design of hydraulic valveless control actuation system a thesis submitted to the graduate school of

171 Pages·2016·4.23 MB·English

by  Can Karabulut

DESIGN OF HYDRAULIC VALVELESS CONTROL ACTUATION SYSTEM

A THESIS SUBMITTED TO
THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES
OF
MIDDLE EAST TECHNICAL UNIVERSITY

BY

MEHMET CAN KARABULUT

IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR
THE DEGREE OF MASTER OF SCIENCE
IN
MECHANICAL ENGINEERING

APRIL 2016

Approval of the thesis:

DESIGN OF HYDRAULIC VALVELESS CONTROL ACTUATION
SYSTEM

submitted by MEHMET CAN KARABULUT in partial fulfillment of the
requirements for the degree of Master of Science in Mechanical Engineering,
Middle East Technical University by,

Prof. Dr. Gülbin Dural Ünver _________________
Dean, Graduate School of Natural and Applied Sciences

Prof. Dr. Tuna Balkan _________________
Head of Department, Mechanical Engineering

Prof. Dr. Tuna Balkan _________________
Supervisor, Mechanical Engineering Dept., METU

Examining Committee Members

Prof. Dr. Y. Samim Ünlüsoy _________________
Mechanical Engineering Dept., METU

Prof. Dr. Tuna Balkan _________________
Mechanical Engineering Dept., METU

Prof. Dr. Metin Akkök _________________
Mechanical Engineering Dept., METU

Assoc. Prof. Dr. Yiğit Yazıcıoğlu _________________
Mechanical Engineering Dept., METU

Assoc. Prof. Dr. S. Çağlar Başlamışlı _________________
Mechanical Engineering Dept., Hacettepe University

Date: 27.04.2016
I hereby declare that all information in this document has been obtained and
presented in accordance with academic rules and ethical conduct. I also
declare that, as required by these rules and conduct, I have fully cited and
referenced all material and results that are not original to this work.

Name, Last name : Mehmet Can
KARABULUT
Signature :
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ABSTRACT
DESIGN OF HYDRAULIC VALVELESS CONTROL ACTUATION SYSTEM

Karabulut, Mehmet Can
M.S., Department of Mechanical Engineering
Supervisor: Prof. Dr. Tuna Balkan

April 2016, 147 Pages

In this thesis study, a pump controlled hydraulic control actuation system is
investigated and a system is designed by using the performance criteria of the
available conventional valve controlled hydraulic control actuator. A prototype
actuator and load system is manufactured and tested.
In order to understand dynamic behavior of the system, a simulation is performed
in MATLAB Simulink® environment. Sub-systems and components of the
system are tested to identify their parameters which are not supplied by
manufacturer data sheets as well as friction characteristics of the actuator.
By conducting open loop and closed loop step response and closed loop frequency
response tests, the dynamic performance of the system is examined. Furthermore,
to observe performance of the system under operational conditions, an inertia is
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attached to the system and tests are repeated under inertial load. Then, with an
auxiliary electric motor, an external load scenario is applied and performance of
the system is evaluated.
Real time tests and data acquisition are carried out by using the LabVIEW®
software.

Keywords: Fluid Power Control, Control Actuation System, Electro-Hydrostatic
Actuator

vi
ÖZ
HİDROLİK VALFSİZ KONTROL TAHRİK SİSTEMİ TASARIMI

Karabulut, Mehmet Can
Yüksek Lisans, Makina Mühendisliği Bölümü
Tez Yöneticisi: Prof. Dr. Tuna Balkan

Nisan 2016, 147 Sayfa

Bu tez çalışması kapsamında pompa denetimli hidrolik kontrol eyleyici sistemi
incelenmiş ve geleneksel valf denetimli bir hidrolik kontrol eyleyicisinin
performans isterleri temel alınarak sistem tasarımı yapılmıştır. Prototip olarak bir
eyleyici ve yükleme sistemi üretilmiş ve test edilmiştir.
Sistemin dinamik davranışlarını anlamak üzere MATLAB Simulink® ortamında
benzetim çalışması yapılmıştır. Ürün bilgi kataloglarında sunulmayan
parametreleri elde etmek için kompleyi oluşturan alt parçalar seviyesinde testler
gerçekleştirilmiştir. Eyleyici komplesi seviyesinde gerçekleştirilen sistem
tanılama testleriyle de kompleye ait sürtünme karakteristiği çıkartılmıştır.
Sistemin dinamik başarımını görmek üzere açık döngü ve kapalı döngü basamak
girdi ve kapalı döngü frekans tepkisi testleri yapılarak incelenmiştir. Bunlara ilave
olarak, sistemin çalışma koşullarındaki başarımını görmek adına sisteme bir atalet
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yükü eklenmiş ve testler tekrarlanmıştır. Harici bir sistem ile yükleme test
senaryosu gerçekleştirilmiş ve sistem performansı değerlendirilmiştir.
Gerçek zamanlı testler ve veri toplama çalışmaları LabVIEW® yazılımı
kullanılarak gerçekleştirilmiştir.

Anahtar Kelimeler: Akışkan Gücü Kontrolü, Kontrol Tahrik Sistemi, Elektro-
Hidrostatik Eyleyici

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to my family…

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ACKNOWLEDGMENTS
I would like to express my sincere gratitude to my supervisor Prof. Tuna Balkan
for his supervision, guidance, advice and help he provided throughout this study.
I would like to thank to my manager, my colleagues and friends who contributed
this thesis by their understanding, patience and encouragement. I also thank to
Okan Eyyüpoğlu who is always ready to help. I wish to express my appreciation
to ROKETSAN Inc. for all facilities provided.
Mostly, I am grateful to my parents Hayriye and Erol and my dear sister Dilsun
for their love, confidence and encouragement they provided me not only
throughout this thesis but throughout my life.
Finally, I would like to present my deepest thanks to my lovely Nesli, for her love,
invaluable support and understanding.

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