Fall semester , 2020

Lecturer : Van-Thuc Tran, Ph.D.

Email : thuc.tranvan@hust.edu.vn
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |1|
 1 Mechatronics

2 Mechanical actuation systems

3 Pneumatic and hydraulic actuation systems

4 Electrical actuation systems

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 2 |

 CHƯƠNG 13
CHAPTER
PNEUMATIC & HYDRAULIC
LỊCH SỬ PHÁT ACTUATION
TRIỂN CỦA ROBOT CÔNGSYSTEMS
NGHIỆP
3.1 Actuation systems

3.2 Pneumatic & hydraulic systems

3.3 Directional control valves

3.4 Pressure control valves

3.5 Cylinders

3.6 Process control valves

3.7 Rotary actuators

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |3|
 3.1. Actuation systems
Actuation systems are the elements of control systems which are
responsible for transforming the output of a microprocessor or control
system into a controlling action on a machine or device.
For example, we might have an electrical output from the controller
which has to be transformed into a linear motion to move a load.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |4|
 3.1. Actuation systems
Another example might be where an electrical output from the
controller has to be transformed into an action which controls the
amount of liquid passing along a pipe.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |5|
 3.2. Pneumatic and hydraulic systems

Pneumatic signals are often used to control final control elements

even when the control system is otherwise electrical.
This is because such signals can be used to actuate large valves
and other high power control devices and so move significant loads

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |6|
 3.2. Pneumatic and hydraulic systems

Hydraulic signals can be used for even higher power control

devices but are more expensive than Pneumatic systems and
there are hazards associated with oil leaks which do not occur
with air leak.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |7|
 3.2.1. Power supplies
With a hydraulic
system, pressurized
oil (fluid) is provided
by a pump driven by
an electrical motor

The pump pumps oil

from a sump through
a non return valve
and an accumulator
to the system, from
which it return to the
sump

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |8|
 3.2.1. Power supplies

The pressure relief

valve is included to
release the pressure
if it rises above a
safe level

The accumulator is just

a container in which
the oil is help under
pressure against an
external force

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. |9|
 3.2.1. Power supplies

The accumulator is just a container in which

the oil is help under pressure against an
external force, which involves gas within a
bladder in the chamber containing the
hydraulic fluid, an older type involved a spring
loaded piston

If the oil pressure rises then the bladder

contracts increase the volume the oil can
occupy and so reduces the pressure

If the oil pressure falls the bladder expands

to reduce the volume occupied by the oil and
so increases its pressure.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 10 |

 In pneumatic power system
An air receiver increases the
A pressure relief valve provides
volume of air in the system
protection against the pressure in the and smoothes out any
system rising above a safe level short-term pressure fluctuations

An electric
motor
drives an
air
compressor

Since the compressor increase the

The air inlet to the
temperature of the air, there likely to be a
compressor is likely to
be filtered and via a cooling system and to remove
silencer to reduce the contamination and water from the air, a
noise level. filter with waterSlide
trap 11
is used

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 11 |

 3.3. Directional control valves

Pneumatic and hydraulic They might be

systems use directional activated to switch
control valves to direct the the fluid flow
flow of fluid through a system; direction by means of
its ON/OFF devices either mechanical, electrical
completely open or closed or fluid pressure signal

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 12 |

 3.3. Directional control valves

Common Types

a-Spool valve b-Rotary spool valve

Move horizontally within the Rotary spool valve: have a rotating

valve body to control flow spool which, when it rotates opens
and closes ports in a similar way

Slide 13

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 13 |

 c-Poppet valve

This valve is normally in closed

condition. In this valve, balls,
discs or cones are used in
conjunction with valve seats to
control the flow

When the push-button

is depressed, the ball is
pushed out of its seat
and flow occurs as a
result of port 1 being When the button is released, the spring

connected to port 2 forces the ball back up against its seat and
so closes off theSlide
flow14
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 14 |
 Valve Symbols

The valve symbol consists of square for each of its switching positions

- Two positions valve will have two squares,

- A three positions valve have three squares

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 15 |

 Valve Symbols

Arrow headed lines are used to indicate the directions of flow in each
positions.

with blocked-off lines closed flow lines.

