File size: 9,277 Bytes
b14fa47 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 | function HydFcnParams = sm_wheel_loader_params_hydr
%% Hydraulic Functions Parameters - Plant
% Lift Actuator
HydFcnParams.liftActuator.rodDiam = 38; % [mm]
HydFcnParams.liftActuator.headDiam = 81; % [mm]
HydFcnParams.liftActuator.stroke = 449; % [mm]
HydFcnParams.liftActuator.headEndArea = pi * (HydFcnParams.liftActuator.headDiam/2)^2; % [mm^2]
HydFcnParams.liftActuator.rodEndArea = pi * (HydFcnParams.liftActuator.headDiam/2)^2 - pi*(HydFcnParams.liftActuator.rodDiam/2)^2; % [mm^2]
HydFcnParams.liftActuator.brkawyToCoulRatio = 1.2;
HydFcnParams.liftActuator.brkawyVel = 1e-4; % [m/s]
HydFcnParams.liftActuator.preloadForce = 20; % [N]
HydFcnParams.liftActuator.coulForceCoef = 1e-4; % [N/Pa]
HydFcnParams.liftActuator.viscCoeff = 5e3; % [N/(m/s)]
HydFcnParams.liftActuator.mechModelCylOffset = -524; % [mm]
HydFcnParams.liftActuator.mechModelRodOffset = -316; % [mm]
HydFcnParams.liftActuator.initHEPr = 10; % [bar]
HydFcnParams.liftActuator.initREPr = 10; % [bar]
HydFcnParams.liftActuator.maxUpVel = 60; % [mm/s]
HydFcnParams.liftActuator.maxUpQ = (HydFcnParams.liftActuator.maxUpVel * 60 * (HydFcnParams.liftActuator.headEndArea * 2)) / 1e6;
HydFcnParams.liftActuator.maxDownVel = 60; % [mm/s]
HydFcnParams.liftActuator.maxDownQ = (HydFcnParams.liftActuator.maxDownVel * 60 * (HydFcnParams.liftActuator.rodEndArea * 2)) / 1e6;
% Tilt Actuator
HydFcnParams.tiltActuator.rodDiam = 51; % [mm]
HydFcnParams.tiltActuator.rodLength = 550; % [mm]
HydFcnParams.tiltActuator.headDiam = 94; % [mm]
HydFcnParams.tiltActuator.stroke = 350; % [mm]
HydFcnParams.tiltActuator.headEndArea = pi * (HydFcnParams.tiltActuator.headDiam/2)^2; % [mm^2]
HydFcnParams.tiltActuator.rodEndArea = pi * (HydFcnParams.tiltActuator.headDiam/2)^2 - pi*(HydFcnParams.tiltActuator.rodDiam/2)^2; % [mm^2]
HydFcnParams.tiltActuator.brkawyToCoulRatio = 1.2;
HydFcnParams.tiltActuator.brkawyVel = 1e-4; % [m/s]
HydFcnParams.tiltActuator.preloadForce = 20; % [N]
HydFcnParams.tiltActuator.coulForceCoef = 1e-4; % [N/Pa]
HydFcnParams.tiltActuator.viscCoeff = 5e3; % [N/(m/s)]
HydFcnParams.tiltActuator.mechModelCylOffset = -550; % [mm] -700
HydFcnParams.tiltActuator.mechModelRodOffset = -294; % [mm]
HydFcnParams.tiltActuator.initHEPr = 10; % [bar]
HydFcnParams.tiltActuator.initREPr = 10; % [bar]
% Steer Actuator
HydFcnParams.steerActuator.rodDiam = 32; % [mm]
HydFcnParams.steerActuator.headDiam = 74; % [mm] 81
HydFcnParams.steerActuator.stroke = 250; % [mm]
HydFcnParams.steerActuator.headEndArea = pi * (HydFcnParams.steerActuator.headDiam/2)^2; % [mm^2]
HydFcnParams.steerActuator.rodEndArea = pi * (HydFcnParams.steerActuator.headDiam/2)^2 - pi*(HydFcnParams.steerActuator.rodDiam/2)^2; % [mm^2]
HydFcnParams.steerActuator.brkawyToCoulRatio = 1.2;
HydFcnParams.steerActuator.brkawyVel = 1e-4; % [m/s]
HydFcnParams.steerActuator.preloadForce = 20; % [N]
HydFcnParams.steerActuator.coulForceCoef = 1e-4; % [N/Pa]
HydFcnParams.steerActuator.viscCoeff = 5e3; % [N/(m/s)]
HydFcnParams.steerActuator.mechModelCylOffset = -380; % [mm]
