Hydraulics Library - Release Information

New features

  • Hydraulic brake system and pneumatic brake booster example model demonstrating FMI capabilities and multi-library capabilities.
  • Linear analysis tutorial on a common rail diesel injection system.
  • Possible to scale states for improved numerical accuracy. This is done from the outer oil-component and includes pressure (all volumes), volume flow rate (for Lines) and wk (dynamic friction term in LongLine).
  • Mass-components to Elements which are more flexible and an additional mass inside mass component.
  • Oil model Constant and ConstantBulkModulus are now supported by thermal equations. This enables fast switching between thermal/non-thermal oil. A complete list of assumptions in every fluid property is available.
  • Significantly improved ModelonFluid (previously called ThermoHydraulics) assumptions and parameterization. A tutorial is available in the ModelonFluid information section.
  • New oil property model called ConstantPure and ConstantBulkModulusPure is added to the library, which is the currently the most simple oil property model in the library for optimal simulation performance. This model uses the same approach as the oil property model Constant and ConstantBulkModulus but with no gas content.

Improvements

  • Changed oil model in HydraulicDamper to ConstantBulkModulus oil property model and fixed usage of multiport concept to avoid linear equation systems.
  • Compatible with both Modelica Standard Library 3.2.1 and 3.2.2.

Fixed issues

  • New protection level (nonPackageDuplicate) on the library to allow duplication of components and example.
  • Fixed a division by zero warning when using GasCylinder.
  • Fixed flipped valve icons.

Library structure changes

New classes

  • Hydraulics.Fluids.PreDefined.EquationBased.ModelonFluid
  • Hydraulics.Fluids.Media
  • Hydraulics.Elements.MassWithStopAndFriction
  • Hydraulics.Elements.MassInMass
  • Hydraulics.Examples.BrakeSystem
  • Hydraulics.Examples.CommonRailDieselInjection
  • Hydraulics.Fluids.PreDefined.EquationBased.ConstantPure
  • Hydraulics.Fluids.PreDefined.EquationBased.ConstantBulkModulusPure

Renamed classes

Obsolete classes

Obsolete classes are placed in the package Utilities.Deprecated and will be removed after a year from the release when they were put in the deprecated package.

  • Hydraulics.Elements.Deprecated.MassWithStopAndFriction
  • Hydraulics.Utilities.Deprecated.Media
  • Hydraulics.Utilities.Deprecated.Thermal
  • Hydraulics.Utilities.Deprecated.tabularToCoefficientsDensity
  • Hydraulics.Utilities.Deprecated.tabularToCoefficientsHeatCapacity
  • Hydraulics.Utilities.Deprecated.tabularToCoefficientsViscosity

Conversion of user libraries

Automatic conversion of user libraries from version 4.3 is supported using the included conversion script ConvertHydraulics_from_4.3_to_4.4 located under Hydraulics 4.4\Scripts.

Requirements

Hydraulics 4.4 is based on Modelon Base Library 2.4 and Modelica Standard Library 3.2.2.  

It has been tested with:

  • Dymola 2017
  • Dymola 2016 FD01

Version 4.3 contains the changes described below.

New features

  • Completely reworked the documentation structure in the library. New User's Guide structure, tutorial for the Lines package, detailed information section for every sub-package (Cylinders, RotaryActuators, Restrictions, Fluids etc).
  • New components. TwoWayValveCurrent (current actuated two way valve), TurbulentMultiple (analythical solution to multiple connected orifice models) and OpenVolume (an open tank volume with constant pressure and variable volume).
  • Enabled the oppertunity to switch off the boolean parameter useThermal in ThermoHydraulic oil. This enables much faster simulation speed if using ThermoHydraulic media with useThermal=true than using fluids within Fluids.PreDefined.Tabular.
  • Added gas-mixing equations to the ThermoHydraulic oil.This enables constant gas content in the ThermoHydraulic oil as well as it prevents negative pressure from being negative.

Improvements

  • Appropriate tabs and groups now exist for all top level components. Parameters that are typically affecting on system level can be found in the General tab. While detailed parameters for component design are found in the Advanced tab. There are separate tabs for Volumes, Initialization and Visualization parameters.
  • Pressure dependent color can now be set from the outer oil component.
  • Merged FlexibleLine and LongLine component. LongLine now also covers flexible lines.
  • Hydraulics library passes through ModelManagement style checking tool when it comes to comments on classes and parameters.
  • Moved HydraulicResistances to Restrictions.Fittings.

