IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

DESIGN PROCEDURE OF AN ELECTROHYDRAULIC DRIVE

Srishti Sharma1, Ramesh R. Lekurwale2, Amith Masade3

1
Department of Mechanical Engineering, K. J Somaiya College of Engineering, Mumbai, Maharashtra, India
2
Department of Mechanical Engineering, K. J Somaiya College of Engineering, Mumbai, Maharashtra, India
3
Manager, Product & Technology Development Centre, Heavy Engineering, Larsen & Toubro Ltd, Mumbai,
Maharashtra, India

Abstract
Aerodynamicists use wind tunnel to test models as well as for proposed aircraft components and engines. In order to keep these
models fixed in place for testing, ground based equipment is essential. Electrohydraulic drives form the back bone of such type of
mechanism which requires continuous motion for life time operations with controlled motion for start stop and bi-directional
motion mechanisms. Focus of this paper is on systematic approach for optimal designing of a typical electrohydraulic drive that
will provide roll motion to the testing model with emphasis on reliability of the system. This paper further highlights the design,
selection, testing and qualification procedures of different elements of the drive and the electrohydraulic drive assembly as a
whole.

Keywords - Design, Develop, Electrohydraulic roll drive, Spindle.

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1. INTRODUCTION motor/actuators, bearings, feedback devices, hydraulic

cylinders, servo valves, seals, retainers, bolts, etc. Motors,
The modern technology and ever demanding need for the Bearings, feedback devices, valves, cylinders, seals and
design of newer means to test models in wind tunnel has led bolts are the standard parts and were studied in depth with
to significant developments in the area. With the increase in the various classifications and types to choose the best as
demand of large appendage deployment and several tracking per our requirement. There is a five axis manipulator with
mechanisms; the application of electrohydraulic drives has Horizontal, Vertical, Yaw, Pitch & Roll motions. The
increased exponentially. Hydraulic servo systems can aerodynamic loads and moments act on the face of the roll
generate high forces also exhibit rapid responses, and have a drive and can be seen as below:
high power-to-weight ratio compared to other technologies.
On the other hand, they have a significant nonlinear Table 1: Aerodynamic Forces and Moments acting on the
behavior due to the nonlinear flow/pressure characteristics, Roll drive.
oil compressibility, time varying behavior, nonlinear
transmission effects, flow forces acting on spool and Forces/Moments Symbol Unit
friction, which is not only largely uncertain but is greatly
influenced by external load disturbances. Hydraulic systems Normal Force Fn N
are mechanically “stiffer”, resulting in higher machine Axial Force Fa N
frame resonant frequencies for a given power, high loop
gain and improved dynamic performance. They also have Side Force Fs N
the benefit of being self-cooled since the driving fluid
effectively acts as a cooling medium carrying heat away Pitching Moment Mp Nm
from the actuator and flow control components [1]. Quality
Yawing Moment My Nm
and reliability aspects are of prime importance at each stage
[2]. Every component whether designed or selected is Rolling Moment Mr Nm
checked for various aspects related to the requirement and
chosen such that the complete design is compact and
accurate. The roll drive is very important from aerodynamic Accuracy of the roll required is ±0.05 degrees or better. The
testing point of view as well as to hold the model in correct roll range is of -90⁰ to +90⁰, whereas the roll rate is 0-25
and steady position for testing at various roll ranges. rad/sec at variable rate.

2. PROBLEM DEFINITION 3. DESIGN & DEVELOPMENT

The paper discusses design of a roll drive that would roll at 3.1 Motors/Actuators
a specific rate and for a specific roll range by overcoming The very first system required to conceptualize the roll drive
the aerodynamic forces and moments acting on the roll is a motor/actuator. There were three concepts that were
drive. In order to design a roll drive the various mechanical realized to achieve this type of motion namely (a) Direct
and electrical devices conceptualized are the sting, pod,