HydFcnParams.steerActuator.mechModelRodOffset = -255; % [mm]
HydFcnParams.steerActuator.initHEPr = 10*0.1; % [bar]
HydFcnParams.steerActuator.initREPr = 10*0.1; % [bar]
% Valve Spool Vector
spoolPos = (0:0.25:5)'; % [mm]
% Valve bypass area
BiPArea = [1.75.^flip(spoolPos(2:end)); 1e-3]; % [mm^2] 2.95
% Lift Valve
HydFcnParams.liftValve.spoolPosVector = spoolPos; % [mm]
HydFcnParams.liftValve.BiPOrificeAreaVector = BiPArea; % [mm^2]
HydFcnParams.liftValve.PtoAOrificeAreaVector = [1e-3; 3.0.^spoolPos(2:end)]; % [mm^2]
HydFcnParams.liftValve.BtoTOrificeAreaVector = [1e-3; 2.5.^spoolPos(2:end)]; % [mm^2]
HydFcnParams.liftValve.PtoBOrificeAreaVector = [1e-3; 1.0.^spoolPos(2:end)]; % [mm^2]
HydFcnParams.liftValve.AtoTOrificeAreaVector = [1e-3; 1.5.^spoolPos(2:end)]; % [mm^2]
HydFcnParams.liftValve.checkValveCrackingPrDiff = 0.001; % [bar]
HydFcnParams.liftValve.checkValveMaxOpeningPrDiff = 0.01; % [bar]
HydFcnParams.liftValve.checkValveMaxOpeningArea = 1100; % [mm^2]
HydFcnParams.liftValve.checkValveLeakageArea = 0.001; % [mm^2]
% Tilt Valve
HydFcnParams.tiltValve.spoolPosVector = spoolPos; % [mm]
HydFcnParams.tiltValve.BiPOrificeAreaVector = BiPArea; % [mm^2]
HydFcnParams.tiltValve.PtoAOrificeAreaVector = [1e-3; 3.0.^spoolPos(2:end)]./2; % [mm^2]
HydFcnParams.tiltValve.BtoTOrificeAreaVector = [1e-3; 2.5.^spoolPos(2:end)]./2; % [mm^2]
HydFcnParams.tiltValve.PtoBOrificeAreaVector = [1e-3; 1.4.^spoolPos(2:end)]./2; % [mm^2]
HydFcnParams.tiltValve.AtoTOrificeAreaVector = [1e-3; 2.0.^spoolPos(2:end)]./2; % [mm^2]
HydFcnParams.tiltValve.checkValveCrackingPrDiff = 0.001; % [bar]
HydFcnParams.tiltValve.checkValveMaxOpeningPrDiff = 0.01; % [bar]
HydFcnParams.tiltValve.checkValveMaxOpeningArea = 1100; % [mm^2]
HydFcnParams.tiltValve.checkValveLeakageArea = 0.001; % [mm^2]
% Lift & Tilt Flow Divider
HydFcnParams.flowDivider.liftFixedOrificeArea = 20; % [mm^2]
HydFcnParams.flowDivider.tiltFixedOrificeArea = 14; % [mm^2]
HydFcnParams.flowDivider.liftSpoolVec = [-2.5 2.5]; % [mm]
HydFcnParams.flowDivider.liftVarOrificeArea = [20 0.0001]; % [mm^2]
HydFcnParams.flowDivider.tiltSpoolVec = [-2.5 2.5]; % [mm]
HydFcnParams.flowDivider.tiltVarOrificeArea = [0.0001 20]; % [mm^2]
HydFcnParams.flowDivider.actuatorStiffness = 4e4; % [N/m]
% Check Valves
HydFcnParams.checkValves.crackingPrDiff = 0.001*0+0.1/10; % [bar]
HydFcnParams.checkValves.maxOpeningPrDiff = 0.01*0+1/10; % [bar]
HydFcnParams.checkValves.maxOpeningArea = 1200; % [mm^2]
HydFcnParams.checkValves.leakageArea = 0.01; % [mm^2]
HydFcnParams.checkValves.dischargeCoef = 0.7;
HydFcnParams.checkValves.critReynoldsNmbr = 150;
HydFcnParams.checkValves.smoothingFactor = 0.01;
% Actuator Pressure Relief Valves
HydFcnParams.actPRV.reliefPr = 250; % [bar]
HydFcnParams.actPRV.regRange = 5; % [bar]
HydFcnParams.actPRV.maxOpeningArea = 1200; % [mm^2]
HydFcnParams.actPRV.leakageArea = 0.01; % [mm^2]
HydFcnParams.actPRV.dischargeCoef = 0.7;
HydFcnParams.actPRV.critReynoldsNmbr = 150;
HydFcnParams.actPRV.smoothingFactor = 0.01;
% Pump Pressure Relief Valves
HydFcnParams.pumpPRV.reliefPr = 220; % [bar]
HydFcnParams.pumpPRV.regRange = 5; % [bar]
HydFcnParams.pumpPRV.maxOpeningArea = 1200; % [mm^2]
