Introduction to Electro-hydraulic

Proportional and Servo Valves

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartrdige Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.

D*FWs, D*FTs

D*FXs

D*FP
D*FHs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

Open Loop Control

Low End Closed

Loop Position

Meter Out Circuit

P to A
B to T

Free flow into the cap end

Metered Flow out the head
end.

Meter Out Circuit

P to B
A to T

Free flow into the cap end

Metered Flow out the head
end.

Electrohydraulic Valves

P to A
B to T
T

Shift Spool slightly to create

metering Orifice

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartridge Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.

D*FWs, D*FTs

D*FXs

D*FP
D*FHs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

Open Loop Control

Low End Closed

Loop Position

Sectional Valves
VPL Series

C2

C1

Limiter

Compensator

Sectional Valves
VPL Series
Pulsar
Solenoid

Cyl. Relief

Anti-Cav. Check

C1
Pressure
Limiter

Manual
Override

Flow
Limiters
Optional
L.S. Port
8

Individual
Compensator

C2
Pressure
Limiter

Sectional Valves
VPL Series (C1 Energized)

VPL Main Spool

8 Flow Rates (1.3, 2.5, 4, 7, 11, 17, 24, 30 GPM)
OCM
VOC
CC

Spool

Meter-In Lands

Marking
Ex. 524

Centering Spring
200 or 350 PSI

Meter-Out Lands

Detent & Friction-Lock also Available

10

Regenative
Options

Compensation, VPL
Series
Pressure compensation maintains a constant flow
regardless of pump pressure, load pressure, or any other
load in the system
This means when running multiple sections at the same
time, there will be no change in speed

Standard Spool / Springs for

complete flow range

11

VPL Compensator
Components

3 Sizes
of Shims
(.003 .008 .025)

12

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartridge Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.

D*FWs, D*FTs

D*FXs

D*FP
D*FHs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

13

Open Loop Control

Low End Closed

Loop Position

How does it Work?

(No Spool Feedback)

Integrated Electronics
(PWD Amplifier)
Solenoid B

Solenoid A

Command Signal based upon a % of Maximum. Typically 0 to +/- 10 VDC.

Amplifier converts Voltage (Command) into proportional Current (Typically
0..2.1 Amps).
Variable DC current into solenoid assembly produces Electromagnetic Force,
proportional to current applied.
By matching Opposition Spring Force to Solenoid Force, Proportional Spool
Movement is obtained.
14

How does it Work?

Proportional Solenoid Construction
Frame
Winding

Plunger
(armature)
Push pin

15

How does it Work?

Solenoid Operation

.5 VDC 50%
.

16

Proportional Valve Spool

Designs

V-Notch Spool

C-Notch Spool

17

FLOW AREA %

Proportional Valve Spool

Designs
P-A-B-T = 145 PSI

100
90
80
70
60
50
40
30
20
10
0

FLOW AREA %

40
60
SPOOL SHIFT, %

100

100

P-A-B-T = 145 PSI

100
90
80
70
60
50
40
30
20
10
0
0

18

20

20

40
60
SPOOL SHIFT, %

V-Notch - Bleed Center

bleed notch

primary
metering
notch

19

Proportional Valve Deadband

Ps

A
20

Positive Overlap + Spring Force

+ Q

+ I
Mechanical Spool
Overlap (Deadband)

21

Deadband Eliminator
100 K
100 K

100 K

Vin

100 K

+
+s

+ DBE
100 K

DBE
+ VCC
22

VCC

100 K

Vout

Deadband Compensation
+ Q

+ I
Deadband
Compensation

23

Deadband Compensation
+ Q

+ I
Deadband Over
Compensated

24

Valve Drivers (Open Loop) On Board

Integrated Electronics

25

Valve Drivers (Open Loop) On Board

Integrated Electronics (Pot adjustments)
Ramp Pots

Max Pots

MIN Pots
26

Valve Drivers (Open Loop) On Board

Integrated Electronics (PC Adjustments)
Digital Onboard Electronics

D1FB*0 OBE

27

Deadband Eliminator P to A flow Path

Ps

A
28

Deadband Eliminator (P to B flow Path)

Ps

A
29

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartrdige Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.
DF**, ERVs

D*FWs, D*FTs

D*FXs

D*FH
D*FMs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

30

Open Loop Control

Low End Closed

Loop Position

Spool Feedback, How does it Work?

Spool Position LVDT

Integrated Electronics
(PWD Amplifier)

Solenoid B
Solenoid A

Same basic operation as non-feedback valves, but

outcome is measured and corrected to match desired
result.
Closing the Loop.