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Electric drive (b) Gearbox with Electric Drive (c) Gearbox OIL LEAK IN
2 2 0
with Hydraulic Drive. VACUUM
(a) Direct Electric Drive: There exist various electric EMI/EMC 0 0 2
drives but there are specifically three drives that are
TOTAL 16 17 17
used for aerospace related applications [2] and can be
listed as : Weightage: 0-Undesirable, 1-Desirable, 2-Most Desirable
 Brush DC motors
Although there is an equal score of option (b) & (c) we
 Brushless DC motors
choose the option (c) due to EMI/EMC issues [4] with the
 Stepper or Servo motors
electric motor and the sensors and force balances that will
be attached on the prototype for testing. A Rotary Hydraulic
Based on the comparison between the drives and
Actuator which incorporates many quality features including
advantages of the servo motor for the need of the precision ball bearings to provide shaft support, externally
application we choose the Servo Motor from make
removable gland for ease of seal replacement and cylinders
such as Moog or Rexroth to fulfill the space
honed to a 10 micro inch finish to ensure long seal life
requirements, torque and size parameters. giving the required torque specifications at feasible pressure
values is selected.
(b) Gearbox with Electric Drive: The limitation with the
direct drive is the bulkiness of the servo motor due to
which a gearbox was conceptualized with a motor of 3.2 Bearings
lesser torque value such as Parker gearbox & motor kit, The selection of bearings and sizing the model according to
or any other to reduce the size of the motor and fulfill the specifications is of importance in order to balance the
the torque characteristics. forces and the moments. The classification of bearings can
be seen as below [5]:
(c) Gearbox with Hydraulic Drive: an alternative for an
electric drive is a hydraulic drive option which is Table 3: Characteristics table for choosing Bearings
explored with a planetary helical gearbox. One may Low
choose Dan Foss hydraulic motor with a Parker Bearing Radia Axial Low
Accuracy Frictio
Gearbox to fulfill the functional requirements. Type l Load Load Noise
n
Deep
To choose the best available option for the drive a decision Groove
matrix was made on the basis of few engineering parameters Nor Very Very
Ball Good Normal
[3] and can be seen as in the table below: mal Good Good
Bearing
s
Table 2: Decision Matrix Crosse
ELECTRI d Roller Very Very Very
HYDRAULI Good Good
DIRECT C DRIVE Bearing Good Good Good
C DRIVE
PARAMETERS ELECTRI WITH s
WITH
C DRIVE GEARBO Cylindr
GEARBOX
X ical
FUNCTIONAL Very Suffi
roller Good Good Good
REQUIREMEN 2 2 2 Good cient
bearing
T s
OPERATIONA Taper
2 2 2
L SAFETY Roller Very Very Sufficien
Good Good
EASE OF Bearing Good Good t
ASSEMBLY/ s
2 1 0 Spheric
DISASSEMBL
Y al
Very Unsuitabl Suffi
RELIABLITY 2 2 2 Roller Good Good
Good e cient
Bearing
FEASIBLITY 2 2 2 s
ACCURACY 2 1 1
PROCUREMEN From the above table, choosing crossed roller bearings since
0 1 2 it is good with respect to all the parameters and is suitable
T
COST 0 1 1 for our application. These bearings will be extremely critical
in the application to take the entire thrust load. In the Cross-
AESTHETICS 2 1 0
Roller Ring, cylindrical rollers are arranged crosswise, with
WEIGHT 0 1 1 each roller perpendicular to the adjacent roller, in a 90⁰ V
SPACE groove, separated from each other by a spacer retainer. This
0 1 2
REQUIRED design allows just one bearing to receive loads in all
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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

directions including, radial, axial and moment loads. Since The assembly was then analyzed for loads & moments
the Cross-Roller Ring achieves high rigidity despite the acting on center of axis of the roll drive. Since the forces are
minimum possible dimensions of the inner and outer rings, non-coplanar, vector mechanics is used to solve the forces
it is optimal for applications such as joints and swivelling and moments in the three planes and a resultant used to
units of industrial robots, swivelling tables of machining calculate the maximum value on the sting. The sting is taken
centres etc. [6]. Crossed roller bearing was chosen for the into consideration and loads and moments applied since it is
assembly in order to fix one end of the assembly (transfers the rotating critical member of the assembly. Reactions on
the thrust forces to the bottom or to the whole assembly) and the points where the bearings are placed are calculated using
the other end fixed to the spindle such that it is free to rotate simple engineering mechanics. Of the three planes yaw &
and provide the desired angular motion. To support these pitch planes are considered for force calculations, and
bearings we use radial ball bearings on the other end. making shear force & bending moment diagrams for each
Crossed Roller bearings and radial ball bearings are plane [7]. Now the forces and moments on each point on the
preloaded during manufacturing itself, pre-load values for two planes are summed up using vector mechanics. With the
various rigidity levels are available in catalogue, and no shear forces and bending moments now combined at each
adjustment is possible during assembly unlike angular point on the spindle, weakest section of the member is taken
contact bearings. and designed for failure.

3.3 Load Calculations & Model Generation With the load ratings of the bearings from respective bearing
catalogs, Basic life and Safety factor of the bearings is
One important standard part extremely critical in the calculated for optimum performance of the bearings without
application because of the high speed, high temperature flow failure during operation. The CAD model was designed
region is a seal ( to avoid fluid leakage in environment and using SEIMENS PLM software NX 7.5. The cross section
from drying the bearings out of lubrication), U-Cup type of of the complete assembly can be seen as below with the
seal has a maximum pressure range up to 40 MPa and would details of the various parts.
be suitable for the design. Other non-standard part used is
the flange placed so that all the cables from prototype
sensors and force balances can be taken out from this flange
out to the main console for result evaluation. Standard bolts
selected according to the stress analysis on the assembly.

