [length2] pressure area for pilot (port X) pressure [length2] pressure area for tank (port T) pressure [length2]
46
ADAMS/Hydraulics computes the area ratio as follows (see ARATIO - Area Ratio of a Poppet on page 296):
(61)
If you assume that point ( Q 2, p A2 ) corresponds to the maximum opening, you can use that same point to compute the maximum flow cross-section area for the valve. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q2 ref A max = ------ ---------------------------------------C d 2 ( p A2 p BXTref )
(62)
The flow cross-section area, therefore, computes to:

R = LINPWL ( x, , 0 )
Flow Model
(63)
ADAMS/Hydraulics defines the flow model for counter balance valve using the ORIFIC function, such that:
(64)
(65)
(66)
ADAMS/Hydraulics Component Reference Counter Balance Valve with Pilot
47
Counter Balance Valve with Pilot
Screen Icon
x (+) T (+) A (+) X B (+)
Description ADAMS/Hydraulics assumes that for a counter balance valve:
The sum of the pressure areas of ports A, B, and X is equal to pressure area of port T. There is no volume inside a valve. Poppet is massless. Flow cross-section area is linearly dependent on the poppet position.
48
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p X : pressure at port X [force/length2] p T : pressure at port T [force/length2]
Output:
A B X T
---
The following table shows the values you enter in the Create and Modify Counter Balance Valve4p dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 50.
General
Enter:
Units:
Symbol:
Initial Position

0x1
----
BA Pressure Area Ratio XA Pressure Area Ratio

Q=f(pA)
Secondary pressure area ratio (B/A). Pilot pressure area ratio (X/A).
r BA
r XA
A Closing Pressure
Closing pressure at port A.
force/length2
pc
49

A1 Pressure
Enter:
Units:
Symbol:
p A1
Pressure at port A at first definition volumetric flow rate. First definition volumetric flow rate. Pressure at port A at second definition volumetric flow rate. Second definition volumetric flow rate (at maximum opening). Relative leakage ( 0 1 ). Pressure at ports B, X, and T used during measurements. Density of the reference fluid (the fluid used for the measurement).
force/length2 length3/time force/length2 length3/time -force/length2 mass/length3
A1 Flowrate
Q1
A2 Pressure
p A2
A2 Flowrate
Q2 p BXTref ref
AB Relative Leakage BXT Ref Pressure
Ref Fluid Density
Response
Time Constant
time force/length2
0 p 0
Pressure Step
Hysteresis
Hysteresis Ratio
--
50
States
x:
ADAMS/Hydraulics assumes that the counter balance valve poppet is massless and closed at x = 0 . It also assumes that the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 x F s0 = F 0 Fd = c 1 x F pA = A pA p A F pB = A pB p B F pX = A pX p X F pT = A pT p T Ff = k3 x pA p B
spring force closing the valve spring preload viscous damping force pressure force opening the valve pressure force closing the valve pilot pressure force opening the valve pressure force closing/opening the valve flow force closing the valve
(67)
(68) (69) (70) (71) (72) (73) (74)
where:
c 1, k 1, k 3 x A pA A pB A pX A pT
constants (identified internally from input data) relative poppet velocity [1/time] pressure area for port A pressure [length2] pressure area ratio ( A closed Ap ), ( 1 ) [] pressure area for port B pressure [length2] pressure area for pilot (port X) pressure [length2] pressure area for tank (port T) pressure [length2]
51
ADAMS/Hydraulics computes the pressure area ratio as follows (see ARATIO - Area Ratio of a Poppet on page 296):
(75)
If you assume that point ( Q 2, p A2 ) corresponds to the maximum opening, you can use that same point to compute the maximum flow cross-section area for the valve. Default values C d = 0.6 and Retr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops:
Q2 ref A max = ------ ---------------------------------------C d 2 ( p A2 p BXTref )
(76)
Flow cross-section area computes:

R = LINPWL ( x, , 0 )
Flow Model
(77)
ADAMS/Hydraulics defines the flow model for a counter balance valve using the ORIFIC function, such that:
(78)
(79)
(80)
52
ADAMS/Hydraulics Component Reference Cylinder1
53
Cylinder1
Screen Icon
A
l (+) M (+) M
(+)
Description ADAMS/Hydraulics assumes that for a cylinder1:
Cylinder1 computes a force value that acts between its end points and consists of pressure, friction, and cushion forces. Cushions in the both ends of cylinder1 are identical. Cushions prevent cylinder1 from ever reaching its maximum and minimum lengths. Cylinder1 parts are massless. (If mass is needed, you should account for it in the mechanical side of the model.) Cylinder1 walls are flexible. Cylinder1 rod is rigid. (If flexibility is needed, you should account for it in the mechanical side of the model.)
54
Fluid inside cylinder1 is considered compressible but massless in the mechanical sense. Mechanical motion/acceleration of cylinder1 as a whole does not affect internal flows or fluid movements. The flow cross-section area is a function of any system states to allow modeling of arbitrary end-stop constructions. There is no leakage through the rod sealing. Friction force is dependent on pressure difference across a seal. Coulomb friction occurs at zero sliding velocity. At low sliding velocity, the friction force is decreasing until a specific sliding velocity ( v tr ) is reached (at this transition area, the friction is changing from Coulomb to viscous friction). Precompression of seals causes a constant friction force that is not dependent on pressure. Friction force parameters are measured in STP.
ADAMS/Hydraulics also assumes [4] that the seal friction has the following properties:

55
Port Topology
For port: Input:
p A : pressure at port A [force/length2]
Output:
Q A : volumetric flow rate out STP from port A in STP [length3/time]

A Mechanical
i marker : upper attachment marker of the cylinder j marker : lower attachment
F : total cylinder force [force] Fp : total pressure force [force] F : friction force [force] Fc : cushion force [force] p l : extension chamber
marker of the cylinder
pressure [pressure]
The following table shows the values you enter in the Create and Modify Cylinder1 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 59.
I Marker J Marker
Enter:
Units:
Symbol:
Name of the I and J markers that define the design length of the cylinder (solved internally based on the design position of the cylinder).
length
l0
General
Max Length Min Length
Maximum length of the cylinder. Minimum length of the cylinder.
length length
l max l min
56

A Dead Volume
Enter:
Units:
Symbol:
Mechanical volume of extension chamber of the cylinder at minimum length. Diameter of piston/inner diameter of the cylinder. Initial pressure in the extension chamber. Maximum diameter of the output port A flow passage. Controls cylinder behavior during static analysis. The options are: none - Finds the static position freely (design length and extension chamber pressure floats). pl - Holds the initial extension chamber pressure (design length floats). l0 - Holds the design length (extension chamber pressure floats).
length3
V ldead
Piston Diameter
length force/length2 length --
Dp
p l0
A Chamber Initial Pressure A Orifice Diameter
dA
Static Hold
--
End Stops
A Relative Opening Function
Relative opening of the flow cross-section area for flow from port A, 0 R 1 .
--
RA
57

Cushion Free Length Cushion Relative Stiffness Cushion Force Exponent Cushion Rebound Ratio Limit Velocity for Rebound
Enter:
Units:
Symbol:
Cushion free length (thickness). Cushion relative stiffness. Cushion force exponent 0 < e c 10 . Rebound ratio of cushion force, 0 hc 1 . Limit velocity for fully developed hysteresis (rebound force).
length force --
lc kc ec hc
length/time
v lim
Flexibility
Wall Thickness Youngs Modulus
Cylinder wall thickness. Modulus of elasticity of the cylinder wall material. Poissons ratio for the cylinder wall material.
length force/length2 --
s
E
Poissons Ratio
Losses
Coulomb Friction Force Piston Seal Friction Coefficient
Dry Coulomb friction due to precompression of seals. Coefficient is the friction force divided by the change in pressure.
force length2
F 0
58

Limit Velocity for Dynamic Friction Dynamic Friction Decrease
Enter:
Units:
Symbol:
v tr D
Sliding velocity for fully developed dynamic friction. Relative decrease of friction between static to dynamic friction. Effective seal shear stiffness. Damping coefficient.
length/time --
Seal Shear Stiffness Damping Coefficient

Leakages
force/length force*time/length
k sseal c
Relative Clearance of Piston Piston Thickness
Relative clearance for laminar leakage over piston ( 0 p ). Piston thickness (for laminar leakage only) ( 0 < L p ).
---
Lp
States
ls : Vl
STP
Instantaneous seal - cylinder wall contact location (stiction length) [length] : Volume of fluid in the extension chamber in STP [length3]
59
Structural Flexibility Model
According to Timoshenko [3], the radial displacement u at the inner surface of a thickwalled cylindrical shape due to an internal pressure increase of p is:
2 2 D p p D o + D p u = ------------- -------------------- + 2 2 2E Do D p
(81)
where the outer diameter of the cylinder is:

D o = D p + 2s (82)
For pressure delta, you can write the equation:

p = p p e (83)
You can also write the equation for effective inner area of the cylinder as a function of pressure, such that:
2 2 p pe Do + Dp 2 Aeff = ( D p + 2u ) 2 -- = 1 + ------------- -------------------- + -- D p 2 D2 E Do 4 4 p 2
(84)
Pressure Force Model
ADAMS/Hydraulics computes cylinder length and its time derivative based on the locations and velocities of the cylinder attachment points using the DM and VR functions. For information on these functions, see the ADAMS/Solver (FORTRAN) online help.
l = DM ( i marker, j marker ) l = VR ( i marker, j marker, j marker ) (85) (86)
It computes the design length of the cylinder at the beginning of a simulation as follows:
l0 = DM ( i marker, j marker )t = 0 (87)
The piston pressure area is:

A l = A eff
(88)
60
It defines the instantaneous mechanical volume of the extension chamber of the cylinder as:
V l = ( l l min )A l + V ldead
(89)
It also computes the initial volume of fluid in the extension chamber in STP based on the given initial pressure:
f ( p l0, T ) l0 V l0 -V V lini = ------------------ = -------------------------------- l ( l 0 ) f ( p STP, T STP ) fluid STP
(90)
where the function = f ( p, T ) refers to the equation of state for the fluid. ADAMS/Hydraulics defines the density as mass per unit of volume. It calculates the density of the fluid in the extension chamber of the cylinder as:
V l STP - l = --------- fluid STP Vl
(91)
It calculates the pressure of the fluid in the extension chamber of the cylinder using the equation of state for the fluid, such that:
p l = f ( l, T )
(92)
Following MSC.ADAMS sign convention in which a repelling point-to-point force is positive, you can obtain the following for the total pressure force:
F p = ( p l p e )A l
Friction Force Model
(93)
ADAMS/Hydraulics assumes that the maximum static friction force consists of two force components:
F sta = F piston + F 0 F piston = a p l p e , friction force magnitude over piston seal
(94) (95)
The second term of Equation (94) is a constant and represents dry Coulomb friction due to precompression of seals.
61
If dynamic friction is assumed to be fully developed at sliding velocity of ( v tr ), you can write the dynamic friction force equation as:
F dyn min ( l , v tr ) = 1 D ---------------------------- F sta v tr
(96)
Knowing that the effective seal shear stiffness is ( k sseal ) , you can now compute the maximum shear deformation of seals due to dynamic friction force as:
F dyn l max = ------------k sseal
(97)
If you further assume that there is an additional velocity dependent damping term involved, then the instantaneous friction force acting on the cylinder is:
l = l l s F = k sseal l cl, l max l l max
Cushion Force Model
(98) (99)
ADAMS/Hydraulics assumes that the cushion force goes to infinity while the cylinder approaches either its maximum or minimum length. The cushion force prevents the cylinder from going beyond its limit length values. Cushion force characteristics are the same on both ends of the cylinder. For an impact against the extension chamber cushion (at the minimum cylinder length), the equations that compute the force are:
pen = max ( 0, l c + l min l ) hc hc pen e c F c = k c ------------------ step l, v lim, 1 + ---- , v lim, 1 ---- l c pen 2 2
(100)
(101)
62
Similarly, an impact against the retraction chamber cushion (at the maximum cylinder length) is:
pen = max ( 0, l ( l max l c ) ) hc hc pen e c F c = k c ------------------ step l, v lim, 1 ---- , v lim, 1 + ---- l c pen 2 2
(102)
(103)
STEP functions used in the above equations generate damping through hysteresis by introducing different force characteristics for penetration and rebound.
Cylinder Force
Total force acting in between the cylinder attachment points is simply a sum of pressure, friction, and cushion forces:
F = Fp + F + F c (104)
ADAMS/Hydraulics computes the maximum flow cross-section area for flow from port A as follows:
2 d A A A = --------4
(105)
Flow Model
ADAMS/Hydraulics defines the flow model for flow out from cylinder using the ORIFIC function. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
m A = ORIFIC ( R A, C d, Re tr, A A, p l, p A, 0 ) mA Q A STP = ----------------- fluid STP
(106)
(107)
63
According to Merritt [1, p. 34], you can compute the laminar flow in annulus between circular shaft and cylinder ( c D ) as:
Dc 3 3 e 2 - m = ------------ 1 + -- - p 12L 2 c
(108)
where:
c L e
radial clearance [length] kinematic viscosity of fluid [length2/time] passage length [length] eccentricity of shaft [length]
You can assume eccentricity is zero or compensated in the value of relative clearance and define a dimensionless relative clearance p as follows:
2c p = ----D
(109)
From Equations (480) and (525), you can write the equation for laminar leakage flow over the piston as:
3 D m lu = p ------------ ( p l p e ) 96L 4
(110)
The sum of flow rates from the extension cylinder chamber is, respectively:
m lu m A Q l ST P = ------------------------ fluid ST P V l STP =
(111)
Ql
STP
dt
(112)
64
65
Cylinder2
Screen Icon
l (+) M (+) M
(+)
(+)
Description
ADAMS/Hydraulics assumes that for a cylinder2:
Cylinder2 computes a force value that acts between its end points and consists of pressure, friction, and cushion forces. Cushions in the both ends of cylinder2 are identical. Cushions prevent cylinder2 from ever reaching its maximum and minimum lengths. Cylinder2 parts are massless. (If mass is needed, you should account for it in the mechanical side of the model.) Cylinder2 walls are flexible. Cylinder2 rods are rigid. (If flexibility is needed, you should account for it in the mechanical side of the model.)
66
Fluid inside cylinder2 is considered compressible, but massless in the mechanical sense. Mechanical motion/acceleration of cylinder2, as a whole, does not affect internal flows or fluid movements. Flow cross-section areas are functions of any system states to allow modeling of arbitrary end-stop constructions. Friction force is dependent on pressure difference across a seal. Coulomb friction occurs at zero sliding velocity. At low sliding velocity, the friction force is decreasing until a specific sliding velocity ( v tr ) is reached (at this transition area, the friction is changing from Coulomb to viscous friction). Precompression of seals causes a constant friction force that is not dependent on pressure. Friction force parameters are measured in STP.

67
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B
Output:
A B Mechanical
[force/length
2]
volumetric flow rate out from port B in STP [length3/time]

QB
STP
i marker : upper attachment
F : total cylinder force [force] Fp : total pressure force [force] F : friction force [force] Fc : cushion force [force] p l : extension chamber pressure
j marker : lower attachment marker of the cylinder
[pressure] p u : retraction chamber pressure [pressure]
The following table shows the values you enter in the Create and Modify Cylinder2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 73.
Table 8. Dialog Box Parameters For the option:
I Marker J Marker
Enter:
Units:
Symbol:
Name of the I and J markers that define the design length of the cylinder (solved internally based on design position of the cylinder).
length
l0
68
Table 8. Dialog Box Parameters (continued) For the option:

General
Enter:
Units:
Symbol:
Max Length Min Length B Dead Volume
Maximum length of the cylinder. Minimum length of the cylinder. Mechanical volume of retraction chamber of the cylinder at minimum length. Mechanical volume of extension chamber of the cylinder at minimum length. Diameter of piston/inner diameter of the cylinder. Diameter of piston rod above piston. Diameter of piston rod below piston. Initial pressure in the retraction chamber. Initial pressure in the extension chamber. Maximum diameter of the output port A flow passage. Maximum diameter of the output port B flow passage.
length length length3
l max l min V udead
A Dead Volume
length3
V ldead
Piston Diameter
length length length force/length2 force/length2 length length
Dp d ru d rl
p u0
B Rod Diameter A Rod Diameter B Chamber Initial Pressure A Chamber Initial Pressure A Orifice Diameter B Orifice Diameter
p l0
dA dB
69

Static Hold
Enter:
Units:
Symbol:
Controls cylinder behavior during static analysis. The options are: none - Finds static position freely (design length, extension and retraction chamber pressure floats) pl - Holds initial extension chamber pressure (design length and retraction chamber pressure floats) pu - Holds initial retraction chamber pressure (design length and extension chamber pressure floats) pl_and_pu - Holds initial extension and retraction chamber pressure (design length floats) pl_and_l0 - Holds initial extension chamber pressure and design length (retraction chamber pressure floats) pu_and_l0 - Holds initial retraction chamber pressure and design length (extension chamber pressure floats)
--
--
70

Static Hold (continued)
Enter:
Units:
Symbol:
l0_with_pl - Holds design length by adjusting extension chamber pressure (retraction chamber pressure floats) l0_with_pu - Holds design length by adjusting retraction chamber pressure (extension chamber pressure floats)
--
--
End Stops
A Relative Opening Function B Relative Opening Function Cushion Free Length Cushion Relative Stiffness Cushion Force Exponent Cushion Rebound Ratio Limit Velocity for Rebound
Relative opening of the flow crosssection area for flow from port A, 0R1. Relative opening of the flow crosssection area for flow from port B, 0R1. Cushion free length (thickness). Cushion relative stiffness. Cushion force exponent 0 < e c 10 . Rebound ratio of cushion force, 0 hc 1 . Limit velocity for fully developed hysteresis (rebound force).
--
RA
--
RB
length force --length/time
lc kc ec hc v lim
71

Flexibility
Enter:
Units:
Symbol:
s
E
Poissons Ratio
Losses
Coulomb Friction Force Piston Seal Friction Coefficient B Rod Seal Friction Coefficient A Rod Seal Friction Coefficient Limit Velocity for Dynamic Friction Dynamic Friction Decrease Seal Shear Stiffness
Dry Coulomb friction due to precompression of seals. Coefficient is the friction force divided by the change in pressure. Coefficient is the friction force divided by the change in pressure. Coefficient is the friction force divided by the change in pressure. Sliding velocity for fully developed dynamic friction. Relative decrease of friction between static to dynamic friction. Effective seal shear stiffness.
force length2
F 0
length2
bu
length2
bl
length/time -force/length
v tr D
k sseal
72

Damping Coefficient
Leakages
Enter:
Units:
Symbol:
c
Damping coefficient.
force*time/length
Relative clearance for laminar leakage over piston 0 p . Piston thickness (for laminar leakage only) ( 0 < Lp ). Coefficient of leakage over extension chamber rod seal. Coefficient of leakage over retraction chamber rod seal.
--
-volume/time/ pressure volume/time/ pressure
Lp
A Rod Leakage Coefficient B Rod Leakage Coefficient
C Arod
C Brod
States
ls : Vl
STP
Instantaneous seal - cylinder wall contact location (stiction length) [length] : Volume of fluid in the extension chamber in STP [length3] : Volume of fluid in the retraction chamber in STP [length3]
Vu
STP
73
2 2 D p p D o + D p u = ------------- -------------------- + 2 2 2E Do D p
(113)

D o = D p + 2s (114)
You can write the equation for pressure delta as:

p = p p e (115)
You can also write the effective inner area of the cylinder as a function of pressure as:
2 2 2 p pe Do + Dp 2 A eff = ( D p + 2u ) 2 -- = 1 + ------------- -------------------- + -- D p 2 2 E Do Dp 4 4
(116)
ADAMS/Hydraulics computes the cylinder length and its time derivative based on the locations and velocities of the cylinder attachment points using the functions DM and VR. For information on DM and VR functions, see the ADAMS/Solver (FORTRAN) online help.
74
Design length of the cylinder is computed in the beginning of a simulation as follows:

l 0 = DM ( i marker, j marker )t = 0 (119)
Areas of piston rods are:

2 A ru = d ru -4 2 A rl = d rl -4
(120)
(121)
The piston pressure area for retraction and extension pressures is:
A u = A eff A ru A l = A eff A rl
(122) (123)
The instantaneous mechanical volume of the retraction and extension chamber of the cylinder is:
V u = ( l max l )A u + V udead V l = ( l l min )A l + V ldead
(124) (125)
ADAMS/Hydraulics computes the initial volumes of fluid in the retraction and extension chamber in STP based on the given initial pressures in both of the chambers, such that:
f ( p u0, T ) u0 V u0 -V V uini = ------------------ = -------------------------------- u ( l 0 ) f ( p STP, T STP ) fluidST P f ( p l0, T ) l0 V l0 -V V lini = ------------------ = -------------------------------- l ( l 0 ) f ( p STP, T STP ) fluid STP
(126)
(127)
where the function = f ( p, T ) refers to the equation of state for the fluid.
75
ADAMS/Hydraulics defines density as mass per unit of volume. It calculates the density of the fluid in the retraction and extension chamber of the cylinder as:
V u ST u = ----------P fluidST P Vu V l STP - l = --------- fluid STP Vl
(128)
(129)
It also calculates the pressure of the fluid in the retraction and extension chambers of the cylinder using the equation of state for the fluid, such that:
p u = f ( u, T ) p l = f ( l, T )
(130) (131)
F p = p l A l p u A u + p e A rl p e A ru
Friction Force Model
(132)
ADAMS/Hydraulics assumes the maximum static friction force consists of three or four force components:
F sta = F piston + F urod + F lrod + F 0
(133)
F piston = a p l p u , friction force magnitude over piston seal (134) F urod = b u p u p e , friction force magnitude over upper rod seal(135) F lrod = b l p l p e , friction force magnitude over lower rod seal(136)
The fourth term of Equation (133) is a constant and represents dry Coulomb friction due to precompression of seals. Force over lower rod seal (Equation 136) is naturally zero in the case of a differential cylinder, which has no lower rod.
76
If you assume that dynamic friction is fully developed at sliding velocity of ( v tr ), you can then write the equation for dynamic friction force as:
(137)
(138)
If you further assume that there is an additional velocity dependent damping term involved, then the instantaneous friction force acting on the cylinder is:
Cushion Force Model
(139) (140)
ADAMS/Hydraulics assumes that cushion force goes to infinity while the cylinder approaches either its maximum or minimum length. The cushion force prevents the cylinder from going beyond its limit length values. ADAMS/Hydraulics assumes that the cushion force characteristics are the same on both ends of the cylinder. For an impact against the extension chamber cushion (at the minimum cylinder length), the equations that compute the force are:
(141)
(142)
77
(143)
(144)
STEP functions used in the above equations generate damping through hysteresis by
introducing different force characteristics for penetration and rebound.

Cylinder Force
F = Fp + F + Fc (145)
ADAMS/Hydraulics computes the maximum flow cross-section areas for flows from ports A and B as follows:
2 d A A A = --------4 2 d B A B = --------4
(146)
(147)
78
Flow Model
ADAMS/Hydraulics defines the flow model for flows out from cylinder using the ORIFIC function. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
m A = ORIFIC ( R A, C d, Re tr, A A, p l, p A, 0 ) m B = ORIFIC ( R B, C d, Re tr, A B, p u, p B, 0 ) mA Q A STP = ----------------- fluid STP mB Q B STP = ----------------- fluid STP
(148) (149)
(150)
(151)
According to Merritt [1, p. 34], you can compute the laminar flow in annulus between the circular shaft and cylinder ( c D ) as:
3 e 2 Dc 3 - m = ------------ 1 + -- - p 12L 2 c
(152)
where:
c L e
radial clearance [length] kinematic viscosity of fluid [length2/time] passage length [length] eccentricity of shaft [length]
If you assume that the eccentricity is zero or compensated in the value of relative clearance, you can define a dimensionless relative clearance p as follows:
2c p = ----D
(153)
79
From Equations (152) and (153), the laminar leakage flow over the piston is:
4 3 D m lu = p ------------ ( p l p u ) 96L
(154)
Leakage over rods are: m Arod = C Arod ( p l p e )

m Brod = C Brod ( p u p e )
(155) (156)
The sum of flow rates from retraction and extension cylinder chambers are, respectively: m lu m A m Arod Q l ST P = ---------------------------------------------(157) fluid STP
m lu m B m Brod Q u STP = ----------------------------------------- fluidSTP V l ST P =
(158)
Ql
ST P
dt
(159)
V u STP =
Qu
STP
dt
(160)
80
ADAMS/Hydraulics Component Reference Cylinder1f
81
Cylinder1f
Screen Icon
A
l (+) M (+) M
(+)
Description
Note: The difference between the cylinder1 and cylinder1f components is that
cylinder1fs input is the volumetric flow rate directly into the cylinder chamber without an orifice in between. This allows you to:
Input multiple flows into a single cylinder chamber (for example, chained brake cylinders on an aircraft). Connect pipes and valves with a cylinder without having to add a junction in between. Easily model flows over the cylinder piston (for example, the pressure relief valve bundled with the piston to protect against cylinder damage).
82
ADAMS/Hydraulics assumes that:
Cylinder1f computes a force value that acts between its end points, consisting of pressure, friction, and cushion forces. Cushions in both ends of cylinder1f are identical. Cushions prevent cylinder1f from ever reaching its maximum and minimum lengths. Cylinder1f parts are massless. (If mass is needed, you should account for it in the mechanical side of the model.) Cylinder1f walls are flexible. Cylinder1f rod is rigid. (If flexibility is needed, you should account for it in the mechanical side of the model.) Fluid inside cylinder1f is considered compressible, but massless in the mechanical sense. Mechanical motion/acceleration of cylinder1f as a whole does not affect internal flows or fluid movements. There is no leakage through the rod sealing. Friction force is dependent on pressure difference across a seal. Coulomb friction occurs at zero sliding velocity. At low sliding velocity, the friction force is decreasing until a specific sliding velocity ( v tr ) is reached (at this transition area, the friction is changing from Coulomb to viscous friction). Precompression of seals causes a constant friction force that is not dependent on pressure. Friction force parameters are measured in STP.

83
Port Topology
For port: Input:
Q A : volumetric flow rate in STP from port A in STP [length3/time]
Output:

A Mechanical
i marker : upper attachment marker of the cylinder j marker : lower attachment
F : total cylinder force [force] Fp : total pressure force [force] F : friction force [force] Fc : cushion force [force]
The following table shows the values you enter in the Create and Modify Cylinder1f dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 86.
I Marker J Marker
Enter:
Units:
Symbol:
length
l0
General
Max Length Min Length
Maximum length of the cylinder. Minimum length of the cylinder.
length length
l max l min
84

A Dead Volume
Enter:
Units:
Symbol:
Mechanical volume of extension chamber of the cylinder at minimum length. Diameter of piston/inner diameter of the cylinder. Initial pressure in the extension chamber. Controls cylinder behavior during static analysis. The options are: none - Finds the static position freely (design length and extension chamber pressure floats). pl - Holds the initial extension chamber pressure (design length floats). l0 - Holds the design length (extension chamber pressure floats).
length3
V ldead
Piston Diameter
Dp
p l0
A Chamber Initial Pressure Static Hold
--
End Stops
Cushion Free Length Cushion Relative Stiffness Cushion Force Exponent
Cushion free length (thickness). Cushion relative stiffness. Cushion force exponent 0 < e c 10 .
length force --
lc kc ec
85

Cushion Rebound Ratio Limit Velocity for Rebound
Enter:
Units:
Symbol:
Rebound ratio of cushion force, 0 hc 1 . Limit velocity for fully developed hysteresis (rebound force).
-length/time
hc v lim
Flexibility
s
E
Poissons Ratio
Losses
Coulomb Friction Force Piston Seal Friction Coefficient
Dry Coulomb friction due to precompression of seals. Coefficient is the friction force divided by the change in pressure. Sliding velocity for fully developed dynamic friction. Relative decrease of friction between static to dynamic friction. Effective seal shear stiffness. Damping coefficient.
force length2
F 0
Limit Velocity for Dynamic Friction Dynamic Friction Decrease
length/time --
v tr D
Seal Shear Stiffness Damping Coefficient
force/length force*time/length
k sseal c
86

Leakages
Enter:
Units:
Symbol:
Relative clearance for laminar leakage over piston ( 0 p ). Piston thickness (for laminar leakage only) ( 0 < L p ).
---
Lp
States
ls : Vl
STP
Instantaneous seal - cylinder wall contact location (stiction length) [length] : Volume of fluid in the extension chamber in STP [length3]
2 2 D p p D o + D p u = ------------- -------------------- + 2 D2 2E D o p
(161)

D o = D p + 2s (162)
For pressure delta, you can write the equation:

p = p p e (163)
87
You can also write the equation for effective inner area of the cylinder as a function of pressure, such that:
2 2 p pe Do + Dp 2 Aeff = ( D p + 2u ) 2 -- = 1 + ------------- -------------------- + -- D p 2 2 E Do Dp 4 4 2
(164)
ADAMS/Hydraulics computes cylinder length and its time derivative based on the locations and velocities of the cylinder attachment points using the DM and VR functions. For information on these functions, see the ADAMS/Solver (FORTRAN) online help.
It computes the design length of the cylinder at the beginning of a simulation as follows:
l0 = DM ( i marker, j marker )t = 0 (167)
The piston pressure area is:

A l = A eff
(168)
It defines the instantaneous mechanical volume of the extension chamber of the cylinder as:
V l = ( l l min )A l + V ldead
(169)
It also computes the initial volume of fluid in the extension chamber in STP based on the given initial pressure:
f ( p l0, T ) l0 V l0 -V V lini = ------------------ = -------------------------------- l ( l 0 ) f ( p STP, T STP ) fluidSTP
(170)
88
ADAMS/Hydraulics defines the density as mass per unit of volume. It calculates the density of the fluid in the extension chamber of the cylinder as:
V l STP - l = --------- fluid STP Vl
(171)
It calculates the pressure of the fluid in the extension chamber of the cylinder using the equation of state for the fluid, such that:
p l = f ( l, T )
(172)
F p = ( p l p e )A l
Friction Force Model (173)
ADAMS/Hydraulics assumes that the maximum static friction force consists of two force components:
F sta = F piston + F 0
(174)
F piston = a p l p e , friction force magnitude over piston seal (175)
The second term of equation (174) is a constant and represents dry Coulomb friction due to precompression of seals. If dynamic friction is assumed to be fully developed at sliding velocity of ( v tr ), you can write the dynamic friction force equation as:
(176)
89
(177)
If you further assume that there is an additional velocity-dependent damping term involved, then the instantaneous friction force acting on the cylinder is:
Cushion Force Model (178) (179)
ADAMS/Hydraulics assumes that the cushion force goes to infinity while the cylinder approaches either its maximum or minimum length. The cushion force prevents the cylinder from going beyond its limit length values. Cushion force characteristics are the same on both ends of the cylinder. For an impact against the extension chamber cushion (at the minimum cylinder length), the equations that compute the force are:
(180)
(181)
(182)
(183)
90
Cylinder Force
The total force acting in between the cylinder attachment points is simply a sum of pressure, friction, and cushion forces:
F = Fp + F + F c Flow Model (184)
While volumetric flow rate in from port A is given, corresponding mass flow rate is simply:
m A = Q A STP fluid STP
3 e 2 Dc 3 - m = ------------ 1 + -- - p 12L 2 c
(185)
where:

c is radial clearance [length] is kinematic viscosity of fluid [length2/time] L is passage length [length] e is eccentricity of shaft [length]
You can assume eccentricity is zero or compensated in the value of relative clearance and define a dimensionless relative clearance p as follows:
2c p = ----D
(186)
From equations (480) and (525), you can write the equation for laminar leakage flow over the piston as:
4 3 D m lu = p ------------ ( p l p e ) 96L
(187)
91
Sum of flow rates to and from extension cylinder chamber is, respectively:
m lu + m A Q l STP = ------------------------- fluid ST P V l STP =
(188)
Ql
STP
dt
(189)
92
ADAMS/Hydraulics Component Reference Cylinder2ff
93
Cylinder2ff
Screen Icon
l (+) M (+) M
(+)
(+)
Description
Note: The difference between the cylinder2 and cylinder2ff components is that
cylinder2ffs inputs are the volumetric flow rates directly into the cylinder chambers without orifices in between. This allows you to:
Input multiple flows into a single cylinder chamber (for example, chained brake cylinders on an aircraft). Connect pipes and valves with a cylinder without having to add a junction in between. Easily model flows over the cylinder piston (for example, the pressure relief valve bundled with the piston to protect against cylinder damage).
94
Cylinder2ff computes a force value that acts between its end points, consisting of pressure, friction, and cushion forces. Cushions in the both ends of cylinder2ff are identical. Cushions prevent cylinder2ff from ever reaching its maximum and minimum lengths. Cylinder2ff parts are massless. (If mass is needed, you should account for it in the mechanical side of the model.) Cylinder2ff walls are flexible. Cylinder2ff rods are rigid. (If flexibility is needed, you should account for it in the mechanical side of the model.) Fluid inside cylinder2ff is considered compressible, but massless in the mechanical sense. Mechanical motion/acceleration of cylinder2ff, as a whole, does not affect internal flows or fluid movements.