Fixed issues

  • Fixed a bug with unconnected ports in DCV_3_2.
  • Changed default value for tau_P from 1e-2s to 1e-5s since it appeared to have too slow time dynamics and did not always limit hydraulic power.
  • Only kept the print warnings flag on relevant places.
  • The rotary actuators now correctly calculates volume flow rate from port B if the flow goes from B to A.
  • Changed default value on bunsen coefficient from 6.8 to 0.09.
  • Improved numerical stability in the LongLine component, since it tend to fail when cavitation.
  • Removed unused parameters in the model Elements.Components.Leakage and in Elements.PreDefined.PilotedServoValve.
  • Fixed a missed term in thermohydraulics energy balance.

Library structure changes

New classes

  • Hydraulics.Valves.TwoWayValveCurrent
  • Hydraulics.Restrictions.TurbulentMultiple
  • Hydraulics.Volumes.OpenVolume
  • Hydraulics.Lines.Experiments.LongLineCircuit
  • Hydraulics.Lines.Experiments.LineCircuit
  • Hydraulics.Elements.Components.MassWithStopAndFriction
  • Hydraulics.Elements.PressureReliefValve
  • Hydraulics.DirectionalControl.Interfaces.ThreePortPAX
  • Hydraulics.DirectionalControl.Templates.FourPortXPosSpoolValve
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameterGeneric_4_X_X
  • Hydraulics.DirectionalControl.Basic.Components.Templates.Command_diameter_4_3_X
  • Hydraulics.DirectionalControl.Basic.Components.Templates.Command_diameter_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_3_2_PAX
  • Hydraulics.Utilities.Types.MultipleTurbulent
  • Hydraulics.Valves.Basic.TwoWayValveCurrent
  • Hydraulics.Restrictions.Basic.TurbulentMultiple

