Predavatelj: doc. dr. Franc Majdič
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1 Univerza v Ljubljani (UL) / Fakulteta za strojništvo (FS) Laboratorij za fluidno tehniko (LFT) RR / 3. letnik HIDRAVLIKA IN PNEVMATIKA (HiP) (2.) TEORETIČNE OSNOVE / KAPLJEVINE / OBRABA ZNOTRAJ H. SESTAVIN Predavatelj: doc. dr. Franc Majdič 1
2 Teoretične osnove za HiP Osnovne enote mednarodnega sestava enot SI 1. Za dolžino... meter [m] 2. Za maso. kilogram [kg] 3. Za čas. sekunda [s] 4. Za električni tok. amper [A] 5. Za temperaturo. kelvin [K] 6. Za svetilnost.. kandela [cd] 7. Za množino snovi. mol [mol] 2
3 Teoretične osnove za HiP Osnovni hidravlični veličini 1. Tlak: Enote: 2 p Nm 1Nm 2 1Pa 2. Prostorninski tok (pretok): kataloški podatki: Iztisnina: kataloški podatki: 3
4 Teoretične osnove za HiP Izpeljane veličine 1. Delo - energija: 2. Moč: [Pa * m 3 /s = W].. VELIČINSKA ENAČBA [bar * l/min = kw].. ŠTEVILSKA ENAČBA ZA HiP JE ZELO POMEMBNO RAZLIKOVATI MED VELIČINSKIMI IN ŠTEVILSKIMI ENAČBAMI! 4
5 HIDRAVLIKA IN PNEVMATIKA (HIP) Primer številskih enačb (HiP): Teoretične osnove za HiP 5
6 Teoretične osnove za HiP Anglosaške enote 1 morska milja 1852 m 1 kopna milja ,3 m 6
7 Teoretične osnove za HiP Absolutni / relativni tlak, ničla - Atmosferski (zračni) tlak - Nadtlak - Podtlak 7
8 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP 1. Pascalov zakon HIDROSTATIKA 8
9 Teoretične osnove za HiP 2. Kontinuitetna enačba HIDRODINAMIKA Izkustvena priporočila za hitrosti pretakanja po ceveh (v [m/s]): sesalni vodi v < 0,1 0,5 (?!) m/s tlačni vodi povratni vodi (Q je pogosto večji od Q črp.) v < 4 6 m/s v < 2 2,5 m/s 9
10 Teoretične osnove za HiP 3. Bernoullijeva enačba HIDRODINAMIKA Izgube (Δp izg ) so: a) linijske (tokovodniki) + b) lokalne (tokovodniki, ventili) 10
11 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP 3. Bernoullijeva enačba - izgube 11
12 HIDRAVLIKA IN PNEVMATIKA (HIP) Izračun tlačnih izgub v cevovodih Teoretične osnove za HiP 12
13 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Tokovne razmere pri nenadni razširitvi prereza cevi 13
14 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Standardne vrednosti koeficienta lokalnih izgub razvodi, zožitve 14
15 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Standardne vrednosti koeficienta lokalnih izgub zožitve - zaslonke 15
16 Teoretične osnove za HiP Padec tlaka skozi ventil v odvisnosti od volumskega toka 16
17 Teoretične osnove za HiP Sile na vstopu v koleno (E): 17
18 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Primer uporabe osnovnih enačb za potni ventil 18
19 HIDRAVLIKA IN PNEVMATIKA (HIP) Transformacija tlaka Teoretične osnove za HiP 19
20 Teoretične osnove za HiP Primer transformacije tlaka: Prikaz modela: Funkcijska shema praktičnega primera: 20
21 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Premočrtni prenos hidrostatične energije 21
22 Teoretične osnove za HiP Prikaz delovanja ročne hidravlične črpalke: s F2 2 A 2 F 1 A 1 s1 T F ROKE 22
23 HIDRAVLIKA IN PNEVMATIKA (HIP) Teoretične osnove za HiP Princip rotacijskega prenosa hidrostatične energije: 23
24 HIDRAVLIČNE KAPLJEVINE Naloga hidravličnih kapljevin 1. Prenos moči oz. sile 2. Tesnilni učinek (ustrezna viskoznost) 3. Mazalne lastnosti 4. Obstojnost proti rjavenju in koroziji (oljna hidravlika) 5. Izločanje netopljivih delcev 6. Razpoložljivost v večjih količinah 7. Hladilni učinek 8. Odpornost proti mešanju z vodo (ne velja za vodo in vodno-oljne emulzije) 9. Odpornost proti nastanku pene 10. Kemijska stabilnost 24