31

Spool Feedback Device

Linear Variable Differential Transformer
Input
V DC

Oscillator

Primary

Spool
Core

Secondary

Output
V DC

Demodulator
32

Secondary

L.V.D.T.s

33

Spool Feedback Devices

(Electrical Schematic-Integrated
Electronics)
Disturbances
adj
CMD +

Error

FB LVDT

34

Internal Closed Loop

Force

u s

Command
Signal

Valve position feedback

35

Sample Application

36

Kv Sizing

37

Non-Symmetrical Spools

38

Sample Application, Number 2

39

Non-Symmetrical Spools
(P-A-B-T = 145 PSI)
10
7.5

Flow Rate, GPM

5
2.5
0
-10

-7.5

-5

-2.5
0
-2.5

2.5

-5
-7.5
-10
Valve Command, Volts

40

7.5

10

Common Procedure

The manufacturer can choose to take a

standard 10gpm valve with normally 4 notches
on each land and only cut two notches in the
land that will be connected to the small area of
the cylinder.
3 notches instead of 4
4 notches instead of 6
2 notches instead of 6

41

Non-symmetrical Spools

A
1.7 holes

.85holes

PS
1.7 holes

42

.85holes

Sample Application No. 2 with NonSymmetrical Spool

43

Flow Force Effects Proportional

Valves
Flow

44

Flow Force Performance

Operating Limits
Curves show Valve
Performance over
entire Pressure
Range

45

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartrdige Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.
DF**, ERVs

D*FWs, D*FTs

D*FXs

D*FH
D*FMs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

46

Open Loop Control

Low End Closed

Loop Position

VCDMilestone for High

Performance Valves
D1FP (NG6) valve as pilot valve for D*1FP
integrated drive
electronics
Voice Coil Drive VCD
valve body
spool-sleeve
assembly
spring assembly
fail-safe position
47

VCDMilestone for
High Performance Valves
Parker Voice Coil Drive (VCD) technology for
highest precision
integrated feedback
system

pushpin
48

carriage

coil

permanent
magnet

housing

VCDMilestone for High

Performance Valves
VCD principle, moved coil in magnetic field
-Fo

Fo

Fo = B . I . l

N S

B = magnetic flux density

I = electrical current
l = wire length (winding)

49

permanent magnet

non-magnetic material

winding

iron (magnetic)

VCDMilestone for High

Performance Valves
Characteristics of force in comparison
F[N]

F [N]

x [mm]

conventional solenoid
force dependent of stroke

50

x [mm]

Voice Coil Drive

force independent of stroke

Servo Solenoid/Voice Coil Valves

Line to Line Lap
Or Axis Cut

No Deadband

A
Sleeve
51

Ps

Housing

Spool and Sleeve Arrangement

52

Spool Lap Conditions

(Positive) Overlap

Zerolap

(Negative) Underlap

53

Spool Lap Conditions

(Positive) Overlap

Zerolap

U = 40%

U = 40%

U = 20%

U = 20%

U = 0%

U = 0%

54

Flow windows
Standard Symmetrical Laps

Knick Servo Cuts

55

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartrdige Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.
DF**, ERVs

D*FWs, D*FTs

D*FXs

D*FH
D*FMs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

56

Open Loop Control

Low End Closed

Loop Position

Servo Valve Double Flapper Design

Torque Motor

Spool & Sleeve

Assembly

57

Feedback Spring

Servo Valve Double Flapper Design

Armature
Frame

Coil

Coil

Flapper
Flexure Tube

Nozzle

58

Feedback Spring
and Ball/Ruby

Servo Valve - Principles of Operation

Valve at Null

P
R

59

Servo Valve - Principles of Operation

Valve With Current Applied
(+)

(-)

P
R

60

Flow Forces Not an Issue with Servo

Valves

61

Servo s Performances

62

Symbology
Proportional Valve with Spool
Feedback

Proportional Directional Valve

Servo Performance Proportional Valve

63

Servo Valve

Terminologies

64

Pressure Gain
40% pressure change
1% command change

80% rise

2% command

65

Hysteresis
Decreasing Flow
from Valve

100%
90%

% of Full Open Flow

80%
70%
60%

Hysteresis

50%
40%
Mechanical
Spool
Overlap: the
Deadband

30%
20%
10%

Increasing Flow
from Valve

0%
1

66

Input Signal

10

Repeatability
100%
90%
Increasing
Flow
Only

% of Full Open Flow

80%
70%
60%
50%

Repeatability

40%
30%
20%
10%
0%
1

67

Input Signal

10

Valve Frequency
Two methods: frequency response, step
response (well use frequency response)
Thru center

Bias or one sided

Q
CMD

CMD
offset
bias

68

Valve Frequency Response

0 Phase Lag
CMD

Valve

FB
90 Phase Lag

90 Phase Lag = cycle

The input frequency which creates a phase lag of 90 is the
defining characteristics of a valve and is referred to as
bandwidth
69

Frequency Response
To measure the response of a control
valve, a sinusoidal varying input signal is
applied, effectively switching the valve
from one working position to the other
At a very low frequency the valve is able
to follow the demand signal closely
As the frequency increases the valve
becomes less able to follow the input
signal precisely
70

Frequency Response
The output starts to lag behind the input,
then the valve is not able to reach the
maximum output position before the input
signal reverses
The lag between the input and output is
known as phase lag
The reduced output apparent at higher
frequencies is known as attenuation

71

Valve Frequency
Frequency response (sine wave) to make catalog data

72

Servo
Valves

Proportional Valves
Mobile bankable
Style, Threaded
Cartrdige Style

NFPA Mounting
Without Spool
Position
Feedback

NFPA Mounting
With Spool
Position
Feedback

Servo
Performance,
Closed Loop
Valves with Spool
Position Feedback

Servo Valves
With either
Mechanical or
Electrical
Feedback (spool
position).

