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1 SERIES FORUMMOOG Actuator Overview
IASI July 13th 2009Technical University Gheorghe Asachi
Presenter: Fausto Argeri Gianluca Moscatelli
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Hydraulic Actuationand Shaking tables
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Constraint for high dynamic testing application
Stiffness of actuator is roughly proportional to cylinder area.
Stiffness, Mass, piston stroke determine natural frequency
Natural frequency determines the system's maximum controlled accelerationrate The system's natural frequency should be three to four times higher than themotion frequency.
Increase the system natural frequency means increase the cylinder Area andfinally the flow rate required. Normally higher nominal flow servovalve has worse dynamic behaviour
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Categories of hydraulic actuators
Low friction seal actuators (Structural fatigue test )
Hydrodynamic Actuators (Dynamic test)optimal solution for dynamic test at low frequency
Hydrostatic Actuators (Acceleration, Vibration, Shock test)optimal solution when high side loads are present, allow high frequency tests.
Bearing technology (hydrostatic or hydrodynamic): eliminates breakaway(stick-slip) friction that can plague cylinders in low-speed conditions or in
motion reversal, improving accuracy, repeatability, resolution. Cushioned cylinders: fluid lamination at end stroke avoids shock orhammering against the cylinder head. Single piece machined body provide highest stiffness, long fatigue life, easy
maintenance .
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Customized Pseudo- dynamic product Range
Force (kN) Bore dia (mm) Rod dia (mm) OperatingStroke (mm)
Cushion eachside (mm)
125 110 80 500 20
500 220 140 500/1000 20
250 160 100 500 20
1000 300 160 500 20
Main characteristics: Hydrostatic bearings
Integrated manifold with shut off valve to prevent uncontrolled pistonmovement
Different installation mountings
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Typical MOOG Hydrostatic actuators
L085-719 hydrostaticactuator 1000 kN
L085-760 hydrostaticactuator 500 kN and 250 kN
L085-803 hydrostaticactuator 125 kN
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Standard Hydrostatic Actuator
High Side loaded double rodactuator
- Used in applications such asshakers where a high sideload rules out the use of aconventional actuator
- 100 million cycle fatigue rated
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Design Tools NormographHydrostatic Actuator
Design Inputs Nominal Test Item Unsprung Weight
Actuator Weight Test Item Sprung Weight Choice of Mobil DTE 24 or 25 hydraulic oil Actuator Area Actuator stroke Actuator valve flow (1000 psi drop) Actuator target Running parameters
Stroke pk-to-pk Run Frequency
Design outputs Actuator Target Running Parameters
Peak Flow Average Flow Velocity Acceleration
Normograph of velocity vs displacement vs acceleration Natural Frequency
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Design Tools - StiffnessHydrostatic Actuator
Design Inputs Oil operating temperature
Choice of Mobil DTE 24 or 25 hydraulic oil Actuator stroke length Actuator stroke position All pertinent actuator part dimensions & material properties Oil passage way lengths & diameters for extra oil volume calculation. Piston and load mass All mathcad units (inputs, outputs and graphs) change from english to metric with a few key
strokes. Design outputs
Actuator extend & retract static stiffness Actuator natural frequency (without dynamic servo valve influence)
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Design Tools - BearingHydrostatic Actuator
Design Inputs System & return pressure Pressure & return line lengths & number of bends Bearing geometry (see picture)
Maximum piston eccentricity Choice of Mobil DTE 24 or 25 hydraulic oil Nominal oil operating temperature Piston rod diameter & radial clearance
Design Outputs Graph of bearing flow and side load capacity vs. feed orifice diameter at the specified
oil temperature and max piston eccentricity. Based on the graphs below, refine hydrostatic bearing geometry and / or choose feed
orifice diameter to get desired performance.
With the feed orifice diameter chosen, bearing oil temperatures are calculated. Then output graphs of the following are plotted: Bearing flow, Side load capacity, Recess pressures, Reynolds number, and Pressure
drops in the line lengths, bends, and orifices versus oil temperature and pistoneccentricity
Bearing stiffness versus temperature. All mathcad units (inputs, outputs, and graphs) change from english to metric with a
few key strokes.
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Design Tools Snubber/CushionHydrostatic Actuator
Design Inputs Nominal oil operating temperature Choice of Mobil DTE 24 or 25 hydraulic oil System & return pressure Pressure, Return, Extend, Retract, and Snubbing line lengths & number of bends Servo valve slot sizing Snubbing orifice diameter Piston rod and cylinder bore diameter Extend or Retract direction Load mass
Initial actuator position and velocity Actuator metal stiffness (from stiffness calculations) All mathcad units (inputs, outputs and graphs) change from english to metric with a few key strokes.