Renamed classes

  • Hydraulics.Cylinders.Examples.CylinderPositionalControl -> Hydraulics.Examples.ThermoHydraulics.LinearDrive
  • Hydraulics.Examples.ThermoHydraulics.CylPosControlThermoNL -> Hydraulics.Examples.ThermoHydraulics.LinearDriveThermoHydraulicsNonLinear
  • Hydraulics.Examples.ThermoHydraulics.CylPosControlThermo -> Hydraulics.Examples.ThermoHydraulics.LinearDriveThermoHydraulics
  • Hydraulics.Examples.DamperModel.damperTestModel -> Hydraulics.Examples.DamperModel.DamperTestModel
  • Hydraulics.Examples.DamperModel.damperTestFMU -> Hydraulics.Examples.DamperModel.DamperTestFMU
  • Hydraulics.Interfaces.RotationalHydraulic -> Hydraulics.RotaryActuators.Interfaces.RotationalHydraulic
  • Hydraulics.DirectionalControl.Examples.Components.Example_DCV_4_2_X -> Hydraulics.DirectionalControl.Examples.DCV_4_2
  • Hydraulics.DirectionalControl.Examples.Components.Example_DCV_4_3_X -> Hydraulics.DirectionalControl.Examples.DCV_4_3
  • Hydraulics.Fluids.HydraulicFluids.Oil_15W30 -> Hydraulics.Fluids.Examples.Tabular.Oil_15W30
  • Hydraulics.Fluids.HydraulicFluids.Oil_ISO_VG_32_MOBIL_DTE_24 -> Hydraulics.Fluids.Examples.Tabular.Oil_ISO_VG_32_MOBIL_DTE_24
  • Hydraulics.Fluids.HydraulicFluids.Oil_ISO_VG_46_MOBIL_DTE_25 -> Hydraulics.Fluids.Examples.Tabular.Oil_ISO_VG_46_MOBIL_DTE_25
  • Hydraulics.Fluids.HydraulicFluids.Oil_ISO_VG_68_MOBIL_DTE_26 -> Hydraulics.Fluids.Examples.Tabular.Oil_ISO_VG_68_MOBIL_DTE_26
  • Hydraulics.Fluids.HydraulicFluids.Oil_MIL_H_5606 -> Hydraulics.Fluids.Examples.Tabular.Oil_MIL_H_5606
  • Hydraulics.Fluids.HydraulicFluids.Oil_MIL_H_8446 -> Hydraulics.Fluids.Examples.Tabular.Oil_MIL_H_8446
  • Hydraulics.Fluids.HydraulicFluids.Oil_MIL_H_27601 -> Hydraulics.Fluids.Examples.Tabular.Oil_MIL_H_27601
  • Hydraulics.Fluids.HydraulicFluids.Oil_MIL_H_83282 -> Hydraulics.Fluids.Examples.Tabular.Oil_MIL_H_83282
  • Hydraulics.Fluids.HydraulicFluids.Oil_MIL_H_87257 -> Hydraulics.Fluids.Examples.Tabular.Oil_MIL_H_87257
  • Hydraulics.Fluids.HydraulicFluids.Oil_skydrol_500B_4 -> Hydraulics.Fluids.Examples.Tabular.Oil_skydrol_500B_4
  • Hydraulics.Fluids.HydraulicFluids.Oil_skydrol_LD_4 -> Hydraulics.Fluids.Examples.Tabular.Oil_skydrol_LD_4
  • Hydraulics.Fluids.HydraulicFluids.Skydrol_IV -> Hydraulics.Fluids.Examples.Tabular.Skydrol_IV
  • Hydraulics.Fluids.HydraulicFluids.JetFuelA -> Hydraulics.Fluids.Examples.Tabular.JetFuelA
  • Hydraulics.Fluids.HydraulicFluids.JP8 -> Hydraulics.Fluids.Examples.Tabular.JP8
  • Hydraulics.Fluids.HydraulicFluids.JetFuelA1 -> Hydraulics.Fluids.Examples.Tabular.JetFuelA1
  • Hydraulics.Fluids.HydraulicFluids.JetFuelB -> Hydraulics.Fluids.Examples.Tabular.JetFuelB
  • Hydraulics.Fluids.MBLFluid -> Hydraulics.Fluids.Examples.Thermal.ThermoHydraulics
  • Hydraulics.Fluids.JetFuelA -> Hydraulics.Fluids.Examples.CoefficientBased.JetFuelA
  • Hydraulics.Fluids.JP8 -> Hydraulics.Fluids.Examples.CoefficientBased.JP8
  • Hydraulics.Fluids.Constant -> Hydraulics.Fluids.Examples.EquationBased.Constant
  • Hydraulics.Fluids.ConstantBulkModulus -> Hydraulics.Fluids.Examples.EquationBased.ConstantBulkModulus
  • Hydraulics.Fluids.BulkModulusGibson -> Hydraulics.Fluids.Examples.EquationBased.BulkModulusGibson
  • Hydraulics.Fluids.BulkModulusNykaenen -> Hydraulics.Fluids.Examples.EquationBased.BulkModulusNykaenen
  • Hydraulics.Fluids.BulkModulusHoffman -> Hydraulics.Fluids.Examples.EquationBased.BulkModulusHoffman
  • Hydraulics.Fluids.MSLFluid -> Hydraulics.Fluids.Examples.EquationBased.MSLFluid
  • Hydraulics.Examples.ThermoHydraulics.MyOilTable -> Hydraulics.Fluids.Media.MyOilTable
  • Hydraulics.Examples.ThermoHydraulics.MyOilPoly -> Hydraulics.Fluids.Media.MyOilPoly
  • Hydraulics.Utilities.ParameterMinWarnings -> Hydraulics.Utilities.Warnings.ParameterMinWarnings
  • Hydraulics.Utilities.OilWarnings -> Hydraulics.Utilities.Warnings.OilWarnings
  • Hydraulics.DirectionalControl.Basic.Components.CheckFlow -> Hydraulics.Utilities.Warnings.CheckFlow
  • Hydraulics.Restrictions -> Hydraulics.Restrictions.Fittings