The initial position of the valve has the connections to the ports shown.
The valve has 4 ports.

Ports are labeled by a number or a letter according to their function

 1 (or P) for pressure supply

 3 (or T) for hydraulic return port

 3 or 5 (or R or S) for pneumatic exhaust ports
 2 or 5 (B or A) for output ports

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 16 |

 Valve Symbols

2/2 valve 3/2 valve

Note that: 2 port 2 position valve would be described as a 2/2 valve

- The first number indicating the number of ports

- The second number indicating the number of positions

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 17 |

 Symbols of Valve actuation

It indicates the various ways the valves can be actuated

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 18 |

 Solenoid operated spool valve

The valve is actuated by a current passing through the solenoid

and return to its original position by spring

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 19 |

 For example

The spring movement gives the

state indicated by the symbols

used in the square to which it is

attached.

3/2 valve: The connections are shown for the initial state
 1(P) is connected 2(A); 3(R) closed.
 When the solenoid is activated it gives the state indicate by
symbols used in the square to which it is attached, i.e we now
have 1(P) closed and 2(A) connected to 3(R).
 When the current though the solenoid ceases, the spring
pushes the valve back to its initial position
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 20 |
 Application of valves in a pneumatic lift system
- Two push-bottom
2/2 valves are used.
- When the button
on the up valves is
pressed, the load is
lifted.
- When the button
on the down valves is
pressed, the load is
lowered. Note that with
pneumatic systems an
open arrow is used to
indicate a vent to the
atmosphere.
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 21 |
 Pilot-operated valves

In pilot operated system one valve is used to control a second valve.

It is used to overcome
when the force required
to move the ball shuttle in
a valve can often be too
large for manual or
solenoid operation

In the Fig the pilot valve is small size and can be operated
manually or by a solenoid.
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 22 |
 Directional valves

Free flow can only

occur in one direction
through the valve

Flow in the other

direction is blocked
by the spring forcing
the ball against its
seat

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 23 |

 3.4. Pressure control valves

a. Pressure regulating valves

These are used to

control the operating
pressure in a circuit
and maintain it at a
constant value.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 24 |

 3.4. Pressure control valves
b. Pressure limiting valves

These are used as safety devices to limit the pressure in a

circuit to below some safe value.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 25 |

 3.4. Pressure control valves
c. Pressure sequence valve

These valves are used

to sense the pressure
of an external line and
give a signal when it
reaches some preset
value

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 26 |

 3.4. Pressure control valves
c. Pressure sequence valve

 The valve switching on when the inlet pressure reaches a particular

value and allowing the pressure to be applied to the system that
follows.
 This can be used to allow flow to occur to some part of the system
when the pressure has risen to the required level.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 27 |

 3.4. Pressure control valves
c. Pressure sequence valve

 When the 4/3 valve first operates, the

pressure is applied to cylinder 1 and its ram
moves to the right. While this is happening the
pressure is too low to operate the sequence
valve and so no pressure is applied to cylinder
2.

 When the ram of cylinder 1 reaches the end

top, then the pressure in the system rises and,
at an appropriate level, triggers the sequence
valve to open and so apply pressure to
cylinder 2 to start its ram in motion

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 28 |

 3.5. Cylinders
Both hydraulic and pneumatic actuators have the same principles,
differences being in size.

The cylinder consists of a cylindrical tube along which a piston/ ram

can slide.
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 29 |
 3.5. Cylinders
a. Cylinders: Single acting

Single acting: the control pressure is applied to one side of the piston

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 30 |

 3.5. Cylinders
- When a current passes through the solenoid, the valve switches –
position and pressure is applied to move the piston along the cylinder.
- When current ceases, the valve reverts to it is initial position and the air
is vent from the cylinder

Control of a single-acting cylinder with

(a) no current through solenoid, (b) a current through the solenoid
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 31 |
 3.5. Cylinders
b. Cylinders: Double acting

Are used when control pressure are applied to both side of the piston.
A different in pressure between the two sides results in motion of
the piston (No spring).
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 32 |
 3.5. Cylinders
b. Cylinders: Double acting
Current through one solenoid causes the piston to move in one direction.