Friction force is dependent on pressure difference across a seal. Coulomb friction occurs at zero sliding velocity. At low sliding velocity, the friction force is decreasing until a specific sliding velocity ( v tr ) is reached (at this transition area, the friction is changing from Coulomb to viscous friction). Precompression of seals causes a constant friction force that is not dependent on pressure. Friction force parameters are measured in STP.
95
Port Topology
For port: Input:
Q A : volumetric flow rate in STP from port A in STP [length3/time] Q B volumetric flow rate in STP from port B in STP [length3/time]
Output:
p B : pressure at port B [force/length2]
Mechanical
i marker : upper attachment marker of the cylinder j marker : lower attachment marker of the cylinder
F : total cylinder force [force] Fp : total pressure force [force] F : friction force [force] Fc : cushion force [force]
96
The following table shows the values you enter in the Create and Modify Cylinder2ff dialog boxes. It also shows the symbols for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 101.
Table 10. Dialog Box Parameters For the option:
I Marker J Marker
Enter:
Units:
Symbol:
length
l0
General
Max Length Min Length B Dead Volume
Maximum length of the cylinder. Minimum length of the cylinder. Mechanical volume of retraction chamber of the cylinder at minimum length. Mechanical volume of extension chamber of the cylinder at minimum length. Diameter of piston/inner diameter of the cylinder. Diameter of piston rod above piston. Diameter of piston rod below piston. Initial pressure in the retraction chamber.
length length length3
l max l min V udead
A Dead Volume
length3
V ldead
Piston Diameter
length length length force/length2
Dp d ru d rl
p u0
B Rod Diameter A Rod Diameter B Chamber Initial Pressure
97

A Chamber Initial Pressure Static Hold
Enter:
Units:
Symbol:
p l0
Initial pressure in the extension chamber. Controls cylinder behavior during static analysis. The options are: none - Finds static position freely (design length, extension and retraction chamber pressure floats). pl - Holds initial extension chamber pressure (design length and retraction chamber pressure floats). pu - Holds initial retraction chamber pressure (design length and extension chamber pressure floats). pl_and_pu - Holds initial extension and retraction chamber pressure (design length floats). pl_and_l0 - Holds initial extension chamber pressure and design length (retraction chamber pressure floats). pu_and_l0 - Holds initial retraction chamber pressure and design length (extension chamber pressure floats).
force/length2 --
--
98

Static Hold (cont.)
Enter:
Units:
Symbol:
l0_with_pl - Holds design length by adjusting extension chamber pressure (retraction chamber pressure floats) l0_with_pu - Holds design length by adjusting retraction chamber pressure (extension chamber pressure floats)
--
--
End Stops
Cushion Free Length Cushion Relative Stiffness Cushion Force Exponent Cushion Rebound Ratio Limit Velocity for Rebound
Flexibility
Cushion free length (thickness). Cushion relative stiffness. Cushion force exponent 0 < e c 10 . Rebound ratio of cushion force, 0 hc 1 . Limit velocity for fully developed hysteresis (rebound force).
length force --length/time
lc kc ec hc v lim
s
E
Poissons Ratio
99

Losses
Enter:
Units:
Symbol:
Coulomb Friction Force Piston Seal Friction Coefficient B Rod Seal Friction Coefficient A Rod Seal Friction Coefficient Limit Velocity for Dynamic Friction Dynamic Friction Decrease Seal Shear Stiffness Damping Coefficient
Dry Coulomb friction due to precompression of seals. Coefficient is the friction force divided by the change in pressure. Coefficient is the friction force divided by the change in pressure. Coefficient is the friction force divided by the change in pressure. Sliding velocity for fully developed dynamic friction. Relative decrease of friction between static to dynamic friction. Effective seal shear stiffness. Damping coefficient.
force length2
F 0
length2
bu
length2
bl
length/time -force/length force*time/length
v tr D
k sseal c
100

Leakages
Enter:
Units:
Symbol:
Relative clearance for laminar leakage over piston 0 p . Piston thickness (for laminar leakage only) ( 0 < Lp ). Coefficient of leakage over extension chamber rod seal. Coefficient of leakage over retraction chamber rod seal.
--
-volume/time/ pressure volume/time/ pressure
Lp
A Rod Leakage Coefficient B Rod Leakage Coefficient
C Arod
C Brod
States
ls : Vl
STP
Instantaneous seal - cylinder wall contact location (stiction length) [length] : Volume of fluid in the extension chamber in STP [length3] : Volume of fluid in the retraction chamber in STP [length3]
Vu
STP
101
2 2 D p p D o + D p u = ------------- -------------------- + 2 2 2E Do D p
(190)

D o = D p + 2s (191)
You can write the equation for pressure delta as:

p = p p e (192)
You can also write the effective inner area of the cylinder as a function of pressure as:
2 2 p pe Do + Dp 2 A eff = ( D p + 2u ) 2 -- = 1 + ------------- -------------------- + -- D p 2 D2 E Do 4 4 p 2
(193)
ADAMS/Hydraulics computes the cylinder length and its time derivative based on the locations and velocities of the cylinder attachment points using the functions DM and VR. For information on DM and VR functions, see the ADAMS/Solver (FORTRAN) online help.
102
Design length of the cylinder is computed in the beginning of a simulation as follows:

l 0 = DM ( i marker, j marker )t = 0 (196)
Areas of piston rods are:

2 A ru = d ru -4 2 A rl = d rl -4
(197)
(198)
The piston pressure area for retraction and extension pressures is:
A u = A eff A ru A l = A eff A rl
(199) (200)
Instantaneous mechanical volume of the retraction and extension chamber of the cylinder is:
V u = ( l max l )A u + V udead V l = ( l l min )A l + V ldead
(201) (202)
ADAMS/Hydraulics computes the initial volumes of fluid in the retraction and extension chamber in STP based on the given initial pressures in both of the chambers, such that:
f ( p u0, T ) u0 V u0 -V V uini = ------------------ = -------------------------------- u ( l 0 ) f ( p STP, T STP ) fluidST P f ( p l0, T ) l0 V l0 -V V lini = ------------------ = -------------------------------- l ( l 0 ) f ( p STP, T STP ) fluid STP
(203)
(204)
103
ADAMS/Hydraulics defines density as mass per unit of volume. It calculates the density of the fluid in the retraction and extension chamber of the cylinder as:
V u ST u = ----------P fluidST P Vu V l STP - l = --------- fluid STP Vl
(205)
(206)
It also calculates the pressure of the fluid in the retraction and extension chambers of the cylinder using the equation of state for the fluid, such that:
p u = f ( u, T ) p l = f ( l, T )
(207) (208)
Following ADAMS sign convention in which a repelling point-to-point force is positive, you can obtain the following for the total pressure force:
F p = p l A l p u A u + p e A rl p e A ru
Friction Force Model (209)
ADAMS/Hydraulics assumes the maximum static friction force consists of three or four force components:
F sta = F piston + F urod + F lrod + F 0
(210)
F piston = a p l p u , friction force magnitude over piston seal (211) F urod = b u p u p e , friction force magnitude over upper rod seal (212) F lrod = b l p l p e , friction force magnitude over lower rod seal(213)
The fourth term of Equation (210) is a constant and represents dry Coulomb friction due to precompression of seals. Force over lower rod seal (Equation 213) is naturally zero in the case of a differential cylinder, which has no lower rod.
104
If you assume that dynamic friction is fully developed at sliding velocity of ( v tr ), you can then write the equation for dynamic friction force as:
(214)
(215)
If you further assume that there is an additional velocity-dependent damping term involved, then the instantaneous friction force acting on the cylinder is:
Cushion Force Model (216) (217)
ADAMS/Hydraulics assumes that cushion force goes to infinity while the cylinder approaches either its maximum or minimum length. The cushion force prevents the cylinder from going beyond its limit length values. ADAMS/Hydraulics assumes that the cushion force characteristics are the same on both ends of the cylinder. For an impact against the extension chamber cushion (at the minimum cylinder length), the equations that compute the force are:
(218)
(219)
105
(220)
(221)

Cylinder Force
F = Fp + F + Fc Flow Model (222)
While volumetric flow rate in from ports A and B are given, corresponding mass flow rates are simply: m = Q (223)
A A STP fluid STP
m B = Q B STP fluid STP
(224)
3 e 2 Dc 3 - m = ------------ 1 + -- - p 12L 2 c
(225)
where:

c is radial clearance [length] is kinematic viscosity of fluid [length2/time] L is passage length [length] e is eccentricity of shaft [length]
106
If you assume that the eccentricity is zero or compensated in the value of relative clearance, you can define a dimensionless relative clearance p as follows:
2c p = ----D
(226)
From Equations (225) and (226), the laminar leakage flow over the piston is:
3 D m lu = p ------------ ( p l p u ) 96L 4
(227)
Leakage over rods are: m Arod = C Arod ( p l p e )

m Brod = C Brod ( p u p e )
(228) (229)
The sum of flow rates to and from retraction and extension cylinder chambers are, respectively: m lu + m A m Arod Q l STP = ----------------------------------------------(230) fluid STP
m lu + m B m Brod Q uST P = ----------------------------------------- fluid STP V l ST P =
(231)
Ql
ST P
dt
(232)
V u STP =
Qu
STP
dt
(233)
ADAMS/Hydraulics Component Reference Directional Control Valve 2/2
107
Directional Control Valve 2/2

A A
Screen Icons
P P
x P (+)
(+) f( )
(+)
Description
ADAMS/Hydraulics assumes that for a directional control valve 2/2:

There is no volume inside a valve. Spool is massless. Flow characteristics are the same for both flow directions.
108
Port Topology
For port: Input:
p P : pressure at port P [force/length2] p A : pressure at port A [force/length2]
Output:
Q P : volumetric flow rate out STP from port P in STP [length3/time] Q A : volumetric flow rate out STP from port A in STP [length3/time]
P A
The following table shows the values you enter in the Create or Modify Directional Control Valve 2/2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 111.
Control Input Function
X=f(I)
Enter:
Units:
Symbol:
f
External control input of the valve 0f1.
--
Valve Type Initial Position
Select Open or Closed. Initial relative spool position, 0x1.
---
K x
109

I to X Method
Enter:
Units:
Symbol:
ItoX
Method to convert control input function signal to spool position (x). Options: direct - Like mechanical coupling, spool position equals control input value. constant_velocity - First order spool dynamics. Switching time for valve opening ( o > 0 ). Switching time for valve closing ( c > 0 ).
--
Valve Opening Time
time time
constant_velocity
Valve Closing Time
o c
constant_velocity
A=f(X)
PA X to A Method
Method to convert spool position (x) to relative PA flow passage area. The options are: linear - Relative opening area is linearly dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position.
--
XtoA PA
110

PA Xlap (nonlinear) PA Relative Leakage (nonlinear) PA Nonlinearity (nonlinear) PA X to A Spline (spline)
Enter:
Units:
Symbol:
x lap PA PA
Relative spool position lap for flow from port P to port A ( 1 < x lap < 1 ). Relative leakage for flow from port P to port A ( 0 1 ).
Coefficient of nonlinearity for flow from port P to port A ( 0 NLPA < 1 ).
-----
NL PA
Spline name, which defines (x,R)-points for flow from port P to port A ( 1 x 1 and 0 R 1 ).
S PA
Q=f(A,dp)
Nom Pressure Drop
Pressure drop at nominal volumetric flow rates. Nominal volumetric flow from port P to port A at full opening. Density of the reference fluid (the fluid used for the measurement of the pressure drop at nominal volumetric flow through the valve).
force/length2 length3/time mass/length3
p nom
PA Nom Flowrate
Q nomPA ref
Ref Fluid Density
States
x:
Relative spool position [], 0 x 1
111
Spool Position Model
If the valve is normally closed, ADAMS/Hydraulics internally reversed the control input; that is, when f = 0 . It defines internal control input ( f c ) as:
f c = f, if K = 0 f c = 1 f, if K = 1
Method: Direct
(234)
x = fc
Method: Constant Velocity
(235)
ADAMS/Hydraulics calculates the relative velocity of spool using the CVS function (see CVS - Constant Velocity Spool on page 300):
x = CVS ( f c, x, n, o, c, , 0 )
(236)
The relative opening of the flow cross-section area from port P to port A is calculated from relative spool displacement (x) with the selected method, linear, nonlinear, or spline.
Method: linear
R PA = max ( x, 0 )
Method: nonlinear
(237)
R PA = CLWL ( x, x lap PA, PA, NL PA, 0 )
(238)
In a real-world valve construction, there are flow restrictions other than the spool opening area itself, which limit the actual flow rate throughput of the valve. For example, if the area of the flow input (or output) passage of the valve is not substantially larger than the maximum spool opening area, it may introduce significant additional flow restriction especially at large spool openings. The coefficient of nonlinearity is intended to be used for flow restrictions other than the spool opening itself.
112
Definition of coefficient of nonlinearity
ADAMS/Hydraulics assumes that, beyond laps, the spool opening area increases linearily with respect to the spool movement and that other restrictions remain constant. It also assumes constant pressure drop over the flow passage under investigation, and determines the rate of stationary flow rate increase with respect to the spool movement when the given passage just starts to open (spool just over the lap). Assuming a linear increase of flow rate up to the maximum spool position, estimate how much flow throughput you would get without additional flow restrictions. The coefficient of nonlinearity is defined to be the ratio of the actual maximum flow rate over the estimated unrestricted flow rate. For further details on the CLWL function, see CLWL - Constant Leakage with Lap on page 298.
Method: spline R PA = AKISPL ( x, 0, S PA )
(239)
A spline holds at least four (x,R)-points to define the relationship between the relative spool position and the relative flow cross-section area. A positive R value at zero x causes the spool to leak. For more information on applied spline-fitting functions, refer to Akima Fitting Method (AKISPL) in the guide, Using the ADAMS/View Function Builder. You can usually find an operating curve of a specific directional control valve 2/2 in a component manufacturers data sheet. Figure 3 on page 113 shows an example of an operating curve of a directional control valve 2/2.
113
Figure 3. Example of Operating Curve of Directional Control Valve 2/2

Operating Curve for a 2/2-Directional Control Valve 15.0 14.0 13.0 12.0 11.0 Pressure Drop dp [bar] 10.0 9.0 8.0 7.0 6.0 5.0 4.0 3.0 2.0 1.0 0.0 0.0
20.0
40.0
60.0 80.0 100.0 Volumetric Flow Q [l/min]
120.0
140.0
160.0
ADAMS/Hydraulics computes the maximum flow cross-section area internally from a given operating curve point ( Q nom ,p nom ) based on Equation (240). It applies default values C d = 0.6 and Re tr = 50 for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q nom ref A max = ------------ -----------------C d 2p nom
(240)
114
Flow Model
ADAMS/Hydraulics calculates the flow rate using the ORIFIC function (see ORIFIC Flow Through an Orifice on page 304), such that:
m PA = ORIFIC ( R, C d, Re tr, A max, p P, p A, 0 ) m PA Q P STP = ----------------- fluid STP m PA Q A STP = ----------------- fluid STP
(241)
(242)
(243)
115
Screen Icons
P T P T
A (+) x
(+) f( )
(+)
(+)
Description
ADAMS/Hydraulics assumes that for a directional control valve 3/2:

There is no volume inside a valve. The spool is massless. Flow characteristics are the same for both flow directions.
116
Port Topology
For port: Input:
p P : pressure at port P [force/length2] p A : pressure at port A [force/length2] p T : pressure at port T [force/length2]
Output:
P A T
: volumetric flow rate out from port T in STP [length3/time]

QT
STP
The following table shows the values you enter in the Create and Modify Directional Control Valve 3/2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 120.
X=f(I)
Enter:
Units:
Symbol:
f
External control input of the valve 0f1.
--
Valve Type Initial Position
Select Open or Closed. Initial relative spool position,

0x1
---
K x
117

I to X Method
Enter:
Units:
Symbol:
ItoX
Method to convert control input function signal to spool position (x). The options are: direct - Like mechanical coupling, spool position equals control input value. constant_velocity - First-order spool dynamics. Switching time for valve opening ( o > 0 ). Switching time for valve closing ( c > 0 ).
--
Valve Opening Time
time time
constant_velocity
Valve Closing Time
o c
constant_velocity
A=f(X)
PA X to A Method
Method to convert spool position (x) to relative PA flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position.
--
XtoA PA
118

PA Xlap (nonlinear) PA Relative Leakage (nonlinear) PA Nonlinearity (nonlinear)
Enter:
Units:
Symbol:
x lap PA PA
Coefficient of nonlinearity for flow from port P to port A ( 0 NL PA < 1 ).
---
--
NL PA
PA X to A Spline (spline)
Spline name, which defines (x,R)-points for flow from port P to port A ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative AT flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position.
--
S PA
AT X to A Method
--
XtoAAT
119

AT Xlap (nonlinear) AT Relative Leakage (nonlinear) AT Nonlinearity (nonlinear)
Enter:
Units:
Symbol:
x lap AT AT
Relative spool position lap for flow from port A to port T ( 1 < x lap < 1 ). Relative leakage for flow from port A to port T ( 0 1 ).
Coefficient of nonlinearity for flow from port A to port T ( 0 NL AT < 1 ).
---
--
NL AT
AT X to A Spline (spline)
Spline name, which defines (-x,R)-points for flow from port A to port T, ( 1 x 1 and 0 R 1 ).
--
S AT
Q=f(A,dp)
Nom Pressure Drop
Pressure drop at nominal volumetric flow rates. Nominal volumetric flow from port P to port A at full opening. Nominal volumetric flow from port A to port T at full opening. Density of the reference fluid (the fluid used for the measurement of the pressure drop at nominal volumetric flow through the valve).
force/length2 length3/time length3/time mass/length3
p nom
PA Nom Flowrate
Q nomPA
AT Nom Flowrate
Q nomAT ref
Ref Fluid Density
120
States
x:
If the valve is normally closed, ADAMS/Hydraulics internally reverses the control input; that is, when f = 0 . It defines the internal control input ( fc ) as follows:
f c = f, if K = 0 f c = 1 f, if K = 1
Method: Direct
(244)
x = fc
(245)
ADAMS/Hydraulics calculates the relative velocity of the spool using the CVS function (see CVS - Constant Velocity Spool on page 300):
x = CVS ( f c, x, n, o, c, , 0 )
Flow Cross-Section Area Model (246)
The relative opening of the flow cross-section areas from port P to port A and from ports A to port T are calculated from relative spool displacement ( x ) with the selected method: linear, nonlinear, or spline.
Method: linear
R PA = max ( x, 0 ) R AT = max ( x, 0 )
Method: nonlinear
(247) (248)
R PA = CLWL ( x, x lap PA, PA, NL PA, 0 ) R AT = CLWL ( x, x lap AT, AT, NL AT, 0 )
(249) (250)
121
In a real-world valve construction, there are flow restrictions other than the spool opening area itself, which limit the actual flow rate throughput of the valve. For example, if the area of the flow input (or output) passage of the valve is not substantially larger than the maximum spool opening area, it may introduce significant additional flow restriction, especially at large spool openings. The coefficient of nonlinearity is intended to be used for flow restrictions other than the spool opening itself. For more information, refer to Definition of coefficient of nonlinearity on page 112.
(251) (252)
R AT = AKISPL ( x, 0, S AT )
Each spline holds at least four (x,R)-points to define the relationship between the relative spool position and the relative flow cross-section area. Functions are defined in such a way that all flows can use the same spline definition, if the spool is fully symmetric. A positive R value at zero x causes the spool to leak. For more information on applied spline-fitting functions, refer to Akima Fitting Method (AKISPL) in the guide, Using the ADAMS/View Function Builder. It internally computes the maximum flow cross-section area for flow from port P to port A from a given operating curve point ( Q nomPA ,p nom ) based on Equation (253), and, for flow from port A to port T from point ( Q nomAT ,p nom ) , respectively, based on Equation (254). Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops:
Q nomPA ref A maxPA = ------------------ -----------------Cd 2p nom Q nomAT ref A maxAT = ------------------ -----------------Cd 2p nom
(253)
(254)
122
Flow Model
ADAMS/Hydraulics calculates flow rates using the ORIFIC function (see ORIFIC - Flow Through an Orifice on page 304), such that:
m PA = ORIFIC ( R PA, C d, Re tr, A maxPA, p P, p A, 0 ) m AT = ORIFIC ( R AT, C d, Re tr, A maxAT, p A, p T, 0 ) m PA Q P STP = ----------------- fluid STP m PA m AT Q A STP = ------------------------- fluid STP m AT Q T STP = ----------------- fluid ST P
(255) (256)
(257)
(258)
(259)
123

A B
Screen Icon
P T
A (+) B (+) x
(+) f( )
(+)
(+)
(+)
Description ADAMS/Hydraulics assumes that for a directional control valve 4/3:

There is no volume inside a valve. The spool is massless. Flow characteristics are the same for both flow directions. Spool returns to center position when external control is set to zero.
124
Port Topology
For port: Input:
p P : pressure at port P [force/length2] p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p T : pressure at port T [force/length2]
Output:
Q P : volumetric flow rate out STP from port P in STP [length3/time] Q A : volumetric flow rate out STP from port A in STP [length3/time] Q B : volumetric flow rate out STP from port B in STP [length3/time]
P A B T
: volumetric flow rate out from port T in STP [length3/time]

QT
STP
The following table shows the values you enter in the Create and Modify Directional Control Valve 4/3 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 130.
X=f(I)
Enter:
Units:
Symbol:
f
External control input of the valve 1 f 1 .
--
Initial Position
Initial relative spool position, 0x1.
--
125

I to X Method
Enter:
Units:
Symbol:
ItoX
Method to convert control input function signal to spool position (x). The options are: direct - Like mechanical coupling, spool position equals control input valve. constant_velocity - First order spool dynamics. Switching time for valve opening ( o > 0 ). Switching time for valve closing ( c > 0 ).
--
Valve Opening Time
time time
constant_velocity
Valve Closing Time
o c
constant_velocity
A=f(X)
PA X to A Method
Method to convert spool position (x) to relative PA flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position.
--
XtoA PA
126

Enter:
Units:
Symbol:
x lap PA PA
-----
NL PA
Spline name, which defines (x,R)-points for flow from port P to port A ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative PB flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port P to port B ( 1 < x lap < 1 ).
S PA
PB X to A Method
--
XtoA PB
PB Xlap (nonlinear)
--
x lap PB
127

PB Relative Leakage (nonlinear) PB Nonlinearity (nonlinear) PB X to A Spline (spline)
Enter:
Units:
Symbol:
PB
Relative leakage for flow from port P to port B ( 0 1 ).

Coefficient of nonlinearity for flow from port P to port B ( 0 NL PB < 1 ).
----
NL PB
Spline name, which defines (-x,R)-points for flow from port P to port B, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative AT flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port A to port T ( 1 < x lap < 1 ). Relative leakage for flow from port A to port T ( 0 1 ).
S PB
AT X to A Method
--
XtoA AT
AT Xlap (nonlinear) AT Relative Leakage (nonlinear)
---
x lap AT AT
128

AT Nonlinearity (nonlinear) AT X to A Spline (spline)
Enter:
Units:
Symbol:
NL AT
Coefficient of nonlinearity for flow from port A to port T ( 0 NLAT < 1 ).
---
Spline name, which defines (-x,R)-points for flow from port A to port T, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative BT flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port B to port T ( 1 < x lap < 1 ). Relative leakage for flow from port B to port T ( 0 1 ). Nonlinearity factor for flow from port B to port T ( 0 NL BT < 1 ).
S AT
BT X to A Method
--
XtoA BT
BT Xlap (nonlinear) BT Relative Leakage (nonlinear) BT Nonlinearity (nonlinear)
----
x lap BT BT
NL BT
129

BT X to A Spline (spline)
Enter:
Units:
Symbol:
S BT
Spline name, which defines (x,R)-points for flow from port B to port T, ( 1 x 1 and 0 R 1 ).
--
Q=f(A,dp)
Nom Pressure Drop
Pressure drop at nominal volumetric flow rates. Nominal volumetric flow from port P to port A at full opening. Nominal volumetric flow from port P to port B at full opening. Nominal volumetric flow from port A to port T at full opening. Nominal volumetric flow from port B to port T at full opening. Nominal volumetric flow from port P to port T. Density of the reference fluid (the fluid used for the measurement of the pressure drop at nominal volumetric flow through the valve).
force/length2 length3/time length3/time length3/time length3/time length3/time mass/length3
p nom
PA Nom Flowrate
Q nomPA
PB Nom Flowrate
Q nomPB
AT Nom Flowrate
Q nomAT
BT Nom Flowrate
Q nomBT
PT Nom Flowrate
Q nomPT ref
Ref Fluid Density
States x:
130
The valve spool centers itself at zero external input ( f = 0 ). Positive external input ( 0 < f 1 ) connects pressure port P to output port A (and B to T) and negative external input ( 1 f < 0 ) connects pressure port P to output port B (and A to T).
Method: Direct
x = fc
(260)
ADAMS/Hydraulics calculates the relative velocity of the spool using the CVS function (see CVS - Constant Velocity Spool on page 300):
x = CVS ( f, x, n, o, c, , 0 )
Flow Cross-Section Area Model (261)
The relative opening of the flow cross-section areas from port P to ports A and B and from ports A and B to port T are calculated from relative spool displacement ( x ) with the selected method: linear, nonlinear, or spline.
Method: linear
R PA = max ( x, 0 ) R PB = max ( x, 0 ) R AT = max ( x, 0 ) R BT = max ( x, 0 )

Method: nonlinear
(262) (263) (264) (265)
R PA = CLWL ( x, x lap PA, PA, NL PA, 0 ) R PB = CLWL ( x, x lap PB, PB, NL PB, 0 ) R AT = CLWL ( x, x lap AT, AT, NL AT, 0 ) R BT = CLWL ( x, x lap BT, BT, NL BT, 0 )
(266) (267) (268) (269)
131
In a real-world valve construction, there are flow restrictions other than the spool opening area itself, which limit the actual flow rate throughput of the valve. For example, if the area of the flow input (or output) passage of the valve is not substantially larger than the maximum spool opening area, it may introduce significant additional flow restriction, especially at large spool openings. The coefficient of nonlinearity is intended to be used for flow restrictions other than the spool opening itself. For more information, refer to Definition of coefficient of nonlinearity on page 112.
(270) (271) (272) (273)
R PB = AKISPL ( x, 0, S PB ) R AT = AKISPL ( x, 0, S AT ) R BT = AKISPL ( x, 0, S BT )
Each spline holds at least four (x,R)-points to define the relationship between the relative spool position and the relative flow cross-section area. Functions are defined in such a way that all flows can use the same spline definition, if the spool is fully symmetric. A positive R value at zero x causes the spool to leak. For more information on applied spline-fitting functions, refer to Akima Fitting Method (AKISPL) in the guide, Using the ADAMS/View Function Builder. To identify the five maximum flow cross-section areas for flows P to A, P to B, A to T, B to T, and P to T, five operating curve points ( Q nom ,p nom ) are required as input. The five maximum flow cross-section areas are computed internally as shown in Equations (274), (7), (276), (277), and (278). Default values C d = 0.6 and Retr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q nomPA ref A maxPA = ------------------ -----------------Cd 2p nom Q nomPB ref A maxPB = ------------------ -----------------Cd 2p nom
(274)
(275)
132
Q nomAT ref A maxAT = ------------------ -----------------Cd 2p nom Q nomBT ref A maxBT = ------------------ -----------------Cd 2p nom Q nomPT ref A maxPT = ------------------ -----------------Cd 2p nom
Flow Model
(276)
(277)
(278)
ADAMS/Hydraulics calculates the flow rates using the ORIFIC function (See ORIFIC Flow Through an Orifice on page 304.), such that:
m PA = ORIFIC ( R PA, C d, Re tr, A maxPA, p P, p A, 0 ) m PB = ORIFIC ( R PB, C d, Re tr, A maxPB, p P, p B, 0 ) m AT = ORIFIC ( R AT, C d, Re tr, A maxAT, p A, p T, 0 ) m BT = ORIFIC ( R BT, C d, Re tr, A maxBT, p B, p T, 0 ) m PT = ORIFIC ( 1.0, C d, Re tr, A maxPT, p P, p T, 0 ) m PA m PB m PT Q P STP = --------------------------------------------- fluid STP m PA m AT Q A STP = ------------------------- fluid STP m PB m BT Q B STP = ------------------------- fluid STP m AT + m BT + m PT Q T STP = ------------------------------------------ fluid STP
(279) (280) (281) (282) (283)
(284)
(285)
(286)
(287)
ADAMS/Hydraulics Component Reference Flow Source
133
Flow Source
Screen Icon
FLOW
Description Flow source inputs or outputs a predefined volumetric flow from its port A. ADAMS/Hydraulics assumes that there is no resistance in port A and, therefore, the pressure of the flow source is always equal to the input pressure of port A. Port Topology
For port: Input:
Output:
134
ADAMS/Hydraulics Component Reference Flow Source
Dialog Box Parameter
The following table shows the values you enter in the Create and Modify Flow Source dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 134.
User Parameters
Enter:
Units:
Symbol:
Initial Flow
Estimate of the initial flow rate of the flow source. Volumetric flow rate function in STP.
length3/time length3/time
Q ini
Flowrate Function
Qf
ADAMS/Hydraulics Formulation The formulation of flow source is:

