12

VALVE MODEL EXPANSION

12.1

BASIC VALVE MODEL

A mathematical model for a typical pressure-regulating valve was developed

in Chapter 11, Section 11.3. This model demonstrates the general operation of the valve and can be used to establish the desired magnitude of basic
operating parameters. Generally the basic model is used to establish reasonable values for the geometry of the valve parts. Values for these parameters
are listed in Table 11.1. Knowledge of desired valve performance serves as a
guide in establishing parameter values. Many variations are possible, in the
listed parameters, and in establishing desired valve configuration. Results
of the solution of the model equations, as displayed in Figures 11.4 to 11.6,
indicate that the model provides a reasonable simulation of the valve.
The model includes only the basic parameters needed to describe valve
operation. Several other parameters may be added to the model to provide for an investigation of their influence on the operation of the valve.
The additional parameters may be evaluated individually or in any desired
combination. If the inclusion of a particular parameter appears to have
significant influence on the performance of the model, investigation of the
parameter over its expected range of values is usually desirable.
Many fluid power systems have a dominant characteristic. Typically, the
effect of a mass, a spring, or the oil viscosity may exhibit a dominant role in
the machines operation [1]. Repeated solution of the mathematical model
with variation in applicable parameters will reveal which characteristics are
of greatest importance.
In addition to parameters listed in Tables 11.1 and 12.1, other major
physical conditions that may have an effect on the models performance
are damping, flow forces, and temperature. This chapter will examine the
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VALVE MODEL EXPANSION

influence of several important parameters. The varieties of conditions that

can be imposed on a model are unlimited. Even preliminary results of a
models solution, however, will quickly reveal important operational characteristics for a system. Before proceeding with the addition of new terms
in the modeling equations, it is important to note what has already been
learned from the results displayed in Chapter 11. The main purpose of
mathematical modeling is to gain knowledge regarding trends in the operation of a system. Not all numerical values will agree exactly with results
that may be obtained in laboratory operation of the system under study.
Simulated values, however, will usually be accurate enough to provide much
insight into the operation of a system.
Fluid power systems are said to be in steady state operation when the
variables cease to vary with time. Fluid systems that are used to transfer
power, however, contain such elements as springs and masses. The physical
operation of these parts prevents the system from reaching steady state
conditions. This is particularly true for masses that are in contact with a
spring. Hydraulic oil is slightly compressible; therefore, the entire system
tends to behave as a large spring. Hydraulic systems, therefore, have an
overall stiffness or compliance [2].
Fluid power systems are also subject to a variety of disturbances. Disturbances can include opening and closing of control valves, operation of
accumulators, and changes in external loads. The fluid pumps used to
power systems contain moving elements such as pistons, vanes, or gear
teeth. These moving elements impose intermittent disturbing forcing functions on the fluid stream.
Peak values of variables, such as those plotted in Chapter 11, will generally vary several percent from measured values obtained in laboratory
tests. These peaks determined with mathematical simulation are generally accurate enough for most engineering purposes. Plotted variables at
the extreme right of the plots will agree very closely with laboratory values, because enough time has passed to correct for the effect of start-up
assumptions.
Generally fluid pressure is the most significant parameter in a system.
The entire machine responds to the value of this parameter. Knowledge
regarding expected pressure values in a fluid power system is also necessary
to provide for proper design of parts for safe stress levels and safety.
The valve spool mass resting on the coil spring essentially behaves as
a classical spring-mass system. Free oscillation of the valve spool mass on
the spring will occur at the natural frequency of the spring-mass system.
Results developed from the study of classical vibrations gives this result as:
r
k
1
(12.1)
fn =
2 m

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293

Substituting the parameters for the example in Chapter 11 yields:

r
1
210000
fn =
= 326.2 Hz
2
0.05
In addition to the natural frequency of elements, such as the spring-mass
combination, a system will have an overall natural frequency [1, 2]. Therefore, oscillation frequencies, such as those displayed in the plots displayed
in Section 11.3, will include the overall effect of all the parameters included
in the system model.
It would be somewhat impractical to attempt to include all possible
physical effects in a system model. The sections that follow will examine
some of the most important effects that can be expected in a fluid power
model.

12.2

MODEL EXPANSION

Consider a complete circuit shown in Figure 12.1. The analysis for the
pump (component 1) and pressure regulating valve (component 2) operating with a mathematically defined pump flow variation and no load flow
was presented in Chapter 11. The figure shows the addition of a fluid power
cylinder and an appropriate control valve. The cylinder is used to raise the
load mass mL . The parameters needed to expand the model are shown in
Table 12.1 Flow area Av through the control valve, shown as component
number 3, was input as a time dependent function. This area was held at
0 from time 0 to 0.035 s. The area was then increased linearly from 0 to
the maximum value shown in Table 12.1 in the time interval from 0.035 to
0.085 s. After time 0.085 s, the maximum value was maintained.
Oil flow Qp from the pump was established as a time dependent function
in Section 11.3. This same function was applied to the model established
for Figure 12.1. In the analysis considered in Section 11.3, all of the pump
oil flow passed through the regulating valve and returned to the oil tank.
When a load is added to a pressure-regulating valve, all of the pump oil
flow will flow to the work circuit. Part of the flow will begin to pass through
the regulating valve and back to the oil tank when the system load is large
enough to develop the regulated pressure. The value used for the load mass
mL , as shown in Table 11.1, was selected to develop a static pressure of
about 70% of the regulated pressure. Therefore, all of the pump flow was
directed to the cylinder.
The equations that follow are then necessary to complete the model for
the entire system. The equation of motion for the cylinder piston and load
can be established from the free body diagram shown in Figure 12.2 with

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Figure 12.1: Pressure-regulating valve with control valve and cylinder

load.

