Theoretical and experimental modal analysis are treated for hydraulic systems modelled by discrete capacities, inductances, resistances, and fluid lines with dynamic laminar flow. Based on an approximate multi-degree-of-freedom description, it is shown how hydraulic natural frequencies, damping ratios, and mode shapes can be identified from measured frequency response functions between flow rate excitation and pressure response. Experiments are presented for a pipeline system that includes three side branches and an accumulator. In view of practical applications, two different types of servovalve excitation as well as impact hammer excitation are considered. Pressure is measured by 19 sensors throughout the system. Results are compared in terms of frequency response functions between 50 and 850 Hz, the first five hydraulic modes, and weighted auto modal assurance criteria of experimental mode shapes. Out of the tested excitation devices, the servovalve is clearly preferred; if valves cannot be used, the impact hammer offers a reasonable workaround. For a reduced number of five sensors, different sensor arrangements are assessed by the respective weighted auto modal assurance criteria of experimental mode shapes. A theoretical hydraulic modal model provides a similar assessment. The quality of the theoretical model is confirmed by the weighted modal assurance criterion of theoretical and experimental mode shapes from servovalve excitation.
Sprache der Kurzfassung:
Journal of Dynamic Systems, Measurement and Control