Q f, Q f 0 Q A STP = min ( A, STP ) ----------------------------------- Q , Q f < 0 STP f
Tip:
(288)
Flow source generates a flow rate equal to the value of the Flowrate Function with one exception. If the input density (and thus pressure) drops below STP density of the fluid while flow source is absorbing fluid away from the system (sucking), then the flowrate is scaled with the ratio of input density and STP density of the fluid. This prevents flow source from asking mass flow out of a volume, which has no fluid left in it.
ADAMS/Hydraulics Component Reference Fluid
135
Fluid
Screen Icon
FLUID
Description In a hydraulic system, fluid can appear in the form of a liquid or as a combination of liquid and gas. In ADAMS/Hydraulics, fluid has the following properties:
Compressibility through the equation of state for a fluid (dependency between density, pressure, and temperature). Nonlinear behavior at low pressure (cavitational effects). Content of dissolvable and undissolvable air. Temperature dependant viscosity.
For fluids, ADAMS/Hydraulics makes the following assumptions:
There is a unique pressure-density-temperature relationship f ( , p, T ) = 0 (equation of state for a fluid). Density and pressure of a fluid are always greater than zero. The amount of air in a system can be defined as amount of dissolvable and undissolvable air. There is no time delay on air dissolving into or undissolving from fluid. Viscosity of fluid is dependent only on temperature. Dissolved air does not affect the volume of fluid. Air compression and expansion process from standard temperature and pressure to saturation pressure psat and system temperature T has been relatively slow. Air compression and expansion process from saturation pressure to current operating pressure is polytropic during an analysis.
136
The following table shows the values you enter in the Create and Modify Fluid dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 138.
Temperature
Enter:
Units:
Symbol:
T
Fluid temperature. Defaults to 293.15 K.
temperature
Equation of State
Eos for Liquid Method
Method to apply for approximation of the equation of state for pure liquid (the only supported method at the moment is Merritt). Definition density of the fluid. Definition temperature of the fluid. Definition pressure of the fluid. The compressibility of the pure liquid. (Merritt [1, p. 21] gives values B 15002500 MPa of bulk modulus for some pure hydraulic liquids) How much pure liquid expands for a raise of one unit of temperature. (Merritt [1, p. 21] gives values 0.00020.0003 1/K for thermal expansion coefficient for some pure hydraulic liquids.)
--
Ref Density Ref Temperature Ref Pressure Bulk Modulus
mass/length3 temperature force/length2 force/length2
ref T ref p ref
Thermal Expansion Coefficient
1/temperature
137

Air Content
Enter:
Units:
Symbol:
Air Content Method
Method to apply for approximation of air content of the fluid. The only method currently is CCUA (constant content of undissolvable air). Density of air at standard temperature and pressure (STP). Lowest pressure at which dissolvable air is fully dissolved into fluid; that is, when the saturation pressure fluid has stayed in contact with the air long enough to become fully saturated with air. Solubility coefficient for dissolved air. Volumetric content of undissolvable air in fluid at standard temperature and pressure (STP), 0 C u < 1 . Polytropic exponent for air compression process.
--
--
Air Density at STP
mass/length3 force/length2
aSTP
Saturation Pressure
p sat
Solubility Coefficient
---
Sc
Undissolvable Air Content
Cu
Polytropic Exponent
--
Viscosity
Note that Viscosity is interpolated between given temperatureviscosity points using the method defined by the viscosity_method keyword.
138

Viscosity Method
Enter:
Units:
Symbol:
Method to apply for approximation of the viscosity of the fluid (the only method currently is ASTM_D_341-43). Temperature values corresponding to viscosity points. Viscosity values corresponding to temperature points.
--
--
Temperature Points
temperature length2/time
---
Viscosity Points
Equation of State for Liquid, method = "Merritt"
ADAMS/Hydraulics calculates the density of the pure liquid using the method that Merritt [1, p. 7] proposes, which is:
1 l = ref 1 + ----- ( p p ref ) ( T T ref ) B0 (289)
where:
ref B0 p p ref T T ref
definition density of fluid [mass/length3] bulk modulus of pure liquid [force/length2] fluid pressure [force/length2] definition pressure of fluid [force/length2] thermal expansion coefficient [] fluid temperature [temperature] definition temperature of fluid [temperature]
139
Air Content, method = "CCUA"
ADAMS/Hydraulics defines the volumetric content of dissolvable free air in a fluid as:
1 C dmax = ---------------------------p STP 1 + -----------------S c p sat p 3 p 2 p C d = C dmax -------- -------- -------- + 1 , 0 < p p sat p sat p sat p sat
(290)
(291)
where:
Sc p sat p STP
solubility coefficient [] saturation pressure [force/length2] standard pressure ( p STP = 101325 Pa ) [force/length2]
The effective density of the fluid, therefore, is:

aSTP Cu Cd 1 + ------------- -------------- + -------------- 1 C d 1 C u lSTP = -------------------------------------------------------------------------------------------------------------------------------1 p STP p sat Cu Cd T 1 1 --- + ------------ ---------- -------- ----------- -------------- + -------------- p T STP 1 C d 1 C u l lSTP p sat
-
eff
(292)
where:
aSTP lSTP
density of air at standard temperature and pressure (STP) [force/length2] density of pure liquid at standard temperature and pressure (STP) [force/length2] (defined using the equation of state for liquid) volumetric content of undissolvable air in fluid [] polytropic exponent [] standard temperature ( TSTP = 293.15 K ) [temperature]
Cu T STP
140
Viscosity, method = "ASTM_D_341-43"
ADAMS/Hydraulics defines the viscositytemperature relationship using a method based on standard ASTM D 341-43. It defines viscosity as:
= e
e
y3
0.7
(293)
where:
y 3 = a + bx 3 a = y 1 bx 1 y1 y 2 b = --------------x1 x 2 x 3 = ln ( T ) x 1 = ln ( T 1 ) y 1 = ln ( ln ( 1 + 0.7 ) ) x 2 = ln ( T 2 ) y 2 = ln ( ln ( 2 + 0.7 ) )
(294) (295) (296) (297) (298) (299) (300) (301)
and where the symbols are:

T1 1 T2 2 T
first definition temperature [Kelvin] kinematic viscosity at temperature T 1 [centiStoke] second definition temperature [Kelvin] kinematic viscosity at temperature T 2 [centiStoke] operating temperature [Kelvin]
Note: This method is unit sensitive. ADAMS/Hydraulics applies the appropriate units for the above interpolation.
141
Math Follow-Up
Equation of State for a Fluid
The equation of the state of a liquid cannot be mathematically derived from physical principles [1, p. 6]. ADAMS/Hydraulics defines the pressure of a fluid by the approximation of the equation of state. This approximation defines the relationship:
f ( , p , T ) = 0
(302)
where:
p T
pressure of the fluid density of the fluid operating temperature
Merritt [1, p. 8] proposes a linearized approximation at pref , ref , and T ref for the equation of a state of a liquid as the first three terms of Taylors series for two variables:
= ref + ----- ( p p ref ) + ----- ( T T ref ) p T T p
(303)
where:
ref p p ref T T ref
density of the fluid reference density of the fluid pressure of the fluid reference pressure of the fluid operating temperature reference temperature of the fluid
or similarly:
1 = ref 1 + -- ( p p ref ) ( T T ref ) B
(304)
142
where, bulk modulus is:

p B ref ----- T
(305)
and:
1 - -------- ----- ref T p
(306)
ADAMS/Hydraulics assumes that the dissolved air does not affect the volume of fluid. Therefore, the effective density of the fluid (mixture of pure liquid and air) is:
ml + ma eff = ------------------ml ----- + V fa l
(307)
where:
ml ma l V fa
mass of the pure liquid mass of air density of the liquid volume of the free air
The volume of free air is divided in two components:

V fa = V d + V u
(308)
where:
Vd Vu
volume of dissolvable free air volume of undissolvable air
Also, the mass of air is the sum of two components:

ma = md + mu
(309)
where:
md mu
mass of the dissolvable free air mass of the undissolvable air
143
The volumetric content of dissolvable free air at standard temperature and pressure (STP) is:
V dSTP C d = ---------------------------------V dSTP + V lSTP
(310)
where:
VdSTP volume of dissolvable free air at standard temperature and pressure (STP) VlSTP
volume of pure liquid at standard temperature and pressure (STP)
The volume of dissolvable free air at standard temperature and pressure is:
Cd V dSTP = -------------- V lSTP 1 Cd
(311)
The analogical definition is used for undissolvable air, which yields:

Cu V uSTP = -------------- V lSTP 1 Cu
(312)
where:
VuSTP volume of undissolvable air in fluid at standard temperature and pressure
(STP)
Cu
volumetric content of undissolvable air in fluid at standard temperature and pressure (STP)
The volumetric content of dissolvable free air is a function of pressure. Henrys law defines the relationship between the volume of dissolvable free air and pressure as follows:
V dSTP p -------------- = S c ---------p STP V lSTP
(313)
where:
Sc
solubility coefficient
144
The maximum volumetric content of the dissolvable free air is defined assuming that the fluid has stayed for a long time at the saturation pressure in contact with the air, and, therefore, is fully saturated by air. Combining Equation 311 and Henrys law (Equation 313) yields the following for maximum volumetric content of dissolvable free air:
1 C dmax = ---------------------------p STP 1 + -----------------S c p sat
(314)
where:
p sat
saturation pressure lowest pressure where all the dissolvable air is dissolved into the fluid
The saturation process of a hydraulic fluid and air depends on, among others, time, fluid agitation, and contact area of fluid and air. To roughly approximate this process and to guarantee continuity at psat, a polynomial fit has been developed. The polynomial fit is third degree function that satisfies:

The polynomial fit at f ( 0 ) = C dmax The polynomial fit at f ( p sat ) = 0 The derivative over pressure of the polynomial fit at zero satisfies:
C dmax df ( 0 ) ------------ = -------------p sat dp
The derivative over pressure of the polynomial fit at psat satisfies:

df ( p sat ) ------------------ = 0 dp
Polynomial fit with the above conditions yields:

p 3 p 2 p C d = C dmax -------- -------- -------- + 1 , 0 < p p sat p sat p sat p sat
(315)
Figure 4 on page 145 shows the relative volumetric content of the dissolvable air (Cdmax).
The straight line illustrates Henrys law and the curved line below the straight line shows the polynomial fit applied in ADAMS/Hydraulics.
145
Figure 4. Polynomial Fit for the Relative Volumetric Content Of Dissolvable Air
Polynomial Fit for Amount of Dissolvable Air 1.2
1 Relative Amount of Undissolved Air
0.8
0.6
0.4
0.2
0 0 0.2 0.4 0.6 Relative Pressure 0.8 1 1.2
ADAMS/Hydraulics assumes that the air compression and expansion process from standard temperature and pressure to saturation pressure psat and system temperature T has been relatively slow (recall that, by definition, saturation pressure is the pressure at which fluid had stayed a relatively long time in contact with air).
p STP T V 1 = V STP ---------- ----------p sat T STP
(316)
146
During actual operation (simulation), the air compression and expansion process in a hydraulic system is assumed polytropic, that is:
p sat V = V 1 -------- p
1 --
(317)
For the volume of the dissolvable free air at pressure p, this yields:
p sat p STP T V d = V dSTP ---------- ----------- -------- p sat T STP p
1 --
(318)
and, similarly, for undissolvable air:

p sat p STP T V u = V uSTP ---------- ----------- -------- p sat T STP p
1 --
(319)
Equation (311) yields the following for mass of the dissolvable air:
aSTP Cd m d = -------------- ------------- m l 1 C d lSTP
(320)
and Equation (312) yields:

C u aSTP m u = ---------------- ---------------- m l 1 C u lSTP
(321)
Equations (308), (311), (312), (318), and (319) yield the following for the volume of free air:
m l p STP p sat Cu Cd T = ------------ ---------- -------- ----------- -------------- + -------------- lSTP p sat p T STP 1 C d 1 C u
1 --
V fa
(322)
and Equations (309), (320), and (321) yield the following for the mass of air:
aSTP Cu Cd m a = m l ------------- -------------- + -------------- lSTP 1 C d 1 C u
(323)
147
From Equations (307), (322), and (323), the effective density of the fluid is:
aSTP Cu Cd 1 + ------------- -------------- + -------------- lSTP 1 C d 1 C u = -------------------------------------------------------------------------------------------------------------------------------1 p STP p sat Cu Cd T 1 1 --- + ------------ ---------- -------- ----------- -------------- + -------------- l lSTP p sat p T STP 1 C d 1 C u
-
eff
(324)
In Figure 5 on page 148, there is a sample plot of a equation of state for fluid with following parameters:

Bulk modulus of pure liquid B = 1900.0 MPa Reference density of the pure liquid ref = 900.0 kg/m3 Reference pressure of the pure liquid pref = 1.0 bar Reference temperature of the pure liquid T ref = 293.15 K Thermal expansion coefficient = 0.00028 1/K Saturation pressure psat = 2.0 bar Solubility coefficient Sc = 0.08 Density of the air at STP aSTP = 1.2 kg/m3 Volumetric content of undissolvable air C u = 0.002 Polytropic exponent = 1.4
148
Figure 5. A Sample Plot of Equation of State for a Fluid

Fluid Density as a Function of Pressure and Temperature
Density [kg/m3] 1000 800 600 400 200 0
1e+06 900000 800000 700000 600000 500000 400000 Pressure [Pa] 300000 200000 100000 0
273.15 283.15 293.15 303.15 313.15 323.15 333.15 343.15 353.15 Temperature [K] 363.15
149
Figure 6 shows an example of density of a fluid as a function of pressure and saturation
pressure of dissolvable air. The parameter values are the same as in previous example except the temperature, which is constant T = 293.15 K .
Figure 7 on page 150 shows an example of density of a fluid as a function of pressure and
the volumetric content of undissolvable air. The parameter values are the same as in
Figure 6.
Figure 6. An Example of Density of a Fluid as a Function of Pressure and Saturation Pressure
Fluid Density as a Function of Pressure and Saturation Pressure
Density [kg/m3] 1000 900 800 700 600 500 400 300 200 100 0
200000 180000 160000 140000 120000 100000 Pressure [Pa] 80000 60000 40000 20000 0
0 100000 200000 300000 400000 500000 600000 700000 800000 Saturation Pressure [Pa] 900000
150
Figure 7. An Example of Density of a Fluid as a Function of Pressure and Volumetric Content of Undissolvable Air
Fluid Density as a Function of Pressure and Volumetric Content of Undissolvable Air
Density [kg/m3] 1000
500
500000 450000 400000 350000 300000 250000 200000 Pressure [Pa] 150000 100000 50000 0 0.9
0.8
0.7 Content of Undissolvable Air
0.6
0.5
0.4
0.3
0.2
0.1
151
Figure 8 shows an example of effective bulk modulus of a fluid for set of values of
volumetric content of undissolvable air ( Cu = 0.0 5.0%). All the other parameter values except the volumetric content of undissolvable air are the same as in Figure 6 on page 149.
Figure 8. An Example of Effective Bulk Modulus for a Fluid
Effective Bulk Modulus as a Function of Pressure 2e+09 1.9e+09 1.8e+09 1.7e+09 1.6e+09 1.5e+09 Effective Bulk Modulus [Pa] 1.4e+09 1.3e+09 1.2e+09 1.1e+09 1e+09 9e+08 8e+08 7e+08 6e+08 5e+08 4e+08 3e+08 2e+08 1e+08 0 0 5e+06 1e+07 1.5e+07 Pressure [Pa] 2e+07 2.5e+07 3e+07
Cu=0.0 Cu=0.001 Cu=0.005 Cu=0.01 Cu=0.02 Cu=0.03 Cu=0.04 Cu=0.05
152
Viscosity ADAMS/Hydraulics interpolates or extrapolates the value of viscosity of a fluid at a given operating temperature based on definition points.The method is based on standard ASTM D 341-43.
Standard ASTM D 341-43 introduces a compact method of approximating viscosity of a fluid with only a couple of definition points and at the same allows users to define viscosity of a fluid based on empirical data.
Figure 9. An Example of Fluid Viscosity as a Function of Temperature
Viscosity of Fluid as a Function of Temperature (ESSO HYDRAULIC OIL J26) 10000
1000
Viscosity [cSt]
100
10
233.15
253.15
273.15
293.15
313.15 333.15 Temperature [K]
353.15
373.15
393.15
153
Figure 9 on page 152 shows an example of a viscosity plot with the following definition
points. Interpolation is applied three times independently for pairs of points (1&2, 2&3, and 3&4). In Figure 9, there are three full curves shown, but naturally only the sections in between definition points are used for interpolation. For temperatures T < T1 and T > T4 extrapolation is applied.

T 1 = 233.15 K ... 1 = 1200.0 cSt T 2 = 273.15 K ... 2 = 78.0 cSt T 3 = 313.15 K ... 3 = 26.0 cSt T 4 = 373.15 K ... 4 = 10.1 cSt
154
ADAMS/Hydraulics Component Reference Force Source
155
Force Source
Screen Icon
Description Force source generates a translational force as a user-defined function of any system states. A force source is usually connected to a translational one degree-of-freedom mass. Port Topology
For port: Input: Output:
F : translational force [force]
--
The following table shows the values you enter in the Create and Modify Force Source dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
User Parameters
Enter:
Units:
Symbol:
Initial Force
Estimate of the initial force of the force source. Force function.
force force
Fini
Force Function
The formulation of force source component is:

F = F( )
(325)
156
ADAMS/Hydraulics Component Reference Force Source
ADAMS/Hydraulics Component Reference Generic Pump/Motor
157
Generic Pump/Motor
B
Screen Icon
A
Description ADAMS/Hydraulics assumes that for a generic pump/motor:
Positive torque on the output/input shaft corresponds to the positive direction of rotation. Positive direction of rotation of the output/input shaft corresponds to the flow from port A to port B. Pump/motor torque and flow characteristics are supplied through functions (including losses). There is no leakage outside ports A and B. There is no volume inside a pump/motor. Mass properties of a pump/motor belong to the mechanical portion of the model. Mechanical motion/acceleration of a pump/motor, as a whole, does not affect internal flows or fluid movements.
158
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] AB : angular velocity of the
Output:
Q A : volumetric flow rate out STP from port A in STP [length3/time] Q B : volumetric flow rate out STP from port B in STP [c] T out : output torque [force*length]
A B Mechanical
output/input shaft [angle/time]

The following table shows the values you enter in the Create and Modify Generic Pump Motor2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 159.
Table 17. Dialog Box Parameters For the parameter: Enter: Units: Symbol:
Torque Model Parameters
Initial Torque Torque Function
Estimate of the initial torque. Torque function ( T f = f ( pAB, AB ) )
force*length force*length
T ini Tf
Flow Model Parameters
Initial Flowrate Flowrate Function
Estimate of the volumetric flow rate Volumetric flow rate function ( Q f = f ( pAB, AB ) )
length3/time length3/time
Q ini Qf
159

Initial Angular Velocity
Enter:
Units:
Symbol:
AB AB
ini
Estimate of the angular velocity of the input shaft Angular velocity of the input shaft
angle/time radians/time
Angular Velocity Function
ADAMS/Hydraulics Formulation Pressure drop is defined as:

p AB = p A p B (326)
Torque Model Parameters
Total torque of a pump/motor is simply:

T out = T f (327)
Flow Model
The mass flow rate that the generic pump/motor generate/requires is:
m f = Q f = A, if Q f 0 = B, if Q f < 0 (328)
where fluid density is computed from equation of state for the fluid:
= f ( p, T )
(329)
The flow rate out of ports A and B is:

mf Q A STP = ----------------- fluid STP mf Q B STP = ----------------- fluid STP
(330)
(331)
160
ADAMS/Hydraulics Component Reference Junction2
161
Junction2
Screen Icon
Description Junction is a connecting component that acts between two resistance elements. It serves three purposes:

Enables straightforward and flexible topology of a model. Is a point in a fluid power circuit at which pressure is computed, and, therefore, can be observed. Allows you to take into account effects of small volumes of fluid in between hydraulics components. For example, even if your valve is assembled with your cylinder, a flow passage with a define volume is typically needed. Compliance of fluid stored into that passage may become significant in some cases, when the cylinder approaches its end stops and doesnt have built-in dead volumes of fluid.
Port Topology
For port: Input:
Q A : volumetric flow rate in STP from port A in STP [length3/time] Q B : volumetric flow rate in STP from port B in STP [length3/time]
Output:
p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2]
A B
162
The following table shows the values you enter in the Create and Modify Junction2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 162.
Initial Pressure Volume Selector
Enter:
Units:
Symbol:
p ini K
Initial pressure in the junction. Select Apply default volume or Specify volume. Mechanical volume of the junction. Only available if you selected Specify volume above. Defaults to value of Junction Volume in Setting System Defaults on page 11.
force/length2
--
Volume
length3
Vmec
States
V fluid
STP
: Volume of fluid in the junction in STP [length3]
ADAMS/Hydraulics calculates the density of the fluid in a junction as:

V fluid STPini ( p ini, T ) + ( Q A ST P + Q B STP ) dt m fluid = ------------- = ---------------------------------------------------------------------------------------------- fluid STP (332) V mec V mec
It calculates the pressure of the fluid in the junction using the equation of state for the fluid:
p = f ( , T )
(333)
For more information about the fluid and pressure calculation, see Fluid on page 135.
163
Junction3
C
Screen Icon
Description A junction is a connecting component that acts between two resistance elements. It serves three purposes:

It enables straightforward and flexible topology of a model. It is a point in a fluid power circuit at which pressure is computed and, therefore, can be observed. Allows you to take into account effects of small volumes of fluid in between hydraulics components. For example, even if your valve is assembled with your cylinder, a flow passage with a define volume is typically needed. Compliance of fluid stored into that passage may become significant in some cases, when the cylinder approaches its end stops and doesnt have built-in dead volumes of fluid.
Port Topology
For port: Input:
Q A : volumetric flow rate in from STP port A in STP [length3/time] Q B : volumetric flow rate in from STP port B in STP [length3/time] Q C : volumetric flow rate in from STP port C in STP [length3/time]
Output
p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2]
A B C
164
The following table shows the values you enter in the Create and Modify Junction3 dialog boxes. It also shows the symbols for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 164.
Enter:
Units:
Symbol:
p ini K
Initial pressure in the junction. Select Apply default volume or Specify volume. Mechanical volume of the junction. Available only if you select Specify volume. Defaults to value of Junction Volume in Setting System Defaults on page 11.
force/length2
--
Volume
length3
Vmec
States
V fluid
STP

m fluid = ------------V mec V fluid STPini ( p ini, T ) + ( Q A STP + Q B ST P + Q CST P ) dt = ------------------------------------------------------------------------------------------------------------------ fluid STP V mec
(334)
165
p = f ( , T )
(335)
166
167
Junction4
C
Screen Icon
A D
Description A junction is a connecting component that acts between two resistance elements. It serves three purposes:

It enables straightforward and flexible topology of a model. It is a point in a fluid power circuit at which pressure is computed and, therefore, can be observed. Allows you to take into account effects of small volumes of fluid in between hydraulics components. For example, even if your valve is assembled with your cylinder, a flow passage with a define volume is typically needed. Compliance of fluid stored into that passage may become significant in some cases, when the cylinder approaches its end stops and doesnt have built-in dead volumes of fluid.
Port Topology
For port: Input:
Q A : volumetric flow rate in from STP port A in STP [length3/time] Q B : volumetric flow rate in from STP port B in STP [length3/time] Q C : volumetric flow rate in from STP port C in STP [length3/time] Q D : volumetric flow rate in from STP port D in STP [length3/time]
Output:
p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2] p : pressure of the fluid in the junction [force/length2]
A B C D
168
The following table shows the values you enter in the Create and Modify Junction4 dialog boxes. It also shows the symbols for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
Enter:
Units:
Symbol:
p ini K
Initial pressure in the junction. Select Apply default volume or Specify volume. Mechanical volume of the junction. Available only if you select Specify volume. Defaults to value of Junction Volume in Setting System Defaults on page 11.
force/length2
--
Volume
length3
Vmec
States
V fluid
STP

m fluid = ------------V mec V fluid STPini ( p ini, T ) + ( Q A STP + Q B ST P + Q CST P + Q DST P ) dt - = ------------------------------------------------------------------------------------------------------------------------------------- fluid STP V mec
(336)
169
p = f ( , T )
(337)
170
ADAMS/Hydraulics Component Reference Laminar Orifice
171
Laminar Orifice
LAMINAR
Screen Icon
Description
ADAMS/Hydraulics models a laminar orifice as a circular tube with a small diameter when compared to the length of the orifice. You can model other cross-section shapes by entering an equivalent diameter. There are also optional turbulent entrance and/or exit pressure drop defined in the laminar orifice. ADAMS/Hydraulics assumes that:

The diameter of laminar orifice is much smaller than its length. The orifice has no volume. The cross section of a laminar orifice is circular (the hydraulic diameter for a circular cross section is D h = D ).
Port Topology
For port: Input:
Output:
A B
172
The following table shows the values you enter in the Create and Modify Laminar Orifice dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
Pressure Drop Model Parameters
Length Hydraulic Diameter Loss Coefficient

Orifice length. Hydraulic diameter of the orifice. Entrance/exit loss coefficient.
length length --
L Dh K
N of Orifices in Parallel
Number of identical laminar orifices in parallel.
--
ADAMS/Hydraulics Formulation Pressure Drop Model
The pressure drop due to laminar flow through the orifice is:
128L p l = -------------------Q 4 D h
(338)
where:
density of the fluid at pressure pA [force/length2] (at pressure pB , if flow direction is from B to A) kinematic viscosity of the fluid at fluid temperature [length2/time] volumetric flow rate [length3/time]
173
ADAMS/Hydraulics assumes a circular cross section for laminar orifices. For a circular cross section, the hydraulic diameter is the same as the geometrical diameter. That is:
2 A = -- D h 4
(339)
Turbulent pressure drop due to entrance/exit losses is:

Q 2 - p t = K -- --- 2 A
Flow Model
(340)
Volumetric flow rate through one laminar orifice is solved from the equation:
p A p B = p l + p t
(341)
The sum of volumetric flows through N laminar orifices computes as:

m AB = NQ m AB Q A STP = ----------------- fluid STP m AB Q B STP = ----------------- fluid STP
(342) (343)
(344)
174
ADAMS/Hydraulics Component Reference
175
One-DOF Translational Mass
Screen Icon
Description A force input from port A accelerates a one-degree-of-freedom (DOF) translational mass. Mass position can be either limited or unlimited depending on how you specify it. A positive force causes positive acceleration. Port Topology
For port: Input:
F F : translational force at port F [force]
Output:
F X V ACC
-X : position of mass [length] v : velocity of mass [length/time] a : acceleration of mass [length/time2]
----
176
ADAMS/Hydraulics Component Reference One-DOF Translational Mass
The following table shows the values you enter in the Create and Modify Mass1 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 177.
General
Enter:
Units:
Symbol:
Mass Initial Position Initial Velocity

Bounds
Mass of one-DOF mass. Initial position of mass. Initial velocity of mass.
mass length length/time
m Xini v ini
Lower Bound Position Upper Bound Position Force at Penetration dx
Lower bound of X. Upper bound of X. Force at penetration dX (if you set it to zero, then boundary surfaces do not limit the mass position). Penetration length at which force equals F dX . Exponent of the force deformation characteristics. Maximum damping coefficient of boundary surface.
length length force
Xl Xu FdX
Penetration dx
length -force*time/length
dX
Force Exponent
Max Damping Coefficient
177

Penetration for Max Damping
Enter:
Units:
Symbol:
d
Boundary penetration at which full damping is applied.
length
The formulation of one-DOF translational mass component is:

F dX F F + BISTOP X, v, X l, X u, ------------- , e, c, d ( dX ) e a = ----------------------------------------------------------------------------------------------------- , if ( F dX > 0 ) m FF a = ----- , if ( F dX 0 ) m v = v ini + a dt X = X ini + v dt
(345)
(346)
(347)
For information on the MSC.ADAMS BISTOP function, refer to the ADAMS/Solver (FORTRAN) online help.
178
ADAMS/Hydraulics Component Reference One-Way Restrictor Valve
179
One-Way Restrictor Valve
Screen Icon
A B
x (+) A (+) B
(+)
Description ADAMS/Hydraulics assumes the following for a one-way restrictor valve:
There is an adjustable-size orifice and a check valve built parallel to one and other. The orifice is symmetrical for both flow directions. There is no volume inside a valve. The poppet is massless. Flow cross-section area is linearly dependent on poppet position.
180
Port Topology
For port: Input:
Output:
Q A : volumetric flow rate out from port A STP in STP [length3/time] Q B : output =volumetric flow rate out STP from port B in STP [length3/time]
A B
181
The following table shows the values you enter in the Create and Modify Restrictor Valve2 dialog boxes. It also shows the symbols for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 183.
General
Enter:
Units:
Symbol:
Initial Position
Initial relative poppet position, 0x1.
--
Q=f(dp)
Closing pressure drop of the valve. Pressure drop at the first definition volumetric flow. First definition volumetric flow rate A to B (check valve+orifice). Pressure drop at the second definition volumetric flow rate. Second definition volumetric flow rate A to B (at maximum opening, check valve+orifice). Relative leakage ( 0 1 ). Pressure drop at nominal volumetric flow rate from port B to port A.
force/length2 force/length2 length3/time force/length2 length3/time
p c p 1
AB1 Flowrate
Q AB1 p 2
AB2 Pressure Drop
AB2 Flowrate
Q AB2
AB Relative Leakage BA Nom Pressure Drop
-force/length2
p nomBA
182

BA Nom Flowrate
Enter:
Units:
Symbol:
Q nomBA
Nominal volumetric flow rate from port B to port A (orifice) at full opening. Relative opening of the flow crosssection area of the orifice 0 R 1 . Density of the reference fluid (the fluid used for the measurement).
length3/time
Relative Opening Function Ref Fluid Density
-mass/length3
ref
Response
time force/length2
0 p 0
Hysteresis
Hysteresis Ratio
--
States
x: Relative poppet position [], 0 x 1
183
ADAMS/Hydraulics assumes that the one-way restrictor valve poppet is massless and closed at x = 0 . It also assumes the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
(348) (349) (350) (351) (352) (353)
where:
c 1, k 1, k 3 constants (identified internally from input data) x Ap
relative poppet velocity [1/time] effective poppet pressure area [length2] pressure area ratio ( Aclosed A p ), ( 1 ) []
(354)
184
You can compute the flow cross-section area of the orifice from given nominal flow rate and pressure drop over the orifice as follows. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q nomBA ref A maxBA = ------------------ -----------------------Cd 2p nomBA
(355)
If you assume that point ( Q AB2, p 2 ) corresponds to the maximum opening, you can use the same point to compute the maximum flow cross-section area for the check valve flow passage as follows:
Q AB2 ref A pmax = ------------ ------------ A maxBA C d 2p 2
(356)
The flow cross-section area computes as:

