MPS 30 – Aircraft Systems

Hydraulic System:
Hydraulic Fluid
Practice on Hopsan

Emilia Villani
HOPSAN

Simulation Graphical
parameters display

Simulation
button

Workspace
Components
Library

Message Terminal

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HOPSAN - Modelling principles

▪ Modelling dynamic systems in HOPSAN:

The energy exchanged

among the components
defines the system
behaviour
Flow of energy
(dE/dt) or power

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HOPSAN - Modelling principles

▪ The power exchanged through a port, i.e. a connection between two

components, is defined by two variables:
❑ Effort variable: e(t)
❑ Flow variable: f(t)

Domain Effort Flow

Mechanical (linear) Force Velocity
Mechanical (rotational) Torque Angular velocity
Hydraulic Pressure Flow rate
Electric Voltage Current

e(t) = F(t)

f(t) = v(t)

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HOPSAN - Modelling principles

▪ Types of component:
f(t) f(t)
❑ C component: C-type
C C
– Input: f(t) e(t) component e(t)

– Output: e(t)
❑ Q component: e(t) e(t)
Q-type
– Input: e(t) Q Q
f(t) component f(t)
– Output: f(t)

F = M . dv/dt F(t) F=K.x

Q C
v = 1/M . ∫ F F=K.∫v
v(t)
Output Input Output Input

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HOPSAN - Example

▪ Add the following components from the Mechanic/Linear library to the

workspace:
❑ Force source, translational mass, spring, fixed position attachment;
❑ Connect the components.

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HOPSAN - Example

▪ Set the following parameters by double clicking on the corresponding

component:
❑ Mass = 10 kg; ❑ Viscous friction = 0 N.s/m;
❑ Force = 10 N; ❑ Spring constant = 100 N/m;

▪ Set the simulation step to 0.0001 and run the simulation:

Start time Step End time RUN

▪ Click on the plot button,

then double click on the
mass displacement:
PLOT

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HOPSAN - Example

▪ Mass displacement:

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HOPSAN - Example

▪ Set the mass viscous friction to 10 N.s/m.

▪ Add a position transducer and a scope to easily check the displacement.
▪ Define the force as a ramp with the following profile:

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HOPSAN - Example

▪ Run the simulation and check the result in the scope.

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Review of Hydraulic Fluid Lesson

Volumetric compressibility module Viscosity as damping

Bulk module
𝐷. 𝐿. 𝜋
𝐹 = 𝜇. . 𝑥ሶ = 𝑏. 𝑥ሶ
𝜕𝑃 𝜕𝑃 𝐶𝑟
𝛽 = 𝜌0 . = −𝑉0 .
𝜕𝜌 𝑇
𝜕𝑉 𝑇

Conservation of mass Flow through orifice

𝑉 𝑑𝑃 𝑑𝑉
෍ 𝑄𝑖𝑛 − ෍ 𝑄𝑜𝑢𝑡 = . + 2
𝛽 𝑑𝑡 𝑑𝑡 𝑄 = 𝐶𝑑 . 𝐴0 . . ∆𝑃
𝜌

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Assignment 1 – Exercise 1.A

▪ Consider a restriction of area 0.1 cm2 and coefficient Cd = 0.67, the pipeline
is filled with oil of density 890 kg/m³ and subjected to a pressure of 0.4
MPa upstream, and a downstream variable pressure, as shown in the
graph below.
Pressure
0.6 MPa

0.2 MPa

3s time

❑ What is the expected flow profile for the pipe?

❑ If the hydraulic fluid is replaced by one with a density of 1200 kg/m³, what will
be the effect on the system?

Draw a draft in white paper.

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Assignment 1 – Exercise 2.A
▪ Consider a pipeline with a volume of 0.01 m³ and an initial pressure of 0.1
MPa, working with hydraulic fluid of bulk modulus b = 1e9 Pa. From a
certain instant (t=0), the pipe starts to receive an inlet flow of 0.003 m³/s
and provides an output flow with the following profile:
Flow rate
2s 6s
time
-0.001 m3/s

-0.004 m3/s

❑ What is the expected pressure profile in the pipe?

❑ If the hydraulic fluid is replaced by another one with a bulk modulus b = 0.7e9
Pa, what will be the effect on the system?

Draw a draft in white paper.

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Assignment 1 – Exercise 1.B

▪ Consider a restriction of area 0.1 cm2 and coefficient Cd = 0.67, the pipeline
is filled with oil of density 890 kg/m³ and subjected to a pressure of 0.4 MPa
upstream, and a downstream variable pressure, as shown in the graph
below.
pressure
0.6 MPa Simulation time: 6s
Step: 0.001
0.2 MPa

3s time

❑ Build a model in HOPSAN, using the "turbulent orifice" to model the constraint.
❑ Copy your model and set the oil density of the copy to 1200 kg/m³ density.
❑ Compare the flow profile of both cases with your previous expectation.

