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Mathematical modeling of an armature assembly in pilot stage of a hydraulic servo valve based on distributed parameters

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Chinese Journal of Aeronautics 2021年第3期34卷 50-60页

作者： Xinbei LV Jinghui PENG Songjing LI Department of Fluid Control and Automation Harbin Institute of TechnologyHarbin 150001China

The dynamic performance of a nozzle-flapper servo valve can be affected by several factors such as the disturbance of the input signal,the motion of the armature assembly and the oscillation of the jet *** the part of vibrating at high frequency,the armature assembly plays a vital role during the operation of the servo *** order to accurately predict the transient response of the armature assembly during the vibration,a mathematical model of armature assembly is established based on the distributed parameters method(DPM)and Hamilton *** new mathematical model is composed of three main parts,the modal eigenfunction,modal mechanical response expressions of the spring tube and the motion equation of the other armature *** programing,the purpose of using the DPM to predict the dynamic response of different positions located on the armature assembly is *** verifying the validity of the mathematical model,the finite element method(FEM)and classic model(CM)of armature assembly are applicated by commercial software under the same *** comparison results prove that the DPM can effectively predict the axial and tangential deflection of the armature assembly different positions which the CM can’t duing to its over-simplification.A certain error is generated when predicting the axial deformation at different heights by DPM,which is caused by an approximate method to simulate the torsion of the spring *** comparison results of the spring tube deflection at different vibration frequencies shows that the adaptability of DPM is significantly higher than the classic model,which verify the model is more adaptable for predicting the dynamic response of the armature assembly.

关键词： Armature assembly Distributed parameters method Dynamics Mathematical models servo valve

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Research on the jet characteristics of the deflector–jet mechanism of the servo valve

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Chinese Physics B 2017年第4期26卷 252-260页

作者：延皓王凤聚李长春黄静 School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China

In view of the complicated structure of the deflector-jet mechanism,a mathematical model based on the turbulent jet flow theory in the deflector-jet amplifier is *** the energy transformation and momentum variation,an equation of the flow velocity distribution at the key fluid region is established to describe the morphological changes of the fluid when it passes through the deflector and jets into the ***,the process is segmented into four *** to the research results,the oil enters the deflector and impinges with the side *** one part of the oil＇s flow velocity decreases and a high pressure zone is formed by the oil accumulation,the other part of the oil reverses out of the deflector along the side *** to entering the receiver,the flow is a kind of plane impinging ***,the working pressure of the receiver is generated by the impact force,while the high speed fluid flows out of the receiver and forms a violent vortex,which generates negative pressure and causes the oil to be *** with the numerical simulation results,the turbulent jet model that can effectively describe the characteristics of the deflector-jet mechanism is *** addition,the calculation results of the prestage pressure characteristic have been verified by experiments.

关键词： servo valve prestage turbulent jet deflector jet

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2D SIMPLIFIED servo valve

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Chinese Journal of Mechanical Engineering 2003年第2期16卷 132-135页

作者： LiSheng RuanJian BurtonR UkrainetzP DepartmentofMechanicalEngineering ZheiiangUniversityofTechnologyHangzhou310014China DepartmentofMechanicalEngineering LlniwrsitvofSaskatchewan57CampusDriveSaskatoonSaskatchewanCanadaS7N5A9

A novel pilot stage valve called simplified 2D valve, which utilizes bothrotary and linear motions of a single spool, is presented. The rotary motion of the spoolincorporating hydraulic resistance bridge, formed by a damper groove and a crescent overlap opening,is utilized as pilot to actuate linear motion of the spool. A criterion for stability is derivedfrom the linear analysis of the valve. Special experiments are designed to acquire the mechanicalstiffness, the pilot leakage and the step response. It is shown that the sectional size of thespiral groove affects the dynamic response and the stiffness contradictorily and is also verysensitive to the pilot leakage. Therefore, it is necessary to establish a balance between the staticand dynamic characteristics in deciding the structural parameters. Nevertheless, it is possible tosustain the dynamic response at a fairly high level, while keeping the leakage of the pilot stage atan acceptable level.