R p = LINPWL ( x, , 0 )
Flow Model
(357)
ADAMS/Hydraulics defines the flow model for a one-way restrictor valve using the ORIFIC function, such that:
m ABo = ORIFIC ( R, C d, Re tr, A maxBA, p A, p B, 0 ) m ABcv = ORIFIC ( R p, C d, Re tr, A pmax, p A, p B, 0 ) m ABo m ABcv Q A STP = ------------------------------------- fluid STP m ABo + m ABcv Q B STP = --------------------------------- fluid STP
(358) (359)
(360)
(361)
ADAMS/Hydraulics Component Reference Orifice
185
Orifice
Screen Icon Description
An orifice is a sudden restriction of short length (ideally zero length for a sharp-edged orifice) in a flow passage and can have a fixed or variable area [1, p. 39]. ADAMS/Hydraulics assumes that:

The orifice has no volume. The cross section of an orifice is circular (the hydraulic diameter for a circular cross section is D h = D ).
Applying the given formulation to the compressible flow (varying density) is a simplification and, therefore, not absolutely accurate from a theoretical point of view. The formulation of a true compressible flow leads to very complicated equations, which prove to be impractical. Recalling that an orifice acts basically as a time constant within a fluid power circuit, and that, in most cases, measured parameters are based on the assumption of incompressible flow, you conclude that:
The given formulation is still valid for a wide range of pressure drop within the neighborhood of the reference pressure drop for which parameters were measured. The small error in the time constant of an orifice is mostly compensated in the parameters used because of measurement practices.
186
Port Topology
For port: Input:
Output:
A B
The following table shows the values you enter in the Create and Modify Orifice dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 187.
Flow Cross-Section Area Model Parameters
Relative Opening Function
Ratio of effective cross-section area of the orifice ( A ) and the cross-section area of the orifice at maximum opening ( A max ), 0 R 1 Maximum hydraulic diameter of the orifice Discharge coefficient of the orifice. (Discharge coefficient is usually defined using component manufacturers information. Merritt [1, p. 42] gives an estimate of a typical discharge coefficient for an orifice: C d 0.6 .)
--
Max Hydraulic Diameter Discharge Coefficient
length --
Dhmax
Cd
187

Enter:
Units:
Symbol:
Reynolds Transient
Reynolds number at which the flow turns from laminar to turbulent. Entrance/exit loss coefficient. Usually used if orifice is connected to a large reservoir. Number of identical orifices in a row.
---
Re tr
Loss Coefficient
N of Orifices in Series
--
ADAMS/Hydraulics assumes a circular cross section for an orifice. For a circular cross section, the hydraulic diameter is the same as the geometrical diameter. That is:
2 A max = -- D hmax 4
Flow Model
(362)
You can merge the effect of entrance/exit loss coefficient and effect of multiple orifices in a row into the value of discharge coefficient to achieve equivalent flow characteristics. Equivalent discharge coefficient is:
Cd C deq = ------------------------2 N + KC d
(363)
ADAMS/Hydraulics defines the flow model for an orifice using the ORIFIC function, such that:
m AB = ORIFIC ( R, C deq, Re tr, A max, p A, p B, 0 )
(364)
188
m AB Q A STP = ----------------- fluid STP m AB Q B STP = ----------------- fluid STP

Math Follow-Up
(365)
(366)
For a detailed description of the mathematical background of the ORIFIC function, see ORIFIC - Flow Through an Orifice on page 304. Resistance or loss coefficient K refers to those energy losses caused by bends, fittings, and sudden changes in flow cross section. These losses are empirically described by [1, p. 46]:
K Q 2 u2 - H L = K ----- = ----- --- 2g 2g A
(367)
where:
u g Q A
fluid velocity [length/time] gravitational constant [length/time2] volumetric flow rate [length3/time] flow passage area [length2]
Pressure loss over N orifices in a row and a one-time entrance/exit pressure loss defined by K can be combined to yield:
Q 2 Q 2 - p A p B = K -- --- + N -- --------- 2 A 2 C d A
(368)
189
From Equation (368), you can write the following equation for the mass flow through a row of orifices:
2 ( p A p B ) 2 ( p A p B ) m = Q = A ----------------------------- = C d A ----------------------------2 N N + KC d K + -----2 Cd
(369)
190
ADAMS/Hydraulics Component Reference Pipe (level 1)
191
Pipe (level 1)
Note: ADAMS/Hydraulics uses the term pipe to refer to both pipes and hoses.
Screen Icon
(+) A (+) B
Description
A level 1 pipe model is functionally a combination of two orifices and a reservoir. It takes into account:

Nonlinear pipe friction Exit and entrance losses of the pipe Capacitance, fluid, and wall flexibility of the pipe
The pipe omits all inertial effects of fluid inside it.

Port Topology
For port: Input:
Output:
A B
192
The following table shows the values you enter in the Create and Modify Pipe 1 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 194.
General
Enter:
Units:
Symbol:
Length Diameter Initial Pressure
Pipe length. Inner diameter of the pipe. Initial pressure in the pipe at the beginning of the simulation. Initial volume of the fluid ( V ini ) in STP in the pipe is computed based on that.
length length force/length2
L D p ini
Losses
Loss Length
Effective length, added to the pipe physical length, which represents additional pressure loss over the pipe. Coefficient of one-time pressure loss at the A end of pipe for exiting flow Coefficient of one-time pressure loss at the A end of pipe for entering flow 0 Aentr, ( 0 = No loss ) .
length
L loss
A Exit Loss
--
Aexit
0 Aexit 1, ( 0 = No loss, 1 = All kinetic energy lost at exit )
A Entrance Loss
--
Aentr
193

B Exit Loss
Enter:
Units:
Symbol:
Bexit
Coefficient of one-time pressure loss at the B end of pipe for exiting flow Coefficient of one-time pressure loss at the B end of pipe for entering flow 0 Bentr, ( 0 = No loss ) .
--
0 Bexit 1, ( 0 = No loss, 1 = All kinetic energy lost at exit )
B Entrance Loss
--
Bentr
Flexibility
Flexibility Type
Pipe the wall flexibility type. The options are: linear - Pipe radius expands linearly with respect to pressure. nonlinear - Pipe radius expands nonlinearly with respect to pressure. Pipe wall thickness. Modulus of elasticity of the pipe wall material. Poissons ratio for the pipe wall material. Coefficients of structural flexibility polynomial.
--
flextype
Wall Thickness
length force/length2 ---
s
E
linear
Youngs Modulus
linear
Poissons Ratio
linear
Flexibility Coefficients
ai
nonlinear
194
States
Vr
STP
: Volume of fluid inside the pipe (reservoir) in STP [length3]
Capacitance Model
In the following explanations, pressure delta is defined as:

p = p p e (370)
Method: Linear
2 2 Dp D o + D u = ----------- ------------------- + 2 D2 2E D o
(371)
where:
D o = D + 2s (372)
The effective volume of the pipe as a function of pressure is:

2 p pe Do + D 2 V eff = ( D + 2u ) 2 -- L = 1 + ------------- ------------------- + -- D 2 L 2 D2 E Do 4 4 2
(373)
Method: Nonlinear
The effective volume of the pipe as a function of pressure is computed based on given flexibility coefficients as follows:
V eff
n p p e i 1 + = ai -------------- --- D 2 L p STP 4 i=1
(374)
195
Initial volume of fluid in the pipe in STP is computed based on the given initial pressure:
ini V pe f ( p ini, T ) -V ini = ------------------ = -------------------------------- -- D 2 L f ( p STP, T STP ) 4 fluid STP
(375)
where the function = f ( p, T ) refers to the equation of state for the fluid. ADAMS/Solver calculates the instantaneous volume of fluid in STP in the pipe as:
( mA + m B ) d-t -------------------------------- fluid STP
V rST P = V ini
(376)
ADAMS/Hydraulics defines density as the mass per unit of volume. Density of the fluid in the pipe (reservoir) is:
V rSTP r = ---------- fluidSTP V eff p r = f ( r, T )
Flow Resistance Model (377)
Using the equation of state for the fluid, the pressure of the fluid in the pipe (reservoir) is:
(378)
Resistance of the pipe over a length of (l) takes the following form:
lv l Q - p = --- ---- = --- --------------------D2 D D 2 2 2 -------- 4
2 2
(379)
where:
l v L + L loss , effective friction length of the pipe [length]
friction coefficient of the pipe [] flow velocity of the fluid [length/time]
196
For laminar regime, the friction factor according to the Hagen-Poiseuille law is:
64 = ----Re
(380)
and for turbulent regime according to Prandtls universal law of friction for smooth pipes:
1 ------ = 2 log ( Re ) 0.8
(381)
Additional pressure drops due to exit and entrance losses are computed with the following equations:
vA Aexit ------- , for flow out of pipe 2 vA Aentr ------- , for flow in to pipe 2 vB Bexit ------- , for flow out of pipe 2 vB Bentr ------- , for flow in to pipe 2
2 2 2 2
p A =
(382)
p B =
Entrance loss is caused by the fact that, the effective flow cross-section area may grow smaller than the area of the pipe itself, due to the flow patterns of the input flow. The exit loss defines how much of the pipe flows kinetic energy is being lost at exit. Exit loss is typically 1 (100% lost).
197
Pipe (level 2)
Note: ADAMS/Hydraulics uses the term pipe to refer to both pipes and hoses.
Screen Icon
Description
Level 2 pipe models are fairly complicated dynamic pipe models, which consist of a large number of coupled differential state variables. A real world pipe is a highly nonlinear continuous flexible structure with a widely spread set of eigenfrequencies. A math model of a dynamic pipe tends to discretize the continuous nature of a pipe more or less in any case and, thus, only take into account a finite number of lowest eigenfrequencies in its response. Due to that and other complex physical phenomenas involved, it should be understood that a dynamic pipe model is an approximation, even at its best. There are three different versions of the dynamic pipe model implemented in this version. They differ in the way they connect with the rest of the system (different port types).

pipe_2pp: inputs pressures and outputs flow rates pipe_2ff: inputs flow rates and outputs pressures pipe_2pf: A port inputs pressure and outputs flow rate; B port does the opposite, inputs flowrate and outputs pressure Fluid inertial effects Nonlinear pipe friction Waterhammer (pressure spikes) Acceleration/deceleration of fluid Eigenfrequency analysis (ADAMS/Linear and ADAMS/Vibration) Pressure dependency of eigenfrequencies Exit and entrance losses of the pipe Capacitance, fluid and wall flexibility of the pipe Speed of sound (or pressure wave) in a pipe causing time delays to the response of the pipe
The level 2 pipe models can handle:

198
Port Topology
For port:
pipe_2pp
Input:
Output:
A B
pipe_2pf
p A : pressure at port A [force/length2] p B : pressure at port B
QA : volumetric flow rate out STP from port A in STP [length3/time]
[force/length
2]
: volumetric flow rate out from port B in STP [length3/time]

QB
STP
A B
pipe_2ff
p A : pressure at port A [force/length2] Q B : volumetric flow rate in STP from port B in STP [length3/time]
QA : volumetric flow rate out STP from port A in STP [length3/time] p B : pressure at port B [force/length2]
A B
Q A : volumetric flow rate in STP from port A in STP [length3/time] Q B : volumetric flow rate in STP from port B in STP [length3/time]
199
The following table shows the values you enter in the Create and Modify Pipe 2 dialog boxes. It also shows the symbols for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 201.
General
Enter:
Units:
Symbol:
Length Diameter Initial Pressure
Pipe length. Inner diameter of the pipe. Initial pressure in the pipe at the beginning of the simulation. Initial volume of the fluid ( Vini ) in STP in the pipe is computed based on that. Initial volumetric flow rate through the pipe at the beginning of the simulation. Positive flow direction is from A to B (sets initial fluid kinetic energy). Defines the number of segments a pipe is being discretized internally. The higher the number, the more accurate the results, but at an expense of computational effort.
length length force/length2
L D p ini
Initial Flowrate
length3/time
Qf
iniSTP
Number of Divisions
--
200

Losses
Enter:
Units:
Symbol:
Loss Length
Effective length, added to the pipe physical length, which represents additional pressure loss over the pipe. Coefficient of one-time pressure loss at the A end of pipe for exiting flow Coefficient of one-time pressure loss at the A end of pipe for entering flow
0 Aentr, ( 0 = No loss )
length
L loss
A Exit Loss
--
Aexit
0 Aexit 1, ( 0 = No loss, 1 = All kinetic energy lost at exit )
A Entrance Loss
--
Aentr
B Exit Loss
Coefficient of one-time pressure loss at the B end of pipe for exiting flow Coefficient of one-time pressure loss at the B end of pipe for entering flow
0 Bentr, ( 0 = No loss )
--
Bexit
0 Bexit 1, ( 0 = No loss, 1 = All kinetic energy lost at exit )
B Entrance Loss
--
Bentr
201

Flexibility
Enter:
Units:
Symbol:
Flexibility Type
Pipe wall flexibility type. Options: linear - Pipe radius expands linearly with respect to pressure nonlinear - Pipe radius expands nonlinearly with respect to pressure Pipe wall thickness. Modulus of elasticity of the pipe wall material. Poissons ratio for the pipe wall material. Coefficients of structural flexibility polynomial.
--
flextype
Wall Thickness
length force/length2 ---
s
E
linear
Youngs Modulus
linear
Poissons Ratio
linear
ai
nonlinear
Capacitance Model
For the following explanations, pressure delta is defined as:

p = p p e (383)
202
Method: Linear
2 2 Dp D o + D u = ----------- ------------------- + 2 2E D o D 2
(384)
where:
D o = D + 2s (385)
The effective volume of the pipe as a function of pressure is:

2 2 p pe Do + D 2 V eff = ( D + 2u ) 2 -- L = 1 + ------------- ------------------- + -- D 2 L 2 E Do D 2 4 4
(386)
Method: Nonlinear
The effective volume of the pipe as a function of pressure is computed based on given flexibility coefficients as follows:
V eff
n p p e i 1 + = a i ------------- -- D 2 L p STP- 4 i=1
(387)
Flow Resistance Model
Resistance of the pipe flow over a length of (l) takes the following form:
lv - p = --- ---D2
2
(388)
where:
l v L + L loss , effective friction length of the pipe [length]
friction coefficient of the pipe [] flow velocity of the fluid [length/time]
203
For laminar regime, the friction factor according to the Hagen-Poiseuille law is:
64 = ----Re
(389)
and for turbulent regime according to Prandtls universal law of friction for smooth pipes:
1 ------ = 2 log ( Re ) 0.8
(390)
Additional pressure drops due to exit and entrance losses are computed with the following equations:
vA Aexit ------- , for flow out of pipe 2 vA Aentr ------- , for flow in to pipe 2 vB Bexit ------- , for flow out of pipe 2 vB Bentr ------- , for flow in to pipe 2
2 2 2 2
p A =
(391)
p B =
Entrance loss is caused by the fact that, the effective flow cross-section area may grow smaller that the area of the pipe itself, due to the flow patterns of the input flow. The exit loss defines how much of the pipe flows kinetic energy is being lost at exit. Exit loss is typically 1 (100% lost).
204
ADAMS/Hydraulics Component Reference Pressure-Reducing Valve
205
Pressure-Reducing Valve
Screen Icon
x B (+)
(+) T
Spool is at open position (x=1).
(+)
Description
For a pressure-reducing valve, ADAMS/Hydraulics assumes that:

There is no volume inside a valve. The spool is massless. The spool geometry fully compensates for the pressure force at port A. The flow cross-section area is linearly dependent on the spool position. There are no leakages (other than given flow from port B to T, which can be set to zero as well).
206
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p T : pressure at port T [force/length2]
Output:
Q A : volumetric flow rate out STP from port A in STP [length3/time] Q B : volumetric flow rate out STP from port B in STP [length3/time] Q T : volumetric flow rate out STP from port T in STP [length3/time]
A B T
The following table shows the values you enter in the Create and Modify Pressure Reducing Valve3 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 208.
General
Enter:
Units:
Symbol:
Initial Position
Initial relative spool position,

0x1
--
Q=f(pB)
A Ref Pressure
Pressure at port A during measurements. First set pressure (port B). It is the pressure at port B at which the spool begins to close its flow cross-section area.
force/length2 force/length2
p Aref
B1 Pressure
p Bset1
207

B1 Flowrate
Enter:
Units:
Symbol:
Q Bset1
Volumetric flow corresponding to the first set pressure point p Bset1 . Second set pressure (port B). Volumetric flow corresponding to the second set pressure point p Bset2 . Third set pressure (port B) Volumetric flow corresponding to the third set pressure point pBset3 . Relative leakage ( 0 1 ). Pressure drop at nominal volumetric flow from port B to port T. Nominal volumetric flow from port B to port T. Pressure at port T during measurements. Density of the reference fluid, the fluid used for the measurement.
length3/time force/length2 length3/time
B2 Pressure B2 Flowrate
p Bset2 Q Bset2
B3 Pressure B3 Flowrate
force/length2 length3/time -force/length2
p Bset3 Q Bset3 p nomBT
AB Relative Leakage BT Nom Pressure Drop
BT Nom Flowrate
Q nomBT
T Ref Pressure
p Tref ref
Ref Fluid Density
Response
Time Constant
Opening time constant of the valve.
time
208

Pressure Step
Enter:
Units:
Symbol:
p 0
Pressure drop for which 0 was given.
force/length2
States
x : Relative spool position [], 0 x 1
ADAMS/Hydraulics assumes that the pressure-reducing valve spool is massless and closed at x = 0 . It also assumes that the following forces act on the spool of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 ( x 1 ) F s0 = F 0 Fd = c 1 x F p = A pB ( p B p T ) Ff = k3 x pA p B
spring force opening the valve spring preload at x=1 (valve open) viscous damping force pressure force closing the valve flow force closing the valve
(392) (393) (394) (395) (396)
where:
c 1, k 1, k 3 A pB
constants (identified internally from input data) pressure area for port B (and port T) pressure [length2]
209
Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops. Maximum effective flow cross-section area for flow from port B to T is:
Q nomBT A maxBT = -----------------------------------2p nomBT C d ----------------------- ref
(397)
Maximum flow cross-section area is computed internally as follows:

Q Bset1 A max = ---------------------------------------------------2 ( p Aref p Bset1 ) C d --------------------------------------- ref
(398)
Relative flow cross-section area computes to:

R = LINPWL ( x, , 0 )
Flow Model
(399)
ADAMS/Hydraulics defines the flow model for a pressure-reducing valve using the ORIFIC function, such that:
m AB = ORIFIC ( R, C d, Re tr, A max, p A, p B, 0 ) m BT = ORIFIC ( 1.0, C d, Re tr, A maxBT, p B, p T, 0 ) m AB Q A STP = ----------------- fluid STP m AB m BT Q B STP = ------------------------- fluid STP m BT Q T STP = ----------------- fluid ST P
(400) (401)
(402)
(403)
(404)
210
ADAMS/Hydraulics Component Reference Pressure Relief Valve
211
Pressure Relief Valve
Screen Icon
x
(+) A
(+) B
Description
ADAMS/Hydraulics assumes that for a pressure relief valve:

There is no volume inside a valve. The poppet is massless. Flow cross-section area is linearly dependent on the poppet position.
Port Topology
For port: Input:
Output:
A B
212
The following table shows the values you enter in the Create and Modify Pressure Relief Valve dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 213.
General
Enter:
Units:
Symbol:
Initial Position

0x1
--
Q=f(dp)
Closing pressure drop of the valve. Pressure drop at the first definition volumetric flow rate. First definition volumetric flow rate. Pressure drop at the second definition volumetric flow rate. Second definition volumetric flow rate (at maximum opening). Relative leakage ( 0 0.5 ). Density of the reference fluid (the fluid used for the measurement).
force/length2 force/length2 length3/time force/length2 length3/time -mass/length3
p c p 1
AB1 Flowrate
Q1 p 2
AB2 Pressure Drop
AB2 Flowrate
Q2 ref
AB Relative Leakage Ref Fluid Density
213

Response
Enter:
Units:
Symbol:
Time Constant
time force/length2
0 p 0
Pressure Step
Hysteresis
Hysteresis Ratio
--
States and Output

x : Relative poppet position [], 0 x 1
ADAMS/Hydraulics assumes that the pressure relief valve poppet is massless and closed at x = 0 . It also assumes that the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
(405) (406) (407) (408) (409) (410)
214
where:
c 1, k 1, k 3 x Ap
constants (identified internally from input data) relative poppet velocity [1/time] effective poppet pressure area [length2] pressure area ratio ( Aclosed A p ), ( 1 ) []
(411)
If you assume that point ( Q 2, p 2 ) corresponds to the maximum opening, you can use the same point to compute the maximum flow cross-section area for the valve. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q 2 ref A max = ------ -----------C d 2p 2
(412)
Relative flow cross-section area is:

R = LINPWL ( x, , 0 )
Flow Model
(413)
ADAMS/Hydraulics defines the flow model for a check valve using the ORIFIC function, such that: m = ORIFIC ( R, C , Re , A , p , p , 0 ) (414)
AB d tr max A B
Q A STP
m AB = ----------------- fluid STP
(415)
m AB Q B STP = ----------------- fluid STP
(416)
ADAMS/Hydraulics Component Reference Pressure Source
215
Pressure Source
Screen Icon
Description
A pressure source acts like a tank with varying pressure. A function defines its pressure regardless of the amount of flow in or out.
Port Topology
For port: Input:
Q A : volumetric flow rate in from STP port A in STP [length3/time]
Output:
p : pressure of the pressure source [force/length2]
The following table shows the values you enter in the Create and Modify Pressure Source dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 215.
User Parameters
Enter:
Units:
Symbol:
Initial Pressure
Estimate of the initial pressure of the pressure source. Pressure function.
force/length2 force/length2
p ini
Pressure Function
pf
The formulation of pressure source component is:

p = max ( p f, 0 )
(417)
216
ADAMS/Hydraulics Component Reference Pressure Source
ADAMS/Hydraulics Component Reference Pump/Motor
217
Pump/Motor
B
Screen Icon
A T
Description ADAMS/Hydraulics assumes that for a pump/motor:
Positive torque on the output/input shaft corresponds to the positive direction of rotation. Positive direction of rotation of the output/input shaft corresponds to the flow from port A to B. Pump/motor torque losses consist of a viscous damping torque, a friction torque due to pressure forces, and a constant friction torque. Leakage characteristics to drain (T) from both ports, A and B, are the same. There is no volume inside a pump/motor. Mass properties of a pump/motor belong to the mechanical portion of the model. Mechanical motion/acceleration of a pump/motor, as a whole, does not affect internal flows or fluid movements.
Port Topology
For port: Input:
Output:
Q A : volumetric flow rate out from STP port A in STP [length3/time] Q B : volumetric flow rate out from STP port B in STP [length3/time]
A B
218
For port:
Input:
p T : pressure at port T [force/length2]
Output:
Q T : volumetric flow rate out from STP port T in STP [length3/time]

T Mechanical
--
T out : output torque [force*length] T ideal : output torque of an ideal
pump/motor [force*length]

T s : shear torque [force*length] T : internal friction torque
[force*length]
The following table shows the values you enter in the Create and Modify Pump/Motor3 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 220.
Enter:
Units:
Symbol:
R
Relative volumetric displacement of the pump/motor, 0R1. Angular velocity of the output/input shaft.
--
Angular Velocity Function
radians/time
AB
219

General
Enter:
Units:
Symbol:
Max Volumetric Displacement Initial Control Input
Maximum volumetric displacement of the pump/motor. Estimate of the initial relative volumetric displacement, 0 R ini 1 . Estimate of the initial angular velocity of the output/input shaft.
volume/angle --
VRADmax
R ini
Initial Angular Velocity

Losses
angle/time
AB
ini
Shear Damping Coefficient Internal Friction Coefficient Coulomb Friction Torque Limit Angular Velocity for Friction
Dimensionless (shear) damping coefficient. Dimensionless internal friction coefficient. Coulomb friction torque. Angular velocity for fully developed Coulomb friction torque.
--force*length angle/time
Cs
Cf
TC lim
Leakage
Internal Leakage Coefficient External Leakage Coefficient
Internal (from A to B) leakage coefficient. External (from A and B to T) leakage coefficient.
volume/time/ pressure volume/time/ pressure
C int
C ext
220
Torque Model
Volumetric displacement of the pump/motor is:

V RAD = RV RADmax (418)
Torque required/generated by an ideal pump/motor is:

T ideal = V RAD ( p A p B ) (419)
Torque loss due to shear of fluid in narrow clearance is:

T s = Cs VRAD AB = A, if p A p B = B, if p B > p A (420)
where fluid density is computed from equation of state for the fluid:
= f ( p, T )
(421)
Internal friction torque due to pressure forces normal to direction of movement (typical in piston pumps / motors) and Coulomb friction is:
T = ( C f V RADmax ( p A + p B ) T C )step ( AB, lim, 1, lim, 1 ) (422)
Total torque of a pump/motor is simply the sum of torque of an ideal pump/motor and the losses is:
T out = T ideal + T s + T (423)
Flow Model
The mass flow rate generated/required by an ideal pump/motor is:

m ideal = V RAD AB = A, if AB 0 = B, if AB < 0 (424)
Internal (laminar) leakage flow rate from port A to port B is:

m int = C int ( p A p B ) = A, if p A p B = B, if p B > p A (425)
221
External (laminar) leakage flow rate from ports A and B to port T is:
m extAT = C ext ( p A p T ) = A, if p A p T = T, if p T > p A m extBT = C ext ( p B p T ) = B, if p B p T = T, if p T > p B (426)
(427)
The flow rate out of each independent port is:

m ideal m int m extAT Q A STP = --------------------------------------------------------- fluid ST P m ideal + m int m extBT Q B STP = ----------------------------------------------------- fluid STP m extAT + m extBT Q T STP = -------------------------------------- fluidST P
(428)
(429)
(430)
222
ADAMS/Hydraulics Component Reference Reservoir
223
Reservoir
Screen Icon
Description
In ADAMS/Hydraulics, a reservoir is a constant or variable volume component in which pressure of the fluid is calculated. ADAMS/Hydraulics assumes that:

A reservoir has a constant or variable volume (finite) volume. Velocity of the fluid in a reservoir is zero. Fluid pressure in a reservoir is a function of density and temperature.
Port Topology
For port: Input:
Output:
p : pressure of the fluid in the reservoir [force/length2] p : pressure of the fluid in the reservoir [force/length2]
A B
224
The following table shows the values you enter in the Create and Modify Reservoir2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 225.
General
Enter:
Units:
Symbol:
Initial Volume
Initial volume (STP) of the reservoir at the beginning of the simulation. Mechanical volume (STP) of the reservoir; can be a function of any system variables. Initial pressure in the reservoir at the beginning of the simulation. The system calculates initial volume of the fluid Vini ST P in the reservoir from the given initial pressure.
length3
V STP
ini
Volume in STP Function
length3
V STP
Initial Pressure
force/length2
p ini
Flexibility
Coefficients of structural flexibility polynomial.
--
ai
States
V fluid
STP
: Volume of fluid in the reservoir in STP [length3]
225
Pressure dependency (structural flexibility) of mechanical volume is given as a polynomial:

V mec i p p e 1 + = V STP a i ------------ p STP i=1
n
(431)
ADAMS/Hydraulics calculates the density of the fluid in a reservoir as:

V STP ini + ( Q A STP + Q B ST P ) dt m fluid = ------------- = ------------------------------------------------------------------- fluid STP V mec V mec
(432)
It calculates the pressure of the fluid in the reservoir using the equation of state for the fluid:
p = f ( , T )
(433)
226
ADAMS/Hydraulics Component Reference Servovalve 4/3
227
Servovalve 4/3
A B
Screen Icon
A (+) B (+) x
(+) f( )
(+)
(+)
(+)
Description ADAMS/Hydraulics assumes that for a servovalve 4/3:

There is no volume inside a valve. The flow characteristics are the same for both flow directions. The spool returns to center position when the external control is set to zero.
Positive relative spool postition ( 0 < x 1 ) connects pressure port P to output port A (and B to T), and negative relative spool postition ( 1 x < 0 ) connects pressure port P to output port B (and A to T). Positive control input function signal moves spool to positive direction.
228
Port Topology
For port: Input:
p P : pressure at port P [force/length2] p A : pressure at port A [force/length2] p B : pressure at port B
Output:
Q P : volumetric flow rate out from STP port P in STP [length3/time] Q A : volumetric flow rate out from STP port A in STP [length3/time]
P A B T
[force/length ]
p T : pressure at port T [force/length2]

QB
STP
Q T : volumetric flow rate out from STP port T in STP [length3/time]
The following table shows the values you enter in the Create Servovalve dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation on page 235.
229
Table 32. Dialog Box Parameters For the parameter: Enter:

X=f(I)
Units:
Symbol:
f
External control input of the valve 1 f 1 .
--
Initial Position
Initial relative spool position, 1 x 1 .
--
I to X Method
Method to convert control input -function signal to spool position (x). The options are: voice_coil - Second-order spool dynamics, spring-mass system, spring centered. nozzle_flapper - Third-order spool dynamics. Eigenfrequency of the valve. Relative damping of the valve; value of one equals critical damping. Eigenfrequency of the flapper. 1/time --
ItoX
Eigenfrequency
voice_coil
Relative Damping
feigen
voice_coil
Flapper Eigenfrequency
1/time
feigfl
nozzle_flapper
Flapper Relative Damping
nozzle_flapper
Relative damping of the flapper; value of one equals critical damping.
--
fl
230
Table 32. Dialog Box Parameters (continued) For the parameter: Enter:
Proportional Band
Units:
Symbol:
z max
nozzle_flapper
Maximum relative flapper position 0 z max < 1 (full opening of the nozzle). Spool-saturated velocity; that is, spool velocity at maximum relative flapper position (nominal pressure drop over the valve).
--
Ref Relative Velocity
1/time
nozzle_flapper
feigfl
A=f(X)
PA X to A Method
Method to convert spool position (x) -to relative PA flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relation between relative opening area and relative spool position. Relative spool position lap for flow -from port P to port A ( 1 < x lap < 1 ).
XtoA PA
PA Xlap (nonlinear)
x lap PA
231
PA Relative Leakage (nonlinear) PA Nonlinearity (nonlinear) PA X to A Spline (spline)
Units:
Symbol:
PA
Relative leakage for flow from port P to port A ( 0 1 ).
--
Coefficient of nonlinearity for flow -from port P to port A ( 0 NL PA < 1 ).
NL PA
Spline name, which defines (x,R)-points for flow from port P to port A ( 1 x 1 and 0 R 1 ).
--
S PA
PB X to A Method
Method to convert spool position (x) -to relative PB flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port P to port B ( 1 < x lap < 1 ). Relative leakage for flow from port P to port B ( 0 1 ). ---
XtoA PB
PB Xlap (nonlinear) PB Relative Leakage (nonlinear)
x lap PB PB
232
PB Nonlinearity (nonlinear) PB X to A Spline (spline)
Units:
Symbol:
NL PB
Coefficient of nonlinearity for flow -from port P to port B ( 0 NL PB < 1 ).
Spline name, which defines -(-x,R)-points for flow from port P to port B, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) -to relative AT flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow -from port A to port T ( 1 < x lap < 1 ). Relative leakage for flow from port A to port T ( 0 1 ). --
S PB
AT X to A Method
XtoA AT
AT Xlap (nonlinear) AT Relative Leakage (nonlinear) AT Nonlinearity (nonlinear)
x lap AT AT
Coefficient of nonlinearity for flow -from port A to port T ( 0 NL AT < 1 ).
NL AT
233
AT X to A Spline (spline)
Units:
Symbol:
S AT
Spline name, which defines -(-x,R)-points for flow from port A to port T, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) -to relative BT flow passage area. The options are: linear - Relative opening area is linearily dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port B to port T ( 1 < x lap < 1 ). Relative leakage for flow from port B to port T ( 0 1 ). Nonlinearity factor for flow from port B to port T ( 0 NL BT < 1 ). ---
BT X to A Method
XtoA BT
x lap BT BT
--
NL BT
234
Units:
Symbol:
S BT
--
Q=f(A,dp)
Nom Pressure Drop
Pressure drop at nominal volumetric force/length2 flow rates. Nominal volumetric flow from port P to port A at full opening. Nominal volumetric flow from port P to port B at full opening. Nominal volumetric flow from port A to port T at full opening. Nominal volumetric flow from port B to port T at full opening. Nominal volumetric flow from port P to port T at full opening. Density of the reference fluid (the fluid used for the measurement). length3/time length3/time length3/time length3/time length3/time mass/length3
p nom
PA Nom Flowrate
Q nomPA
PB Nom Flowrate
Q nomPB
AT Nom Flowrate
Q nomAT
BT Nom Flowrate
Q nomBT
PT Nom Flowrate
Q nomPT ref
Ref Fluid Density
States
x : Relative spool position [], 1 x 1 x : Relative spool velocity [1/time]
235
The valve spool centers itself at zero external input ( f = 0 ). Positive external input ( 0 < f 1 ) connects pressure port P to output port A (and B to T) and negative external input ( 1 f < 0 ) connects pressure port P to output port B (and A to T).
Method: Voice Coil
A second-order transfer function computes the spool position:

= 2feigen (434) (435)
2 x ( s ) = -------------------------------------I ( s ), 1 x 1 s 2 + 2s + 2
Method: Nozzle Flapper
Functional schematic of a nozzle flapper driven servovalve spool.