Control of a double-acting cylinder with solenoid,

(a) not activated, b) activated
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 33 |
 3.5. Cylinders

The choice of cylinder is determined by the force required to move the load
and the speed required.
 Hydraulic cylinders are capable of much larger forces than pneumatic
cylinders
 Pneumatic cylinders are capable of greater speeds

If the flow rate of hydraulic liquid into a cylinder is a volume of Q per second
then the volume swept out by the piston in a time of 1s must be Q. Q= A. v
- The speed v of a hydraulic cylinder is equal to the flow rate of liquid Q
through the cylinder divided by the cross – sectional area A of the cylinder
- The speed of a pneumatic cylinder cannot be calculated in this way since
its speed depends on the rate at which air can be vented ahead of the
advancing piston

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 34 |

 3.5. Cylinders

For Example:
A hydraulic cylinder to be used to move a work piece in a manufacturing opera
tion through a distance of 250 mm in 15 s. If a force of 50 KN is
required to move the work piece, what is the required working pressure and
hydraulic liquid flow rate if a cylinder with a piston diameter of 150 mm is
available

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 35 |

 3.5. Cylinders

Solution:

A   r 2   0.15 / 2   0.0117 m 2
2
• The area:

• The working pressure:

p  F / A  50 10 / 0.0117  2.8 MPa
3

• The speed of a hydraulic cylinder (flow rate of the liquid through the
cylinder):
v  0.25 / 15 m / s 
• Flow rate:

Q  A  v  0.0117  0.25 / 15  29.5 104 m3 / s 

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 36 |

 3.5.1. Cylinder sequencing

Many pneumatic or hydraulic control systems may require a sequence

of extension and retraction of cylinders to occur.

For Example: Suppose we have two cylinders: A and B

If the start button is pressed; piston A extends;
If it is fully extended then piston B extends;
If both A and B fully extended then Piston A retracts;
If A is fully retracted have piston B retract

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 37 |

 4- If both A and B fully extended then Piston A retracts

5.If A is fully
retracted have
piston B retract

Slide 38

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 38 |

 Cascade
control used
to give A+ B+
A- B-

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 39 |

 3.6. Process Control Valve
Process Control Valve are used to control the fluid flow rate.

 A common form of pneumatic

actuator used with process control
valve is the diaphragm actuator.
 The diaphragm is made of rubber
which sandwiched in it is center
between two circular steel discs.
 The effect of changes in the input
pressure is to move the central
part of the diaphragm.

Slide 40

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 40 |

 3.6. Process Control Valve

The force F on the shaft is the force that acting on

the diaphragm = P x A
P: gauge pressure =Control pressure atmospheric pressure
A: diaphragm area
The restoring force is provided by spring, so k. x=P.A

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 41 |

 3.6.1. Valve bodies & Plugs

 Fig shows a cross section of valve for

the control of rate of flow of a fluid.

 The pressure change in the actuator

causes the diaphragm to move and so
consequently the valve stem. The
result of this is a movement of the
inner- valve plug within the valve body

 The plug restricts the fluid flow and

so its position determines the flow
rate
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 42 |
 3.6.1. Valve bodies & Plugs

Some forms of valve bodies

• Single seated: closed more tightly but required more force

• Double seated: less force is required, less tightly

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 43 |

 3.6.2. Control valve sizing

The term control valve sizing is used for the procedure of

determining the correct size of valve body.

The equation relating the rate of flow of liquid Q through a wide-

open valve

P Av is the valve flow coefficient

Q  Av
 P the pressure drop across the valve
ρ the density of the fluid.

