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ELECTRO HYDROSTATIC ACTUATORS
A NEW APROACH IN MOTION CONTROL
2nd Workshop on Innovative Engineering for Fluid Power
Sep 2...
2
Agenda
• Introduction - MOOG
• Actuation Technologies
• Electro Hydrostatic Actuators
• Applications
3
Established in 1951, by Bill Moog
HIGH PERFORMANCE MOTION
CONTROL SOLUTIONS FOR
INDUSTRIAL, MILITARY AND
AEROSPACE APPLI...
4
EAST AURORA CAMPUS (BUFFALO-NY)
4
Space & Defense
Industrial
Aircraft
Corporate
Offices
HR
5
MOOG do Brasil Controles Ltda
Rua Prof Campos Oliveira, 338
Rua Agostinho Togneri, 457 Sto Amaro, São Paulo Phone (11) 3...
6
GROUPS
missiles and launchers
trajectory control,
antenas and solar panels
positioning, satelites
atitude control
Space ...
7
INDUSTRIAL GROUP - PRODUCTS
7
Servovalves
8
INDUSTRIAL GROUP - MARKETS
8
TURBINES
Wind Gas, oil, hydro Automotive
SIMULATION TEST
Aerospace
Steel mills Presses Repa...
9
Agenda
• Introduction - MOOGA
• Actuation Technologies
• Electro Hydrostatic Actuators
• Applications
9
1010
SERVOCONTROL = closed loop motion control
LINEAR
position
velocity 	
acceleration 	
force 					
pressure
ROTARY
angul...
11
ACTUATION TECHNOLOGIES
Electro-mechanical
Electro-hydraulic
Electro-hydrostatic
12
ACTUATION TECHNOLOGIES
Conversão de Potencia Elétrica (V∙I)
em Potencia Hidráulica (P∙Q)
ELECTRO-HYDRAULIC
V∙I p∙Q p∙Q ...
13
ACTUATION TECHNOLOGIES
ELECTRO-MECHANICAL
T∙ω F∙vV∙I T∙ω
Elements: servomotor, gearbox, ball/roller screw
	 	 	 	 	 			...
14
ACTUATION TECHNOLOGIES
ELECTRO-HIDROSTATIC
T∙ω p∙Q
p∙Q F∙vV∙I T∙ω
Elements: servomotor, pump, hydraulic cylinder.
	 	 	...
15
ACTUATION TECHNOLOGIES
Comparison
Electro-Hydraulic - EH Electro-Mechanical - EMA Electro-Hydrostatic - EHA
+ High robu...
16
Agenda
• Introduction - MOOG
• Actuation Technologies
• Electro Hydrostatic Actuators
• Applications
17
EHA - AN OLD CONCEPT
Hydrostatic transmissions have been used in a wide
range of mobile applications
Same principles ca...
1818
EHA - DEVELOPMENTS
1) Replacing the variable pump by a
fixed pump + servo motor
• Gear Pump:lower cost, loss of
perfo...
19
EHA – OPERATION
v
v
Balanced Cylinder
anti-cavitation valves
small accumulator
fixed pump
servomotor
20
EHA – DEVELOPMENTS
pilot operated
anti-cavitation
check-valve
large
accumulator
3) Dealing with unbalanced cylinders
Re...
21
v
EHA – OPERATION
v
v
Unbalanced Cylinder
v
v v
v
v
servomotor
fixed pump
large accumulator
anti-cavitation valves
(one...
22
EHA – Dealing with unbalanced cylinders
• 3 ports pump, for unbalanced flow control
23
EHA – CONTROL ARCHITETURE
M
TemposonicsTemposonics
Comando de Posição
Realimentação
Servomotor
Transdutor de Posição
Bo...
24
EHA – CONTROL ARCHITETURE
Power Conversion : Electrical V∙I Mechanical T∙ω Hydraulic p∙Q Mechanical F∙ v
MACHINE EHA
25
EHA – CONTROL ARCHITETURE
Electrical V∙I Mechanical T∙ω Hydraulic p∙Q Mechanical F∙v
DYNAMIC BEHAVIOR
ωT
1Position
Serv...
EHA – SAFETY based on spring
Fail Safe MovimentNormal Operation
v
extend
extendretract
27
v
EHA – SAFETY based on accumulator
Normal Operation -extend
v
Normal Operation - retract
28
v
EHA – SAFETY based on accumulator
Fail Safe Moviment - extend
v
Accumulator Recharge
29
Agenda
• Introduction - MOOG
• Actuation Technologies
• Electro Hydrostatic Actuators
• Applications
30
APPLICATIONS
EHA applications
• Injection molding machines
• Metal Forming & Presses
• Flight Control
• Wind turbines p...