T
Q2a
Q2b
p1a Q1a Q1b
p1b
pp
pt
236
The nozzle flapper itself is regarded as a second-order dynamic system. External control input (torque T) and spool position feedback act as forces on the flapper against the centering spring of the flapper (not shown in the schematic). Flapper acceleration, velocity, and position computes:
2 z = f eigfl ( I x z ) 2 fl f eigfl z
(436) (437)
z =
z
z max z z max
z= z
(438)
Spool velocity is then linearily dependent on flapper position at a constant pressure drop over the valve.
2 ( p p p t ) p z x = x ref ---------- -------------------------------------z max 2 p PTnom ref x= x
1 x 1
(439)
(440)
A nozzle-flapper construction always causes certain amount of leakage from port P to T. ADAMS/Hydraulics does not enforce this, but we recommend that you include it in the value of PT Nom Flowrate.
237
Method: linear

Method: nonlinear
(441) (442) (443) (444)
(445) (446) (447) (448)
In a real-world valve construction, there are flow restrictions other than the spool opening area itself, which limit the actual flow rate throughput of the valve. For example, if the area of the flow input (or output) passage of the valve is not substantially larger than the maximum spool opening area, it may introduce significant additional flow restriction, especially at large spool openings. The coefficient of nonlinearity is intended to be used for flow restrictions other than the spool opening itself. for more information, refer to Definition of coefficient of nonlinearity on page 112.
(449) (450) (451) (452)
Each spline holds at least four (x,R)-points to define the relationship between the relative spool position and the relative flow cross-section area. Functions are defined in such a way that all flows can use the same spline definition, if the spool is fully symmetric. A positive R value at zero x causes the spool to leak. For more information on applied
238
spline-fitting functions, refer to Akima Fitting Method (AKISPL) in the guide, Using the ADAMS/View Function Builder. To identify the five maximum flow cross-section areas for flows P to A, P to B, A to T, B to T, and P to T, five operating curve points ( Q nom ,p nom ) at full opening of the spool are required as input. The five maximum flow cross-section areas are computed internally as shown in Equations (453)-(457):
Q nomPA ref A maxPA = ------------------ -----------------Cd 2p nom Q nomPB ref A maxPB = ------------------ -----------------Cd 2p nom Q nomAT ref A maxAT = ------------------ -----------------Cd 2p nom Q nomBT ref A maxBT = ------------------ -----------------Cd 2p nom Q nomPT ref A maxPT = ------------------ -----------------Cd 2p nom
Flow Model
(453)
(454)
(455)
(456)
(457)
ADAMS/Hydraulics calculates flow rates using the ORIFIC function (ORIFIC - Flow Through an Orifice on page 304). Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, affects the shape of the flow rate curve only at very low pressure drops.
m PA = ORIFIC ( R PA, C d, Re tr, A maxPA, p P, p A, 0 ) m PB = ORIFIC ( R PB, C d, Re tr, A maxPB, p P, p B, 0 ) m AT = ORIFIC ( R AT, C d, Re tr, A maxAT, p A, p T, 0 ) m BT = ORIFIC ( R BT, C d, Re tr, A maxBT, p B, p T, 0 )
(458) (459) (460) (461)
239
m PT = ORIFIC ( 1.0, C d, Re tr, A maxPT, p P, p T, 0 ) m PA m PB m PT Q P STP = --------------------------------------------- fluid STP m PA m AT Q A STP = ------------------------- fluid STP m PB m BT Q B STP = ------------------------- fluid STP m AT + m BT + m PT Q T STP = ------------------------------------------ fluid STP
(462) (463)
(464)
(465)
(466)
240
ADAMS/Hydraulics Component Reference Shuttle Valve
241
Shuttle Valve
C
Screen Icon
x (+) A C (+) (+) B
Description
For a shuttle valve, ADAMS/Hydraulics assumes that:

Flow passages from A to C and B to C are the same. Moving the poppet along the x-axis opens the other flow passage as much as it closes the other passages. There is no volume inside a valve. The poppet is massless. The flow cross-section area is linearly dependent on poppet position. There are no leakages.
242
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p C : pressure at port C [force/length2]
Output:
A B C
: volumetric flow rate out from port C in STP [length3/time]

QC
STP
The following table shows the values you enter in the Create and Modify Shuttle Valve3 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
General
Enter:
Units:
Symbol:
Initial Position

0x1
--
Q=f(dp)
A1 Pressure
Pressure at port A corresponding to full opening. Nominal volumetric flow rate through the valve at full opening. Cracking pressure of the valve (port B).
force/length2 length3/time force/length2
p A1
AC Nom Flowrate
Q nom
B Cracking Pressure
pc
243

C Ref Pressure
Enter:
Units:
Symbol:
p Cref ref
Pressure at port C used during measurements. Density of the reference fluid (the fluid used for the measurement).
force/length2 mass/length3
Ref Fluid Density
Response
Time Constant
Opening time constant of the valve. Pressure increase of port B for which 0 was given.
time force/length2
0 p 0
B Pressure Step
States
x:
If you assume that the poppet is at x = 1 under given pressures in ports A and C, ( pA1 ) and ( p Cref ) respectively, you can define cracking pressure at port B ( pc ) as the pressure, which begins to move poppet towards port A, allowing flow from port B to C.
244
ADAMS/Hydraulics assumes the shuttle valve poppet is massless. Flow passage from A to C is fully open at x = 1 and closed at x = 0 , flow from B to C is symmetrical, but opposite. ADAMS/Hydraulics also assumes the following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fd = c1 x F pA = A pA p A F pB = A pA p B F fA = k 3 x p A p C F fB = k 3 ( 1 x ) p B p C
viscous damping force pressure force from port A pressure force from port B
(467) (468) (469)
flow force closing flow from A to C (470) flow force closing flow from B to C (471)
where:
c 1, k 3 A pA
constants (identified internally from input data) pressure area for port A (and port B) pressure [length2]
Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime (affects the shape of the flow rate curve only at very low pressure drops). Maximum effective flow cross-section area for the flow from port A to C is:
Q nom A max = ---------------------------------------------2 ( p A1 p Cref ) C d --------------------------------- ref
(472)
ADAMS/Hydraulics assumes the flow passage from B to C is the same; that is, the same maximum flow cross-section area applies.
245
Flow Model
ADAMS/Hydraulics defines the flow model for a shuttle valve using the ORIFIC function, such that:
m AC = ORIFIC ( x, C d, Re tr, A max, p A, p C, 0 ) m BC = ORIFIC ( 1 x, C d, Re tr, A max, p B, p C, 0 ) m AC Q A STP = ----------------- fluid STP m BC Q B STP = ----------------- fluid STP m AC + m BC Q C ST P = -------------------------- fluid STP
(473) (474)
(475)
(476)
(477)
246
ADAMS/Hydraulics Component Reference Spline Orifice
247
Spline Orifice
SPLINE
A B
Screen Icon
Description A spline orifice is an element that uses a spline to describe the dependency between pressure drop and volumetric flow rate through an orifice.

The spline orifice has no volume. The flow behaves the same in both flow directions: A to B and B to A.
Port Topology
For port: Input:
Output:
A B
248
The following table shows the values you enter in the Create and Modify Spline Orifice dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
Flowrate Spline
Enter:
Units:
Symbol:
S AB
Spline name, which defines ( dp , Q STP )points for flow from port A to port B ( 0 dp and 0 Q STP ). Pressure drop is defined to be positive for flow from port A to port B. You must define your spline so that: Positive flowrate vlaues correspond to positive pressure drop values. Negative flowrate values correspond to negative pressure drop values (needed only with the full option). It always passes through zero (0,0).
--
249

Apply Spline As
Enter:
Units:
Symbol:
Defines how to apply given spline data. The available options are. symmetric - Defines flowrate from port B to port A as similar to that of port A to port B. Positive half of the spline defines flow characteristics both ways. full - Uses full spline to define flow characteristics oneway - Defines flowrate from port B to port A as closed. Positive half of the spline defines flow characteristics from port A to port B. Ratio of the actual flowrate through the orifice and the nominal flowrate given by the flowrate spline (0 R 1).
--
--
Relative Opening Function
--
Fluid viscosity is used as the z-value for spline SAB . Therefore, for a spline orifice, you can define different characteristics for different fluid viscosities by using a threedimensional spline instead of a two-dimensional spline. For more information on splines, refer to the ADAMS/Solver (FORTRAN) online help or the guide, Using the ADAMS/View Function Builder.
250
ADAMS/Hydraulics defines the flow model for spline orifice using the MSC.ADAMS AKISPL function. For the: Symmetric option
Q AB STP = Rsign ( p A p B )akispl ( p A p B , , S AB ) Q A STP = Q AB STP Q B STP = Q AB STP
(478) (479) (480)
Full option
Q AB ST P = Rakispl ( p A p B, , S AB ) Q A STP = Q AB STP Q B STP = Q AB STP
(481) (482) (483)
Oneway option
Q AB ST P = Rakispl ( max ( p A p B, 0 ), S AB ) Q A STP = Q AB STP Q B STP = Q AB STP
(484) (485) (486)
where:
Kinematic viscosity of fluid
ADAMS/Hydraulics Component Reference Spool Valve 4/3p
251
Spool Valve 4/3p
Screen Icon
XA
XB
A (+) B (+) x
(+) XB
(+) XA
(+)
(+)
(+)
Description ADAMS/Hydraulics assumes that for a spool valve 4/3p:
There is no volume inside a valve other than pilot volumes in the ends of the spool. Flow characteristics are the same for both flow directions.
Positive relative spool position ( 0 < x 1 ) connects pressure port P to output port A (and B to T) and negative relative spool position ( 1 x < 0 ) connects pressure port P to output port B (and A to T). Positive flow in to the pilot port XA moves spool to positive direction, thus, connecting pressure port P to output port A (and B to T). Positive flow in to the pilot port XB does the opposite.
252
Port Topology
For port: Input:
p P : pressure at port P [force/length2] p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p T : pressure at port T [force/length2]
Output:
P A B T XA XB

QB
STP
Q T : volumetric flow rate out STP from port T in STP [length3/time] p XA : pressure at pilot port XA [force/length2] p XB : pressure at pilot port XB [force/length2]
Q XA : volumetric flow rate in from STP pilot port XA in STP [length3/time] Q XB : volumetric flow rate in from STP pilot port XB in STP [length3/time]
The following table shows the values you enter in the Create and Modify Spool Valve 4/3p dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
X=f(I)
Enter:
Units:
Symbol:
Initial Position
Initial relative spool position, 0x1. Initial pressure in the pilot ports.
-force/length2
x ini
Initial X Pressure
p ini
253

Spool Type Spool Half Stroke
Enter:
Units:
Symbol:
spool_type l1 2
Massless (First order).
-length length2 length3 length3
Length of spool stroke from center to either end. Effective pressure drive area of the spool. Smallest volume of the XA pilot chamber. Smallest volume of the XB pilot chamber.
Spool Piston Area
Ap
XA Dead Volume
V XAdead
XB Dead Volume
V XBdead
A=f(X)
PA X to A Method
Method to convert spool position (x) to relative PA flow passage area. The options are: linear - Relative opening area is linearly dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position.
--
XtoA PA
254

Enter:
Units:
Symbol:
x lap PA PA
-----
NL PA
Spline name, which defines (x,R)points for flow from port P to port A ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative PB flow passage area. The options are: linear - Relative opening area is linearly dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port P to port B ( 1 < x lap < 1 ).
S PA
PB X to A Method
--
XtoA PB
PB Xlap (nonlinear)
--
x lap PB
255

PB Relative Leakage (nonlinear) PB Nonlinearity (nonlinear) PB X to A Spline (spline)
Enter:
Units:
Symbol:
PB
Relative leakage for flow from port P to port B ( 0 1 ).

Coefficient of nonlinearity for flow from port P to port B ( 0 NL PB < 1 ).
----
NL PB
Spline name, which defines (-x,R)-points for flow from port P to port B, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative AT flow passage area. The options are: linear - Relative opening area is linearly dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port A to port T ( 1 < x lap < 1 ). Relative leakage for flow from port A to port T ( 0 1 ).
S PB
AT X to A Method
--
XtoA AT
AT Xlap (nonlinear) AT Relative Leakage (nonlinear)
---
x lap AT AT
256

AT Nonlinearity (nonlinear) AT X to A Spline (spline)
Enter:
Units:
Symbol:
NL AT
Coefficient of nonlinearity for flow from port A to port T ( 0 NLAT < 1 ).
---
Spline name, which defines (-x,R)-points for flow from port A to port T, ( 1 x 1 and 0 R 1 ). Method to convert spool position (x) to relative BT flow passage area. The options are: linear - Relative opening area is linearly dependent on relative spool position. nonlinear - Spool under or overlap, radial leakage, and coefficient of nonlinearity define relationship between relative opening area and relative spool position. spline - An arbitrary nonlinear curve defines relationship between relative opening area and relative spool position. Relative spool position lap for flow from port B to port T ( 1 < x lap < 1 ). Relative leakage for flow from port B to port T ( 0 1 ). Nonlinearity factor for flow from port B to port T ( 0 NL BT < 1 ).
S AT
BT X to A Method
--
XtoA BT
----
x lap BT BT
NL BT
257

Enter:
Units:
Symbol:
S BT
--
Q=f(A,dp)
Nom Pressure Drop
Pressure drop at nominal volumetric flow rates. Nominal volumetric flow from port P to port A at full opening. Nominal volumetric flow from port P to port B at full opening. Nominal volumetric flow from port A to port T at full opening. Nominal volumetric flow from port B to port T at full opening. Nominal volumetric flow from port P to port T. Density of the reference fluid (the fluid used for the measurement of the pressure drop at nominal volumetric flow through the valve).
force/length2 length3/time length3/time length3/time length3/time length3/time mass/length3
p nom
PA Nom Flowrate
Q nomPA
PB Nom Flowrate
Q nomPB
AT Nom Flowrate
Q nomAT
BT Nom Flowrate
Q nomBT
PT Nom Flowrate
Q nomPT ref
Ref Fluid Density
258
States
x: V XA V XB
STP
Relative spool position [], 1 x 1 : Volume of fluid in the XA pilot chamber in STP [length3] : Volume of fluid in the XB pilot chamber in STP [length3]
STP
Instantaneous mechanical volumes of the pilot chambers of the spool valve are:
V XA = ( 1 + x )l 1 2 A p + V XAdead V XB = ( 1 x )l 1 2 A p + V XBdead
(487) (488)
ADAMS/Hydraulics computes the initial volumes of fluid in the pilot chambers in STP based on the given initial X pressure, such that:
XA ini V XA ini f ( p ini, T ) ini -V V XA STP = -------------------------- = -------------------------------- XA ( x ini ) f ( p STP, T STP ) fluidST P XB ini V XB ini f ( p ini, T ) ini -V V XB STP = -------------------------- = -------------------------------- XB ( x ini ) f ( p STP, T STP ) fluidST P
(489)
(490)
where the function = f ( p, T ) refers to the equation of state for the fluid. Instantaneous fluid volumes in the pilot chambers are:
V XA STP = V XA STP + Q XA STP dt V XB STP = V XB STP + Q XB STP dt
ini ini
(491)
(492)
259
A massless spool always takes a position where pilot pressures acting on the end of the spool are equal (provided that the spool is not at either end of its travel). Therefore, relation of equation (493) hold.
VXB V XA STP ST P --------------- = --------------V XA VXB (493)
From equations (487), (488) and (493) we find that

V XA STP V XB STP V XB STP V XAdead V XA ST P V XBdead x = ------------------------------------ ----------------------------------------------------------------------------V XA STP + V XB STP l 1 2 A p ( V XA STP + V XB STP )
(494)
Method: linear

Method: nonlinear
(495) (496) (497) (498)
(499) (500) (501) (502)
In a real-world valve construction, there are flow restrictions other than the spool opening area itself, which limit the actual flow rate throughput of the valve. For example, if the area of the flow input (or output) passage of the valve is not substantially larger than the maximum spool opening area, it may introduce significant additional flow restriction,
260
especially at large spool openings. The coefficient of nonlinearity is intended to be used for flow restrictions other than the spool opening itself. For more information, refer to Directional Control Valve 2/2 on page 107.
(503) (504) (505) (506)
Each spline holds at least four (x,R)-points to define the relationship between the relative spool position and the relative flow cross-section area. Functions are defined in such a way that all flows can use the same spline definition, if the spool is fully symmetric. A positive R value at zero x causes the spool to leak. For more information on applied spline-fitting functions, refer to Akima Fitting Method (AKISPL) in the guide, Using the ADAMS/View Function Builder. To identify the five maximum flow cross-section areas for flows P to A, P to B, A to T, B to T, and P to T, five operating curve points ( Q nom ,p nom ) at full opening of the spool are required as input. The five maximum flow cross-section areas are computed internally as shown in Equations (507)-(511). Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q nomPA ref A maxPA = ------------------ -----------------Cd 2p nom Q nomPB ref A maxPB = ------------------ -----------------Cd 2p nom Q nomAT ref A maxAT = ------------------ -----------------Cd 2p nom
(507)
(508)
(509)
261
Q nomBT ref A maxBT = ------------------ -----------------Cd 2p nom Q nomPT ref A maxPT = ------------------ -----------------Cd 2p nom
Flow Model
(510)
(511)
ADAMS/Hydraulics calculates the flow rates using the ORIFIC function (see ORIFIC Flow Through an Orifice on page 304), such that:
m PA = ORIFIC ( R PA, C d, Re tr, A maxPA, p P, p A, 0 ) m PB = ORIFIC ( R PB, C d, Re tr, A maxPB, p P, p B, 0 ) m AT = ORIFIC ( R AT, C d, Re tr, A maxAT, p A, p T, 0 ) m BT = ORIFIC ( R BT, C d, Re tr, A maxBT, p B, p T, 0 ) m PT = ORIFIC ( 1.0, C d, Re tr, A maxPT, p P, p T, 0 ) m PA m PB m PT Q P STP = --------------------------------------------- fluid STP m PA m AT Q A STP = ------------------------- fluid STP m PB m BT Q B STP = ------------------------- fluid STP m AT + m BT + m PT Q T STP = ------------------------------------------ fluid STP
(512) (513) (514) (515) (516)
(517)
(518)
(519)
(520)
262
Pilot Pressure Model
ADAMS/Hydraulics defines density as mass per unit of volume. It calculates the density of the fluid in the pilot chambers of the spool valve as:
V XA STP XA = -------------- fluid STP V XA V XB STP XB = -------------- fluid STP V XB
(521)
(522)
Pilot chamber pressures are then computed using the equation of state for the fluid, such that:
p XA = f ( XA, T ) p XB = f ( XB, T )
(523) (524)
ADAMS/Hydraulics Component Reference Sum of Flows
263
Sum of Flows
A
Screen Icon
C B
Description Sum of flows sums flow rates A and B into flow rate C.
Note: For the MSC.ADAMS 2003 release, this component is replaced by the new sum_of_flows2 component. The original component is available to ensure upward
compatibility, but it has been removed from the menus. You should stop using this component, as it may be dropped in a future release of ADAMS/Hydraulics.
Port Topology
p C : pressure at port C
A B C
: volumetric flow rate in from port A in STP [length3/time]

QA
STP
[force/length2]
Q B : volumetric flow rate in from STP port B in STP [length3/time] p C : pressure at port C [force/length2]
p C : pressure at port C [force/length2] Q C : volumetric flow rate out STP from port C in STP [length3/time]
264
ADAMS/Hydraulics Component Reference Sum of Flows
pA = pC pB = pC Q C ST P = Q A STP + Q B ST P
(525) (526) (527)
ADAMS/Hydraulics Component Reference Sum of Flows2
265
Sum of Flows2
Screen Icon
A P B
Description Sum of flows2 sums flow rates A and B into flow rate P. Port Topology
p P : pressure at port P
A B P
: volumetric flow rate in from port A in STP [length3/time]

QA
STP
[force/length2]
Q B : volumetric flow rate in from STP port B in STP [length3/time] p P : pressure at port P [force/length2]
p P : pressure at port P [force/length2] Q P : volumetric flow rate out ST P from port P in STP [length3/time]
pA = pP pB = pP Q P STP = Q A STP + Q B STP
(528) (529) (530)
266
267
Sum of Flows3
Screen Icon
B C P
Description Sum of flows3 sums flow rates A, B, and C into flow rate P. Port Topology
For port: Input:
Q A : volumetric flow rate in from STP port A in STP [length3/time] Q B : volumetric flow rate in from STP port B in STP [length3/time] Q C : volumetric flow rate in from ST P port C in STP [length3/time] p P : pressure at port P [force/length2]
Output:
p P : pressure at port P [force/length2] p P : pressure at port P [force/length2] p P : pressure at port P [force/length2]
A B C P
: volumetric flow rate out from port P in STP [length3/time]

QP
ST P
pA = pP pB = pP pC = pP Q P STP = Q A STP + Q B STP + Q C STP
(531) (532) (533) (534)
268
269
Sum of Flows4
Screen Icon
A B P C D
Description Sum of flows4 sums flow rates A, B, C, and D into flow rate P. Port Topology
For port: Input:
Q A : volumetric flow rate in from STP port A in STP [length3/time] Q B : volumetric flow rate in from STP port B in STP [length3/time] Q C : volumetric flow rate in from ST P port C in STP [length3/time] Q D : volumetric flow rate in from STP port D in STP [length3/time] p P : pressure at port P [force/length2]
Output:
p P : pressure at port P [force/length2] p P : pressure at port P [force/length2] p P : pressure at port P [force/length2] p P : pressure at port P [force/length2] Q P : volumetric flow rate out ST P from port P in STP [length3/time]
A B C D P
270
pA = pP pB = pP pC = pP pD = pP Q P STP = Q A STP + Q B STP + Q C STP + Q D STP
(535) (536) (537) (538) (539)
ADAMS/Hydraulics Component Reference Tank
271
Tank
T
Screen Icon
Description
The tank is assumed to be a reservoir with an infinite volume. Therefore, it maintains constant pressure that is independent of the amount of flow in or out of it.
Port Topology
For port: Input:
Q T : volumetric flow rate in from STP port T in STP [length3/time]
Output:
p : pressure of the fluid in the tank [force/length2]
The following table shows the values you enter in the Create and Modify Tank dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
Tank Pressure
Enter:
Units:
Symbol:
pt
Tank pressure.
force/length2
The formulation of the tank component is:

p = pt
(540)
272
ADAMS/Hydraulics Component Reference Tank
ADAMS/Hydraulics Component Reference Two-Way Cartridge Valve
273
Two-Way Cartridge Valve

X
Screen Icon
x (+) A (+) X
(+)
Description ADAMS/Hydraulics assumes that for a two-way cartridge valve:

There is no volume inside a valve. The poppet (or spool) is massless. The control orifice dominates the damping characteristics. The control volume above the poppet (or spool) is small enough to be regarded as incompressible. Changes of flow due to changing volumes on both sides of the poppet (or spool), while the poppet (or spool) is moving, are negligible.
274
Port Topology
For port: Input:
p A : pressure at port A [force/length2] p B : pressure at port B [force/length2] p X : pressure at port X [force/length2]
Output:
A B X
--
The following table shows the values you enter in the Create Cartridge Valve3p dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
General
Enter:
Units:
Symbol:
Initial Position Spring Stiffness Spring Precompression Max Opening Diameter Valve Type Jet Angle AB Relative Leakage
Initial relative poppet or spool position, 0 x 1 Spring stiffness. Spring precompression. Maximum movement (opening) of poppet/spool. Diameter of the poppet (or spool). Valve type, either poppet or spool. Jet angle (fixed at 69 degrees for spool-type valves). Relative leakage ( 0 1 ).
-force/length length length length -angle --
k X0 X max DC valve_type
275

Pilot
Enter:
Units:
Symbol:
CA Pressure Area Ratio X Orifice Diameter

Hysteresis
Counter pressure area ratio, r CA = A pC A pA . Diameter of the control orifice. Pressure area ratio for hysteresis at ( x = 0 ), ( 0 1 ).
-length --
r CA DX
Hysteresis Ratio
States
x:
Relative poppet/spool position [], 0 x 1
ADAMS/Hydraulics Formulation Poppet/Spool Position Model
ADAMS/Hydraulics assumes that the two-way cartridge valve poppet (or spool) is massless and closed at x = 0 . It also assumes that the following forces act on the poppet (or spool) of the valve (positive force moves x to positive direction) and, thus, determine its position. You can assume that the control orifice dominates the damping characteristics of the poppet (or spool), and we have, therefore, omitted the velocity-dependent force terms (viscous damping and friction) from the force balance equation. You can further assume that the control volume above the poppet (or spool) is small enough to be regarded incompressible. We ignore the changes of flow due to changing volumes on both sides of the poppet (or spool), while the poppet (or spool) is moving.
F s = kX F s0 = kX 0 F pA = A pA p A
spring force closing the valve spring preload closing the valve pressure force opening the valve (A)
(541) (542) (543)
276
F pB = A pB p B F pC = A pC p C
pressure force opening the valve (B) pressure force closing the valve (C)
(544) (545)
2 m AB F f = m ( v f cos ( min ( , 69 ) ) v A ) = 2C d A ( p A p B ) cos ( min ( , 69 ) ) + ------------------------ f ( p A )A pA
flow force closing/opening the valve (546)
where:
A pA A pB : A
pressure area for port A pressure [length2] pressure area for port B pressure [length2] pressure area ratio ( A closed A pA ), ( 1 ) [] effective flow cross-section area [length2]
f ( p A ) fluid density at port A pressure [mass/length3]
According to Merritt [1, p. 103], jet angle for a spool type orifice equals to 69 degrees at openings considerably higher than radial clearance of spool. The poppet/spool position is:
X = X max x
(547)
(548)
277
Effective diameter of poppet/spool is:

DA =
2 DC -------r CA
(549)
In the case of a spool-type valve, effective flow cross-section area is:

A = D A X max LINPWL ( x, , 0 )
(550)
In the case of a poppet-type valve, effective flow-cross section is:

X A = D A X max sin 1 --------- sin 2 LINPWL ( x, , 0 ), 0 < < 90 2D A
(551)
Further, the maximum flow cross-section area is limited to that of port A:

A A pA
Flow Model
(552)
ADAMS/Hydraulics defines the flow model for a two-way cartridge valve using the ORIFIC function. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
m AB = ORIFIC ( 1.0, C d, Re tr, A, p A, p B, 0 ) m AB Q A STP = ----------------- fluid STP m AB Q B STP = ----------------- fluid STP
(553)
(554)
(555)
278
ADAMS/Hydraulics Component Reference Two-Way Flow Control Valve
279
Two-Way Flow Control Valve
Screen Icon
A B
Spool is in open position (x=1) x
(+) A (+) B
Description ADAMS/Hydraulics assumes that for a two-way flow control valve:

There is no volume inside a valve. The spool is massless. The flow cross-section area is linearly dependent on spool position. There are no leakages.
280
Port Topology
For port: Input:
Output:
A B
The following table shows the values you enter in the Create Flow Control Valve 2 dialog boxes. It also shows the symbol for the different parameters as they appear in the equations in ADAMS/Hydraulics Formulation.
General
Enter:
Units:
Symbol:
Initial Position

0x1
--
Q=f(pA)
AB1 Pressure Drop
Pressure drop at the first definition volumetric flow (spool begins limiting flow through the valve). First definition volumetric flow rate. Pressure drop at the second definition volumetric flow.
force/length2
p 1
AB1 Flowrate
length3/time force/length2
Q1 p 2
AB2 Pressure Drop
281