Figure 12.2: Forces on cylinder piston.

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295

Table 12.1: Characteristics for control valve and hydraulic cylinder

Characteristic

Size

Units

Load mass, mL
Acceleration of gravity, g
Piston diameter, dp
Coefficient of static friction,
st
Seal width, `sl
Valve flow area, Av
Initial volume, Vo
Flow coefficient, Cd
Fluid density,
Cylinder pressure, p
Load flow, QL
Pump flow, Qp
Piston motion, y

2500
9.81
0.048
0.05

kg
m/s2
m

Piston velocity,

dy
dt

or y

Piston acceleration,
Pressure rise rate,

0.0025
3.0E6
5.0E5
0.6
832

d y
dt2

dp
dt

m
m2
m3
kg/m3
N/m2
m3 /s
m3 /s
m
m/s
m/s2

or y

or p

Pa/s

use of Newtons Second Law:

Ap p mL g dp `sl pst

y
= mL y
|y|

To determine load piston velocity y and position y the equation may be

arranged as:


y
y = Ap p mL g dp `sl pst
/mL
|y|

The piston work area Ap , required in the above equations, is equal to:
Ap = d2p

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VALVE MODEL EXPANSION

A value for the damping coefficient is difficult to determine for a cylinder

piston. It is well known from laboratory work, however, that a friction force
exists at the piston and rod seals. In the above equation the friction has
been modeled as a single value that incorporates piston diameter dp , seal
width `sl , load pressure p, and seal friction . The friction force always
opposes motion of the piston. Therefore, the direction of the friction force
must be corrected with the ratio of piston velocity over the absolute velocity
y/
|y|.

Values for the cylinder pressure p can be established with the use of the
continuity of flow principle. Flow continuity, as it applies to the cylinder,
includes flow into and out of the cylinder barrel volumes. Also, the influence
of fluid compressibility and the effect of moving parts must be included.
Flow continuity applied to cylinder volume below the piston may be written
as:
V
Qi = Ap y + p
e
The volume V is a variable and is expressed as:
V = Ap y + Vo
Where flow Qi is flow through the control valve and may be expressed as:
r
2
Qi = Cd Av
p p2

The continuity equation given above may be arranged as:

e
(Qi Ay)

V
This equation is integrated to establish a value of the cylinder pressure p
at any time during the solution. Working pressure in the system will at
all times develop to the necessary level required to accomplish the desired
output work. The function of the pressure-regulating valve, discussed in
Section 11.3, is to establish the maximum pressure that can be generated
in the system.
The model that has been defined provides the basic equations needed to
study the operation of the system. Study of the system allows the specific
design to be customized for its intended application.
p =

12.2.1

Example: Solution of Model

A solution for the general mathematical model developed in Section 12.2

follows with use of information listed in Tables 11.1 and 12.1. Every hydraulic system simulation must address specific goals. Equations and parameters must then be consistent with achieving the desired goals. The

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Chapter 12

Figure 12.3: Cylinder piston motion, y, vs. time.

Figure 12.4: Cylinder working pressure, p, vs. time.

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VALVE MODEL EXPANSION

mathematical models that result for a specific purpose may then be altered
to examine other effects as needed. Other specific information, needed for
the solution, is noted in the example.
Information regarding the operation of the pressure-regulating valve is
covered in Chapter 11. Figures 11.4 to 11.6 show the valve motion x and
internal valve pressures p1 and p2 . Figures 12.3 and 12.4 show the time
dependent information on the cylinder piston motion y and cylinder working
pressure p.
The type of mathematical model developed in this chapter can be solved
with a variety of computer software programs. Solution methods may require the use of mathematical modeling equations or they may allow a
graphical method. Graphical methods recognize the existence of the appropriate equations that are needed to describe the system. In general,
very little variation occurs in results with the use of different programs.
As noted in Section 11.3, the control valve for the cylinder begins to
open at time 0.035 s. Therefore, the cylinder piston begins to move upward
at that time. The load weight is resting on the cylinder piston at time 0;
therefore, the initial pressure in the cylinder is equal to the value of the
load weight divided by the piston area. As the piston begins to accelerate,
the cylinder pressure increases. As the cylinder piston approaches steady
state motion, the pressure approaches the initial static value.

12.3

AN ASSESSMENT OF MODELING

The successful design of a machine usually requires an iterative approach.

The primary purpose of the mathematical models that has been developed
in Chapters 11 and 12 is the ability to easily vary the system parameter
values. The machine can then be tailored to meet the need for which it is
intended.
Models can easily be expanded to include addition components and
circuit branches. As additional circuit branches are added, the manner in
which available pump flow is divided may be of importance to the solution.
Methods of determining flow division are discussed in Chapter 13. Dynamic
system effects may be analyzed in the same model with flow division details.

REFERENCES
1. Merritt, H. E., 1967, Hydraulic Control Systems, John Wiley & Sons,
New York, NY.
2. Blackburn, J. F., Reethof, G., and Shearer, J. L., 1960, Fluid Power
Control, The M.I.T. Press, Cambridge, MA.

2006 by Taylor & Francis Group, LLC