31
APPLICATION
M
A B
INJECTION MOLDING AND DIE CASTING MACHINES
Clamp Unit & Ejector
CLAMP UNIT EJECTOR
32
APPLICATION
EHA cushion control
METAL FORMING & PRESSES
CUSHION CONTROL - velocity and pressure control
M
M
3~
=
3~
= 3...
33
APPLICATION
LOCKHEED MARTIN F-35
PRIMARY & SECONDARY
FLIGHT CONTROLS
34
APPLICATION - FLIGH CONTROL
Features
• Manageable failure modes
• Flexible packaging
• Multiple electrical channels pos...
35
APPLICATION – FLIGHT CONTROL - REDUNDANCY
Active Bypass Blocked
v
v
Bypass Active Blocked
(or dampered)
v v v v
36
vv
APPLICATION – FLIGHT CONTROL -
REDUNDANCY
Active 1
vv
Active 2
Blocked
Blocked
(or dampered)
vv
37
APLICATION - BLADE PITCH CONTROL
Wind Turbine
PITCH CONTROL SYSTEM :adjusts the pitch turbine blade angle.
• 3 blades f...
38
1. STOP the turbine in case of emergencies and failures
2. MAXIMIZE energy conversion in a large wind speed range
Power...
39
APLICATION - BLADE PITCH CONTROL
Wind Turbine
39
Blade
Pá
Hub
worker
Hub
workers
Blade
Hub
Wind farm
Blade
40
APLICATION - BLADE PITCH CONTROL
Wind Turbine
EHA
41
APLICATION - BLADE PITCH CONTROL
Wind Turbine
HUBCentralControlBox
EHA 1
EHA 2
EHA 3
42
APLICATION - BLADE PITCH CONTROL
Wind Turbine
43
That’s all folks!
For additional info, please contact : Mario Valdo
mvaldo@moog.com
phone: +55 (11) 3572-0404
MOOG do B...
44
Motor
A B C D
HYDROSTATIC TRANSMISSION
SERVOPUMP
Swasplate position
mechanical feedback
Control Valve
45
EHA – SAFETY BALANCED CYLINDER
Normal Operation
46
EHA – SAFETY BALANCED CYLINDER
Fail-Safe Movement
47
EHA – SAFETY BALANCED CYLINDER
Actuator Locked
Accumulator Recharge
48
48
M
M
M
49
Electro-Hydrostatic Actuation
• Power on demand,
Energy efficient,
Energy recovery
• Powered by wire
Self-contained
No ...
50
Balanced EHA Unbalanced EHA
50
Electro-Hydrostatic Actuation
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ACTUATION TECHNOLOGIES in AEROSPACE

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ELECTRO HYDROSTATIC ACTUATORS A NEW APROACH IN MOTION CONTROL by Mario Valdo,MOOG

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ACTUATION TECHNOLOGIES in AEROSPACE

  1. 1. ELECTRO HYDROSTATIC ACTUATORS A NEW APROACH IN MOTION CONTROL 2nd Workshop on Innovative Engineering for Fluid Power Sep 2-3 2014
  2. 2. 2 Agenda • Introduction - MOOG • Actuation Technologies • Electro Hydrostatic Actuators • Applications
  3. 3. 3 Established in 1951, by Bill Moog HIGH PERFORMANCE MOTION CONTROL SOLUTIONS FOR INDUSTRIAL, MILITARY AND AEROSPACE APPLICATIONS. Sales (2013) = US$ 2,6 Billion 11.600 employees FOCUS IN HIGH PERFORMANCE MOTION CONTROL
  4. 4. 4 EAST AURORA CAMPUS (BUFFALO-NY) 4 Space & Defense Industrial Aircraft Corporate Offices HR
  5. 5. 5 MOOG do Brasil Controles Ltda Rua Prof Campos Oliveira, 338 Rua Agostinho Togneri, 457 Sto Amaro, São Paulo Phone (11) 3572-0400
  6. 6. 6 GROUPS missiles and launchers trajectory control, antenas and solar panels positioning, satelites atitude control Space and Defense Group Slip rings, small motors, rotating joints, fiber optics interfaces, air cooling solutions Components Group high performance motion control for industrial applications, test (aerospace and automotive), simulation Industrial Group primary and secondary flight control, engine controls Aircraft Group
  7. 7. 7 INDUSTRIAL GROUP - PRODUCTS 7 Servovalves
  8. 8. 8 INDUSTRIAL GROUP - MARKETS 8 TURBINES Wind Gas, oil, hydro Automotive SIMULATION TEST Aerospace Steel mills Presses RepairsOil & Gas AFTERMARKETHEAVY INDUSTRY METAL FORMING Formula 1
  9. 9. 9 Agenda • Introduction - MOOGA • Actuation Technologies • Electro Hydrostatic Actuators • Applications 9
  10. 10. 1010 SERVOCONTROL = closed loop motion control LINEAR position velocity acceleration force pressure ROTARY angular position θ velocity ω acceleration α torque T Position Servocontrol Kq 1 A Position set point ++ + -- - Ksa Kf Disturbances velocity position Disturbances flowTRANSDUCER ERROR mmvolts FEEDBACK + - Position Q P R SERVO AMPLIFIER Position set point Kq Ksa Kf A