AB2 Flowrate
Enter:
Units:
Symbol:
Q2 p 3
Second definition volumetric flow rate. Pressure drop at the third definition volumetric flow. Third definition volumetric flow rate. Ratio of pressure drop over the orifice and pressure drop over the valve at full opening of the spool, 0 < r ref < 1 . Density of the reference fluid (the fluid used for the measurement).
length3/time force/length2 length3/time --
AB3 Pressure Drop
AB3 Flowrate
Q3
Ratio of Pressure Drops
r ref
Ref Fluid Density
mass/length3
ref
Response
AB1 Flowrate Change Rate
Flow rate change over time at ( Q 1 ) caused by a sudden pressure drop from p 1 to p2 .
[length3/time/ time]
Q1
States
x:
282
ADAMS/Hydraulics Formulation Spool Position Model
Assume the following:

Two-way flow control valve poppet is massless and closed at x = 0 . The following forces act on the poppet of the valve (positive force moves x to positive direction) and, thus, determine its position:
Fs = k1 ( x 1 ) F s0 = F 0 Fd = c 1 x F p = A pB p ori F f = k 3 x p s
spring force opening the valve
(556)
spring preload at x=1 (valve open) (557) viscous damping force pressure force closing the valve flow force closing the valve
(558) (559) (560)
where:
c 1, k 1, k 3 A pB p ori p s :
constants pressure area for port B pressure [length2] pressure drop over the orifice [force/length2] pressure drop over the spool [force/length2]
If you assume that point ( Q 1, p1 ) corresponds to the pressure drop at which the spool begins limiting flow through the valve still at the maximum opening, you can use that point to compute the maximum flow cross-section area for the valve. Default values C d = 0.6 and Re tr = 50 are applied for laminar flow regime, which affects the shape of the flow rate curve only at very low pressure drops.
Q1 A max = ---------------------------------------------2 ( 1 r ref )p 1 C d --------------------------------- ref
(561)
283
ADAMS/Hydraulics internally solves the product of discharge coefficient and flow cross-section area of the orifice from:
Q1 C do A o = ------------------------2r ref p 1 ------------------- ref
(562)
The ratio of the effective flow cross-section areas is:

C d A max r a = -----------------C do A o
(563)
Equivalent and relative flow cross-section areas for the valve are, respectively:
A max x A eq = ----------------------2 1 + ra x 2 A eq R = ----------A max
Flow Model
(564)
(565)
ADAMS/Hydraulics defines the flow model for a two-way flow control valve using the ORIFIC function (see ORIFIC - Flow Through an Orifice on page 304), such that:
(566)
(567)
(568)
284
Density of the Fluid and Bernoullis Equation
Overview
Wuori [2, p. 36] gives the general Bernoullis equation as:
----t- ds + ----- + U + --- dp = constant 2

v
(569)
where:
v: t: s: U: : p:
average velocity of flow time length along the flow path energy of the body force (for example, gravity) fluid density fluid pressure
t
v If the unstationary term ----- ds and energy of the body force U
are ignored, Equation (385) yields:

1 v ---- + -- dp = constant 2
2
(570)
where the density ( ) is actually a function of temperature ( T ) and pressure ( p ). Therefore, Equation (386) should be integrated with the embedded equation of state for a fluid, which leads to a rather complicated formulation for flow. This is impractical, because in most cases the input data that are available for modeling an orifice are derived from
286
ADAMS/Hydraulics Component Reference Density of the Fluid and Bernoullis Equation
measurements using the simplified form of Bernoullis equation. In the fluid power system used in ADAMS/Hydraulics, the density of the fluid is variable. To keep the formulation of the equations flexible and efficient, the flow through an orifice is defined using the simplified Bernoulli-based equation, and the density of the fluid ( ) is assumed to be 1 (the density of the incoming flow).
Flow at Low Reynolds Numbers

The Reynolds number is a unitless ratio of inertia force to viscous force of a fluid flow. The definition of Reynolds number is given as:
va Re = -------
(571)
where: :
v:
fluid density average velocity of flow characteristic dimension of a particular flow situation absolute viscosity of fluid
a: :
Laminar Flow The flow at low Reynolds numbers appears to be directly proportional to the square root of Reynolds number:
2 2 Q = C dl A -- ( p 1 p 2 ) = ReA -- ( p 1 p 2 )
(572)
where: Q:
A: :
volumetric flow rate C dl : discharge coefficient for laminar flow flow section area density of the fluid pressure 1 pressure 2
p1 : p2 :
287
: Re :
laminar flow coefficient Reynolds number
Kinematic viscosity of fluid is defined as a ratio of absolute viscosity and fluid density:
= -
(573)
Consider a circular cross section of a pipe in which the laminar flow takes place. The characteristic length used for Reynolds number is inside the pipe diameter D, and the average flow velocity is the volumetric flow rate divided by the pipe area. By combining Equations (571) and (573), Reynolds number can be written as:
QD h vD h 4Q Re = --------- = ---------- = ------------ A D h
(574)
where: Q:
Dh : :
volumetric flow rate hydraulic diameter kinematic viscosity of fluid
Now the discharge coefficient from Equation (572) can be given as:
4Q C dl = ------------D h
(575)
and Equation (572) becomes:

4Q D h Q = ------------- --------- 2 ( p 1 p 2 ) D h 4
2
(576)
from which we can derive for mass flow:

4Q D h Q = -------------------------- 2 ( p 1 p 2 ) D h 16
2 2 2 2 4
(577)
288
D h m = Q = --------------- ( p 1 p 2 ) 2
(578)
To keep the discharge coefficient continuous at Reynolds number Re tr , Equation (579) must hold:
Cd = ------------Re tr
(579)
where:
C d : discharge coefficient at turbulent flow (constant)
Equation (578) now reads:

C d D h m = ---------------- ( p 1 p 2 ) 2Re tr
2 3
(580)
Polynomial Fit for Discharge Coefficient

To keep the transition between laminar and turbulent flow smooth a polynomial fit for discharge coefficient has been developed. A general third degree polynomial form for volumetric flow rate reads:
( p1 p2 ) 2 ( p1 p2 ) ARe tr p 1 p 2 Q = ----------------- a ---------------- + b --------------------- + c ----------------------- 2 3 D h p 0 p p
0 0 3
(581)
where: A:
: Re tr : Dh : p1 :
flow section area kinematic viscosity Reynolds number for transition flow hydraulic diameter pressure 1
289
p2 : p 0 :
pressure 2 limit pressure drop for pure turbulent flow
a, b, c : constants
Derivative of Equation (581) over pressure difference becomes:

ARe tr a p1 p2 ( p1 p2 ) dQ ------ = ----------------- -------- + 2b ---------------- + 3c ----------------------- 2 3 D h p 0 dp p 0 p 0
2
(582)
From the definition of the Reynolds number:

Re tr v tr = ------------Dh
(583)
where:
v tr : flow velocity at Reynolds number Re tr
According to Merritt [1, p. 41], turbulent volumetric flow rate through a circular orifice at Reynolds number Re tr can be presented as:
Q tr D h 2p tr = C d --------- ------------4
2
(584)
Using Equation (583), the volumetric flow rate can also be given as:
Re tr D h Q tr = Av = ----------------------4
(585)
From Equations (584) and (585), you can solve for pressure drop at Reynolds number Re tr :
Re tr p tr = ------------------2 2 2D h C d
2 2
(586)
290
You can define the limit pressure drop for pure turbulent flow p0 as:
2 2 Re tr p 0 = p tr = ------------------2 2 2D h C d 2 2
(587)
Now the derivative of Equation (582) becomes:

2D h C d p1 p2 ( p1 p2 ) ARe tr dQ ------ = ----------------- ------------------------- a + 2b ---------------- + 3c ----------------------- 2 2 2 2 Dh p 0 dp Re tr p 0
2 2 2
(588)
and further:
2AC d D h ( p1 p2 ) p1 p2 dQ ------ = ---------------------- a + 2b ---------------- + 3c ----------------------- 2 2 p 0 dp Re tr p 0
2 2
(589)
To fit a third-order polynomial between laminar and turbulent flows, the polynomial must satisfy:

Laminar flow Equation (580) and its first-order derivative at zero pressure Turbulent flow rate Equation (584) and its first-order derivative at p 0 , which yields:
Q(0) = 0 2C d AD h dQ ------ ( 0 ) = -------------------dp Re tr 2p 0 ARe tr Q ( p 0 ) = C d A ------------ = ------------------- Dh Cd A C d AD h dQ ------ ( p 0 ) = -------------------- = -------------------dp Re tr 2p 0
2 2
(590)
(591)
(592)
(593)
291
Equations (581) and (582) at p = 0 and p = p 0 yield:

Q(0) = 0 2AC d D h dQ ------ ( 0 ) = a ---------------------2 dp Re tr ARe tr Q ( p 0 ) = ----------------- ( a + b + c ) Dh 2AC d D h dQ ------ ( p 0 ) = ---------------------- ( a + 2b + 3c ) 2 dp Re tr
2 2
(594)
(595)
(596)
(597)
Equation (594) always satisfies Equation (590). From Equations (591) and (595), you get these unequal values:
a =
2
(598)
Equations (592) and (596) require these equal values:

= a+b+c
(599)
and, finally, from Equations (593) and (597), you get:

= 2a + 4b + 6c
(600)
Solving Equations (599) and (598) for constant c:

c = b
2
(601)
Combining this with Equations (600) and (598) yields:

= 2 + 4b + 6 6 6b
2 2
(602)
from which you can solve for constant b:

5 2 b = -- 2 2
(603)
292
Substituting b back to Equation (601), c becomes:

2 5 2 2 3 c = -- + 2 = -- 2 2
(604)
Now knowing the constants a, b, and c, you can write the following for the original polynomial (581):
ARe tr 2 p 1 p 2 5 2 ( p1 p2 ) 2 3 ( p1 p2 ) Q = ----------------- ---------------- + -- 2 ----------------------- + -- ----------------------2 2 Dh 2 p 3 p 0 p
0 0 2 3
(605)
Recalling the physical background of the polynomial fit, the change of the sign of the second-order derivative of the polynomial fit suggests waviness of the polynomial. Therefore, you can assume a smooth change in the first-order derivative of the polynomial. In math terms, this is expressed:
d Q --------- 0, 0 p p 0 2 dp
2
(606)
The second-order derivative of the polynomial reads:

2 p 1 p 2 2AC d D h 1 d Q --------- = ---------------------- 2b -------- + 6c ---------------- 0 2 2 2 Re tr p 0 p 0 dp 2
(607)
from which you can derive unequal values:

p1 p2 2b + 6c ---------------- 0 p 0
(608)
Now you can define a new variable x, and substitute b and c from Equations (603) and (604), respectively:
p1 p 2 x = ---------------- , 0 x 1 p 0 (609)
293
Equation (608) then yields:

5 4 + 6 x 9x 0
2 2
(610)
and further:
( 6 9 )x 4 5
(611)
Using limited values of x (one and zero), you get two unequal equations for , namely Equations (612) and (613):
6 9 4 5 0 4 5
(612) (613)
from which you can solve for :

5 -- 2 4
(614)
3 For the sake of efficiency, choose = -- . Then, Equation (605) shrinks to a second2 degree polynomial: 3ARe tr p 1 p 2 ( p 1 p 2 ) Q = -------------------- 3 ---------------- ----------------------- 2 4D h p 0 p 0
2
(615)
294
ADAMS/Hydraulics Functions
Overview
The functions presented here are referenced by multiple component models and are callable from component models. These functions are compact, expandable building blocks for component models.
Table 39 lists the functions by type. The section that follows lists the functions alphabetically and describes how to use them. Table 39. Functions in ADAMS/Hydraulics Function Types:
Flow
Function Names:

ORIFIC - Flow Through an Orifice CLWL - Constant Leakage with Lap LINPWL - Linear Poppet Opening Area With Leakage CVS - Constant Velocity Spool ARATIO - Area Ratio of a Poppet
Relative Flow Cross-Section Area
Spool Positioning
Hysteresis
296
ADAMS/Hydraulics Component Reference ADAMS/Hydraulics Functions
ARATIO - Area Ratio of a Poppet

ARATIO assumes that hysteresis of a poppet type valve is caused by a change in the effective pressure area at the opening. Let the effective area be ( Ac ) when the poppet is
closed and ( A p ) when the poppet is open. Assume that the transition between these two areas occurs at a relative poppet movement of ( 0 x x ) when the poppet is opening. While closing, assume that the pressure area maintains its maximum value until the poppet is fully closed. The decision about whether or not the valve is closed is based on the valves position at a previous, successful timestep. Therefore, in some cases, the formulation is slightly dependent on the integration step size (for example, when the poppet is almost closed, but then starts to open again, it may occur that almost closed becomes closed when using a different integration step size). Define:
Ac = ----Ap
Syntax
(616)
The syntax for ARATIO is:

= ARATIO ( x, x , 0, closed, idif )
(617)
where:
x: x : 0 : closed :
relative poppet position [], 0 x 1 relative valve poppet position limit for hysteresis [] pressure area ratio for hysteresis at ( x = 0 ), ( 0 1 ) [] closed flag [] 0 = valve was open at previous integration step 1 = valve was closed at previous integration step differencing identifier []
idif :
297
If ( closed ):
= step ( x, 0.0, 0, x , 1.0 ), 0 x x
(618)
otherwise:
= 1
(619)
For further information on the MSC.ADAMS STEP function, see the guide, Using the ADAMS/View Function Builder.
298
CLWL - Constant Leakage with Lap

The CLWL function returns the relative opening of a flow passage as a function of relative spool displacement.
Syntax
The syntax for CLWL is:

R = CLWL ( x, x lap, , idif )
(620)
where:
x:
relative spool displacement ( x 1 ) []
x lap : relative spool displacement lap ( 1 < x lap < 1 ) [] :
relative leakage ( 0 1 ) []
idif : differencing identifier []
299
CLWL is defined as:
( x x lap ) ( 1 ) CLWL = max -------------------------------------------- , 0 + 1 x lap
(621)
Figure 10 shows an example of CLWL output as a function of relative spool displacement with the following parameter values:

Relative spool displacement lap x lap = 0.05 and x lap = 0.05 Relative leakage = 0.04
Figure 10. Example of CLWL Function Output as a Function of Relative Spool Displacement
Constant Leakage with Lap Model Output as a function of Spool Displacement 1
0.8
0.6 CLWL [] 0.4 0.2
0 -0.2
0.2
0.4 Spool Displacement []
0.6
0.8
300
CVS - Constant Velocity Spool

The constant velocity spool (CVS) function drives the spool from one end to another, switching at a given time at a constant velocity. CVS assumes that the spool accelerates/decelerates relatively fast to that constant speed. Independent switching times are defined both away from ( o ) and to ( c ) the center position. CVS returns the instantaneous relative velocity of the spool.
Syntax
The syntax for CVS is:

x = CVS ( f, x, n, o, c, , idif )
(622)
where:
f: x: n:
control input for the spool displacement [] relative valve spool displacement [] center position flag ( n = 0 or 1 ) [] 0 = no center position, only ends 1 = spool has three positions, center and two ends switching time for spool opening ( o > 0 ) [time] switching time for spool closing ( c > 0 ) [time] relative acceleration/deceleration length at negative and positive end ( > 0 ) []
o : c : :
Opening refers to movement away from the center position. Closing refers to motion towards the center position.
301
The control input is internally limited between -1 or 0 and 1.

f lim = min ( 1, max ( f, 0 ) ), if n = 0 f lim = min ( 1, max ( f, 1 ) ), if n = 1
(623)
The CVS function is defined as:

( f lim x ) min --------------------- , 1 CVS = ------------------------------------------- , for opening and o ( f lim x ) min --------------------- , 1 CVS = ------------------------------------------- , for closing. c
(624)
(625)
302
LINPWL - Linear Poppet Opening Area With Leakage

The LINPWL function returns the relative opening area of a valve as a function of relative poppet displacement. LINPWL assumes a linear relationship between the opening area and the poppet displacement other than in the closed position, where leakage dominates.
Syntax
The syntax for LINPWL is:

R = LINPWL ( x, , idif )
(626)
where:
x: :
relative poppet displacement ( x 1 ) [] relative leakage ( 0 1 ) []
With conditions:
R(0) = R ( n ) = n R( n ) = 1
(627)
You can obtain a second order polynomial for relative opening area:
2 R = + 1 -- x + ------------- x 2, 0 x n n ( n ) 2
(628)
Choose n = 2 for leakage transition length constant. With the above definitions, you can write for LINPWL: If ( 0 x 2 )
1 R = + ------ x 2 4
(629)
303
Otherwise, if ( x < 0 ) (this is defined only for completeness, x should have negative values), then:
R =
(630)
otherwise:
R = x
(631)
Figure 11 shows an example of the LINPWL function output as a function of relative poppet displacement using the parameter values: relative leakage = 0.02 .
Figure 11. Example of Linpwl Output as a Function of Relative Poppet Displacement
Linear Poppet Opening Area with Leakage as a function of Poppet Displacement 0.1
0.08
0.06 LINPWL [] 0.04 0.02
0 0 0.02 0.04 0.06 Poppet Displacement [] 0.08 0.1
304
ORIFIC - Flow Through an Orifice

The ORIFIC function computes mass flow rate through a passage with area of Amax, having a relative opening of R, and known pressures, pin and pout, before and after it. The ORIFIC function refers to fluid data internally.
Syntax
The syntax for ORIFIC is:

m = ORIFIC ( R, C d, Re tr, A max, p in, p out, idif )
(632)
where:
R: Cd :
relative opening of the orifice [], 0 R 1 discharge coefficient []
Re tr : Reynolds number at transition flow [] A max : maximum flow cross-section area [length2] P in :
pressure at input port [force/length2]
P out : pressure at output port [force/length2] idif : differencing identifier []
Instantaneous flow cross-section area A of an orifice is:

D h A = --------- = R A max 4
2
(633)
where:
A Dh
flow cross-section area of the orifice [length2] hydraulic diameter of the orifice [length]
305
From Equation (633):

RA max D h = 2 --------------
(634)
The limit pressure drop for pure turbulent flow ( p0 ) writes (see Density of the Fluid and Bernoullis Equation on page 285):
9 1 Re tr 1 p 0 = ------------------------2 2 8D h C d
2 2
(635)
where:
1 : 1 :
density of the fluid at pressure p1 [force/length2] kinematic viscosity of the fluid at fluid temperature [length2/time]
Formulation applied in ADAMS/Hydraulics for mass flow through an orifice is: m 2 = C d A 2 1 ( p 1 p 2 ) , when: ( p1 p2 ) p 0 (636)
3 1 D h 1 Re tr p 1 p 2 p1 p2 m 2 = ------------------------------------ ---------------- 3 ---------------- , 16 p 0 p 0
( p 1 p 2 ) < p 0 when: (637) (638)
m1 = m2
where:
m1 : m2 : p1 : p2 :
mass flow towards pressure p1 [mass/time] mass flow towards pressure p2 [mass/time] pressure 1 [force/length2] pressure 2 [force/length2]
For further description of the applied flow formulation at low pressures, see Density of the Fluid and Bernoullis Equation on page 285.
306
Math Follow-Up Merritt [1, p. 4041] gives an equation for turbulent volumetric flow (flow at high Reynolds numbers) through an orifice based on Bernoullis equation:
2 Q = C d A -- ( p 1 p 2 )
(639)
where:
Q: :
volumetric flow through the orifice density of the fluid
In Equation (639), density of the fluid is assumed constant. For the mass flow, Equation (639) yields:
m = Q = C d A 2 ( p 1 p 2 )
(640)
It has been found that Equation (639) is not valid for low Reynolds numbers. Attempts have been made to extend this equation to the laminar region by plotting discharge coefficient as a function of the Reynolds number. For Re < 10 , many investigators have found the discharge coefficient to be directly proportional to the square root of the Reynolds number [1, p. 43]:
C dl = Re
(641)
where:
C dl : discharge coefficient for laminar flow : Re :
laminar flow coefficient Reynolds number
To make the transition from laminar flow to turbulent smooth, a polynomial fit has been developed. For more information concerning turbulent and laminar flow and the polynomial fit see Density of the Fluid and Bernoullis Equation on page 285.
307
Figure 12 shows an example of a mass flow through an orifice as a function of pressure
drop ( p1 p 2 ) and Reynolds number at transition flow ( Re tr ). The values for the parameters in the example are:

