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twitch back and forth until random forces make it turn away from the wall or the batteries run down. This is illustrated in Fig. 6-6. In the graph below the picture there are two lines that represent di erent events. The bottom, solid, line is the bumper signal. When it is high the bumper is pressed. The top, dashed, line is the reverse signal to the car. When it is high the car is going backward and, preferably, in a slight circle so it avoids the obstacle. Clearly, this strategy is not working very e ciently. What you need is some kind of delay between the sensed event (the bumper signal) and its e ect (the reverse signal), so that the released bumper doesn t let the car go forward again until after a su cient delay. This delay between cause and e ect is called hysteresis, and it is important to many control systems. An example of this is shown in Fig. 6-7. When the bumper hits the wall the car immediately starts to back up. The bumper moves away from the wall and its signal returns to normal but, with hysteresis in the system, the car continues to back up for a predetermined time delay t. This provides enough of a retreat that when the car starts moving forward again it misses the wall, at least for a while. Another example of hysteresis is in your home thermostat. These have two set points, one to turn the heater on, for example, and another to turn the heater o (Fig. 6-8). When the room temperature drops below the Turn On point, the heater turns on. This is an all-or-nothing proposition, there is no medium setting on your house heater. With the heater on, the temperature



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8 10 9 6 5 10 6 775 12 2 + 2 3096

Ro = 553 lbf s in 5 The Resistance Ratio,

Fig. 6-8.

The resistance ratio governs most of the performance characteristics of the hydrostatic bearing For design purposes, the practical values of x can be considered to be in the range of 05 80 x = x =

stops its fall and begins to rise again. It quickly passes the Turn On point, but the heater remains on until it passes the Turn O point.

x = 1

Relation between Supply Pressure, Ps and Pocket Pressure, PR For design conditions, the relation between the supply pressure and the pocket or recess pressure is taken to be PR = PR =





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Try This: Our third, and nal, example of hysteresis is a mechanical switch. It is similar to the falling pencil example earlier in the chapter, but has two states, up and down, instead of just one, fallen. See Fig. 6-9.

The pressure distribution over the area of the pocket is nearly constant, but the pressure subsequently drops towards the outer perimeter of the land Therefore, the equivalent area is imagined as an area that is subjected to the same pressure as that of the liquid in the recess that would develop the same thrust as the actual hydrostatic pad

c c Av = a b 1 a b 2 2 Av = 775 12 1 775 12 2 Av = 535 in 345 10 3 m2

Fig. 6-9.

Hydrostatic Thrust, T T = PR Av T = 535 112 T = 6020 lbf Bearing Stiffness, dT/dh capillary inflow restrictor The bearing stiffness is the rate of change of the thrust force with respect to the clearance For design conditions, the hydrostatic bearing stiffness is given as

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The rubber band holds the lever against the post in an energy well. It takes energy to move the lever, since the arc of motion pulls against the rubber band. Putting enough energy into the lever causes the lever to escape its well. However, the pull of the rubber band snaps it down into the other energy well. There it sits until disturbed again. This arrangement of force is useful for holding something in place, without having to use motors to keep it there. The only time you need to use force is to switch the position, or state, of the switch. Try to extend this design into a mechanical gripping hand that stays closed under its own power.

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