  • Hydraulics.Lines.FlexibleLine -> Hydraulics.Lines.LongLine
  • Hydraulics.Lines.Basic.LineExit -> Hydraulics.Lines.Basic.LineEnd
  • Hydraulics.Lines.Basic.LineEntrance -> Hydraulics.Lines.Basic.LineEnd
  • Hydraulics.Lines.Examples.LongLineTLM -> Hydraulics.Lines.Examples.LongLineTLMCircuit
  • Hydraulics.Elements.Examples.PressureReliefValve -> Hydraulics.Elements.Examples.PressureReliefValveCircuit
  • Hydraulics.Elements.TwoStage_DCV_Spool -> Hydraulics.Elements.Examples.PilotedServoValve
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAB -> Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAX
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAT -> Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAX
  • Hydraulics.DirectionalControl.Basic.Components.Interfaces.Command_diameter_3_2_PAB -> Hydraulics.DirectionalControl.Basic.Components.Interfaces.Command_diameter_3_2_PAX
  • Hydraulics.DirectionalControl.Basic.Components.Interfaces.Command_diameter_3_2_PAT -> Hydraulics.DirectionalControl.Basic.Components.Interfaces.Command_diameter_3_2_PAX
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_3_2_PAB -> Hydraulics.DirectionalControl.Basic.Components.Command_diameter_3_2_PAX
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_3_2_PAT -> Hydraulics.DirectionalControl.Basic.Components.Command_diameter_3_2_PAX
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_4_2_X -> Hydraulics.DirectionalControl.Basic.Components.Command_diameterGeneric_4_X_X
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_4_3_X -> Hydraulics.DirectionalControl.Basic.Components.Command_diameterGeneric_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_4_X -> Hydraulics.DirectionalControl.Basic.Templates.Spool_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_4_2_X -> Hydraulics.DirectionalControl.Basic.Templates.SpoolGeneric_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_4_3_X -> Hydraulics.DirectionalControl.Basic.Templates.SpoolGeneric_4_X_X
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_4_X -> Hydraulics.DirectionalControl.Basic.Templates.Spool_4_3_X
  • Hydraulics.DirectionalControl.Basic.Components.Interfaces.Command_diameter_4_X_X -> Hydraulics.Utilities.Deprecated.Command_diameter_4_X_X
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_4_2_A -> Hydraulics.Utilities.Deprecated.Command_diameter_4_2_A
  • Hydraulics.DirectionalControl.Basic.Components.Command_diameter_4_3_D -> Hydraulics.Utilities.Deprecated.Command_diameter_4_3_D
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_3_2_PAB -> Hydraulics.Utilities.Deprecated.Spool_3_2_PAB
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_3_2_PAT -> Hydraulics.Utilities.Deprecated.Spool_3_2_PAT
  • Hydraulics.DirectionalControl.Basic.Interfaces.ThreePortSpool -> Hydraulics.Utilities.Deprecated.ThreePortSpool
  • Hydraulics.DirectionalControl.Basic.Interfaces.ThreePortSpool2 -> Hydraulics.Utilities.Deprecated.ThreePortSpool2
  • Hydraulics.DirectionalControl.Basic.Interfaces.FourPortSpool -> Hydraulics.Utilities.Deprecated.FourPortSpool
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAB -> Hydraulics.Utilities.Deprecated.ThreePortSpoolValvePAB
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAT -> Hydraulics.Utilities.Deprecated.ThreePortSpoolValvePAT
  • Hydraulics.DirectionalControl.Interfaces.FourPortTwoPositionSpoolValve -> Hydraulics.Utilities.Deprecated.FourPortTwoPositionSpoolValve
  • Hydraulics.DirectionalControl.Interfaces.FourPortThreePositionSpoolValve -> Hydraulics.Utilities.Deprecated.FourPortThreePositionSpoolValve
  • Hydraulics.DirectionalControl.Interfaces.ThreePortTwoPositionSpoolValvePAB -> Hydraulics.Utilities.Deprecated.ThreePortTwoPositionSpoolValvePAB
  • Hydraulics.DirectionalControl.Interfaces.ThreePortTwoPositionSpoolValvePAT -> Hydraulics.Utilities.Deprecated.ThreePortTwoPositionSpoolValvePAT
  • Hydraulics.DirectionalControl.Basic.Spool_4_3_C -> Hydraulics.Utilities.Deprecated.Spool_4_3_D
  • Hydraulics.DirectionalControl.DCV_4_3_C -> Hydraulics.Utilities.Deprecated.Spool_4_3_D