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Assignment 1 – Exercise 2.B

▪ Consider a pipeline with a volume of 0.01 m³ and an initial pressure of 0.1

MPa, working with hydraulic fluid of bulk modulus b = 1e9 Pa. From a
certain instant (t=0), the pipe starts to receive an inlet flow of 0.003 m³/s
and provides an output flow with the following profile:
flow rate
2s 6s
time
-0.001 m3/s
Simulation time: 6s
Step: 0.001
-0.004 m3/s

❑ Build a model in HOPSAN, using the “hydraulic volume" component.

❑ Copy your model and set the bulk modulus of the copy to b = 0.7e9 Pa.
❑ Compare the pressure profile of both cases with your previous expectation.

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Assignment 1 (Exercises 1 and 2)

▪ For Exercise 1 and Exercise 2:

❑ Organize in a single PDF document:
– Names of the team members;
– Expected output;
– HOPSAN model;
– HOPSAN output;
– Comments about the differences (if any) between what you expected as
output and what you obtained in HOPSAN.
❑ Deliver your assignment using Google Classroom.

Deadline: 21/08/2023 Individual

assignment

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Assignment 1 – Exercise 3.A

▪ Consider the system below with the following characteristics: actuator

mass of 0.5 kg, 1 m piston stroke, 0.01 m² piston areas, 0.1 m³ pipe
volume, bulk modulus of oil b = 1e9 Pa. The system is subjected to the
following input flow: flow rate

M 0.01 m3/s

PR
pipe
0.5s time

Q
❑ What do you expect as piston displacement?
Draw a
draft in
❑ If you modify the bulk modulus of the fluid to b = 1e7 Pa, what is the
expected effect on the system? white
❑ If you introduce the effect of the viscosity on the actuator (viscosity paper.
coefficient of 10 N.s/m), what is the expected effect on the system?

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Assignment 1 – Exercise 4.A

▪ A double acting piston is retracted under the action of an external load F =

18,000 N, at a constant speed. The pump provides a constant pressure P0 =
200 bar = 20 MPa. The area of the piston is AP = 12cm². Consider the
situation where the velocity of the piston is constant and is controlled by
the action of two restrictions with areas of flow passage A1 = 4mm² and A2
= 3mm², with discharge coefficient Cd = 0.86. Consider the oil density r =
875 kg/m3. Determine:
❑ Piston pressure difference to withstand F=18.000
external load: (PA-PB)
P0=20.106 DP
1
❑ Pressure drop in each restriction: DP1 and DP2
A
❑ Oil flow and piston retraction speed: Q and v
B movement
❑ Power supplied by pump: W = Q.P0
P00 DP2

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Assignment 1 – Exercise 3.B

▪ Consider the system below with the following characteristics: actuator

mass of 0.5 kg, 1 m piston stroke, 0.01 m² piston areas, 0.1 m³ pipe
volume, bulk modulus of oil b = 1e9 Pa and no viscosity in the actuator. The
system is subjected to the following input flow:
flow rate
Simulation time: 1s
Step: 1e-05s
0.01 m3/s

0.5s time
❑ Build a model in HOPSAN using the Q_type_piston.
❑ Create a copy and modify the bulk modulus of the fluid to b = 1e7 Pa.
❑ Create another copy and modify the viscosity coefficient to 10 N.s/m
(maintaining the bulk modulus as b = 1e7 Pa).
❑ Compare the piston displacement of the three cases with your previous
expectation.

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Assignment 1 – Exercise 3.B

▪ Answer

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Assignment 1 – Exercise 4.B

▪ A double acting piston is retracted under the action of an external load F =

18,000 N. The pump provides a constant pressure P0 = 200 bar = 20 MPa.
The area of the piston is AP = 12cm². Consider the situation where the
velocity of the piston is constant and is controlled by the action of two
restrictions with areas of flow passage A1 = 4mm² and A2 = 3mm², with
discharge coefficient Cd = 0.86. Consider the oil density r = 875 kg/m3.
❑ Build the corresponding model in HOPSAN and plot the following variables:

– Piston pressure difference to

F=18.000
withstand external load: (PA-PB)
– Pressure drop in each restriction: P0=20.106 DP
1
DP1 and DP2
A
– Oil flow: Q
B movement
– Power supplied by pump: W = Q.P0
P00 DP2

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Assignment 1 (Exercises 3 and 4)

▪ Organize in a single PDF document:

❑ Names of the team members;
❑ For Exercise 3:
– HOPSAN model and HOPSAN output.
Individual
❑ For Exercise 4:
assignment
– Numerical results for 4.A
– HOPSAN model and HOPSAN output for 4.B.
❑ Deliver your assignment using Google Classroom.

Deadline: 21/08/2023

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Thank you!