HydFcnParams.pumpPRV.leakageArea = 0.01; % [mm^2]
HydFcnParams.pumpPRV.dischargeCoef = 0.7;
HydFcnParams.pumpPRV.critReynoldsNmbr = 150;
HydFcnParams.pumpPRV.smoothingFactor = 0.01;
% Implement Pump
HydFcnParams.pump.maxSpeed = 2500; % [rpm]
HydFcnParams.pump.maxFlow = 72.3; % [lpm]
HydFcnParams.pump.displacement = (HydFcnParams.pump.maxFlow*1000)/HydFcnParams.pump.maxSpeed; % [cc/rev]
HydFcnParams.pump.nomPrGain = 210; % [bar]
HydFcnParams.pump.nomSpeed = 2200; % [rpm]
HydFcnParams.pump.volEff = 1;
HydFcnParams.pump.mechEff = 1;
HydFcnParams.pump.chamberVol = 1e5; % [mm^3]
% Steering Pump
HydFcnParams.steerPump.maxSpeed = 2500; % [rpm]
HydFcnParams.steerPump.maxFlow = 25*2; % [lpm]
HydFcnParams.steerPump.displacement = (HydFcnParams.steerPump.maxFlow*1000)/HydFcnParams.steerPump.maxSpeed; % [cc/rev]
HydFcnParams.steerPump.nomPrGain = 210; % [bar]
HydFcnParams.steerPump.nomSpeed = 2200; % [rpm]
HydFcnParams.steerPump.volEff = 1;
HydFcnParams.steerPump.mechEff = 1;
HydFcnParams.steerPump.chamberVol = 1e5; % [mm^3]
% Pipes
HydFcnParams.pipes.length = 5e3; % [mm]
HydFcnParams.pipes.hydraulicDiam = 50; % [mm]
HydFcnParams.pipe.crossSectArea = pi * (HydFcnParams.pipes.hydraulicDiam/2)^2; % [mm^2]
% Steering Orbitrol Valve
HydFcnParams.steerValve.maxRelAngle = 0.005; % [rad]
HydFcnParams.steerValve.minRelAngle = -0.005; % [rad]
HydFcnParams.steerValve.sleeveSpringStiff = 4.5e4*0.1*0.75; % [N*m/rad] 4.5e4
HydFcnParams.steerValve.sleeveDamping = 2e3*0.5; % [N*m*s/(rad)] 2e3
HydFcnParams.steerValve.hardstopStiff = 1e4; % [N*m/rad]
HydFcnParams.steerValve.hardstopDamping = 10; % [N*m*s/rad]
HydFcnParams.steerValve.deadZoneUpperLim = 0.0003; % [rad]
HydFcnParams.steerValve.deadZoneLowerLim = -0.0003; % [rad]
HydFcnParams.steerValve.relAngleGain = 1000; %
HydFcnParams.steerValve.spoolPosMax = 5; % [mm]
HydFcnParams.steerValve.spoolPosMin = -5; % [mm]
HydFcnParams.steerValve.gerDisplacement = 150; % [cm^3/rev]
HydFcnParams.steerValve.PtoTDiam = 5; % [mm]
HydFcnParams.steerValve.PtoGerADiam = 5; % [mm]
HydFcnParams.steerValve.PtoGerBDiam = 5; % [mm]
HydFcnParams.steerValve.GerAtoSteerRDiam = 5; % [mm]
HydFcnParams.steerValve.GerBtoSteerLDiam = 5; % [mm]
HydFcnParams.steerValve.TtoSteerLDiam = 5; % [mm]
HydFcnParams.steerValve.TtoSteerRDiam = 5; % [mm]
HydFcnParams.steerValve.gerChamberVol = 1e4; % [mm^3]
HydFcnParams.steerValve.HEOrificeArea = 35; % [mm^2]
HydFcnParams.steerValve.REOrificeArea = 23; % [mm^2]
HydFcnParams.steerValve.CVChamberVol = 1e4; % [mm^3]
%% Hydraulic Functions Parameters - Controller
% Lift Control
HydFcnParams.liftActCtrl.maxSpoolCmd = 5; % [mm]
HydFcnParams.liftActCtrl.minSpoolCmd = -5; % [mm]
HydFcnParams.liftActCtrl.posSpoolCmdRateLimit = 10; % [mm/s]
HydFcnParams.liftActCtrl.negSpoolCmdRateLimit = -10; % [mm/s]
% Tilt Control
HydFcnParams.tiltActCtrl.maxSpoolCmd = 5; % [mm]
HydFcnParams.tiltActCtrl.minSpoolCmd = -5; % [mm]
HydFcnParams.tiltActCtrl.posSpoolCmdRateLimit = 10; % [mm/s]
HydFcnParams.tiltActCtrl.negSpoolCmdRateLimit = -10; % [mm/s]
% Remove temporary variables
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