Obsolete classes

Obsolete classes are placed in the package Utilities.Deprecated and will be removed after a year from the release when they were put in the deprecated package.

  • Hydraulics.Utilities.Deprecated.BasicExample
  • Hydraulics.Utilities.Deprecated.Cylinder
  • Hydraulics.Utilities.Deprecated.TwoPortComponentSignalInput
  • Hydraulics.Elements.Examples.Valve
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_3_2_PAB
  • Hydraulics.DirectionalControl.Basic.Templates.Spool_3_2_PAT
  • Hydraulics.DirectionalControl.Basic.Interfaces.ThreePortSpool
  • Hydraulics.DirectionalControl.Basic.Interfaces.ThreePortSpool2
  • Hydraulics.DirectionalControl.Basic.Interfaces.FourPortSpool
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAB
  • Hydraulics.DirectionalControl.Templates.ThreePortSpoolValvePAT
  • Hydraulics.DirectionalControl.Interfaces.FourPortTwoPositionSpoolValve
  • Hydraulics.DirectionalControl.Interfaces.FourPortThreePositionSpoolValve
  • Hydraulics.DirectionalControl.Interfaces.ThreePortTwoPositionSpoolValvePAB
  • Hydraulics.DirectionalControl.Interfaces.ThreePortTwoPositionSpoolValvePAT
  • Hydraulics.Utilities.Deprecated.Spool_4_3_D
  • Hydraulics.Utilities.Deprecated.DCV_4_3_D

Conversion of user libraries

Hydraulics.DirectionalControl has been completely reworked. DCV- and Spool-models are working, but conversion do not fully support locally duplicated DCV- and Spool-models.

Automatic conversion of user libraries from version 4.2 is supported using the included conversion script ConvertHydraulics_from_4.2_to_4.3 located under Hydraulics 4.2\Scripts.

Requirements

Hydraulics 4.3 is based on Modelon Base Library 2.3 and Modelica Standard Library 3.2.1.  

It has been tested with:

  • Dymola 2016 FD01
  • Dymola 2016

Version 4.2 contains the changes described below.

New features

  • Four new library examples: HatchCover, HydraulicLift, PumpAndMotor and WaterHammer.
  • A completely new User's Guide for Elements in Hydraulics.Elements.Information.
  • A new Hydraulic.Elements-component. PilotedCheckValve. An example model demonstrating this component is also included.
  • A complete new pressure source Sources.PressureSource with time dynamics, replacing the old Sources.ControlledPressureSource.
  • Cavitation warnings now prints the component name in the simulation log.
  • Made it possible to parameterize ThermoHydraulic fluids directly from tables. For information on how to do this, see the ThermoHydraulics guide in Examples.ThermoHydraulics.
  • A new, flexible non-descritized line component Lines.Line, this component replaces rigid line. It is also possible to consider elastic wall in Volumes.OilVolume, MultiPortOilVolume and Chamber.
  • Possible to plot Reynolds number (variable Re) in Restrictions, for verify whether the flow are laminar or turbulent.
  • Derivatives are defined for all oil models (except MSLFluid and JetFuels) and restriction functions within Restrictions.Basic.Functions.
  • Added sensor dynamic components in Hydraulics.Sensors.NonIdeal.

Improvements

  • Directional Control Valves no longer generates a non-linear system of equation. The variable P_hyd previously generated a non-linear system, but dynamics is now introduced on this variable.
  • The start values of position and velocity in SpoolValve is now set as fixed.
  • Added low pressure warnings in pressure sources and limited pressure at vapour pressure.
  • Replaced the MSL component MassWithStopAndFriction with a equivalent made from DualRodWithStop, ElastoGap and StribeckFriction. The component was used in PressureReliefValve and TwoStage_DCV_Spool.
  • Improved Lines documentation in Lines.Information and friction documentation in Cylinders.
  • The oil icon is changed to the orange Hydraulics icon.
  • Hydraulics is completely independent from the UserInteraction-library.
  • Created a new sub-package Accumulators. Re-introduced previously deprecated accumulator-components.

