TMMS04 Mechatronics (HT2013) 09 Pneumatics. Introduction to Pneumatics. Magnus Sethson Friday, October 18, 13, (W)

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1 TMMS04 Mechatronics (HT2013) 09 Pneumatics Introduction to Pneumatics Magnus Sethson 1 1

2 Pneumatic Example Applications 2

3 Pneumatics Moving things with air 3 3

4 Popular Pneumatic Systems Hesa Fredrik 4 4

5 Some History 5 5

6 The Pneumatic Tunnel under Broadway, NY 6 6

7 Vehicle Pneumatic Systems 7 7

8 Air for Drilling 8 8

9 Pneumatics in Health Care 9 9

10 Source: Pneumatic Hand Tools 10 10

11 Compressed Gas, Production, Distribution and Consumers 11 11

12 Rodless Pneumatic Cylinder (FESTO) Blue Pipe connectors Pneumatic Valve Systems (SMC) Pneumatic Treatment System (Rexroth) The modular Worlds of Pneumatic Components 12 12

13 13 13

14 14 14

15 Thermal Processes (Quasi-Equilibrium Processes) 15 15

16 Thermal Processes p V n = C n = 0 : isobaric n = 1 : isothermal n = 1 : isochoric n = : adiabatic Brownian Motion 16 16

17 Compressors 17 17

18 Compressor 18 18

19 Multi-Stage Compressor 19 19

20 Screw Compressor 20 20

21 Thermal System Efficiency η e/c = W t,full-pres expan / W t,isentropic comp T 3 = T 1 n = 1,01 (isothermal compression) n = 1,4 n = 1,

22 Total System Efficiency El-motor efficiency: η em = 0,92, Mechanical system efficiency: η m,s = 0,80, Volumetric eff. single-stage piston comp: η v,c 22 22

23 Distribution 23 23

24 Blue Tubing <10bar 24 24

25 Air Treatment System Oil-free Dry Right temperature No particles Gas monitoring 25 25

26 Actuators 26 26

27 Cylinders 27 27

28 Motors 28 28

29 Pneumatic Muscle Pneumatic Muscle 29 29

30 Saefty 30 30

31 Certification (Sweden) Akrediterat Kontrolorgan Akrediterat Kontrolorgan Akrediterat Kontrolorgan Tryckkärlsdirektivet: PED, 97/23/EC (AFS 1999:4) Tillverkare av tryckbärande anordningar Enkla tryckkärl: AFS 1994:53 (SPVD, 2009/105/EC) Tillverkare av enklare trykbehållare Användning: AFS 2002:1 Brukarens krav på tillsyn och underhåll Rörledningar: AFS 2005:2 Tillverkare av rörledningar Besiktning: AFS 2005:3 Besiktning av trycksatta anordningar 31 31

32 Orifice & Volumes 32 32

33 Gas Volumes Pressure Vessels (Energy storage) Cylinders (Linear motion) Dampers (Motion retardation) Accumulators (Pressure ripple cancelation) Emergency Energy Storage (Long term readiness) 33 33

34 No volumes without orifices! P 1 const m 1 const T 1 const P 2 const Example of pneumatics system with many orifices. US Patent

35 Industrial Pneumatic Valves CETOP Standard Examples: Ref: Bosch Rexroth AG, 5/2 Valve, Series HF02 Ref: SMC Inc. 2/2 Valve, Series VCA 35 35

Orifice Assumptions Mass balance: ṁ = A 1 w 1 1 = A 2 w 2 2 Energy balance: Z 2 1 Vdp= mw 2 2 2 mw 1 2 2 w 1 0 Adiabatic: p 1 v 1 = p 2 v 2 v = V m Ideal

36 Orifice Assumptions Mass balance: ṁ = A 1 w 1 1 = A 2 w 2 2 Energy balance: Z 2 1 Vdp= mw mw w 1 0 Adiabatic: p 1 v 1 = p 2 v 2 v = V m Ideal Gas: p 1 v 1 = RT 1 P 1 const m 1 const T 1 const P2 const Ref: Peter Beater, Pneumatic Drives, System Design, Modelling and Control, Springer Verlag,