25 HIDRAVLIČNE KAPLJEVINE Viskoznost Viskoznost hidravlične kapljevine je definirana, kot odpor, ki nasprotuje medsebojnemu premikanju sosednjih plasti kapljevine. Povzamemo lahko, da se bolj viskozna kapljevina težje pretaka, kot pa manj viskozna. Kinematična viskoznost, [m 2 /s]: dinamična viskoznost, η [Pa*s], gostota [kg/m 3 ] 25 Definicija dinamične viskoznosti η
26 HIDRAVLIČNE KAPLJEVINE Indeks viskoznosti Indeks viskoznosti je merilo za stabilnost viskoznosti pri temperaturnih spremembah olja. Visok indeks viskoznosti pomeni, da ima olje boljšo viskozno stabilnost pri temperaturnih spremembah. 26
27 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE Pretakanje kapljevin po ceveh: a) brez trenja-idelanje k., b) laminarno-viskozne k. 27
28 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE Pretakanje kapljevin po ceveh: c) laminarno-turbulentno 28
29 HIDRAVLIČNE KAPLJEVINE - vrste Vrste hidravličnih kapljevin Mineralno hidravlično olje Brez dodatkov Z dodatki Hidravlične kapljevine Težko vnetljive hidravlične kapljevine Brez vode Z vodo Biološke hitro razgradljive hidravlične kapljevine Naravno Sintetično Ostale hidravlične kapljevine Posebne kapljevine Čista voda 29
30 HIDRAVLIČNE KAPLJEVINE - uporaba Vrste hidravličnih kapljevin 30 1% 85% 7% 7% Vir: Bock, W.: Hydraulik-Fluide als Konstruktionselement Vereinigte Fachverlage GmbH, Mainz, 2009 Ostale hidravlične kapljevine Biološke hitro razgradljive kapljevine Negorljive hidravlične kapljevine Mineralna hidravlična olja
31 HIDRAVLIČNE KAPLJEVINE - viskoznost Kinematična viskoznost Pri nekaterih kapljevinah, kot npr. pri vodi, se viskoznost s spreminjanjem temperature le malo spreminja. Temperaturna odvisnost kinematične viskoznosti je pri mineralnih oljih izrazita. Zato je potrebno izvesti ustrezne izračune za določitev primernega mineralnega olja. Kinematična viskoznost minaralnih Kinematična viskoznost vode 31 hidravličnih olja
32 HIDRAVLIČNE KAPLJEVINE - viskoznost Merjenje viskoznosti z dvema različnima viskozimetroma Eksperimentalno določanje viskoznosti testirane kapljevine z viskozimetrom. 32
33 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE - viskoznost Enačbi za izračun viskoznosti hidravlične kapljevine 33
34 HIDRAVLIČNE KAPLJEVINE - viskoznost Priporočila za delovno temperaturo hidravlične kapljevine 34 Vir: Reichel, J., Rolling Bearings for High Performance Hydrostatic Drives Using Water Glycol Based Hydraulics Fluids SAE Paper, Milwauke, Wisc. Sept , 2000
35 HIDRAVLIČNE KAPLJEVINE - viskoznost Spreminjanje dinamične viskoznosti v odvisnosti od tlaka 35 Vir: Murrenhoff, H.: Grundlagen der Fluidtechnik, Teil 1: Hydraulik RWTH Aachen, 6. Auflage 2011
36 HIDRAVLIČNE KAPLJEVINE - viskoznost Kinematična viskoznost hidravlične kapljevine v odvisnosti od temperature Vir: Eggerth, S.: Beitrag zur Messung von Volumenströmen viskoser Flüssigkeiten in Druckleitungen Dissertation, TU Dresden,
37 HIDRAVLIČNE KAPLJEVINE - viskoznost Kinematična viskoznost repičnega olja v primerjavi z mineralnim oljem Vir: Busch, Ch.: Untersuchungen an Rapsöl als Druckübertragungsmedium Vereinigte Fachverlage, Mainz O+P Ölhydraulik und Pneumatik, 35, Nr.6,
38 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE - stisljivost Hitrost širjenja udarnega vala 38
39 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE - stisljivost Stisljivost hidravlične kapljevine (kompresibilnost K) 39
40 HIDRAVLIČNE KAPLJEVINE - gostota Gostota Gostota ρ je definirana kot masa m na enoto volumna V: Gostota mineralnega hidr. olja Gostota vode 40
41 HIDRAVLIČNE KAPLJEVINE - lastnosti Karakteristike h. kapljevin OPOMBA: Uporabljene oznake hidravličnih kapljevin, označene z *, so v skladu s standardom ISO
