CN105825016A - Method for establishing internal leakage model of vane type continuous rotary electro-hydraulic servomotor - Google Patents
Method for establishing internal leakage model of vane type continuous rotary electro-hydraulic servomotor Download PDFInfo
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Abstract
The invention discloses a method for establishing an internal leakage model of a vane type continuous rotary electro-hydraulic servomotor. The invention is intended to fill a blank field of an internal leakage mathematic model, which is based on numerical simulation and theoretical calculation in a micro clearance and in different working conditions, of the vane type continuous rotary electro-hydraulic servomotor, so as to establish an internal leakage model of a motor. The method for establishing the internal leakage model of the vane type continuous rotary electro-hydraulic servomotor comprises the following steps: step A, establishing internal leakage formulas of four positions of the motor; step B, analyzing four working conditions of the motor; step C, establishing a fluid model formed by enclosing a stator, a rotor, a vane and an oil distribution disc; step D, carrying out grid division on the four fluid models by using CFD (Computational Fluid Dynamics) software, importing files in CFX (Computational Fluid X) to simulate calculation in a stable state, and establishing solid models of the stator, the rotor, the vane and the oil distribution disc; step E, establishing a workflow chart in a WORKBENCH, and carrying out fluid-solid coupling analysis on the motor; step F, obtaining aberration nephograms of all components through the post processing by the WORKBENCH, substituting aberration nephograms of all the components into the corresponding formulas in step A, so that a leakage amount caused by an initial clearance and solid-fluid coupling deformation can be obtained.
Description
Technical field
The invention belongs to electrohydraulic servo motor field, particularly to a kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model.
Background technology
Along with the development of economic level and the continuous enhancing of military capability of the country, China achieves huge advance at Aeronautics and Astronautics and relevant technical field, the most also exploration instrument and the precision of aircraft, controllability is proposed more strict requirements.Artificial rotary table is the high-grade, precision and advanced key equipment carrying out ground HWIL simulation in the aircraft development processes such as guided missile, and it uses electrohydraulic servo motor directly to drive.High Precision Simulation turntable has strict requirements to low-speed performance, and the leakage of continuous rotary electrohydraulic servo motor can make it produce low speed jerking motion phenomenon, and this has had a strong impact on the realization of artificial rotary table low speed.Therefore the leakage characteristics of research continuous rotary electrohydraulic servo motor is significant on the impact of its low-speed performance.
Leakage is divided into internal leakage and two kinds of situations of external leakage, from the point of view of vane type continuous rotary electrohydraulic servo motor, the situation of external leakage is more complicated, research currently for electrohydraulic servo motor internal leakage rests on theoretical derivation aspect mostly, fixed value calculation is pressed in the gap of each critical component of motor, not considering the deformation of the motor critical component impact on internal leakage under different operating mode, this makes the calculated results differ greatly with practical situation.Therefore using the method that fluid structurecoupling simulation analysis and Theoretical Calculation combine, it is thus achieved that the Changing Pattern of motor internal leakage, the measure to the structure and Improvement motor low speed that optimize continuous rotary electrohydraulic servo motor has important directive significance.
Summary of the invention
Present invention aim at filling up vane type continuous rotary electrohydraulic servo motor blank field of internal leakage mathematical model based on numerical simulation and Theoretical Calculation under minim gap, different operating mode, and set up a kind of internal leakage model.
A kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model, realizes according to the following steps.
Step A, set up 4 kinds of position internal leakage formula of vane type continuous rotary electrohydraulic servo motor.
nullStep B、Analyze the various operating modes of vane type continuous rotary electrohydraulic servo motor，This motor is double-acting type，Centrosymmetry is distributed 2 high pressure chests and 2 low pressure chamber，Along rotor slot uniform 13 blades of circumference，Stator inner curve is by 2 segment length's radius arc、2 sections of short radius arc and 4 sections of easement curve compositions，Blade is close to stator inner curve and is rotated，Entering、When there is pressure reduction in outlet，Stator、Rotor、The gap of blade and oil distribution casing can produce internal leakage，When stator inner curve major radius arc section has two blades and short radius arc section to have two blades，Leakage rate is constant，And leakage rate is continually varying when it respectively exists a blade，Therefore it is long only need to study stator、Short radius arc section is respectively present 4 kinds of operating modes of a blade and two blades，The internal total leakage rate produced of motor can be tried to achieve，These contain all operating modes of generally motor running.
Step C, according to the physical dimension of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, use the fluid model that 3 d modeling software sets up motor stator, rotor, blade, oil distribution casing enclose, derive moxing1.x_t, moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file.
Step D, with ANSYSICEMCFD software, 4 kinds of fluid models are carried out stress and strain model, obtain grid, given fluid territory boundary condition also exports moxing1.cfx5, moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file, above file is directed respectively in ANSYSCFX, input different inlet pressures and outlet pressure, it is simulated calculating the most in the steady state and finally gives moxing1.res, moxing2.res, moxing3.res, moxing4.res file, and set up the solid model comprising the motor critical components such as stator, rotor, blade and oil distribution casing.
Step E, in ANSYSWORKBENCH software, set up workflow diagram, vane type continuous rotary electrohydraulic servo motor is carried out indirect fluid-solid coupling analysis.
Step F, the Aberration nephogram of the motor critical component comprising stator, rotor, blade and oil distribution casing can be obtained by WORKBENCH post processing, maximum deformation quantity in cloud atlas and least amount of deformation are averaged, substitutes into the leakage rate that internal leakage theoretical formula method can try to achieve primary clearance and solid-fluid coupling deformation causes.
