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System Modeling Coursework

Class 11: Modeling of Pneumatic systems

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
WARNING!

• I claim no originality in all these notes. These are the


compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

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Contents

• Description of a Pneumatic system


• Model of the Pneumatic system
• Some questions.

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What is a pneumatic system

• Pneumatic system uses compressible fluid as working


medium and it is usually air.
• In pneumatic systems, compressibility effects of gas cannot
be neglected and hence dynamic equations are obtained
using conservation of mass.
• In pneumatic systems, change in fluid inertia energy and the
fluid’s internal thermal energy are assumed negligible.
• In pneumatic system, the mass and volume flow rates are
not readily interchangeable

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Description of Pneumatic system

• Pneumatic devices involve the flow of gas or air,


through connected pipe lines and pressure vessels.
• Hence, the variables of pneumatic system are mass
flow rate, qm, and pressure P.
• The mass flow rate is a through variable and it is
analogous to current. The pressure variable is across
variable and is analogous to voltage.
• The two basic elements of a pneumatic system are
the resistance and capacitance.

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Definition for Pneumatic Resistance

• The gas flow resistance, R is defined as the rate of change


in gas pressure difference for a change in gas flow rate.

Change in gas pressure difference, N / m 2


R=
Change in gas flow rate, Kg / sec

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Definition for pneumatic capacitance

• Pneumatic capacitance is defined for a pressure vessel and


depends on the type of expansion process involved. The
capacitance of a pressure vessel may be defined as the ratio
of change in gas stored for a change in gas pressure.

Change in gas stored , Kg


C=
Change in gas pressure, N / m 2

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Pros and Cons of Pneumatic systems

• Advantages
– The air or gas used is non inflammable and so it offers
safety from fire hazards.
– The air or gas has negligible viscosity, compared to high
viscosity of hydraulic fluids.
– No return pipelines are required and since air can be let
out at the end of work cycle.
• Disadvantage
– The response is slower than that of hydraulic systems
because of the compressibility of the working fluid.
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Applications of Pneumatic systems

• Guided Missiles
• Aircraft systems
• Automation of production machines
• Automatic controllers
…and many more

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Pneumatic system

Pi = air pressure of the source at steady state (newton/m2)


P0 = air pressure in the vessel at steady state (newton/m2)
∆ Pi = small change in air pressure of the source from its steady state
∆ P0 = small change in air pressure of the vessel from its steady state

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System dynamics

• Rate of gas storage in vessel = rate of gas inflow


d ΔP0 ΔP ΔPi − ΔP0
C = =
dt R R
• The mathematical model of a simple pneumatic
system shown in figure is given by
d ΔP0 ΔP ΔPi − ΔP0
C = =
dt R R
• Applying Laplace and rearranging the terms, we get
ΔP0 ( s) 1
=
ΔPi ( s) ( RCs + 1)

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Try for this system

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Description of the system

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Solution – Part I

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Solution – Part II

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Summary

• The transfer function of the system presents the


same order as that of the level system with respect
to the assumed dynamics and structure.
• The common thread however will be with respect to
the capacitance and resistance of the system

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References

1. Advanced Control Systems Engineering, Ronald


Burns
2. Modern Control Engineering, Ogata
3. Control Systems, Nagoor Kani
…amongst others

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And, before we break…

• Comparisons give us the cancer of the soul


– G. Jampolsky

Thanks for listening…

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