Parker Models

Pulsar VP,
VPLs.
DF**, ERVs

D*FWs, D*FTs

D*FXs

D*FH
D*FMs
D*1FH

BDs
DYs
SEs

Mechanical
Construction
(spool shift)

Electro-Hydraulic
Pilot,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force,
Mechanical
(spring) Return

Electromagnetic
Force, Mechanical
(spring) Return

Torque Motor Pilot

Control
Balance PSI spool
Control

Hysteresis

3..7%

37%

0.03..1%

0.1.5%

0.1..0.5%

Frequency
Response

< 10 Hz

1050 Hz

10.70 Hz

50...150 Hz

100200 Hz

Center Lap
Condition

Overlap 520%

Zero Overlap

Zero Overlap

Operating
Pressures Limits
(Drop across
metering edge).

10002000 PSI

10003000 PSI

None

Closed Loop
Position & Force

Closed Loop
Position & Force

Applications

73

Open Loop Control

Low End Closed

Loop Position

Actuators
Rotary Motion
Position Control (Angle)
Velocity
Torque

Linear Motion
Position Control
Velocity
Force

74

Actuators Linear Feedback Types

Magnetostrictive (M.D.T.s)
Pulse is sent down waveguide, when
hits magnet, twist is sensed. Time
between pulse sent to twist measured
dictates distance.
Approximately 9 microseconds = 1

75

Actuators Linear Feedback Types

Magnetostrictive (M.D.T.s)
Analog Outputs
SSI Output

Digital Outputs

76

Valve Drivers and Motion Controllers

77

Valve Drivers (Open Loop) Off Board

Elec
Optional
Set point card

78

Converts Command Signal to

PWM signal to drive Coil.
Digital Versions (shown)
incorporate a microprocessor
with numeric settings.
Analog Versions incorporate
Trim pots for

Valve Drivers (Open Loop) Off Board

Elec

79

Valve Drivers (Closed Loop)

80

Valve Drivers (Closed Loop)

81

Motion Controllers
Actual
Position

Position
Error

Proportional
G ain

+
Accumulator
(Inte grator)

Targe t
Position

Error
(Diffe re ntiator)
Position
(Ve locity)

Targe t
G e ne rator

Command
Proce ssor
Ladde r
Logic

Ve locity
(Acce le ration)

Inte gral
G ain
Diffe re ntial
G ain
Fe e d
Forward
Acce l Fe e d
Forward

Position

De adband
Eliminator

RmcWin
PLC

Generate A Target Profile

82

Drive
O utput

Velocity

Velocity and Accel Feed Forward

Actual
Position

Position
Error

Proportional
G ain

+
Accumulator
(Inte grator)

Targe t
Position

Error

Target(Diffe
Velocity
re ntiator)

Target Position

Position
(Ve locity)

Targe t
G e ne rator

Ve locity
(Acce le ration)

Command
Proce ssor
Ladde r
Logic

Diffe re ntial
Velocity
G ain FFWD Drive

Drive
O utput

Fe e d
Forward
Acce l Fe e d
Forward
De adband
Eliminator

RmcWin

Target Acceleration

83

Inte gral
G ain

Accel FFWD Drive

DRIVE

Proportional Gain ONLY

0.625 Following Error

84

Feed Forward Adjust F Cmd

Correct drive for
constant velocity
portion of move.

85

Position Error during

Accel/Decel
Brake
Accel FFWD corrects for
error during Accel/Decel

Boost

86

Proper Velocity and Accel Feed

forwards.

87

Real Time Plot Data

Actual
Velocity
Actual
Position

Voltage to
Servo Valve

88

Closed Loop Position System

Control Drive
Signal from the
Motion Control
Module
Metal Tubing

Valve
Manifold

Magnet
MDT

Position
Transducers

Pump
Reservoir

89

Principle of Operation Force Balance

90

Balanced Force

Fa=Pa*Area a

91

Fb=Pb*Area b

Principle of operation (cont)

Valve null = net

forces across
cylinder equal
zero

92

Closed Loop Force Control

Control Drive
Signal from the
Motion Control
Module
Metal Tubing

Valve
Manifold

Magnet
MDT

Differential
Pressure
Transducers
Pump
Reservoir

93

or

Load Cell

Balanced Force

Fa=Pa*Area a

94

Fb=Pb*Area b

Force Control
Decompression
Start Force Control

Increased Force
With different
Ramp Rate
In Position Control

Maintained
Force for X
amount of Time

95

Back into
Position Control

Thank you!

96