37 Subsonic Orifice Flow Function 0.5 ṁ p 1 p Ψ 0.2 Max at (0.528,0.484) ṁ = A p2 p 1 p2 = p 1 v u t p 1 r 2 RT 1 1 " p2 p 1 2 p2 p # p 2 /p 1 Wantzel & St. Venant,

38 Critical Orifice Flow Function 0.5 ṁ p 1 p ṁ = A p2 p 1 = p2 p 1 8s >< >: r 2 p 1 RT 1 apple 2 p2 1 p 1 p2 p 1 +1 Chocked Flow for p 2 p 1 > q for p 2 p 1 apple Ψ Subsonic Flow p 2 /p 1 Perry,

Approximative Orifice Flow ṁ p 1 p 2 ṁ = p 1 C 0 r T0 T 1 Sanville, 1971 8s >< 1 >: p2 p 1 1 b b 2 for p 2 p 1 >b 1 for p 2 p 1 apple b ISO 6358 www.iso.

39 Approximative Orifice Flow ṁ p 1 p 2 ṁ = p 1 C 0 r T0 T 1 Sanville, s >< 1 >: p2 p 1 1 b b 2 for p 2 p 1 >b 1 for p 2 p 1 apple b ISO Reference conditions: Temperature,T 0 = K Pressure,p 0 = 100kPa Gas constant,r 0 = 288J/(kg K ) Relative humidity = 65% Density, 0 =1.185kg/m 3 Approximation motives: + Non-rounded edge orifice + Unknown inlet velocity conditions + Standardized parameter description + Generality 39 39

Pneumatic Valves Characterized by: b, C, Q n Examples: MO - rate value time time C 24 V 368 1400 13 40 0820056051 24 V 368 1400 13 0820056501 24 V 368 1400 19 30 0820056001 Model VCA (for air) 2 port

40 Pneumatic Valves Characterized by: b, C, Q n Examples: MO - rate value time time C 24 V V V Model VCA (for air) 2 port solenoid valve Class Port size /4 (8A) 1/4 ( 8A) 3/8 (10A) 3/8 (10A) 1/2 (15A) 3/4 (20A) Orifice size (mmø) Max. operating pressure differential(mpa) Note 1) Weight values are for the grommet type. Flow characteristics C [dm 3 /(s< bar)] b Cv Max.operating pressure (MPa) (1) Weight (kg) Ref: Bosch Rexroth AG, 5/2 Valve, Series HF02 Ref: SMC Inc. 2/2 Valve, Series VCA 40 40

41 The Valve & The Volume p 1,T 1 p 3,T 3 V,p v,t v A 12,b 12,C 12 A 23,b 23,C

The Volume First Law of Thermodynamics: Internal Energy: du = Q p V U = mc v T T 1 = T 2 = T 3 = T a V =0 Mass Transport: ṁ = ṁ in ṁ out Energy Transport (Enthalpy): dh = ṁ in c p T in ṁ

42 The Volume First Law of Thermodynamics: Internal Energy: du = Q p V U = mc v T T 1 = T 2 = T 3 = T a V =0 Mass Transport: ṁ = ṁ in ṁ out Energy Transport (Enthalpy): dh = ṁ in c p T in ṁ out c p T out Ideal Gas: pv = mrt p 1,T 1 p 3,T 3 V,p v,t v A 12,b 12,C 12 A 23,b 23,C 23 Ref: Peter Beater, Pneumatic Drives, System Design, Modelling and Control, Springer Verlag,

43 Timing Adjustment ṁ p 1 p 2 ṁ = p 1 C 0 r T0 T 1 Sanvill 8s >< 1 >: p2 p 1 1 b b 2 for p 2 p 1 >b 1 for p 2 p 1 apple b Ψ Chocked Flow Subsonic Flow p 2 /p