  11. 11. 11 ACTUATION TECHNOLOGIES Electro-mechanical Electro-hydraulic Electro-hydrostatic
  12. 12. 12 ACTUATION TECHNOLOGIES Conversão de Potencia Elétrica (V∙I) em Potencia Hidráulica (P∙Q) ELECTRO-HYDRAULIC V∙I p∙Q p∙Q F∙v Elements: pump, servovalve, hydraulic cylinder. ·
  13. 13. 13 ACTUATION TECHNOLOGIES ELECTRO-MECHANICAL T∙ω F∙vV∙I T∙ω Elements: servomotor, gearbox, ball/roller screw ·
  14. 14. 14 ACTUATION TECHNOLOGIES ELECTRO-HIDROSTATIC T∙ω p∙Q p∙Q F∙vV∙I T∙ω Elements: servomotor, pump, hydraulic cylinder. · · +
  15. 15. 15 ACTUATION TECHNOLOGIES Comparison Electro-Hydraulic - EH Electro-Mechanical - EMA Electro-Hydrostatic - EHA + High robustness and reliability + Ideal for high & static forces + Fail-safe options + Easy redundancy (2+ actuators) + No backlash + Easy maintenance + High frequency operation + Compact size + Light weight - Low energy efficiency - Requires HPU* & piping - Environment contamination + High energy efficiency + Powered by wire (no HPU) + Easy installation and commissioning + Environmental cleanliness + Well suited for rotary actuation + High stiffness - Heavy weight - No fail safe (gearbox can block) - No redundancy (single actuator) - High power consumption to hold static load - Backlash - High maintenance effort ($) - Electrical noise + Good energy efficiency + Powered by wire (no HPU) + Easy installation and commissioning + High robustness and reliability + Fail-safe options + Easy redundancy (2+ actuators) + No backlash + Good for high & static forces + Unlimited hydraulic gearbox ratio - Weight - Higher cost - Complexity - Electrical noise - Limited stiffness - Power consumption to hold static load *HPU: hydraulic power unit = motor + pump + filtering + cooling
  16. 16. 16 Agenda • Introduction - MOOG • Actuation Technologies • Electro Hydrostatic Actuators • Applications
  17. 17. 17 EHA - AN OLD CONCEPT Hydrostatic transmissions have been used in a wide range of mobile applications Same principles can be applied to get a “Basic EHA” + No need for a “separated” HPU + Self contained hydraulic system - Low frequency response - Requires auxiliary devices (cooling, filtration, anti- cavitation) Basic EHA Hydrostatic Transmission Variable pump Hydraulic motor Variable pump long piping manifold Hydraulic cylinder
  18. 18. 1818 EHA - DEVELOPMENTS 1) Replacing the variable pump by a fixed pump + servo motor • Gear Pump:lower cost, loss of performance • Piston Pumps: higher cost, better efficiency 2) Adding filtering, small accumulator (to keep system pressurized) and anti- cavitation check valves. variable pump servomotor fixed pump filteranti-cavitation valves small accumulator
  19. 19. 19 EHA – OPERATION v v Balanced Cylinder anti-cavitation valves small accumulator fixed pump servomotor
  20. 20. 20 EHA – DEVELOPMENTS pilot operated anti-cavitation check-valve large accumulator 3) Dealing with unbalanced cylinders Requires: • large accumulator : to hold the differential oil volume • pilot operated anti-cavitation check valves: to assure the pressurization of the pump port to avoid cavitation
  21. 21. 21 v EHA – OPERATION v v Unbalanced Cylinder v v v v v servomotor fixed pump large accumulator anti-cavitation valves (one is pilot operated) extend retract
  22. 22. 22 EHA – Dealing with unbalanced cylinders • 3 ports pump, for unbalanced flow control
  23. 23. 23 EHA – CONTROL ARCHITETURE M TemposonicsTemposonics Comando de Posição Realimentação Servomotor Transdutor de Posição Bomba Bidirecional Position Transducer Bidirectional pump Servomotor Position Command PositionFeedback Hydraulic Cylinder
  24. 24. 24 EHA – CONTROL ARCHITETURE Power Conversion : Electrical V∙I Mechanical T∙ω Hydraulic p∙Q Mechanical F∙ v MACHINE EHA
