Hydraulic Actuators 1

Actuators

An actuator is used to convert the energy of the fluid back into mechanical power.

Basic Types of Hydraulic Actuator
1- Linear: Cylinder
2- Semi rotary: Limited angle of movement
3- Continuous rotary: Motor

Hydraulic Cylinders
Types:
1- Displacement (Simple, Telescopic) 2- Single acting 3- Double acting







In displacement cylinder, the volume of the rod leaving is equal to the volume of fluid
entering the tube, hence the name displacement cylinder. It is used as a jack.
The bore of the displacement cylinder does not require machining other than the neck
bearing and the inlet port, the manufacturing cost is therefore low.
Telescopic cylinders are used when a long stroke is required and the length available for
installation is limited. A typical application is the tipping gear of a lorry.
For double acting cylinder:
Full bore area A, Annulus area (A-a), a is the piston rod area, P
1
and P
2
are the pressure at
inlet and outlet ports respectively.

Piston in extending:
Velocity v
E
=Q
E
/A=q
E
/(A-a)
Where q
E
=Q
E
(A-a)/A
Net Thrust F
E
=P
1
A-P
2
(A-a)
Piston in retracting:
Velocity v
R
= q
R
/(A-a)= Q
R
/A
Where Q
R
=q
R
A/(A-a)
F
R
= P
2
(A-a)- P
1
A

Hydraulic Actuators 2
Regenerative Circuits


Extension:
Q
in
=Q+q
Velocity v
E
=Q/a
Thrust F
E
=P*a

Retraction:
Q
in
=Q
Velocity v
R
=Q/(A-a)
Thrust F
R
=P*(A-a)




Standard Metric Cylinders




Acceleration and deceleration

u initial velocity
v after time t
s distance moved during time t
a acceleration during time t

v= u+ at
v
2
= u
2
+ 2as
s= ut+ 1/2* at
2

s= 1/2*(u+v)/t
Force=Mass * acceleration= (W/g)* a


Load Deceleration Cylinder Cushioning





Hydraulic Actuators 3
Cylinder maximum speeds

Uncushioned cylinder 8 m/min
Cushioned cylinder 12 m/min
Exteral cushioned cylinder 30 m/min




Buckling of Cylinders

Buckling load K=
2
J/L
2

E Youngs modulus, for steel E=20*10
10
N/m
2
J Second moment of inertia (m
4
)
L free equivalent length (m)
The maximum safe working thrust or load F on the piston rod is given by:

F=K/S
where S is the factor of safety which is usually taken as 3.5.

Hydraulic Actuators 4




Hydraulic Actuators 5
Semi rotary actuators: Limited angle of movement






Hydraulic Actuators 6






Hydraulic Motors
Gear motors
Vane motors
Cam rotor motor
Piston type motor: Axial piston motors, radial piston motors


Hydraulic Actuators 7

External Gear type motor




Hydraulic Actuators 8
Hydraulic motor circuits

Open loop: All the fluid discharged by the motor returns to the oil reservoir
Closed loop: Most of the fluid from the motor is returned to the pump inlet

Open loop circuits




Definition
n speed (rev/min), D swept volume per revolution, Subscript m motor, Subscript
p pump

Motor speed: n
m
= n
p*
D
p
/D
m
Work done W=Torque T*2= D
m*
p
m
Motor Torque: T
m
=D
m*
p
m
/2
Motor power: P
m
=T
m
*n
m
=D
m*
p
m
*n
m
/2

Hydraulic motor efficiencies

Actual Q
m
=D
m
*n
m
/
m

v
Actual T
m
=
m

t
* D
m
*p
m
/2
Actual P
m
=

Q
m
*p
m
*
m

o
m

o= m

v* m

t


p
m
: motor pressure, P
m
motor powe, n
m
: motor speed (rpm), T
m:
motor torque

Hydraulic Actuators 9