Fixed issues

  • Fixed missing condition velocity=0 in SpoolDynamicsWithHysteresis. The variable velunlimited now has correct start value set to velunlimited_start.
  • Fixed incorrect icon in the Hydraulic-Element component TwoStage_DCV_Spool.
  • Xmax in PoppetLiftBasic was needlessly declared as a state. It is now a parameter with fixed=false instead.
  • Corrected pressure-flow formulations in ReducingValveNoStates and SerFlowContNoState.
  • Fixed errors in documentation for CounterBalance and ReliefValve.
  • Removed unresolved variable names.
  • The example TwoStage_DCV_position_control has no longer cavitation and oscillations.
  • Correctly propagated pCheckValvePreload in CounterBalance valve.
  • Fixed incorrect icon for DCV_4_3_C.
  • Removed non-used parameters in Hydraulics.Elements.Leakage; w_s, L_u and useVariableLengthLeakage.
  • Changed name of radial clearance from deltaR to c in Hydraulics.Elements.TwoStage_DCV_Spool and Hydraulics.Elements.SpoolValve.
  • Fixed PistonGasAccumulator initialization. The parameter interface is also improved.
  • LongLine and FlexibleLine correctly consider temperature variations.
  • LongLine, FlexibleLine and LongLineTLM are now included in aggregated mass and volume properties by default.

Library structure changes

New classes

  • Hydraulics.Sources.PressureSource
  • Hydraulics.Examples.ThermoHydraulics.MyOilTable
  • Hydraulics.Fluids.Media.DataDefinitions.OilDataTable
  • Hydraulics.Utilities.Visualizers.Functions.rgb
  • Hydraulics.Sensors.NonIdeal
  • Hydraulics.Accumulators
  • Hydraulics.Utilities.Pneumatics

Renamed classes

  • Hydraulics.Sources.ControlledPressureSource -> Hydraulics.Utilities.Deprecated.ControlledPressureSource
  • Hydraulics.Mechanics.DualRodDualStop -> Modelon.Mechanics.DualRodDualStop
  • Hydraulics.Mechanics.SingleRodSingleStop -> Modelon.Mechanics.SingleRodSingleStop
  • Hydraulics.Mechanics.SingleRodDualStop -> Modelon.Mechanics.SingleRodDualStop
  • Hydraulics.Lines.RigidLine -> Hydraulics.Lines.Line
  • Hydraulics.Examples.ThermoHydraulics.myOil -> Hydraulics.Examples.ThermoHydraulics.MyOilPoly
  • Hydraulics.Fluids.Media.DataDefinitions.oilData -> Hydraulics.Fluids.Media.DataDefinitions.OilDataPoly
  • Hydraulics.Utilities.Deprecated.Accu1 -> Hydraulics.Accumulators.AccumulatorSimple
  • Hydraulics.Utilities.Deprecated.Accu2 -> Hydraulics.Accumulators.AccumulatorDetailed
  • Hydraulics.Volumes.PistonGasAccumulator -> Hydraulics.Accumulators.PistonGasAccumulator
  • Hydraulics.Volumes.SpringAccumulator -> Hydraulics.Accumulators.SpringAccumulator
  • Hydraulics.Volumes.Templates.PistonAccumulator -> Hydraulics.Accumulators.Templates.PistonAccumulator
  • Hydraulics.Volumes.Interfaces.VectorPortInput -> Hydraulics.Accumulators.Interfaces.VectorPortInput
  • Hydraulics.Utilities.Deprecated.ValveLogic -> Hydraulics.Utilities.Pneumatics.ValveLogic
  • Hydraulics.Volumes.Templates.PartialGasVolume -> Hydraulics.Utilities.Pneumatics.Templates.PartialGasCylinder
  • Hydraulics.Utilities.Deprecated.PartialGasVolume -> Hydraulics.Utilities.Pneumatics.Templates.PartialGasVolume
  • Hydraulics.Utilities.Deprecated.GasVolume -> Hydraulics.Utilities.Pneumatics.GasVolume
  • Hydraulics.Utilities.Deprecated.GasVolumeBB -> Hydraulics.Utilities.Pneumatics.GasVolumeBB
  • Hydraulics.Volumes.GasCylinder -> Hydraulics.Utilities.Pneumatics.GasCylinder
  • Hydraulics.Volumes.Media -> Hydraulics.Utilities.Pneumatics.Media

Obsolete classes

Obsolete classes are placed in the package Utilities.Deprecated and will be removed after a year from the release when they were put in the deprecated package.