Fig 1: Cut sectional view of the Assembly

3.4 Feedback Devices Table 4: Characteristics table for choosing Position Sensor
Description Resolver Optical Rotary
In order to determine the true position of the output shaft of Encoder Potentiomet
the electrohydraulic drive, a position sensor is required. er
There are several types of position sensors available and
Accuracy High High Moderate
each has its own merit and demerits [2]. They can be listed
as below: Reliability Very High High Moderate

Availability All Sizes All Sizes All Sizes

Cost High Moderate low

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Principal selection criteria for selection of Position sensors manufacture and expensive. A less conventional, less costly
are the accuracy requirements. Once the accuracy type of flow control servo valve utilizes a two-spool boost
requirements are established the type of position sensor is stage and a flapper nozzle pressure control pilot. Because a
selected based on ease of operation and cost. Thus, choosing feedback wire between the nozzle flapper pilot and the boost
Absolute encoders with hollow shaft mounting having stage is not needed, assembly is simplified [1]. In order to
number of turns of 24 bits having an SSI interface. size a servo valve its flow capacity should be calculated
with the actuator specifications so that it is not oversized or
4. HYDRAULIC SERVO SYSTEM undersized thereby reducing the system accuracy. An excel
sheet is made on these lines to size the servo valve whose
A typical hydraulic servo system will have the following sub rated flow is estimated.
systems and can be named as below:
1) Hydraulic Power Supply The servo valve with the complete system to produce a roll
2) Servo Valve motion can be seen as in the Simulink model:
3) Hydraulic Actuator
4) Encoder
5) Servo Controller

From the above mentioned sub systems, hydraulic actuator

and encoder has already been discussed. The block diagram
to explain the system can be seen below:

Fig 2: Block diagram of a position controlled Hydraulic

Servo system

4.1 Servo Valve

There are two most important parameters on which the
selection & sizing of a servo valves [8] depends:
(a) Flow Requirement
 Specified or Desired Actuator Speed
 Limits by Pump flow
(b) Dynamic performance
 Acceleration
 Cycle time
 Accuracy

The electro-hydraulic flow control valve acts as a high gain

electrical to hydraulic transducer, the input to which is an
electrical voltage or current, and the output a variable flow
of oil. The vast majority of flow control servo valves in
existence employ a double flapper nozzle pilot stage and a
single spool boost stage. A stiff feedback spring is generally
used to provide feedback from the boost stage to the pilot.
These types of servo valves tend to be difficult to
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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Fig 3: Simulink model of the Electrohydraulic Roll drive

The Simulink model is a design of the servo valve with the The above motion profile gives 280º of rotation in the
pump, motor and the hydraulic fluid used in the system. A stipulated time, thus achieving the desired motion. The
position sensor or encoder detects the position of the Sting. hydraulic forces acting on the ports of the servo valve can be
as seen below:
A Simulink model prepared using a servo valve with the
specifications from calculations and assumptions is as seen
below: The graph shows the output angles or the motion
profile of the rotary actuator:

Fig 5: Hydraulic Forces on the valve ports.

Fig 4: Angular displacement of rotary actuator

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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

Thus the system operates typically with the desired angular

motion and the forces under permissible value. Therefore
the designed system follows a procedure that can be used to
design various such sub systems in robotic analysis and
research in order to achieve the desired motion.

5. CONCLUSION
1) This paper provides details of the criteria to be studied
during the selection of various standard components to
design an electro hydraulic system with the load
conditions and accuracy requirements.
2) The parameters to be considered for choosing an
electric or hydraulic drive are also summarised and the
block diagram for the complete position control of the
system is listed.
3) The paper includes the mathematical model of the
system in SIMULINK using MATLAB with a servo
valve for the controlled roll motion as well as the
output graphs of the desired angular position.

ACKNOWLEDGEMENTS
We are highly grateful to Prof. Sangeeta Bansode, K.J.
Somaiya College of Engineering and Mr. Arun
Ramchandani & Mr. Mahesh Verma, of HEIC, Larsen &
Toubro Ltd, Powai for giving the opportunity to carry out
our project and we acknowledge their help in reviewing the
Paper. We would like to express our gratitude to other
faculty members of Mechanical Engineering Department of
KJSCE, family and friends for providing academic inputs,
guidance and encouragement throughout this period.

REFERENCES
[1]. Vijaya Sagar Tenali, Simulation of Electro-hydraulic
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[2]. Abhishek Kumar, Anoop Kumar Srivastava, K
Prakasha, and N Viswanatha, Design and Development of
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Systematic Approach, 9th National Symposium and
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2015), 2015.
[3]. Jose L. Salmerona and Florentin Smarandache,
Redesigning Decision Matrix Method with an
indeterminacy-based inference process, Pablo de Olavide
University at Seville (Spain), 2007.
[4]. B. Archambeault, O.M. Ramahi, C. Brench, EMI/EMC
Computational Modeling Handbook, Second Edition,
Kluwer Academic, 2001
[5]. Xiaofan Xie, Comparison of Bearings --- For the
Bearing Choosing of High-speed Spindle Design, 2003.
[6]. Naoki Yamaguchi, Motion System Design, NB Corp. of
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[7]. S. Ramamrutham & R Narayanan, Strength of materials,
Dhanpat Rai, 2008, 160-282.
[8]. Neal Hanson, “Selecting Proportional Valves And High
Response Valves”, Rexroth Bosch Group, 2006.

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