  25. 25. 25 EHA – CONTROL ARCHITETURE Electrical V∙I Mechanical T∙ω Hydraulic p∙Q Mechanical F∙v DYNAMIC BEHAVIOR ωT 1Position Servodrive F Large, low speed, high torque pump Small, high speed, low torque pump
  26. 26. EHA – SAFETY based on spring Fail Safe MovimentNormal Operation v extend extendretract
  27. 27. 27 v EHA – SAFETY based on accumulator Normal Operation -extend v Normal Operation - retract
  28. 28. 28 v EHA – SAFETY based on accumulator Fail Safe Moviment - extend v Accumulator Recharge
  29. 29. 29 Agenda • Introduction - MOOG • Actuation Technologies • Electro Hydrostatic Actuators • Applications
  30. 30. 30 APPLICATIONS EHA applications • Injection molding machines • Metal Forming & Presses • Flight Control • Wind turbines pitch control
  31. 31. 31 APPLICATION M A B INJECTION MOLDING AND DIE CASTING MACHINES Clamp Unit & Ejector CLAMP UNIT EJECTOR
  32. 32. 32 APPLICATION EHA cushion control METAL FORMING & PRESSES CUSHION CONTROL - velocity and pressure control M M 3~ = 3~ = 3~ = 32
  33. 33. 33 APPLICATION LOCKHEED MARTIN F-35 PRIMARY & SECONDARY FLIGHT CONTROLS
  34. 34. 34 APPLICATION - FLIGH CONTROL Features • Manageable failure modes • Flexible packaging • Multiple electrical channels possible • High power consumption to hold load • Overload relief • Multiple failure modes:  Normal servocontrolled operation  Bypass (to allow other actuators to operate control surface)  Damped  Blocked  Damped - Blocked
  35. 35. 35 APPLICATION – FLIGHT CONTROL - REDUNDANCY Active Bypass Blocked v v Bypass Active Blocked (or dampered) v v v v
  36. 36. 36 vv APPLICATION – FLIGHT CONTROL - REDUNDANCY Active 1 vv Active 2 Blocked Blocked (or dampered) vv
  37. 37. 37 APLICATION - BLADE PITCH CONTROL Wind Turbine PITCH CONTROL SYSTEM :adjusts the pitch turbine blade angle. • 3 blades follows the same command (syncronized) • The turbine main controller sets blade pitch angle • The pitch control system is assembled inside the blades and rotates with the turbine. WIND multiplyer ELECTRICITY blade nacele hub torre generator
  38. 38. 38 1. STOP the turbine in case of emergencies and failures 2. MAXIMIZE energy conversion in a large wind speed range Power ≈ pitch angle ∙ ( wind speed)3 38 APLICATION - BLADE PITCH CONTROL Wind Turbine PowerKW Wind speed[m/s] Turbine with pitch control Fixed pitch angle = 10º Fixed pitch angle = 30º power control range CONFIABILITY is the main feature of a pitch control system
  39. 39. 39 APLICATION - BLADE PITCH CONTROL Wind Turbine 39 Blade Pá Hub worker Hub workers Blade Hub Wind farm Blade
  40. 40. 40 APLICATION - BLADE PITCH CONTROL Wind Turbine EHA
  41. 41. 41 APLICATION - BLADE PITCH CONTROL Wind Turbine HUBCentralControlBox EHA 1 EHA 2 EHA 3
  42. 42. 42 APLICATION - BLADE PITCH CONTROL Wind Turbine
  43. 43. 43 That’s all folks! For additional info, please contact : Mario Valdo mvaldo@moog.com phone: +55 (11) 3572-0404 MOOG do Brasil Controles Ltda Rua Prof Campos de Oliveira, 338 04675-100 São Paulo –SP Phone :+55 (11) 3572-0400 info.brazil@moog.com www.moog.com.br 43
  44. 44. 44 Motor A B C D HYDROSTATIC TRANSMISSION SERVOPUMP Swasplate position mechanical feedback Control Valve
  45. 45. 45 EHA – SAFETY BALANCED CYLINDER Normal Operation
  46. 46. 46 EHA – SAFETY BALANCED CYLINDER Fail-Safe Movement
  47. 47. 47 EHA – SAFETY BALANCED CYLINDER Actuator Locked Accumulator Recharge
  48. 48. 48 48 M M M
  49. 49. 49 Electro-Hydrostatic Actuation • Power on demand, Energy efficient, Energy recovery • Powered by wire Self-contained No hydraulic piping • Additional features e.g. fail safe • Low noise • High force capability EHA characteristics 49
  50. 50. 50 Balanced EHA Unbalanced EHA 50 Electro-Hydrostatic Actuation

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