Types of analysis Mass with initial snubbed impact velocity, no driving pressure Actuator / mass free fall, no driving pressure Actuator / mass falling and intentionally driven into snubbed with system (or reduced) pressure.
Design Outputs Graphs of actuator Position, Velocity, Accel / Decel, Flow, Extend & Retract pressures, Snubbing pressure,
Individual pressure drops (to assess orifice authority), and Snubbing Circuit fluid velocity Versus Time. Stress level in cylinder due to pressure spike
Stress level in tie rods (or end cap bolts) due to impact velocity & moving mass
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New 8-Pocket Hydrostatic Bearing GeometryExtend SnubbingCircuit
D i s p l a c e m e n t s e n s o r B o d y
Ac t u a t o r P i s t o n ( R o d s p l i t t o s h o w
h y d r o s t a t i c b e a r i n g r e c e s s e s )
8 Recesses of theHydrostatic Bearing
Extend Port
Manifo ld Pressure LineManifold Return Line
B e a r i n g O i l F l o w
Xylan 1620 PTFE-Epoxy coated pi stonhead & gland
ScraperSeal Bearing
RecessOrifice
Tailstock
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Pedestal base actuator typical layout
Rear Gland
Front Gland
Displacement trasducer
Piston Cylinder
ElectricalConnector
PedestalBase
Mounting TappedHole Pattern
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Product Range - Hydrostatic Actuator
Force Rating
kip kN
Rod Diamet er
In. mm
Cyl Bore
In. mm
Piston Area
sq.in. sq.cm
Cushion Stroke
In. mm
6.6 30 3.15 80.0 3.62 92 2.51 16.21 1.0 25
8.5 38 3.15 80.0 3.70 95 3.20 20.62 1.0 25
11 50 3.15 80.0 3.90 99 4.14 26.71 1.0 25
22 100 3.94 100.0 5.12 130 8.40 54.19 1.0 25
35 160 3.94 100.0 5.71 145 13.42 86.59 1.0 25
Force Stroke Length
In.
Stroke Length
mm
6.2 kip (28 kN)
to 35 kip (160kN)
6
8
10
12
152
204
254
306
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Building Blocks
Hydrostatic Actuator
Building Block Approach results:- Flexibility to meet customer
needs- Maximum amount of
configurations- Less part numbers and
drawings
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Typical Pseudo dynamic application
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Test Rig for Hydrodynamic Actuator
Test bench with twoopposed actuators fordynamic performanceevaluation.
Maximum force:up to 600kN
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Shaking tables
Moog Seismic Table(3x3mt) with 2 DOF.Easy and compact the table
incorporates the hydraulicservoactuators for both Xand Y axis.
Seismic Table Moogwith hydrostatic bearing inorder to avoid friction andguarantee high linearity
acceleration signals.Dimension: 3x3 mMax acc. 1gMax payload 20 ton ( each table)Max frequency 50 Hz
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Shaking tables
In every table are mounted :
n 2 servo actuators of 700 kNDouble symmetrical roadWorking stroke: 250 mmsStall load at operative pressure 700 kNDynamic load 525 kNHydrostatic bearing:
2 hydrostatic pads on both roads,hydrodynamic pad on the piston.
Operational pressure: 28 MPatesting pressure 42 MPahydraulic brakes2 Servovalves D792 1000L/min each
Hi h f 6DOF Sh ki bl
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High frequency 6DOF Shaking tables
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High frequency 6DOF Shaking tables
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Electric motors andelectromechanical actuation
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Brushless motor Torque range
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MOOG Screws
Ball screws
ISO 3408 classes 3-5-7 (*) from 13 to 100mm Pitch from 4 to 50mm Length up to 3600mm Load capacity:
Dynamic up to 400kNStatic up to 900kN
Acceleration 10-12 m/s 2
Single or multistart
Planetary roller screws
from 16 to 90mm Pitch from 2 to 36mm Length up to 1800mm Load capacity:
Dynamic up to 670kN
Static up to 1400kN Acceleration up to 40m/s 2
Starts N 5
(*) ISO defines key geometricfeatures and to lerances of ballscrews
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Example of MOOG EMA maxforce
In linefolded
type Stroke( mm) Continuous Force (kN) Lead (mm)
Series 4 From 100 to 2000 From 2 to 20 5,10,20Series 5 From 150 to 2500 From 4 to 50 5,10,20
Series 6 from 150 to 2500 From 7 to 100 5,10,20
Higher continuous force ( up to 350kN ) on request
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MCG Linear motor family
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Component development
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Further investigation and development
Use advanced simulation techniques to optimize the system design
Use of advanced control techniques to improve the fidelity of the responseof the actuator
Improved the stiffness of the overall actuation system adopting combinedEH and EM actuation
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Thank for your attention
Questions?