Density of the fluid = 900 kg/m3 Kinematic viscosity of the fluid = 50 cSt Discharge coefficient of the orifice Cd = 0.6 Hydraulic diameter of the orifice D h = 1.5 mm
Figure 12. Example of Mass Flow Through an Orifice as a Function of Pressure Drop and Reynolds Number at Transition Flow
Example of Mass Flow Through an Orifice
Mass Flow [kg/s] 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0
4000 3500 3000 2500 2000 Re_tr [] 1500 1000 500 0 0 10
30 20 Pressure Drop [MPa]
40
50
308
Command Language Reference
Overview
The following appendix lists the commands available in ADAMS/View for executing ADAMS/Hydraulics. For more information on entering commands, refer to the ADAMS/View online help.
310
ADAMS/Hydraulics Component Reference Command Language Reference
!N/A = default not available !N/A = default not available hydraulics defaults set & junction_volume = (eval(1.0E-6(meter**3))) & ! < real:gt=0 > environment_pressure = (eval(101325(Newton/meter**2))) &! < real:gt=0 > x_penetration_tolerance = 0.001 & ! < real:gt=0 > hysteresis_limit = 0.001 & ! < real:gt=0 > model_name = (default model) ! < model:A > hydraulics connect & i_port_name = N/A & j_port_name = N/A hydraulics disconnect single_port & port_name = N/A hydraulics disconnect all_ports & entity_name = N/A hydraulics copy & entity_name = N/A & new_entity_name = N/A hydraulics rename & entity_name = N/A & new_entity_name = N/A hydraulics delete & entity_name = N/A hydraulics reorient & entity_name = N/A & orientation = N/A hydraulics create accumulator & accumulator_name = N/A & location = 0,0,0 & mechanical_volume = (eval(1e-2(meter**3))) & initial_pressure = (eval(101325(Newton/meter**2))) & polytropic_exponent = 1.4 & set_pressure_of_gas = (eval(101325(Newton/meter**2))) & set_temperature_of_gas = 293.15 & nom_pressure_drop = (eval(10e5(Newton/meter**2))) & ! < hyd_port > ! < hyd_port > ! < hyd_port > ! < hyd_entity > ! < hyd_entity > ! < new_hyd_entity > ! < hyd_entity > ! < new_hyd_entity > ! < hyd_entity > ! < hyd_entity > ! < real:C=1 > ! < new_hyd_accumulator > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 >
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PA_nom_flowrate = (eval(1e-3(meter**3/second))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & fluid_name = N/A hydraulics modify accumulator & accumulator_name = N/A & location = (current value) & mechanical_volume = (current value) & initial_pressure = (current value) & polytropic_exponent = (current value) & set_pressure_of_gas = (current value) & set_temperature_of_gas = (current value) & nom_pressure_drop = (current value) & PA_nom_flowrate = (current value) & ref_fluid_density = (current value) & fluid_name = (current fluid) hydraulics create counter_balance_valve4p & counter_balance_valve4p_name = N/A & location = 0,0,0 & initial_position = 0.0 & A_closing_pressure = (eval(3e5(Newton/meter**2))) & A1_pressure = (eval(11e5(Newton/meter**2))) & A1_flowrate = (eval(1.414e-3(meter**3/second))) & A2_pressure = (eval(21e5(Newton/meter**2))) & A2_flowrate = (eval(3.14e-3(meter**3/second))) & AB_relative_leakage = 0.0 & BXT_ref_pressure = (eval(101325(Newton/meter**2))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & BA_pressure_area_ratio = 0.9 & XA_pressure_area_ratio = 2.0 & time_constant = (eval(3ms)) & pressure_step = (eval(11e5(Newton/meter**2))) & apply_hysteresis = no & hysteresis_ratio = 1.0 & fluid_name = N/A hydraulics modify counter_balance_valve4p & counter_balance_valve4p_name = N/A & location = (current value) & initial_position = (current value) & A_closing_pressure = (current value) & A1_pressure = (current value) & A1_flowrate = (current value) & A2_pressure = (current value) & A2_flowrate = (current value) &
! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_accumulator > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_counter_balance_valve4p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < hyd_counter_balance_valve4p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 >
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AB_relative_leakage = (current value) & BXT_ref_pressure = (current value) & ref_fluid_density = (current value) & BA_pressure_area_ratio = (current value) & XA_pressure_area_ratio = (current value) & time_constant = (current value) & pressure_step = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid) hydraulics create cartridge_valve3p & cartridge_valve3p_name = N/A & location = 0,0,0 & initial_position = 0.0 & spring_stiffness = (eval(10(Newton/mm))) & spring_precompression = (eval(10mm)) & max_opening = (eval(6mm)) & diameter = (eval(8mm)) & valve_type = poppet & jet_angle = (eval(50degrees)) & CA_pressure_area_ratio = 1.0 & X_orifice_diameter = (eval(5mm)) & AB_relative_leakage = 0.0 & apply_hysteresis = no & hysteresis_ratio = 1.0 & fluid_name = N/A hydraulics modify cartridge_valve3p & cartridge_valve3p_name = N/A & location = (current value) & initial_position = (current value) & spring_stiffness = (current value) & spring_precompression = (current value) & max_opening = (current value) & diameter = (current value) & valve_type = (current value) & jet_angle = (current value) & CA_pressure_area_ratio = (current value) & X_orifice_diameter = (current value) & AB_relative_leakage = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid)
! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < new_hyd_cartridge_valve3p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(poppet,spool) > ! < real:gt=0 > ! < real:ge=1.0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < hyd_cartridge_valve3p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(poppet,spool) > ! < real:gt=0 > ! < real:ge=1.0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid >
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hydraulics create check_valve2 & check_valve2_name = N/A & ! < new_hyd_check_valve2 > location = 0,0,0 & ! < location > initial_position = 0.0 & ! < real:ge=0:le=1 > AB_closing_pressure_drop = (eval(2e5(Newton/meter**2))) &! < real:gt=0 > AB1_pressure_drop = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > AB1_flowrate = (eval(1.414e-3(meter**3/second))) & ! < real:gt=0 > AB2_pressure_drop = (eval(20e5(Newton/meter**2))) & ! < real:gt=0 > AB2_flowrate = (eval(3.14e-3(meter**3/second))) & ! < real:gt=0 > AB_relative_leakage = 0.0 & ! < real:ge=0:le=0.5 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > time_constant = (eval(3ms)) & ! < real:gt=0 > pressure_step = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > apply_hysteresis = no & ! < list(yes,no) > hysteresis_ratio = 1.0 & ! < real:gt=0:le=1 > fluid_name = N/A ! < hyd_fluid > hydraulics modify check_valve2 & check_valve2_name = N/A & location = (current value) & initial_position = (current value) & AB_closing_pressure_drop = (current value) & AB1_pressure_drop = (current value) & AB1_flowrate = (current value) & AB2_pressure_drop = (current value) & AB2_flowrate = (current value) & AB_relative_leakage = (current value) & ref_fluid_density = (current value) & time_constant = (current value) & pressure_step = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid) hydraulics create check_valve3p & check_valve3p_name = N/A & location = 0,0,0 & initial_position = 0.0 & A_closing_pressure = (eval(3e5(Newton/meter**2))) & A1_pressure = (eval(11e5(Newton/meter**2))) & A1_flowrate = (eval(1.414e-3(meter**3/second))) & A2_pressure = (eval(21e5(Newton/meter**2))) & A2_flowrate = (eval(3.14e-3(meter**3/second))) & AB_relative_leakage = 0.0 & BX_ref_pressure = (eval(101325(Newton/meter**2))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < hyd_check_valve2 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < new_hyd_check_valve3p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 >
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BA_pressure_area_ratio = 0.1 & time_constant = (eval(3ms)) & pressure_step = (eval(11e5(Newton/meter**2))) & apply_hysteresis = no & hysteresis_ratio = 1.0 & fluid_name = N/A hydraulics modify check_valve3p & check_valve3p_name = N/A & location = (current value) & initial_position = (current value) & A_closing_pressure = (current value) & A1_pressure = (current value) & A1_flowrate = (current value) & A2_pressure = (current value) & A2_flowrate = (current value) & AB_relative_leakage = (current value) & BX_ref_pressure = (current value) & ref_fluid_density = (current value) & BA_pressure_area_ratio = (current value) & time_constant = (current value) & pressure_step = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid) hydraulics create check_valve4p & check_valve4p_name = N/A & location = 0,0,0 & initial_position = 0.0 & A_closing_pressure = (eval(3e5(Newton/meter**2))) & A1_pressure = (eval(11e5(Newton/meter**2))) & A1_flowrate = (eval(1.414e-3(meter**3/second))) & A2_pressure = (eval(21e5(Newton/meter**2))) & A2_flowrate = (eval(3.14e-3(meter**3/second))) & AB_relative_leakage = 0.0 & BXT_ref_pressure = (eval(101325(Newton/meter**2))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & BA_pressure_area_ratio = 0.9 & XA_pressure_area_ratio = 2.0 & time_constant = (eval(3ms)) & pressure_step = (eval(11e5(Newton/meter**2))) & apply_hysteresis = no & hysteresis_ratio = 1.0 & fluid_name = N/A
! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < hyd_check_valve3p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < new_hyd_check_valve4p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid >
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hydraulics modify check_valve4p & check_valve4p_name = N/A & location = (current value) & initial_position = (current value) & A_closing_pressure = (current value) & A1_pressure = (current value) & A1_flowrate = (current value) & A2_pressure = (current value) & A2_flowrate = (current value) & AB_relative_leakage = (current value) & BXT_ref_pressure = (current value) & ref_fluid_density = (current value) & BA_pressure_area_ratio = (current value) & XA_pressure_area_ratio = (current value) & time_constant = (current value) & pressure_step = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid)
! < hyd_check_valve4p > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid >
hydraulics create cylinder1 & cylinder1_name = N/A & ! < new_hyd_cylinder1 > location = 0,0,0 & ! < location > i_marker = N/A & ! < marker > j_marker = N/A & ! < marker > max_length = (eval(1meter)) & ! < real:gt=0 > min_length = (eval(0.6meter)) & ! < real:gt=0 > A_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > piston_diameter = (eval(0.05meter)) & ! < real:gt=0 > A_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > A_orifice_diameter = (eval(1e-2(meter))) & ! < real:ge=0 > cushion_free_length = (eval(0.005meter)) & ! < real:gt=0 > cushion_relative_stiffness = (eval(10000Newton)) & ! < real:gt=0 > cushion_force_exponent = 2.0 & ! < real:gt=0 > cushion_rebound_ratio = 0.0 & ! < real:ge=0:le=1 > limit_velocity_for_rebound = (eval(0.01(meter/second))) & ! < real:gt=0 > apply_wall_flexibility = no & ! < list(yes,no) > wall_thickness = (eval(0.005meter)) & ! < real:gt=0 > youngs_modulus = (eval(210e9(Newton/meter**2))) & ! < real:gt=0 > Poissons_ratio = 0.3 & ! < real:gt=0 > apply_mechanical_losses = no & ! < list(yes,no) > Coulomb_friction_force = 0.0 & ! < real:ge=0 > piston_seal_friction_coefficient = 0.0 & ! < real:ge=0 > limit_velocity_for_dynamic_friction = (eval(1e-2(meter/second))) &! < real:gt=0 > dynamic_friction_decrease = 0.1 & ! < real:ge=0 >
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seal_shear_stiffness = (eval(10(Newton/mm))) & damping_coefficient = 0.0 & apply_leakage = no & relative_clearance_of_piston = 0.0 & piston_thickness = (eval(0.020meter)) & static_hold = none & A_relative_opening_function = "1.0" & fluid_name = N/A hydraulics modify cylinder1 & cylinder1_name = N/A & location = (current value) & i_marker = (current value) & j_marker = (current value) & max_length = (current value) & min_length = (current value) & A_dead_volume = (current value) & piston_diameter = (current value) & A_chamber_initial_pressure = (current value) & A_orifice_diameter = (current value) & cushion_free_length = (current value) & cushion_relative_stiffness = (current value) & cushion_force_exponent = (current value) & cushion_rebound_ratio = (current value) & limit_velocity_for_rebound = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & apply_mechanical_losses = (current value) & Coulomb_friction_force = (current value) & piston_seal_friction_coefficient = (current value) & limit_velocity_for_dynamic_friction = (current value) & dynamic_friction_decrease = (current value) & seal_shear_stiffness = (current value) & damping_coefficient = (current value) & apply_leakage = (current value) & relative_clearance_of_piston = (current value) & piston_thickness = (current value) & static_hold = (current value) & A_relative_opening_function = (current function) & fluid_name = (current fluid) hydraulics create cylinder1f & cylinder1f_name = N/A &
! < real:gt=0 > ! < real:ge=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:gt=0 > ! < list(none,pl,l0) > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_cylinder1 > ! < location > ! < marker > ! < marker > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:ge=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:gt=0 > ! < list(none,pl,l0) > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_cylinder1f >
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location = 0,0,0 & ! < location > i_marker = N/A & ! < marker > j_marker = N/A & ! < marker > max_length = (eval(1meter)) & ! < real:gt=0 > min_length = (eval(0.6meter)) & ! < real:gt=0 > A_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > piston_diameter = (eval(0.05meter)) & ! < real:gt=0 > A_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > cushion_free_length = (eval(0.005meter)) & ! < real:gt=0 > cushion_relative_stiffness = (eval(10000Newton)) & ! < real:gt=0 > cushion_force_exponent = 2.0 & ! < real:gt=0 > cushion_rebound_ratio = 0.0 & ! < real:ge=0:le=1 > limit_velocity_for_rebound = (eval(0.01(meter/second))) & ! < real:gt=0 > apply_wall_flexibility = no & ! < list(yes,no) > wall_thickness = (eval(0.005meter)) & ! < real:gt=0 > youngs_modulus = (eval(210e9(Newton/meter**2))) & ! < real:gt=0 > Poissons_ratio = 0.3 & ! < real:gt=0 > apply_mechanical_losses = no & ! < list(yes,no) > Coulomb_friction_force = 0.0 & ! < real:ge=0 > piston_seal_friction_coefficient = 0.0 & ! < real:ge=0 > limit_velocity_for_dynamic_friction = (eval(1e-2(meter/second))) &! < real:gt=0 > dynamic_friction_decrease = 0.1 & ! < real:ge=0 > seal_shear_stiffness = (eval(10(Newton/mm))) & ! < real:gt=0 > damping_coefficient = 0.0 & ! < real:ge=0 > apply_leakage = no & ! < list(yes,no) > relative_clearance_of_piston = 0.0 & ! < real:ge=0 > piston_thickness = (eval(0.020meter)) & ! < real:gt=0 > static_hold = none & ! < list(none,pl,l0) > fluid_name = N/A ! < hyd_fluid > hydraulics modify cylinder1f & cylinder1f_name = N/A & location = (current value) & i_marker = (current value) & j_marker = (current value) & max_length = (current value) & min_length = (current value) & A_dead_volume = (current value) & piston_diameter = (current value) & A_chamber_initial_pressure = (current value) & cushion_free_length = (current value) & cushion_relative_stiffness = (current value) & cushion_force_exponent = (current value) & cushion_rebound_ratio = (current value) & limit_velocity_for_rebound = (current value) & apply_wall_flexibility = (current value) & ! < hyd_cylinder1f > ! < location > ! < marker > ! < marker > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < list(yes,no) >
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wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & apply_mechanical_losses = (current value) & Coulomb_friction_force = (current value) & piston_seal_friction_coefficient = (current value) & limit_velocity_for_dynamic_friction = (current value) & dynamic_friction_decrease = (current value) & seal_shear_stiffness = (current value) & damping_coefficient = (current value) & apply_leakage = (current value) & relative_clearance_of_piston = (current value) & piston_thickness = (current value) & static_hold = (current value) & fluid_name = (current fluid)
! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:ge=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:gt=0 > ! < list(none,pl,l0) > ! < hyd_fluid >
hydraulics create cylinder2 & cylinder2_name = N/A & ! < new_hyd_cylinder2 > location = 0,0,0 & ! < location > i_marker = N/A & ! < marker > j_marker = N/A & ! < marker > max_length = (eval(1meter)) & ! < real:gt=0 > min_length = (eval(0.6meter)) & ! < real:gt=0 > B_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > A_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > piston_diameter = (eval(0.05meter)) & ! < real:gt=0 > B_rod_diameter = (eval(0.01meter)) & ! < real:gt=0 > A_rod_diameter = 0.0 & ! < real:ge=0 > B_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > A_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > A_orifice_diameter = (eval(1e-2(meter))) & ! < real:ge=0 > B_orifice_diameter = (eval(1e-2(meter))) & ! < real:ge=0 > cushion_free_length = (eval(0.005meter)) & ! < real:gt=0 > cushion_relative_stiffness = (eval(10000Newton)) & ! < real:gt=0 > cushion_force_exponent = 2.0 & ! < real:gt=0 > cushion_rebound_ratio = 0.0 & ! < real:ge=0:le=1 > limit_velocity_for_rebound = (eval(0.01(meter/second))) & ! < real:gt=0 > apply_wall_flexibility = no & ! < list(yes,no) > wall_thickness = (eval(0.005meter)) & ! < real:gt=0 > youngs_modulus = (eval(210e9(Newton/meter**2))) & ! < real:gt=0 > Poissons_ratio = 0.3 & ! < real:gt=0 > apply_mechanical_losses = no & ! < list(yes,no) > Coulomb_friction_force = 0.0 & ! < real:ge=0 > piston_seal_friction_coefficient = 0.0 & ! < real:ge=0 > B_rod_seal_friction_coefficient = 0.0 & ! < real:ge=0 >
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A_rod_seal_friction_coefficient = 0.0 & ! < real:ge=0 > limit_velocity_for_dynamic_friction = (eval(1e-2(meter/second))) &! < real:gt=0 > dynamic_friction_decrease = 0.1 & ! < real:ge=0 > seal_shear_stiffness = (eval(10(Newton/mm))) & ! < real:gt=0 > damping_coefficient = 0.0 & ! < real:ge=0 > apply_leakage = no & ! < list(yes,no) > relative_clearance_of_piston = 0.0 & ! < real:ge=0 > piston_thickness = (eval(0.020meter)) & ! < real:gt=0 > ! < list(none,pl,pu,pl_and_pu,pl_and_l0,pu_and_l0) > static_hold = none & A_relative_opening_function = "1.0" & ! < analysis_function:c=0 > B_relative_opening_function = "1.0" & ! < analysis_function:c=0 > fluid_name = N/A ! < hyd_fluid > hydraulics modify cylinder2 & cylinder2_name = N/A & location = (current value) & i_marker = (current value) & j_marker = (current value) & max_length = (current value) & min_length = (current value) & B_dead_volume = (current value) & A_dead_volume = (current value) & piston_diameter = (current value) & B_rod_diameter = (current value) & A_rod_diameter = (current value) & B_chamber_initial_pressure = (current value) & A_chamber_initial_pressure = (current value) & A_orifice_diameter = (current value) & B_orifice_diameter = (current value) & cushion_free_length = (current value) & cushion_relative_stiffness = (current value) & cushion_force_exponent = (current value) & cushion_rebound_ratio = (current value) & limit_velocity_for_rebound = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & apply_mechanical_losses = (current value) & Coulomb_friction_force = (current value) & piston_seal_friction_coefficient = (current value) & B_rod_seal_friction_coefficient = (current value) & A_rod_seal_friction_coefficient = (current value) & limit_velocity_for_dynamic_friction = (current value) & dynamic_friction_decrease = (current value) & seal_shear_stiffness = (current value) & ! < hyd_cylinder2 > ! < location > ! < marker > ! < marker > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 >
320
damping_coefficient = (current value) & ! < real:ge=0 > apply_leakage = (current value) & ! < list(yes,no) > relative_clearance_of_piston = (current value) & ! < real:ge=0 > piston_thickness = (current value) & ! < real:gt=0 > ! < list(none,pl,pu,pl_and_pu,pl_and_l0,pu_and_l0) > static_hold = (current value) & A_relative_opening_function = (current function) & ! < analysis_function:c=0 > B_relative_opening_function = (current function) & ! < analysis_function:c=0 > fluid_name = (current fluid) ! < hyd_fluid > hydraulics create cylinder2ff & cylinder2ff_name = N/A & ! < new_hyd_cylinder2ff > location = 0,0,0 & ! < location > i_marker = N/A & ! < marker > j_marker = N/A & ! < marker > max_length = (eval(1meter)) & ! < real:gt=0 > min_length = (eval(0.6meter)) & ! < real:gt=0 > B_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > A_dead_volume = (eval(0.0(meter**3))) & ! < real:ge=0 > piston_diameter = (eval(0.05meter)) & ! < real:gt=0 > B_rod_diameter = (eval(0.01meter)) & ! < real:gt=0 > A_rod_diameter = 0.0 & ! < real:ge=0 > B_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > A_chamber_initial_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > cushion_free_length = (eval(0.005meter)) & ! < real:gt=0 > cushion_relative_stiffness = (eval(10000Newton)) & ! < real:gt=0 > cushion_force_exponent = 2.0 & ! < real:gt=0 > cushion_rebound_ratio = 0.0 & ! < real:ge=0:le=1 > limit_velocity_for_rebound = (eval(0.01(meter/second))) & ! < real:gt=0 > apply_wall_flexibility = no & ! < list(yes,no) > wall_thickness = (eval(0.005meter)) & ! < real:gt=0 > youngs_modulus = (eval(210e9(Newton/meter**2))) & ! < real:gt=0 > Poissons_ratio = 0.3 & ! < real:gt=0 > apply_mechanical_losses = no & ! < list(yes,no) > Coulomb_friction_force = 0.0 & ! < real:ge=0 > piston_seal_friction_coefficient = 0.0 & ! < real:ge=0 > B_rod_seal_friction_coefficient = 0.0 & ! < real:ge=0 > A_rod_seal_friction_coefficient = 0.0 & ! < real:ge=0 > limit_velocity_for_dynamic_friction = (eval(1e-2(meter/second))) &! < real:gt=0 > dynamic_friction_decrease = 0.1 & ! < real:ge=0 > seal_shear_stiffness = (eval(10(Newton/mm))) & ! < real:gt=0 > damping_coefficient = 0.0 & ! < real:ge=0 > apply_leakage = no & ! < list(yes,no) > relative_clearance_of_piston = 0.0 & ! < real:ge=0 > piston_thickness = (eval(0.020meter)) & ! < real:gt=0 > ! < list(none,pl,pu,pl_and_pu,pl_and_l0,pu_and_l0) > static_hold = none &
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fluid_name = N/A
! < hyd_fluid >
hydraulics modify cylinder2ff & cylinder2ff_name = N/A & ! < hyd_cylinder2ff > location = (current value) & ! < location > i_marker = (current value) & ! < marker > j_marker = (current value) & ! < marker > max_length = (current value) & ! < real:gt=0 > min_length = (current value) & ! < real:gt=0 > B_dead_volume = (current value) & ! < real:ge=0 > A_dead_volume = (current value) & ! < real:ge=0 > piston_diameter = (current value) & ! < real:gt=0 > B_rod_diameter = (current value) & ! < real:gt=0 > A_rod_diameter = (current value) & ! < real:ge=0 > B_chamber_initial_pressure = (current value) & ! < real:gt=0 > A_chamber_initial_pressure = (current value) & ! < real:gt=0 > cushion_free_length = (current value) & ! < real:gt=0 > cushion_relative_stiffness = (current value) & ! < real:gt=0 > cushion_force_exponent = (current value) & ! < real:gt=0 > cushion_rebound_ratio = (current value) & ! < real:ge=0:le=1 > limit_velocity_for_rebound = (current value) & ! < real:gt=0 > apply_wall_flexibility = (current value) & ! < list(yes,no) > wall_thickness = (current value) & ! < real:gt=0 > youngs_modulus = (current value) & ! < real:gt=0 > Poissons_ratio = (current value) & ! < real:gt=0 > apply_mechanical_losses = (current value) & ! < list(yes,no) > Coulomb_friction_force = (current value) & ! < real:ge=0 > piston_seal_friction_coefficient = (current value) & ! < real:ge=0 > B_rod_seal_friction_coefficient = (current value) & ! < real:ge=0 > A_rod_seal_friction_coefficient = (current value) & ! < real:ge=0 > limit_velocity_for_dynamic_friction = (current value) & ! < real:gt=0 > dynamic_friction_decrease = (current value) & ! < real:ge=0 > seal_shear_stiffness = (current value) & ! < real:gt=0 > damping_coefficient = (current value) & ! < real:ge=0 > apply_leakage = (current value) & ! < list(yes,no) > relative_clearance_of_piston = (current value) & ! < real:ge=0 > piston_thickness = (current value) & ! < real:gt=0 > ! < list(none,pl,pu,pl_and_pu,pl_and_l0,pu_and_l0) > static_hold = (current value) & fluid_name = (current fluid) ! < hyd_fluid > hydraulics create directional_control_valve2w2 & directional_control_valve2w2_name = N/A & location = 0,0,0 & valve_type = closed & initial_position = 0.0 & valve_opening_time = (eval(5ms)) & ! < new_hyd_directional_control_valve2w2 > ! < location > ! < list(open,closed) > ! < real:ge=0:le=1 > ! < real:gt=0 >
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valve_closing_time = (eval(5ms)) & PA_xlap = 0.0 & PA_relative_leakage = 0.0 & nom_pressure_drop = (eval(35e5(Newton/meter**2))) & PA_nom_flowrate = (eval(1e-3(meter**3/second))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & control_input_function = "0.0" & fluid_name = N/A hydraulics modify directional_control_valve2w2 & directional_control_valve2w2_name = N/A & location = (current value) & valve_type = (current value) & initial_position = (current value) & valve_opening_time = (current value) & valve_closing_time = (current value) & PA_xlap = (current value) & PA_relative_leakage = (current value) & nom_pressure_drop = (current value) & PA_nom_flowrate = (current value) & ref_fluid_density = (current value) & control_input_function = (current function) & fluid_name = (current fluid) hydraulics create directional_control_valve3w2 & directional_control_valve3w2_name = N/A & new_hyd_directional_control_valve3w2 > location = 0,0,0 & valve_type = closed & initial_position = 0.0 & valve_opening_time = (eval(5ms)) & valve_closing_time = (eval(5ms)) & PA_xlap = 0.0 & PA_relative_leakage = 0.0 & AT_xlap = 0.0 & AT_relative_leakage = 0.0 & nom_pressure_drop = (eval(35e5(Newton/meter**2))) & PA_nom_flowrate = (eval(1e-3(meter**3/second))) & AT_nom_flowrate = (eval(1e-3(meter**3/second))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & control_input_function = "0.0" & fluid_name = N/A hydraulics modify directional_control_valve3w2 & directional_control_valve3w2_name = N/A &
! < real:gt=0 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_directional_control_valve2w2 > ! < location > ! < list(open,closed) > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! ! < location > ! < list(open,closed) > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_directional_control_valve3w2 > <
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location = (current value) & valve_type = (current value) & initial_position = (current value) & valve_opening_time = (current value) & valve_closing_time = (current value) & PA_xlap = (current value) & PA_relative_leakage = (current value) & AT_xlap = (current value) & AT_relative_leakage = (current value) & nom_pressure_drop = (current value) & PA_nom_flowrate = (current value) & AT_nom_flowrate = (current value) & ref_fluid_density = (current value) & control_input_function = (current function) & fluid_name = (current fluid)
! < location > ! < list(open,closed) > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid >
hydraulics create directional_control_valve4w3 & ! < new_hyd_directional_control_valve4w3 > directional_control_valve4w3_name = N/A & location = 0,0,0 & ! < location > initial_position = 0.0 & ! < real:ge=-1:le=1 > valve_opening_time = (eval(5ms)) & ! < real:gt=0 > valve_closing_time = (eval(5ms)) & ! < real:gt=0 > PA_xlap = 0.0 & ! < real:gt=-1:lt=1 > PA_relative_leakage = 0.0 & ! < real:ge=0:le=1 > PB_xlap = 0.0 & ! < real:gt=-1:lt=1 > PB_relative_leakage = 0.0 & ! < real:ge=0:le=1 > AT_xlap = 0.0 & ! < real:gt=-1:lt=1 > AT_relative_leakage = 0.0 & ! < real:ge=0:le=1 > BT_xlap = 0.0 & ! < real:gt=-1:lt=1 > BT_relative_leakage = 0.0 & ! < real:ge=0:le=1 > nom_pressure_drop = (eval(35e5(Newton/meter**2))) & ! < real:gt=0 > PA_nom_flowrate = (eval(1e-3(meter**3/second))) & ! < real:ge=0 > PB_nom_flowrate = (eval(1e-3(meter**3/second))) & ! < real:ge=0 > AT_nom_flowrate = (eval(1e-3(meter**3/second))) & ! < real:ge=0 > BT_nom_flowrate = (eval(1e-3(meter**3/second))) & ! < real:ge=0 > PT_nom_flowrate = 0.0 & ! < real:ge=0 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > control_input_function = "0.0" & ! < analysis_function:c=0 > fluid_name = N/A ! < hyd_fluid > hydraulics modify directional_control_valve4w3 & directional_control_valve4w3_name = N/A & location = (current value) & initial_position = (current value) & valve_opening_time = (current value) & valve_closing_time = (current value) & ! < hyd_directional_control_valve4w3 > ! < location > ! < real:ge=-1:le=1 > ! < real:gt=0 > ! < real:gt=0 >
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PA_xlap = (current value) & PA_relative_leakage = (current value) & PB_xlap = (current value) & PB_relative_leakage = (current value) & AT_xlap = (current value) & AT_relative_leakage = (current value) & BT_xlap = (current value) & BT_relative_leakage = (current value) & nom_pressure_drop = (current value) & PA_nom_flowrate = (current value) & PB_nom_flowrate = (current value) & AT_nom_flowrate = (current value) & BT_nom_flowrate = (current value) & PT_nom_flowrate = (current value) & ref_fluid_density = (current value) & control_input_function = (current function) & fluid_name = (current fluid)
! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=-1:lt=1 > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid >
hydraulics create flow_control_valve2 & flow_control_valve2_name = N/A & ! < new_hyd_flow_control_valve2 > location = 0,0,0 & ! < location > initial_position = 1.0 & ! < real:ge=0:le=1 > AB1_pressure_drop = (eval(35e5(Newton/meter**2))) & ! < real:gt=0 > AB1_flowrate = (eval(4e-3(meter**3/second))) & ! < real:gt=0 > AB2_pressure_drop = (eval(40e5(Newton/meter**2))) & ! < real:gt=0 > AB2_flowrate = (eval(3.95e-3(meter**3/second))) & ! < real:gt=0 > AB3_pressure_drop = (eval(45e5(Newton/meter**2))) & ! < real:gt=0 > AB3_flowrate = (eval(3.9e-3(meter**3/second))) & ! < real:gt=0 > ratio_of_pressure_drops = 0.7 & ! < real:gt=0:lt=1 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > AB1_flowrate_change_rate = (eval(-0.03(meter**3/second**2))) & ! < real:lt=0 > fluid_name = N/A ! < hyd_fluid > hydraulics modify flow_control_valve2 & flow_control_valve2_name = N/A & location = (current value) & initial_position = (current value) & AB1_pressure_drop = (current value) & AB1_flowrate = (current value) & AB2_pressure_drop = (current value) & AB2_flowrate = (current value) & AB3_pressure_drop = (current value) & AB3_flowrate = (current value) & ratio_of_pressure_drops = (current value) & ref_fluid_density = (current value) & ! < hyd_flow_control_valve2 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0:lt=1 > ! < real:gt=0 >
325
AB1_flowrate_change_rate = (current value) & fluid_name = (current fluid) hydraulics create flow_source & flow_source_name = N/A & location = 0,0,0 & initial_flow = 0 & flowrate_function = "0.0" & fluid_name = N/A hydraulics modify flow_source & flow_source_name = N/A & location = (current value) & initial_flow = (current value) & flowrate_function = (current function) & fluid_name = (current fluid)
! < real:lt=0 > ! < hyd_fluid > ! < new_hyd_flow_source > ! < location > ! < real > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_flow_source > ! < location > ! < real > ! < analysis_function:c=0 > ! < hyd_fluid >
hydraulics create fluid & fluid_name = N/A & ! < new_hyd_fluid > location = 0,0,0 & ! < location > temperature = 293.15 & ! < real:gt=0 > eos_for_liquid_method = Merritt & ! < list(Merritt) > ref_density = (eval(900(kg/meter**3))) & ! < real:gt=0 > ref_temperature = 293.15 & ! < real:gt=0 > ref_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > bulk_modulus = (eval(1.9E9(Newton/meter**2))) & ! < real:gt=0 > thermal_expansion_coefficient = 2.8E-04 & ! < real:gt=0 > air_content_method = CCUA & ! < list(CCUA) > air_density_at_STP = (eval(1.2(kg/meter**3))) & ! < real:gt=0 > saturation_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > solubility_coefficient = 0.08 & ! < real:gt=0 > undissolvable_air_content = 0.002 & ! < real:ge=0:lt=1 > polytropic_exponent = 1.4 & ! < real:gt=0 > viscosity_method = ASTM_D_341_43 & ! < list(ASTM_D_341_43) > temperature_points = 233.15,313.15,373.15 & ! < real:gt=0:c=2,0 > viscosity_points = (eval(1(mm**2/sec)*{1100.0,27.0,10.5})) & ! < real:gt=0:c=2,0 > hydraulics modify fluid & fluid_name = N/A & location = (current value) & temperature = (current value) & eos_for_liquid_method = (current value) & ref_density = (current value) & ref_temperature = (current value) & ref_pressure = (current value) & bulk_modulus = (current value) & ! < hyd_fluid > ! < location > ! < real:gt=0 > ! < list(Merritt) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 >
326
thermal_expansion_coefficient = (current value) & air_content_method = (current value) & air_density_at_STP = (current value) & saturation_pressure = (current value) & solubility_coefficient = (current value) & undissolvable_air_content = (current value) & polytropic_exponent = (current value) & viscosity_method = (current value) & temperature_points = (current value) & viscosity_points = (current value) & hydraulics create force_source & force_source_name = N/A & location = 0,0,0 & initial_force = 0.0 & force_function = "0.0" & hydraulics modify force_source & force_source_name = N/A & location = (current value) & initial_force = (current value) & force_function = (current function) & hydraulics create generic_pump_motor2 & generic_pump_motor2_name = N/A & location = 0,0,0 & initial_torque = 0.0 & initial_flowrate = 0.0 & initial_angular_velocity = 0.0 & torque_function = "0.0" & flowrate_function = "0.0" & angular_velocity_function = "0.0" & fluid_name = N/A hydraulics modify generic_pump_motor2 & generic_pump_motor2_name = N/A & location = (current value) & initial_torque = (current value) & initial_flowrate = (current value) & initial_angular_velocity = (current value) & torque_function = (current function) & flowrate_function = (current function) & angular_velocity_function = (current function) & fluid_name = (current fluid)
! < real:gt=0 > ! < list(CCUA) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:lt=1 > ! < real:gt=0 > ! < list(ASTM_D_341_43) > ! < real:gt=0:c=2,0 > ! < real:gt=0:c=2,0 > ! < new_hyd_force_source > ! < location > ! < real > ! < analysis_function:c=0 > ! < hyd_force_source > ! < location > ! < real > ! < analysis_function:c=0 > ! < new_hyd_generic_pump_motor2 > ! < location > ! < real > ! < real > ! < real > ! < analysis_function:c=0 > ! < analysis_function:c=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_generic_pump_motor2 > ! < location > ! < real > ! < real > ! < real > ! < analysis_function:c=0 > ! < analysis_function:c=0 > ! < analysis_function:c=0 > ! < hyd_fluid >
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hydraulics create junction2 & junction2_name = N/A & location = 0,0,0 & initial_pressure = (eval(101325(Newton/meter**2))) & apply_default_volume = apply & volume = (eval(1e-6(meter**3))) & fluid_name = N/A hydraulics modify junction2 & junction2_name = N/A & location = (current value) & initial_pressure = (current value) & apply_default_volume = (current value) & volume = (current value) & fluid_name = (current fluid) hydraulics create junction3 & junction3_name = N/A & location = 0,0,0 & initial_pressure = (eval(101325(Newton/meter**2))) & apply_default_volume = apply & volume = (eval(1e-6(meter**3))) & fluid_name = N/A hydraulics modify junction3 & junction3_name = N/A & location = (current value) & initial_pressure = (current value) & apply_default_volume = (current value) & volume = (current value) & fluid_name = (current fluid) hydraulics create junction4 & junction4_name = N/A & location = 0,0,0 & initial_pressure = (eval(101325(Newton/meter**2))) & apply_default_volume = apply & volume = (eval(1e-6(meter**3))) & fluid_name = N/A hydraulics modify junction4 & junction4_name = N/A & location = (current value) & initial_pressure = (current value) & apply_default_volume = (current value) & volume = (current value) &
! < new_hyd_junction2 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_junction2 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_junction3 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_junction3 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_junction4 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_junction4 > ! < location > ! < real:gt=0 > ! < list(apply,specify) > ! < real:gt=0 >
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fluid_name = (current fluid) hydraulics create laminar_orifice & laminar_orifice_name = N/A & location = 0,0,0 & length = (eval(100mm)) & hydraulic_diameter = (eval(5mm)) & loss_coefficient = 0.0 & n_of_orifices_in_parallel = 1 & fluid_name = N/A hydraulics modify laminar_orifice & laminar_orifice_name = N/A & location = (current value) & length = (current value) & hydraulic_diameter = (current value) & loss_coefficient = (current value) & n_of_orifices_in_parallel = (current value) & fluid_name = (current fluid) hydraulics create mass1 & mass1_name = N/A & location = 0,0,0 & mass = (eval(1kg)) & initial_position = 0.0 & initial_velocity = 0.0 & apply_bounds = no & lower_bound_position = 0.0 & upper_bound_position = 0.0 & force_at_penetration_dx = 0.0 & penetration_dx = (eval(1mm)) & force_exponent = 1.0 & max_damping_coefficient = 0.0 & penetration_for_max_damping = (eval(0.1mm)) & hydraulics modify mass1 & mass1_name = N/A & location = (current value) & mass = (current value) & initial_position = (current value) & initial_velocity = (current value) & apply_bounds = (current value) & lower_bound_position = (current value) & upper_bound_position = (current value) & force_at_penetration_dx = (current value) &
! < hyd_fluid > ! < new_hyd_laminar_orifice > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < integer:ge=1 > ! < hyd_fluid > ! < hyd_laminar_orifice > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < integer:ge=1 > ! < hyd_fluid > ! < new_hyd_mass1 > ! < location > ! < real:gt=0 > ! < real > ! < real > ! < list(yes,no) > ! < real > ! < real > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < hyd_mass1 > ! < location > ! < real:gt=0 > ! < real > ! < real > ! < list(yes,no) > ! < real > ! < real > ! < real:ge=0 >
329
penetration_dx = (current value) & force_exponent = (current value) & max_damping_coefficient = (current value) & penetration_for_max_damping = (current value) & hydraulics create orifice & orifice_name = N/A & location = 0,0,0 & max_hydraulic_diameter = (eval(5mm)) & discharge_coefficient = 0.6 & Reynolds_transient = 50 & loss_coefficient = 0.0 & n_of_orifices_in_series = 1 & relative_opening_function = "1.0" & fluid_name = N/A hydraulics modify orifice & orifice_name = N/A & location = (current value) & max_hydraulic_diameter = (current value) & discharge_coefficient = (current value) & Reynolds_transient = (current value) & loss_coefficient = (current value) & n_of_orifices_in_series = (current value) & relative_opening_function = (current function) & fluid_name = (current fluid) hydraulics create pipe_1 & pipe_1_name = N/A & location = 0,0,0 & length = (eval(1meter)) & diameter = (eval(10mm)) & initial_pressure = (eval(101325(Newton/meter**2))) & loss_length = 0.0 & apply_wall_flexibility = no & wall_thickness = (eval(3mm)) & youngs_modulus = (eval(210e9(Newton/meter**2))) & Poissons_ratio = 0.3 & fluid_name = N/A hydraulics modify pipe_1 & pipe_1_name = N/A & location = (current value) & length = (current value) & diameter = (current value) & initial_pressure = (current value) &
! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < new_hyd_orifice > ! < location > ! < real:gt=0 > ! < real:gt=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < integer:ge=1 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_orifice > ! < location > ! < real:gt=0 > ! < real:gt=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < integer:ge=1 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_pipe_1 > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_pipe_1 > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 >
330
loss_length = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & fluid_name = (current fluid) hydraulics create pipe_2ff & pipe_2ff_name = N/A & location = 0,0,0 & length = (eval(1meter)) & diameter = (eval(10mm)) & initial_pressure = (eval(101325(Newton/meter**2))) & initial_flowrate = (eval(0.0(meter**3/second))) & number_of_divisions = 10 & loss_length = 0.0 & A_exit_loss = 0.0 & A_entrance_loss = 0.0 & B_exit_loss = 0.0 & B_entrance_loss = 0.0 & apply_wall_flexibility = no & wall_thickness = (eval(3mm)) & youngs_modulus = (eval(210e9(Newton/meter**2))) & Poissons_ratio = 0.3 & fluid_name = N/A hydraulics modify pipe_2ff & pipe_2ff_name = N/A & location = (current value) & length = (current value) & diameter = (current value) & initial_pressure = (current value) & initial_flowrate = (current value) & number_of_divisions = (current value) & loss_length = (current value) & A_exit_loss = (current value) & A_entrance_loss = (current value) & B_exit_loss = (current value) & B_entrance_loss = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & fluid_name = (current fluid)
! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_pipe_2ff > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_pipe_2ff > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid >
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hydraulics create pipe_2pf & pipe_2pf_name = N/A & location = 0,0,0 & length = (eval(1meter)) & diameter = (eval(10mm)) & initial_pressure = (eval(101325(Newton/meter**2))) & initial_flowrate = (eval(0.0(meter**3/second))) & number_of_divisions = 10 & loss_length = 0.0 & A_exit_loss = 0.0 & A_entrance_loss = 0.0 & B_exit_loss = 0.0 & B_entrance_loss = 0.0 & apply_wall_flexibility = no & wall_thickness = (eval(3mm)) & youngs_modulus = (eval(210e9(Newton/meter**2))) & Poissons_ratio = 0.3 & fluid_name = N/A hydraulics modify pipe_2pf & pipe_2pf_name = N/A & location = (current value) & length = (current value) & diameter = (current value) & initial_pressure = (current value) & initial_flowrate = (current value) & number_of_divisions = (current value) & loss_length = (current value) & A_exit_loss = (current value) & A_entrance_loss = (current value) & B_exit_loss = (current value) & B_entrance_loss = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & fluid_name = (current fluid) hydraulics create pipe_2pp & pipe_2pp_name = N/A & location = 0,0,0 & length = (eval(1meter)) & diameter = (eval(10mm)) & initial_pressure = (eval(101325(Newton/meter**2))) & initial_flowrate = (eval(0.0(meter**3/second))) & number_of_divisions = 10 &
! < new_hyd_pipe_2pf > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_pipe_2pf > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_pipe_2pp > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 >
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loss_length = 0.0 & A_exit_loss = 0.0 & A_entrance_loss = 0.0 & B_exit_loss = 0.0 & B_entrance_loss = 0.0 & apply_wall_flexibility = no & wall_thickness = (eval(3mm)) & youngs_modulus = (eval(210e9(Newton/meter**2))) & Poissons_ratio = 0.3 & fluid_name = N/A hydraulics modify pipe_2pp & pipe_2pp_name = N/A & location = (current value) & length = (current value) & diameter = (current value) & initial_pressure = (current value) & initial_flowrate = (current value) & number_of_divisions = (current value) & loss_length = (current value) & A_exit_loss = (current value) & A_entrance_loss = (current value) & B_exit_loss = (current value) & B_entrance_loss = (current value) & apply_wall_flexibility = (current value) & wall_thickness = (current value) & youngs_modulus = (current value) & Poissons_ratio = (current value) & fluid_name = (current fluid)
! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_pipe_2pp > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real > ! < integer:ge=10 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < real:ge=0:le=1 > ! < real:ge=0 > ! < list(yes,no) > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid >
hydraulics create pump_motor3 & pump_motor3_name = N/A & ! < new_hyd_pump_motor3 > location = 0,0,0 & ! < location > max_volumetric_displacement = (eval(0.05e-3(meter**3/rad))) & ! < real:gt=0 > initial_control_input = 0.0 & ! < real:ge=0:le=1 > initial_angular_velocity = 0.0 & ! < real > apply_mechanical_losses = no & ! < list(yes,no) > shear_damping_coefficient = 0.0 & ! < real:ge=0 > internal_friction_coefficient = 0.0 & ! < real:ge=0 > Coulomb_friction_torque = 0.0 & ! < real:ge=0 > limit_angular_velocity_for_friction = (eval(1(rad/second))) &! < real:gt=0 > apply_leakage = no & ! < list(yes,no) > internal_leakage_coefficient = 0.0 & ! < real:ge=0 > external_leakage_coefficient = 0.0 & ! < real:ge=0 > control_input_function = "0.0" & ! < analysis_function:c=0 >
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angular_velocity_function = "0.0" & fluid_name = N/A hydraulics modify pump_motor3 & pump_motor3_name = N/A & location = (current value) & max_volumetric_displacement = (current value) & initial_control_input = (current value) & initial_angular_velocity = (current value) & apply_mechanical_losses = (current value) & shear_damping_coefficient = (current value) & internal_friction_coefficient = (current value) & Coulomb_friction_torque = (current value) & limit_angular_velocity_for_friction = (current value) & apply_leakage = (current value) & internal_leakage_coefficient = (current value) & external_leakage_coefficient = (current value) & control_input_function = (current function) & angular_velocity_function = (current function) & fluid_name = (current fluid)
! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_pump_motor3 > ! < location > ! < real:gt=0 > ! < real:ge=0:le=1 > ! < real > ! < list(yes,no) > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:ge=0 > ! < real:ge=0 > ! < analysis_function:c=0 > ! < analysis_function:c=0 > ! < hyd_fluid >
hydraulics create pressure_reducing_valve3 & ! < new_hyd_pressure_reducing_valve3 > pressure_reducing_valve3_name = N/A & location = 0,0,0 & ! < location > initial_position = 1.0 & ! < real:ge=0:le=1 > A_ref_pressure = (eval(201e5(Newton/meter**2))) & ! < real:gt=0 > B1_pressure = (eval(101e5(Newton/meter**2))) & ! < real:gt=0 > B1_flowrate = (eval(5e-4(meter**3/second))) & ! < real:gt=0 > B2_pressure = (eval(111e5(Newton/meter**2))) & ! < real:gt=0 > B2_flowrate = (eval(2.5e-4(meter**3/second))) & ! < real:gt=0 > B3_pressure = (eval(121e5(Newton/meter**2))) & ! < real:gt=0 > B3_flowrate = 0.0 & ! < real:ge=0 > AB_relative_leakage = 0.0 & ! < real:ge=0:le=0.5 > BT_nom_pressure_drop = (eval(35e5(Newton/meter**2))) &! < real:gt=0 > BT_nom_flowrate = 0.0 & ! < real:ge=0 > T_ref_pressure = (eval(101325(Newton/meter**2))) & ! < real:gt=0 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > time_constant = (eval(3e-3(second))) & ! < real:gt=0 > pressure_step = (eval(10e5(Newton/meter**2))) & ! < real:gt=0 > fluid_name = N/A ! < hyd_fluid > hydraulics modify pressure_reducing_valve3 & pressure_reducing_valve3_name = N/A & location = (current value) & initial_position = (current value) & A_ref_pressure = (current value) & ! < hyd_pressure_reducing_valve3 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 >
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B1_pressure = (current value) & B1_flowrate = (current value) & B2_pressure = (current value) & B2_flowrate = (current value) & B3_pressure = (current value) & B3_flowrate = (current value) & AB_relative_leakage = (current value) & BT_nom_pressure_drop = (current value) & BT_nom_flowrate = (current value) & T_ref_pressure = (current value) & ref_fluid_density = (current value) & time_constant = (current value) & pressure_step = (current value) & fluid_name = (current fluid)
! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid >
hydraulics create pressure_relief_valve2 & pressure_relief_valve2_name = N/A & ! < new_hyd_pressure_relief_valve2 > location = 0,0,0 & ! < location > initial_position = 0.0 & ! < real:ge=0:le=1 > AB_closing_pressure_drop = (eval(2e5(Newton/meter**2))) & ! < real:gt=0 > AB1_pressure_drop = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > AB1_flowrate = (eval(1.414e-3(meter**3/second))) & ! < real:gt=0 > AB2_pressure_drop = (eval(20e5(Newton/meter**2))) & ! < real:gt=0 > AB2_flowrate = (eval(3.14e-3(meter**3/second))) & ! < real:gt=0 > AB_relative_leakage = 0.0 & ! < real:ge=0:le=0.5 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > time_constant = (eval(3ms)) & ! < real:gt=0 > pressure_step = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > apply_hysteresis = no & ! < list(yes,no) > hysteresis_ratio = 1.0 & ! < real:gt=0:le=1 > fluid_name = N/A ! < hyd_fluid > hydraulics modify pressure_relief_valve2 & pressure_relief_valve2_name = N/A & location = (current value) & initial_position = (current value) & AB_closing_pressure_drop = (current value) & AB1_pressure_drop = (current value) & AB1_flowrate = (current value) & AB2_pressure_drop = (current value) & AB2_flowrate = (current value) & AB_relative_leakage = (current value) & ref_fluid_density = (current value) & time_constant = (current value) & pressure_step = (current value) & ! < hyd_pressure_relief_valve2 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 >
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apply_hysteresis = (current value) & hysteresis_ratio = (current value) & fluid_name = (current fluid) hydraulics create pressure_source & pressure_source_name = N/A & location = 0,0,0 & initial_pressure = (eval(1.0e5(Newton/meter**2))) & pressure_function = "0.0" & fluid_name = N/A hydraulics modify pressure_source & pressure_source_name = N/A & location = (current value) & initial_pressure = (current value) & pressure_function = (current function) & fluid_name = (current fluid) hydraulics create reservoir2 & reservoir2_name = N/A & location = 0,0,0 & initial_volume = (eval(1.0e-3(meter**3))) & initial_pressure = (eval(101325(Newton/meter**2))) & apply_wall_flexibility = no & flexibility_coefficients = 0.0 & volume_in_STP_function = ".c.initial_volume" & fluid_name = N/A hydraulics modify reservoir2 & reservoir2_name = N/A & location = (current value) & initial_volume = (current value) & initial_pressure = (current value) & apply_wall_flexibility = (current value) & flexibility_coefficients = (current value) & volume_in_STP_function = (current function) & fluid_name = (current fluid)
! < list(yes,no) > ! < real:gt=0:le=1 > ! < hyd_fluid > ! < new_hyd_pressure_source > ! < location > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_pressure_source > ! < location > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_reservoir2 > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:c=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_reservoir2 > ! < location > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:c=0 > ! < analysis_function:c=0 > ! < hyd_fluid >
hydraulics create restrictor_valve2 & restrictor_valve2_name = N/A & ! < new_hyd_restrictor_valve2 > location = 0,0,0 & ! < location > initial_position = 0.0 & ! < real:ge=0:le=1 > AB_closing_pressure_drop = (eval(2e5(Newton/meter**2))) & ! < real:gt=0 > AB1_pressure_drop = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > AB1_flowrate = (eval(2.2e-3(meter**3/second))) & ! < real:gt=0 > AB2_pressure_drop = (eval(20e5(Newton/meter**2))) & ! < real:gt=0 >
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AB2_flowrate = (eval(3.927e-3(meter**3/second))) & ! < real:gt=0 > AB_relative_leakage = 0.0 & ! < real:ge=0:le=0.5 > BA_nom_pressure_drop = (eval(20e5(Newton/meter**2))) & ! < real:gt=0 > BA_nom_flowrate = (eval(7.85e-4(meter**3/second))) & ! < real:ge=0 > ref_fluid_density = (eval(900(kilogram/meter**3))) & ! < real:gt=0 > time_constant = (eval(3ms)) & ! < real:gt=0 > pressure_step = (eval(11e5(Newton/meter**2))) & ! < real:gt=0 > apply_hysteresis = no & ! < list(yes,no) > hysteresis_ratio = 1.0 & ! < real:gt=0:le=1 > relative_opening_function = "1.0" & ! < analysis_function:c=0 > fluid_name = N/A ! < hyd_fluid > hydraulics modify restrictor_valve2 & restrictor_valve2_name = N/A & location = (current value) & initial_position = (current value) & AB_closing_pressure_drop = (current value) & AB1_pressure_drop = (current value) & AB1_flowrate = (current value) & AB2_pressure_drop = (current value) & AB2_flowrate = (current value) & AB_relative_leakage = (current value) & BA_nom_pressure_drop = (current value) & BA_nom_flowrate = (current value) & ref_fluid_density = (current value) & time_constant = (current value) & pressure_step = (current value) & apply_hysteresis = (current value) & hysteresis_ratio = (current value) & relative_opening_function = (current function) & fluid_name = (current fluid) hydraulics create shuttle_valve3 & shuttle_valve3_name = N/A & location = 0,0,0 & initial_position = 0.0 & A1_pressure = (eval(36e5(Newton/meter**2))) & AC_nom_flowrate = (eval(1e-2(meter**3/second))) & B_cracking_pressure = (eval(35e5(Newton/meter**2))) & C_ref_pressure = (eval(101325(Newton/meter**2))) & ref_fluid_density = (eval(900(kilogram/meter**3))) & time_constant = (eval(3ms)) & B_pressure_step = (eval(10e5(Newton/meter**2))) & fluid_name = N/A ! < hyd_restrictor_valve2 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:ge=0:le=0.5 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < list(yes,no) > ! < real:gt=0:le=1 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_shuttle_valve3 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid >
337
hydraulics modify shuttle_valve3 & shuttle_valve3_name = N/A & location = (current value) & initial_position = (current value) & A1_pressure = (current value) & AC_nom_flowrate = (current value) & B_cracking_pressure = (current value) & C_ref_pressure = (current value) & ref_fluid_density = (current value) & time_constant = (current value) & B_pressure_step = (current value) & fluid_name = (current fluid) hydraulics create spline_orifice & spline_orifice_name = N/A & location = 0,0,0 & flowrate_spline = N/A & apply_spline_as = symmetric & relative_opening_function = "1.0" & fluid_name = N/A hydraulics modify spline_orifice & spline_orifice_name = N/A & location = (current value) & flowrate_spline = (current value) & apply_spline_as = (current value) & relative_opening_function = (current function) & fluid_name = (current fluid) hydraulics create sum_of_flows & sum_of_flows_name = N/A & location = 0,0,0 & fluid_name = N/A hydraulics modify sum_of_flows & sum_of_flows_name = N/A & location = (current value) & fluid_name = (current fluid) hydraulics create sum_of_flows2 & sum_of_flows2_name = N/A & location = 0,0,0 & fluid_name = N/A hydraulics modify sum_of_flows2 & sum_of_flows2_name = N/A &
! < hyd_shuttle_valve3 > ! < location > ! < real:ge=0:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < real:gt=0 > ! < hyd_fluid > ! < new_hyd_spline_orifice > ! < location > ! < spline > ! < list(symmetric,full,oneway) > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_spline_orifice > ! < location > ! < spline > ! < list(symmetric,full,oneway) > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_sum_of_flows > ! < location > ! < hyd_fluid > ! < hyd_sum_of_flows > ! < location > ! < hyd_fluid > ! < new_hyd_sum_of_flows2 > ! < location > ! < hyd_fluid > ! < hyd_sum_of_flows2 >
338
location = (current value) & fluid_name = (current fluid) hydraulics create sum_of_flows3 & sum_of_flows3_name = N/A & location = 0,0,0 & fluid_name = N/A hydraulics modify sum_of_flows3 & sum_of_flows3_name = N/A & location = (current value) & fluid_name = (current fluid) hydraulics create sum_of_flows4 & sum_of_flows4_name = N/A & location = 0,0,0 & fluid_name = N/A hydraulics modify sum_of_flows4 & sum_of_flows4_name = N/A & location = (current value) & fluid_name = (current fluid) hydraulics create servovalve4w3 & servovalve4w3_name = N/A & location = 0,0,0 & initial_position = 0.0 & eigenfrequency = (eval(80(1/second))) & relative_damping = 0.1 & PA_x_to_A_spline = N/A & PB_x_to_A_spline = N/A & AT_x_to_A_spline = N/A & BT_x_to_A_spline = N/A & nom_pressure_drop = (eval(35e5(Newton/meter**2))) & PA_nom_flowrate = (eval(1e-3(meter**3/second))) & PB_nom_flowrate = (eval(1e-3(meter**3/second))) & AT_nom_flowrate = (eval(1e-3(meter**3/second))) & BT_nom_flowrate = (eval(1e-3(meter**3/second))) & PT_nom_flowrate = 0.0 & ref_fluid_density = (eval(900(kilogram/meter**3))) & control_input_function = "0.0" & fluid_name = N/A hydraulics modify servovalve4w3 & servovalve4w3_name = N/A &
! < location > ! < hyd_fluid > ! < new_hyd_sum_of_flows3 > ! < location > ! < hyd_fluid > ! < hyd_sum_of_flows3 > ! < location > ! < hyd_fluid > ! < new_hyd_sum_of_flows4 > ! < location > ! < hyd_fluid > ! < hyd_sum_of_flows4 > ! < location > ! < hyd_fluid > ! < new_hyd_servovalve4w3 > ! < location > ! < real:ge=-1:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < spline > ! < spline > ! < spline > ! < spline > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < hyd_servovalve4w3 >
339
location = (current value) & initial_position = (current value) & eigenfrequency = (current value) & relative_damping = (current value) & PA_x_to_A_spline = (current value) & PB_x_to_A_spline = (current value) & AT_x_to_A_spline = (current value) & BT_x_to_A_spline = (current value) & nom_pressure_drop = (current value) & PA_nom_flowrate = (current value) & PB_nom_flowrate = (current value) & AT_nom_flowrate = (current value) & BT_nom_flowrate = (current value) & PT_nom_flowrate = (current value) & ref_fluid_density = (current value) & control_input_function = (current function) & fluid_name = (current fluid) hydraulics create tank & tank_name = N/A & location = 0,0,0 & tank_pressure = (eval(101325(Newton/meter**2))) & fluid_name = N/A hydraulics modify tank & tank_name = N/A & location = (current value) & tank_pressure = (current value) & fluid_name = (current fluid)
! < location > ! < real:ge=-1:le=1 > ! < real:gt=0 > ! < real:ge=0 > ! < spline > ! < spline > ! < spline > ! < spline > ! < real:gt=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:ge=0 > ! < real:gt=0 > ! < analysis_function:c=0 > ! < hyd_fluid > ! < new_hyd_tank > ! < location > ! < real:gt=0 > ! < hyd_fluid > ! < hyd_tank > ! < location > ! < real:gt=0 > ! < hyd_fluid >
340
Run-Time Function Reference
Overview
This appendix lists the states available for referencing from within ADAMS/Hydraulics components. For more information on building run-time functions, see the guide, Using the ADAMS/View Function Builder.
342
ADAMS/Hydraulics Component Reference Run-Time Function Reference
Introduction
Run-time functions allow you to specify mathematical relationships between the simulation states that directly define the behavior of the system.You can work with runtime functions from boxes that expect run-time functions. You build a run-time function in the Function Builder and then insert the function in the box that accepts run-time functions. ADAMS/Hydraulics components allow you to reference their states by their name directly in your run-time function expressions. If you want to make your run-time function dependent on an ADAMS/Hydraulics state, you can either type the name reference of the state directly into your function expression, or, if you are working in the Function Builder, do the following:
1 2 3
Set the Getting Object Data pull-down menu to Measures. Right-click in the corresponding text box. Select Browse or Guesses to display the valid states available for your component.
Browse - Displays the Database Navigator with each state grouped by
component.
Guesses - Displays a subset of available state references.
For example, lets say you want to find the pressure drop over a check valve. You could simply write your function expression as follows:
.my_model_name.my_check_valve_name.B_pressure .my_model_name.my_check_valve_name.A_pressure
343
ADAMS/Hydraulics State References