关键词： servo valve piloted control dynamic characteristics

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GIANT MAGNETOSTRICTIVE ACTUATOR IN servo valve AND MICRO PIPE ROBOT

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Chinese Journal of Mechanical Engineering 2005年第1期18卷 10-13页

作者： WangChuanli DingFan ZhangYongshun LiQipeng StateKeyLaboratoryofFluidPowerTransmissionandControl ZhejiangUniversityHangzhou310027China SchoolofMechanicalEngineering DalianUniversityofTechnologyDalian116024China

Performance of giant magnetostrictive material (GMM) is introduced. Principleof work, basic structure and key techniques of giant magnetostrictive actuator (GMA) are *** dynamic models of magneto-mechanical coupling are established. The structure and principle ofthe pneumatic servo valve and the micro pipe robot with new homemade GMM are presented. Theexperiment is carried out under typical working conditions. The experiment results show that the GMMpneumatic servo valve has wide pressure control characteristics, good linearity, and fast responsespeed. The movement principles of the GMM robot system are reliably feasible and its maximal movingspeed is about 8 mm/s. It is preferable to the driving frequency of the robot within 100 approx 300Hz.

关键词： Giant magnetostrictive Actuator servo valve Micro pipe robot

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Study on driving magnetic field and performance of GMA for nozzle flapper servo valve

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Journal of Coal Science & Engineering(China) 2007年第2期13卷 207-210页

作者：王传礼丁凡李其朋 Department of Mechanical Engineering Anhui University of Science and TechnologyHuainan 232001China State Key Laboratory of Fluid Power Transmission and Control Zhejiang UniversityHangzhou 310027China

The structure and principle of the GMM actuator and the new nozzle flapper valve with the GMA were presented. Based on the axis-symmetric FEM model of the GMA driving magnetic field was computed. And the field distribution for different input currents and variant curves of magnetic flux density along the axis were determined by using FEM. Magnetic flux density of the GMM actuator was practically measured under different input currents. The experiment of output displacement and frequency response of the GMM actuator was carried out under typical working conditions. The experiment results show that the GMA for nozzle flapper servo valve has bigger output displacement and quick response speed. And theoretical basis was presented to further introduce the GMA nozzle flapper valve into two stage electro-hydraulic servooo valve.

关键词： giant magnetostrictive actuator FEM servo valve

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Simulation investigation on fluid characteristics of jet pipe water hydraulic servo valve based on CFD

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Journal of Shanghai University(English Edition) 2011年第3期15卷 201-206页

作者：李如平聂松林易孟林阮俊 School of Mechanical Science and Engineering Huazhong University of Science and Technology College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology

Simulation investigation on fluid characteristics of the water hydraulic jet pipe servo valve （WHJPSV） is conducted through a commercial computational fluid dynamics （CFD） software package FLUENT. In particular, the factors to fluid characteristics of WHJPSV are addressed, which include diameter combination of jet pipe and receiver pipe, jet pipe nozzle clearance, angle between two jet receiver pipes and deflection angle of the jet pipe. It is concluded from the results that：（i） Structural parameters have great influences on fluid characteristics of WHJPSV, when d1 = d2 = 0.3 mm, α= 45 , b = 0.5 mm, and the simulation exhibits better fluid characteristics; （ii） The magnitude of the recovery pressure and flow velocity increase almost linearly with the deflection angle of jet pipe. The research work in this paper is important for determining and optimizing the structural parameters of the jet pipe and jet receiver. The relevant conclusions could be extended to the study of other water hydraulic servo control components.

关键词： computional fluid dynamics (CFD) fluid characteristics jet pipe servo valve water hydraulics

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Application of Modelica/MWorks on modeling,simulation and optimization for electro-hydraulic servo valve system

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Theoretical & Applied Mechanics Letters 2012年第6期2卷 49-54页

作者： Ming Li Guang Meng Jianping Jing Jinyang Liu Zuoyang Zhong State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong UniversityShanghai 200240China School of Naval Architecture Ocean and Civil EngineeringShanghai Jiaotong UniversityShanghai 200240China

Electro-hydraulic servo valve is a typical complicated multi-domain system constituted by mechanical, electric, hydraulic and magnetic components, which is widely used in electro-hydraulic servo systems such as construction machinery, heavy equipment, weapon and so forth. The traditional method of modeling and simulation of servo valve is based on block diagram or signal flow, which cannot describe the servo valve system from components level nor be used in modeling and simulation of overall servo systems. In the procedure of traditional method, computational causality must be involved in modeling of servo valve, which is inconvenient to execute modification on components or parameters. Modelica is an object-oriented modeling language which is suited for large, complex, heterogeneous and multi-domain systems. The key features of Modelica are multi-domain, object-oriented and non-causal, which are suitable for modeling of servo valve and make the model readable, reusable, and easy to modify. The simulation results show similar curves with traditional method. This new servo valve modeling and simulation method can provide the engineers a more efficient way to design and optimize a servo valve and an overall servo system.