42 HIDRAVLIČNE KAPLJEVINE - okolje Prednosti vode kot hidravlične kapljevine Slika 1: Osnovne prednosti uporabe čiste vode kot hidravlične tekočine [1] 42
43 HIDRAVLIKA IN PNEVMATIKA (HIP) HIDRAVLIČNE KAPLJEVINE - okolje Biološka razgradnja dveh različnih olj v odvisnosti od časa 43
44 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Mehanizmi obrab - splošno 44
45 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Vrste obrab na potnem ventilu 45
46 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Abrazija v potnem ventilu p 2 v = 0 v p 1 46
47 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN ABRAZIJA (3 - telesna abrazija) p p 1 2 p 2 p p 1 2 v = 0 v v v v v p 1 47
48 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN EROZIJA 48 E kin m v 2 p 2 2 p p 1 2 v 2 m (v p v 2 2 ) p 1
49 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Kavitacijsko erozivna obraba p 2 p 1 Prikaz kavitacijske obrabe ohišja (izvrtine) ventila 49
50 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Kavitacija v okrogli cevi z dušilko HIDRAVLIKA IN PNEVMATIKA (HIP) Univerza v Ljubljani / Fakulteta za strojništvo / Laboratorij za fluidno tehniko (LFT) Primeri uporabe 50 Implozija mehurčkov pri višanju tlaka v sistemu
51 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Nastanek kavitacije na aksialni batni črpalki Nastanek kavitacije; a.) na delilni plošči, b.) na bobnu 51
52 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Zmanjšanje efektivnosti sistema zaradi obrabe: enostopenjski potni ventil 30 52
53 HIDRAVLIKA IN PNEVMATIKA (HIP) 53 Zmanjšanje efektivnosti sistema zaradi obrabe: enostopenjski potni ventil A B P T P T A B P T A B P A T B T P P T A B P A T B B A P T A B T T B P T A A B P T P T T A B T B P T A Različna ničelna položaja VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN
54 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN OBRABA NA VZORCU 1 EROZIJA ROBU A P B T A MESTA FOTOGRAFIJ POVRŠINE (SEM) T obrabljen bat (izmet) nov bat ZAOBLJENOST ROBU "S" [ um ] s 54
55 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN OBRABA NA VZORCU 1 3-TELESNA ABRAZIJA A P B T PREMIKAJOCI BAT MESTA FOTOGRAFIJ POVRŠINE (SEM) FIKSNO OHIŠJE T obrabljen bat (izmet) nov bat ZAOBLJENOST ROBU "S" [ um ] s 55
56 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN OBRABA NA VZORCU 1 EROZIJSKA KAVITACIJA B P obrabljen bat (izmet) nov bat S 56
57 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Zmanjšanje efektivnosti sistema zaradi obrabe: dvostopenjski potni ventil 57
58 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Nestabilno stanje pri krmiljenju zaradi obrabe: servo ventil M A P B T P2 potenciometer-dejanska vrednost Slika 20: Zunanji izgled servo ventilov [26] ojacevalec - + P1 zeljena vrednost - potenciometer T 58
59 VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Nestabilno stanje pri krmiljenju zaradi obrabe: servo ventil Prerez servo (potnega) ventila z LVDT senzorjem [14] Izvedba ventila: sredinska šoba z odtočnima kanaloma. 59
60 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Nestabilno stanje pri krmiljenju zaradi obrabe: servo ventil 60 Vir: Fang at all, Physics-of-failure models of erosion wear in electrohydraulic servovalve,and erosion wear life prediction method, Mechatronics 23 (2013),
61 HIDRAVLIKA IN PNEVMATIKA (HIP) VRSTE IN MEHANIZMI OBRAB ZNOTRAJ HIDRAVLIČNIH SESTAVIN Nestabilno stanje pri krmiljenju zaradi obrabe: servo ventil 61 Vir: Fang at all, Physics-of-failure models of erosion wear in electrohydraulic servovalve,and erosion wear life prediction method, Mechatronics 23 (2013),
62 HVALA ZA POZORNOST! Potrudite se in SPROTI ŠTUDIRAJTE! 62
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