Table 40. State References Component:
accumulator
State name:
gas_volume P_pressure P_flowrate gas_pressure relative_position A_pressure A_flowrate B_pressure B_flowrate X_pressure T_pressure cartridge_valve3p relative_position A_pressure A_flowrate B_pressure B_flowrate X_pressure spring_force flow_force relative_position A_pressure A_flowrate B_pressure B_flowrate relative_position A_pressure A_flowrate B_pressure B_flowrate X_pressure
counter_balance_valve4p
check_valve2
check_valve3p
344
Table 40. State References (continued) Component:

check_valve4p
State name:
relative_position A_pressure A_flowrate B_pressure B_flowrate X_pressure T_pressure A_relative_opening_function stiction_length A_chamber_fluid_volume_in_STP cylinder_length cylinder_velocity A_pressure A_flowrate cylinder_force pressure_force friction_force cushion_force A_chamber_pressure stiction_length A_chamber_fluid_volume_in_STP cylinder_length cylinder_velocity A_flowrate A_pressure cylinder_force pressure_force friction_force cushion_force
cylinder1
cylinder1f
345

cylinder2
State name:
A_relative_opening_function B_relative_opening_function stiction_length A_chamber_fluid_volume_in_STP B_chamber_fluid_volume_in_STP cylinder_length cylinder_velocity A_pressure A_flowrate B_pressure B_flowrate cylinder_force pressure_force friction_force cushion_force B_chamber_pressure A_chamber_pressure stiction_length A_chamber_fluid_volume_in_STP B_chamber_fluid_volume_in_STP cylinder_length cylinder_velocity A_flowrate A_pressure B_flowrate B_pressure cylinder_force pressure_force friction_force cushion_force
cylinder2ff
346

directional_control_valve2w2
State name:
control_input_function relative_position P_pressure P_flowrate A_pressure A_flowrate control_input_function relative_position P_pressure P_flowrate A_pressure A_flowrate T_pressure T_flowrate control_input_function relative_position P_pressure P_flowrate A_pressure A_flowrate B_pressure B_flowrate T_pressure T_flowrate relative_position A_pressure A_flowrate B_pressure B_flowrate flowrate_function A_pressure A_flowrate
flow_control_valve2
flow_source
347

fluid force_source force_function F_force torque_function flowrate_function angular_velocity_function A_pressure A_flowrate B_pressure B_flowrate output_torque density_ratio A_flowrate A_pressure B_flowrate B_pressure density_ratio A_flowrate A_pressure B_flowrate B_pressure C_flowrate C_pressure
State name:
generic_pump_motor2
junction2
junction3
348

junction4
State name:
density_ratio A_flowrate A_pressure B_flowrate B_pressure C_flowrate C_pressure D_flowrate D_pressure A_pressure A_flowrate B_pressure B_flowrate position velocity F_force acceleration relative_opening_function A_pressure A_flowrate B_pressure B_flowrate density_ratio A_pressure A_flowrate B_pressure B_flowrate A_flowrate A_pressure B_flowrate B_pressure
laminar_orifice
mass1
orifice
pipe_1
pipe_2ff
349

pipe_2pf
State name:
A_pressure A_flowrate B_flowrate B_pressure A_pressure A_flowrate B_pressure B_flowrate control_input_function angular_velocity_function A_pressure A_flowrate B_pressure B_flowrate T_pressure T_flowrate output_torque output_torque_ideal shear_torque friction_torque relative_position A_pressure A_flowrate B_pressure B_flowrate T_pressure T_flowrate relative_position A_pressure A_flowrate B_pressure B_flowrate
pipe_2pp
pump_motor3
pressure_reducing_valve3
pressure_relief_valve2
350

pressure_source
State name:
pressure_function A_flowrate A_pressure volume_in_STP_function fluid_volume_in_STP A_flowrate A_pressure B_flowrate B_pressure density_ratio relative_opening_function relative_position A_pressure A_flowrate B_pressure B_flowrate relative_position A_pressure A_flowrate B_pressure B_flowrate C_pressure C_flowrate relative_opening_function A_pressure A_flowrate B_pressure B_flowrate
reservoir2
restrictor_valve2
shuttle_valve3
spline_orifice
351

sum_of_flows
State name:
A_flowrate A_pressure B_flowrate B_pressure C_pressure C_flowrate density_ratio A_flowrate A_pressure B_flowrate B_pressure P_pressure P_flowrate density_ratio A_flowrate A_pressure B_flowrate B_pressure C_flowrate C_pressure P_pressure P_flowrate density_ratio
sum_of_flows2
sum_of_flows3
352

sum_of_flows4
State name:
A_flowrate A_pressure B_flowrate B_pressure C_flowrate C_pressure D_flowrate D_pressure P_pressure P_flowrate density_ratio control_input_function relative_position relative_velocity P_pressure P_flowrate A_pressure A_flowrate B_pressure B_flowrate T_pressure T_flowrate T_flowrate T_pressure density_ratio
servovalve4w3
tank
Bibliography
[1] [2] [3] [4]
[5]
Merritt, Herbert E.: Hydraulic Control Systems. New York 1967, John Wiley & Sons, Inc., p. 358. Wuori, Paul A.: Virtausmekaniikan Perusteet. Espoo 1990, Otatieto Oy, p. 159. Timoshenko, S., Strength of Materials, 2nd ed., Part II. New York, Van Nostrand. Ellman A.U., Koivula T.S., Vilenius M.J., Hydraulic cylinder seal friction - comparison of two seal designs, 15th International Conference on Fluid Sealing, Maastricht, The Netherlands on 16-18 September 1997. Sychev V.V., Vasserman A.A., Kozlov A.D., Spiridonov G.A., Tsymarny V.A.: Thermodynamic Properties of Nitrogen, 1987, Hemisphere Publishing Corporation
354
ADAMS/Hydraulics Component Reference Bibliography
ADAMS/Hydraulics Component Reference Index
355
Index
A
Accumulator, using 17 ADAMS/Hydraulics assumptions in 8 command language for executing 309 function expressions 341 setting defaults 11 topology 7
ARATIO (area ratio of a poppet) function, using 296
A-B C-D E-F G-H I-J K-L M-N O-P Q-R S-T U-V W-Z
Assumptions in ADAMS/Hydraulics 8
B
Bernoullis equation, defined 285
C
Check valve with pilot (to close), using 35 Check valve with pilot (to open), using 41 Check valve, using 31
CLWL (constant leakage with lap) function, using 298
Coefficient, discharge for polynomial fit 288 Command language for executing ADAMS/Hydraulics 309 Component modeling, described 9 Components accumulator 17 check valve 31 check valve with pilot (to close) 35 check valve with pilot (to open) 41 counter balance valve with pilot 47 cylinder1 53 cylinder1f 81 cylinder2 65
356
cylinder2ff 93 directional control valve 2/2 107 directional control valve 3/2 115 directional control valve 4/3 123 flow source 133 fluid 135 force source 155 gas-charged accumulator 23 generic pump/motor 157 junction2 161 junction3 163 junction4 167 laminar office 171 one-DOF translational mass 175 one-way restrictor valve 179 orifice 185 pipe (level 1) 191 pipe (level 2) 197 pressure source 215 pressure-reducing valve 205 pressure-relief valve 211 pump/motor 217 reservoir 223 servovalve 4/3 227 shuttle valve 241 spline orifice 247 spool valve 4/3 251 sum of flows 263 sum of flows 2 265 sum of flows 3 267 sum of flows 4 269 tank 271 theory of modeling 9 two-way cartridge valve 273 two-way flow control valve 279 types of 4
Counter balance valve with pilot, using 47
357
CVS (constant velocity spool) function, using 300
Cylinder1, using 53 Cylinder1f, using 81 Cylinder2, using 65 Cylinder2ff, using 93
D
Defaults, setting 11 Directional control valve 2/2, using 107 Directional control valve 3/2, using 115 Directional control valve 4/3, using 123 Discharge coefficient, polynomial fit for 288
E
Environment pressure, setting defaults for 11 Equation, Bernoullis defined 285 Essential component, explained 4
F
Flow and volume components, listed 6 Flow source, using 133 Flow, defined for low Reynolds numbers 286 Fluid overview of 4 using 135 Force source, using 155 Function expressions for ADAMS/Hydraulics 341 Functions
ARATIO (area ratio of a poppet) 296 CLWL (constant leakage with lap) 298 CVS (constant velocity spool) 300 LINPWL (linear poppet opening area with leakage) 302 ORIFIC (flow through an orifice) 304
358
G
Gas-charged accumulator, using 23 Generic pump/motor, using 157
H
Hydraulic components, See Components Hysteresis limit, setting defaults for 12
J
Junction volume, setting defaults for 11 Junction2, using 161 Junction3, using 163 Junction4, using 167
L
Laminar orifice, using 171
LINPWL (linear poppet opening area with leakage) function, using 302
M
Mass1, using 175 Miscellaneous components, listing of 7 Mixed-volume flow components, listed 7
O
One-DOF translational mass, using 175 One-way port, described 7 One-way restrictor valve, using 179
ORIFIC (flow through an orifice) function, using 304
Orifice, using 185
359
P
Pipe (level 1), using 191 Pipe (level 2), using 197 Polynomial fit for discharge coefficient, described 288 Ports, types of 7 Pressure source, using 215 Pressure-reducing valve, using 205 Pressure-relief valve, using 211 Pump/motor, using 217
R
Reservoir, using 223 Resistances in ADAMS/Hydraulics 8 Restrictor valve2, using 179 Reynolds numbers, using 286
S
Servovalve 4/3, using 227 Shuttle valve, using 241 Spline orifice, using 247 Spool valve 4/3, using 251 Starting ADAMS/Hydraulics 10 Sum of flows 2, using 265 Sum of flows 3, using 267 Sum of flows 4, using 269 Sum of flows, using 263 System defaults, setting 11
360
T
Tank, using 271 Topology of ADAMS/Hydraulics 7 Two-way cartridge valve, using 273 Two-way flow control valve, using 279 Two-way port, described 7 Types of hydraulic components 4
V
Volume components, listed 5 Volumes in ADAMS/Hydraulics 8
X
X penetration tolerance, setting defaults for 11

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ADAMS/Hydraulics Component Reference

ADAMS/Hydraulics Component Reference Copyright

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Types of Hydraulic Components

Fluid Component (Essential)

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Flow and Volume Components

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Mixed-Volume Flow Components

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Resistances and Volumes

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Input or feedback Spool Position Model

Flow Cross-Section Area

Flow CrossSection Area Model

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

Setting System Defaults

ADAMS/Hydraulics Component Reference Introducing ADAMS/Hydraulics

To set the defaults:

Set the defaults as desired. Select OK.

ADAMS/Hydraulics Component Reference ADAMS/Hydraulics Components

ADAMS/Hydraulics Component Reference ADAMS/Hydraulics Components

ADAMS/Hydraulics Component Reference ADAMS/Hydraulics Components

ADAMS/Hydraulics assumes that for an accumulator:

Dialog Box Parameters

Effective mechanical volume of the accumulator.

Set Pressure of Gas

Set Temperature of Gas

Initial operating pressure of the accumulator. Exponent for polytropic process.

ADAMS/Hydraulics Component Reference Accumulator

Table 1. Dialog Box Parameters For the parameter:

Nom Pressure Drop

length3/time force/length2 mass/length3

Q nom p nom ref

Ref Fluid Density

Volume of gas inside the accumulator [length3]

Assuming the following:

ADAMS/Hydraulics Component Reference Accumulator

ADAMS/Hydraulics Component Reference Accumulator

Q nom A = ----------------------------2p nom C d ----------------- ref

Figure 2 on page 22 gives an example of accumulator pressure as a function of fluid

volume inside the accumulator. Parameter values in the example are:

ADAMS/Hydraulics Component Reference Accumulator

Figure 2. Example of Pressure In Accumulator as a Function of Fluid Volume in the Accumulator

0 0 2 4 6 8 Fluid Volume [l] 10 12 14

ADAMS/Hydraulics assumes that for a gas-charged accumulator:

ADAMS/Hydraulics Component Reference Gas-Charged Accumulator

Dialog Box Parameters

Effective mechanical volume of the accumulator.

Set Pressure of Gas

Set Temperature of Gas

force/length2 temperature temperature

Environment Temperature Function Process Gas

ADAMS/Hydraulics Component Reference Gas-Charged Accumulator

Table 2. Dialog Box Parameters For the parameter:

Heat Transfer Coefficient custom

Nom Pressure Drop

length3/time force/length2 mass/length3

Q nom p nom ref

Ref Fluid Density

ADAMS/Hydraulics Component Reference Gas-Charged Accumulator