Capitolo 0. INTRODUCTION 3.1
Hydraulic system of a car
Valve
Limited Slip Differential Actuator
Insertion Actuators
Tank Power Unit
DC Motor
Accumulator
Pump
Clutch Actuator Geab-box Actuator
Tube Tube
Tube
Tube Valves
Selection
Valves Insertion
Clutch Valve
Filter
Selection Actuators
ωM
Va
Ia
Ql
Qs
Qi
R
R R
R
R
Ec
xc
Pd
Pd
Pc
Qc
Cc
xd
JM
JP
QP
Cc
Qc
Qc
Qv
Qa
Q P
Q1 P1
Qu
Qd
Qri
Qrc
Qrs
Qrd
Vl
Pl
Pl
Pl
Pl
Pl
bM, bP
V0
md
mc
bc, b bdc, bd
αP
Qα
Ei1,Ei2
Es1,Es2,Es3
Ed
The system which provides hydraulic power to a car is essentially composed by an electric motor, a gear hydraulic pump, an hydraulic accumulator and some electric valves controlling the power flowing toward the loads (clutch actuator, differential actuator, selection actuator, insertion actuator, etc.).
Zanasi Roberto - System Theory. A.A. 2015/2016
Capitolo 3. DYNAMIC MODELING 3.2
Ia
Va
-
1 Las+Ra
6
6
-
EM
KM -KM-CM
-
1 (JP+JM)s+bP+bM
?
?
ωM
-
bcMsgnωM
6
6
- --KP-
QP
KP
CP
Qu
Qα
αr
?
?
- -
R
?
-
-
6
1 s
6
V0
6 6
K0 (V0−Vl)γ
-
Vl
Pl
Ql
DC Motor Pump Accumulator
Pl
Ql
- -
Ai
?
?
Qa
1−sgn(Ec) 2 1+sgn(Ec)
2
′
−Qrc
Qv
1−sgn(Ec) 2 1+sgn(Ec)
2
Pl
R -
KvE2c√∆Pv
?
?
Qv
-
-
1 s Ct1
6
6
P
-
-
1 s Lt1
?
?
-
Rt1
6
6
- -
Pv . . .
Qv . . . Other
Actuators
Clutch Valve Hydraulic Tube
∆Pv
Ec
6
Rt2
6
6
- -
. . . . . .
Clutch Hydraulic Tube
-
1 Ccs
6
6
Pc
-
Qc
Ac -Ac -Fc
-
1 mcs+b
?
?
˙xc
-
bcsgn( ˙xc)
6
6
- -
-
6
1 s
6
K(xc)
6
Fc
-
xc
0
POG bock scheme of the following physical elements:
• Electric motor (inductance La, resistance Ra, torque constant KM, inertia JM and linear friction coefficient bM).
• Hydraulic pump (gain KP, liking and friction coefficients αr and bcM)
• Accumulatore idraulico (volume a vuoto V0, costante elastica del gas K0)
• Hydraulic circuit controlling the clutch: electric valve, hydraulic tube, hy- draulic capacitance Cc, mass mc, piston section Ac, piston friction bc, cup spring K(xc).
Zanasi Roberto - System Theory. A.A. 2015/2016