44 Industrial Valves 44 44

45 Fyllning av volym Tömning av volym Diagrammen nedan visar p v som funktion av dimensionslös tid τ = A 23 A 12 som parameter. RT A12 t med areaförhållandet V Diagrammen nedan visar p v som funktion av dimensionslös tid τ = A 12 A 23 som parameter. RT A23 t med areaförhållandet V 0,6 A 23 /A 12 = 0,0 0,6 A 12 p 1 T 1 p v A 23 p V 3 T v (a) Nedströmstrycket p 3 =0,1 MPaabsolut. T 3 Tryck pv [MPA absolut] 0,5 0,4 0,3 0,2 0,1 0,5 1,0 1,5 2,0 A 12 p 1 T 1 p v A 23 p V 3 T v (a) Nedströmstrycket p 3 =0,1 MPaabsolut. T 3 Tryck pv [MPA absolut] 0,5 0,4 0,3 0,2 0,1 A 12 /A 23 = 1,0 0,8 0,6 0,4 0,2 0,0 0,0 0,0 0,5 1,0 1,5 tao [-] 2,0 2,5 0,0 0,0 1,0 2,0 3,0 tao [-] 4,0 5,0 (b) Uppströmstrycket p 1 =0,6 MPa(absolut) (b) Uppströmstrycket p 1 =0,6 MPa(absolut) Tryck pv [MPA absolut] 1,1 1,0 0,9 0,8 0,7 0,6 0,5 0,4 0,3 A 23 /A 12 = 0,0 0,5 1,0 1,5 2,0 Tryck pv [MPA absolut] 2,2 2,0 1,8 1,6 1,4 1,2 1,0 0,8 0,6 A 23 /A 12 = 0,0 0,5 1,0 1,5 2,0 Tryck pv [MPA absolut] 1,1 1,0 0,9 0,8 0,7 0,6 0,5 0,4 0,3 A 12 /A 23 = 1,0 0,8 0,6 0,4 0,2 Tryck pv [MPA absolut] 2,2 2,0 1,8 1,6 1,4 1,2 1,0 0,8 0,6 A 12 /A 23 = 1,0 0,8 0,6 0,4 0,2 0,2 0,1 0,4 0,2 0,2 0,1 0,0 0,4 0,2 0,0 0,0 0,0 0,5 1,0 1,5 tao [-] 2,0 2,5 0,0 0,0 0,5 1,0 1,5 tao [-] 2,0 2,5 0,0 0,0 1,0 2,0 3,0 tao [-] 4,0 5,0 0,0 0,0 1,0 2,0 3,0 tao [-] 4,0 5,0 (c) Uppströmstrycket p 1 =1,1 MPa(absolut) (d) Uppströmstrycket p 1 =2,1 MPa(absolut) (c) Uppströmstrycket p 1 =1,1 MPa(absolut) (d) Uppströmstrycket p 1 =2,1 MPa(absolut) Ref: FluMeS Formelsamling 45

46 CETOP 46 46

47 Drawing Symbols Standard Examples 47 47

48 Diagram Example 48 48

49 Example 49 49

50 Diagram Example 50 50

51 Selecting Cylinder & Valve (Example) 51 51

52 Products The Bosch/Rexroth Homepage 52 52

53 Pneumatic Power Ideal gas: p V Normal -effekt: m R T V q N = normalflöde, [m 3 /s] (NTP) p 0 = 1,0 bar och 0 = 1,23 kg/m 3 0 m Gaskonst. R = 287 J/(kg K) P N m1 R T 1 q 1 p1 Konstant temperatur, T 1 = T 0 = 293 K, ger effekten: 1 p m 1 1 m1 R T1 1 P N q N p

54 Pneumatic Cylinder Cushioning C 1, b 1 1 Cyl. A 0 A 1 A 2 Cyl. A a 0 p 1 p 2 v + ) ( ) ( ) ( C 2, b 2 Väg/Tid-diagram v - C 3, b 3 a 1 Antag att de ventilstrypningar som genomströmmas av cylinderns returflöde (utloppsstrypningar) bestämmer max kolvhastighet för båda rörelseriktningarna. Antag att strypningarnas konduktanser är lika: C 1 = C 2 = C 3 = C Vid plus-slaget finns två seriekopplade utloppsstrypningar med konduktanserna C 2 = C 3 = C, vilket ger v max C p A 23 2 a C p a 1/3 2 A2 För minus-slaget gäller en utloppsstrypning med konduktanserna C 1 = C, vilket ger v max C1 p A 1 a C p A 1 a v max v max 54 54

55 55 55

56 Select from Series 589 5/2 Valve 56 56

57 57 57

58 Magnus Sethson 58 58

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