关键词： Modelica MWorks servo valve modeling simulation optimization

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Mechanism analysis and evaluation of thermal effects on the operating point drift of servo valves

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2022年第4期23卷 286-302页

作者： Jian KANG Zhao-hui YUAN Jing-chao LI School of Automation Northwestern Polytechnical UniversityXi’an710072China

Operating point drift over large temperature spans can significantly degrade the performance of servo *** direction and magnitude of the deviation of the operating point are *** analyze and evaluate the mechanism of this complex system with a multi-level structure and multi-variables,it is necessary to construct a theoretical model with a clear physical concept to describe ***,since the physical processes contain complex variations of structural parameters and flow properties,there is a problem of simplifying approximations in deriving analytical mathematical *** advantages of multi-physics field numerical analysis can compensate for this shortcoming of analytical *** on this,we constructed a whole-valve transfer function model to realize the mechanism analysis and evaluate the operating point drift when a thermal effect acts on a servo *** results show that the asymmetric fit relationship between the armature-nozzle assemblies is an important reason for the drift of the operating point caused by the thermal *** in structural parameters and fluid medium characteristics at different temperatures lead to nonlinear changes in the operating *** the deviation angle reaches±1°,an increase in temperature will cause the absolute value of the tangent slope of the displacement deviation of the spool to decrease from 1.44×10^(−5) m/℃to 1.25×10^(−6) m/℃.The influence of the deviation angle is reflected in the change in the absolute value of the tangent slope of the pressure deviation from 1.14×10^(3) Pa/℃to 110 Pa/℃.

关键词： servo valve Operating point drift Mathematical model Numerical analysis Thermal effect

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Solenoid Actuator Design for Improvement of Response Speed

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Journal of Energy and Power Engineering 2016年第5期10卷 324-333页

作者： Baek Ju Sung Reliability Assessment Center Korea Institute of Machinery & Materials Daejeon 34103 Korea

The main design factors which effect on operating speed of solenoid actuator for valve operation are mass of plunger, electromagnetic motive force, inductance and return spring, and these factors are not independent but related with each other in view point of design and electromagnetic theory. It is impossible to increase the operating speed by only change the value of any one design factor. The change of any one value results in change of any value related it in various design factors. Permanent magnets are as assistant materials which make higher flux density in air gap. Electromagnetic motive force in controlled only by current. This paper presents a speed increasing design method of solenoid actuator using a solenoid, by some governing equations which are composed of electromagnetic theory and empirical knowledge, and proved the propriety by experiments.

关键词： Solenoid actuator high speed servo valve permanent magnet non-magnetic ring plunger yoke performance test attraction force frequency response.

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Automatic Guidance of an Agricultural Tractor along with the Side Shift Control of the Attached Row Crop Cultivator

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Journal of Agricultural Science and Technology(B) 2012年第1期2卷 151-158页

作者： Javad Robati Hossein Navid Mahdi Rezaei Amir Rikhtehgar Ghiasi Faculty of Agricultural University of Tabriz Tabriz lran Faculty of Mechanical Engineering Sahand University of Technology Tabriz Iran Faculty of Computer and Electrical Engineering University of Tabriz Tabriz Iran

This paper presents the automatic guidance system of an agricultural tractor and the side shift control of the attached row crop cultivator using electro-hydraulic actuators. In order to simulate the dynamic behaviour of the tractor along with the attached cultivator, the modified bicycle model was adopted. Steering angle sensor, fibre optic gyroscope （FOG） and RTK-DGPS technologies are assumed for measurements of the steering angle, yaw rate and the lateral position of the tractor, respectively. The kinematics model was used for the implement. In this study four cascade controllers were designed and simulated for tractor guidance which consists ofPD, PD, P and PID controllers. Other PI and PID controllers also had been designed for implement side shifting purpose. Then, these two systems were combined and the performance of the whole system was evaluated through the simulation results. According to the results tractor reaches the desired path after less than 10 seconds. Simulations showed that the maximum deviation of the tractor from the desired path was about 5 cm within this period. And the cultivator blades would follow the predetermined path with steady state error of about 5 cm too.

关键词： Row crop cultivator yaw rate servo valve servo cylinder cascade controller.

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