5 P
The quantities in SI units Q  2.37  10 Cv

cv is the valve flow coefficient

P
Q  0.75  106 Cv G is the specific gravity or relative density
G

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 44 |

 3.6.2. Control valve sizing

Table 5.1 Flow coefficients and valve size

Flow coeffic Valve size (mm)

ients 480 640 800 960 1260 1600 1920 2560
Cv 8 14 22 30 50 75 110 200
Av x 10-5 19 33 52 71 119 178 261 474

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 45 |

 3.7. Rotary actuators
A linear cylinder can, with suitable mechanical linkage be used to
produce rotary movement through angles less than 3600

Vane – Type
semi- rotary
actuator

A pressure difference between the two ports causes the vane to rotate and
so give a shaft rotation which is a measure of the pressure difference.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 46 |

 3.7. Rotary actuators
For rotation through angles greater than 3600 a pneumatic motor be used

 An eccentric rotor has slots in which vanes are forced outwards against the walls of
the cylinder by the rotation.
 The vanes divide the chamber into separate compartments which increase in size from
the inlet port round to the exhaust port.
 The air entering such a compartment exerts a force on a vane and causes the rotor to
rotate. The motor can be made to reverse its direction of rotation by using a different
inlet port.
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 47 |
 Problems
Problem 1:
A force of 400 N is required to open a process control valve.
What area of diaphragm will be needed with a diaphragm
actuator to open the valve with a control gauge pressure of
70 kPa?

Problem 2:
A pneumatic system is operated at a pressure of 1000 kPa.
What diameter cylinder will be required to move a load
requiring a force of 12 kN?
Problem 3:
A hydraulic cylinder is to be used to move a work piece in a
manufacturing operation through a distance of 50 mm in 10 s. A
force of 10 kN is required to move the work piece. Determine
the required working pressure and hydraulic liquid flow rate if
a cylinder with a piston diameter of 100 mm is available.

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 48 |

 Appendix(Phụ lục): Pneumatic actuators

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 49 |

 Appendix(Phụ lục): Pneumatic actuators

 For single acting: (xylanh một tác động)

Spring return Spring extend

Determine the working force?

Fe: Working force
D 2
Fe  p g  Fs D: Diameter of piston
4 pg: Operating pressure
Fs: Spring force

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 50 |

 Appendix(Phụ lục): Pneumatic actuators

 For double acting: (xylanh hai tác động)

Determine the working force?

 D 2  d 2  D 2
Fr  pg Fe  pg
4 4
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 51 |
 Appendix(Phụ lục): Pneumatic actuators

Load factor:

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 52 |

 Appendix(Phụ lục): Pneumatic actuators

 Working force:

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 53 |

 Appendix(Phụ lục): Pneumatic actuators

 Working force (continued):

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 54 |

 Appendix(Phụ lục): Pneumatic actuators

 Parameters of pneumatic actuators:

 Bore size (or diameter of piston):

Based on JIS standard (mm): 6; 8; 12; 16; 20; 25; 32; 40; 50; 63; 80; 100; 125; …
;300.
 Operating journey (L):

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 55 |

 Appendix(Phụ lục): Pneumatic actuators

 Example 1:

Determine the diameter of piston with operating pressure is 6 bar to generate

working force 1600 N.

Solution:

D 2 Fe 1600
Fe  pg  D  2 2  0.0583 m  58.3 mm
4  . pg  .6 10 5

Select bore size: 63 mm

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 56 |

 Appendix(Phụ lục): Pneumatic actuators

 Example 2:

Determine the bore size of cylinder for moving mass as the figure. The data is given:
Mass : m = 50 kg.
Operating pressure: p = 0.6 MPa
Gravity acceleration: g = 9.81 m/

Solution:
The working force:

F  m.g  50  9.81  490.5 N

D 2
F  p g . A.n  p g . .n
4
n  0.5
Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 57 |
 Appendix(Phụ lục): Pneumatic actuators

 Example 2:

F 490.5
D2 2  0.04564 m
 . p g .n   0.6 10  0.5
6

D  45.64 mm

Select bore size: 50 mm

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 58 |

Dept. of Machine tool and Tribology, C10-202 Van-Thuc Tran, Ph.D. | 59 |