  • Hydraulics.Utilities.Deprecated.ControlledPressureSource

Conversion of user libraries

Automatic conversion of user libraries from version 4.1 is supported using the included conversion script ConvertHydraulics_from_4.1_to_4.2 located under Hydraulics 4.2\Scripts.

Requirements

Hydraulics 4.2 is based on Modelon Base Library 2.2 and Modelica Standard Library 3.2.1.  

It has been tested with:

  • Dymola 2016
  • Dymola 2015 FD01

Hydraulics 4.1 is a major release with the following enhancements compared to 4.0.

Enhancements

The documentation is now improved throughout the library

  • The information section (Hydraulics.Information) has been updated.
  • Each main-component have detailed documentation of usage, assumptions and extending classes.
  • The information section for the templates (see e.g. Templates.TwoPort), displays what kind of equations that has to added to classes using this template.

The package structure is improved throughout the library.

  • A separate icons package (Utilities.Icons) is created with the most common Hydraulics Library Icons.
  • Mechanical components and actuators are now located in the Utilities.Mechanics.
  • The Visualizer package is located in Utilities.Visualizers.
  • Many of the component and example names were abbreviations. Most of the names are now changed to the full name.
  • Many components were old and deprecated. They are now placed in the package Utilities.Deprecated and will be removed after a year from the release when they were put in the deprecated package. These components are marked with a red cross and if they are used, a warning message will appear in the message log. If the user wants to keep using the component, it has to be copied to the local library. But they will no longer be supported by Modelon.
  • Basic components now have a different look. A grey thick dashed line is placed around the components, to easily identify basic components.
  • Pump and motor components are now merged and put into a new package: RotatyActuators.
  • The new component RotaryActuator represents the following pump components: SimplePump, VariablePump, TabularPump and PumpWithLoss the following motor components: SimpleMotor and VariableMotor.
  • The Sources package is now cleaned up and some components are merged.

A few new components, examples and features have been added to the library.

  • An example visualizing usage of an Modelon Base Library (MBL) Heat Exchanger, see Examples.ThermoHydraulicsGuide.HXTableEfficiency. This is possible using the new adaptor component Interfaces.ThermoFluidAdaptor.
  • An example visualizing temperature rise in a closed system due to pump losses, see Examples.ThermoHydraulicsGuide.ClosedPumpCircuit.
  • All two-port components with volumes now have conditional conductance if using thermal hydraulics.
  • The component Valves.SpoolValve and RotaryActuators.CentrifugalPump now also exists as a main component and not just as a basic equivalent.
  • Excavator and LoadSensingControlSystem are cleaned up and now easier to overview.
  • The tabular oil has different extrapolation options, for instance "hold last point" and "extrapolate linearly between two last points".
  • Aggregated mass and volume are now calculated within the oil component. Using the parameter "include_in_aggregate", the user can simply include or exclude a volume or chamber from the aggregated mass/volume.

Fixes

  • The volume in the inductance components (Lines.Inductance, Lines.InductanceHole and Lines.RigidLine) are now correctly calculated from the parameterized geometry. Conversion script does not handle this change and has to be reverted back manually if the old default parameters are desired.
  • The component DCV_4_3_D was internally incorrect connected. The path P->T is now active on default. Conversion script does not handle this and the path has to manually be turned off if not desired.
  • The rotary actuators now take the enthalpy change into account due to the change in pressure.
  • The tabular oil has new names on the interpolation options: "LinearSegments" and "Akima", they correspond to the new names "Linear" and "ContiniousDerivatives" respectively. The old option ConstantSegments is removed, because it was actually not implemented.
  • Fixed all pedantic check errors.

Note

Conversion scripts will only support conversion from the previous release to the current release.

Conversion script cannot handle some of the bug fixes:

  • The path P->T in DCV_4_3_D is now active on default. Conversion script does not handle this and the path has to manually be turned off if not desired.
  • The volume in the inductance components are calculated from the parameterized geometry. Conversion script does not handle this change and has to be reverted back manually if the old default parameters are desired.
  • Many components were old and deprecated. They are now placed in the package Utilities.Deprecated and will be removed after a year from the release when they were put in the deprecated package.


Usage of the old component Pumps.Basic.IdVarPump or Motors.Basic.IdVarMot requires a normalized input between -1 and 1. They are now located in the set of deprecated components. The new component RotaryActuators.Basic.IdealRotaryActuator requires the displacement as input and has to be multiplied with the displacement in order to match the old IdVarMot and IdVarPump.

 The library runs under Modelica Standard Library 3.2.1 and Modelon Library 2.1

Conversion from release 4.0 to 4.1 is embedded.

 

Available for: Dymola 2015

Dependencies: Modelica Standard Library Version: 3.2.1 and Modelon Base Library 2.0

Enhancements:

With Thermo Hydraulics, it is possible to enable thermo dynamic equations, as well as to disregard the temperature effects:

  • Added a descriptive guide/tutorial in Example.ThermoHydraulicsGuide on how to get started with Thermo Hydraulics.
  • The models of the working fluids are based on polynomials and accurately model fluid properties dependent on temperature and pressure.
  • A large variety of pre-defined thermo-dynamically sound oil models are included in the library.
  • Hydraulics Library 3.x oil models with constant temperature works like before.
  • In the Elements package, a number of modifications to the spool valve component have been made:
  • An option in the orificeType to enter the orifice area/diameter as a table with respect to spool displacement.
  • An option to include flow direction angle as a table. A reference table derived is added.
  • Includes a new elements component: Two-Stage directional control valve (DCV) and two new examples.

 New components and fluid property models:

  • New mass flow rate- and temperature sensor. The sensor names are now more descriptive.
  • Fluid property models of Jet fuels; Jet A, Jet A-1, Jet B and JP-8. The Boolean "ConstantProperties" enables constant properties at pressure p0 and temperature T0.
  • Introduced a new option in tabular oils: Parameterize density with temperature and pressure. Pressure dependecy is calculated from bulk modulus with the default option.

The library is significantly improved in terms of ease of use, quality and graphical appearance:

  • Pressure dependent color on Cylinders and Chamber, for animation purposes.
  • More consistent icon appearances.
  • Bright red-orange color scheme throughout the library.
  • More consistent use of the circle on ports (for visualizing where pressure might be a state).
  • Restructured the Fluids-package. The oils are now easier to find.
  • The old pumps package is divided into three sub-packages; Pumps, Motors and Sources.
  • Friction model in Cylinders are now replaceable.
  • p_sat is moved to the oil model.
  • OilVolume, MultiPortOilVolume and Chamber all now extends from the same template: VolumeDynamics, where all common parameters and equations exists. Chamber has a more convenient parameter interface for initialization.

Numerical improvements:

  • p_abs (absolute pressure) is the default state in Hydraulics (gauge pressure in earlier versions).

Fixes:

  • Fixed non-compiling example Elements.Examples.Valve.
  • Fixed a bug in bulk modulus Gibson, Nykänen and Default (now renamed to Hoffman) where entrained air was modeled twice.
  • Example models are now consistent in terms of connected volumes.
  • Some examples did not simulate long enough to make any sense.
  • Some DCV's had non-connected conditional orifices. This caused an error when the boolean was set to true.
  • v_start in cylinders was not properly propagated.
  • Removed duplicate components throughout the library. Some existed in Modelon Base Library and some were duplicates within Hydraulics.

Available for: Dymola 2014 FD01

Dependencies: Modelica Standard Library Version: 3.2.1 and Modelon Base Library 1.9

Conversion script from 3.2.1 to 3.3.X is included and no conversion needed between 3.3.2 and 3.3.3.

  • Minor changes to adopt to the Modelica Standard Library 3.2.1
  • Improved platform independency
  • Create new type for absolute pressure. The newly introduced nominal value for absolute pressure effects the solver settings significantly and created convergence problems at very low pressures.

Available for: Dymola 2014 and MapleSim 6.2

Dependencies: Modelica Standard Library Version: 3.2 and Modelon Base Library 1.8

Conversion script from 3.2.1 to 3.3.X is included

  • Hydraulics 3.3.2 is a minor release with the following improvements and bug fixes.
  • Improved the power steering example
  • Added a hydraulic damper example
  • Scaling improvements for regRoot in Hydraulics/Elements
  • General improvements in the library for cross platform compatibility
  • Some parts of the library documentation were unintentionally hidden