Compared with prior art, the present invention has the advantages that.
The inventive method utilizes the computer simulation actual difference operating mode inferior lobe 4 kinds of fluid models of chip continuous rotary electrohydraulic servo motor deformation under different import and export pressure, obtain the gap width after 4 kinds of fluid model deformation, according to parallel plane slot leakage principle formula, the internal leakage formula at 4 kinds of positions of derivation motor, primary clearance and solid-fluid coupling deformation gap width are substituted into the separate equations, obtain the internal leakage at each position of motor respectively, and then try to achieve the total internal leakage of motor.Said process provides important theoretical reference foundation for quantitatively obtaining motor each position internal leakage and total internal leakage, also reveal that structural parameters and the physical descriptor affecting motor each position internal leakage simultaneously.This improvement being continuous rotary electrohydraulic servo motor low speed specifies direction, for the reference that the improvement offer of the design of continuous rotary electrohydraulic servo motor critical component, optimized integral structure and low-speed performance is important.Computer Numerical Simulation process meets actual condition, obtain motor solid-fluid coupling deformation gap width, make designer can obtain vane type continuous rotary electrohydraulic servo motor gap deformation values of each critical component of motor under different import and export pressure rapidly, and then can be in the hope of the internal leakage at 4 kinds of positions of motor, providing more valuable theoretical foundation for calculating and controlling vane type continuous rotary electrohydraulic servo motor internal leakage, numerical simulation result has prior practical value.
Accompanying drawing explanation
Fig. 1 is flow chart of the present invention.
Fig. 2 is the particular flow sheet of flow process E of the present invention.
Fig. 3 is vane type continuous rotary electrohydraulic servo motor internal structure schematic diagram.
Fig. 4, Fig. 5 are the fluid model schematic diagrams that motor stator, rotor, blade, oil distribution casing enclose.
Detailed description of the invention
In order to ensure the flexible operating of vane type continuous rotary electrohydraulic servo motor, between the opposite sliding surfaces of each component, there is certain gap.When these gaps are between high and low pressure chamber under the effect of pressure differential, will necessarily produce internal leakage, internal leakage specifically includes that
(1) leakage between vane tip and stator inner surface；
(2) leakage between vane end faces and oil distribution casing work surface；
(3) leakage of fit clearance between blade and blade groove；
(4) leakage between rotor end-face and oil distribution casing work surface.
Through carefully analyzing and Rational Simplification, these 4 kinds of leakage parts can be classified as parallel plane slot leakage.
Vane type continuous rotary electrohydraulic servo motor parameter is defined as follows: the pressure of high pressure chest, the pressure of low pressure chamber, stator shaft orientation width B, clearance height, the radius of stator negative camber major radius circular arc, the radius of the short radius arc of stator negative camber, motor angular velocity of rotation, coefficient of kinetic viscosity, blade circular gap length, width of blade, gap length at stator major radius circular arc, gap length at the short radius arc of stator, two blade grooves surround the central angle of sector, rotor radius r, to the distance in the rotor center of circle bottom blade groove。
According to parallel plane slot leakage amount formula, can try to achieve motor major radius arc section when having 2 blades, the internal leakage expression formula at each position is as follows.
(1) leakage between vane tip and stator inner surface
。
(2) leakage between vane end faces and oil distribution casing work surface
。
(3) leakage of fit clearance between blade and blade groove
。
(4) leakage between rotor end-face and oil distribution casing work surface
。
The total internal leakage of motor
。
Below vane type continuous rotary electrohydraulic servo motor leakage part is set up fluid model simulation analysis.
nullStep A、Analyze the various operating modes of vane type continuous rotary electrohydraulic servo motor，This motor is double-acting type，Centrosymmetry is distributed 2 high pressure chests and 2 low pressure chamber，Along rotor slot uniform 13 blades of circumference，Stator inner curve is by 2 segment length's radius arc、2 sections of short radius arc and 4 sections of easement curve compositions，Blade is close to stator inner curve and is rotated，Entering、When there is pressure reduction in outlet，Gap can produce leakage，When stator inner curve major radius arc section has two blades and short radius arc section to have two blades，Leakage rate is constant，And leakage rate is continually varying when it respectively exists a blade，Therefore it is long only need to study stator、Short radius arc section is respectively present 4 kinds of situations of a blade and two blades，The internal total leakage produced of motor can be tried to achieve，These contain all operating modes of generally motor running.
Step B, according to the physical dimension of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, use the fluid model that 3 d modeling software sets up motor stator, rotor, blade, oil distribution casing enclose, derive moxing1.x_t, moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file.
Step C, carry out stress and strain model with ANSYSICEMCFD software convection cell model, obtain grid, given fluid territory boundary condition also exports moxing1.cfx5, moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file, above file is directed respectively in ANSYSCFX, input different inlet pressures and outlet pressure, it is simulated calculating the most in the steady state and finally gives moxing1.res, moxing2.res, moxing3.res, moxing4.res file, and set up the solid model comprising the motor critical components such as stator, rotor, blade and oil distribution casing.
Step D, in ANSYSWORKBENCH software, set up workflow diagram, vane type continuous rotary electrohydraulic servo motor is carried out indirect fluid-solid coupling analysis.
Step E, the Aberration nephogram of the motor critical component comprising stator, rotor, blade and oil distribution casing can be obtained by WORKBENCH post processing, maximum deformation quantity in cloud atlas and least amount of deformation are averaged, substitutes into the leakage rate that internal leakage theoretical formula method can try to achieve primary clearance and solid-fluid coupling deformation causes.
Claims (5)
1. the method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model, it is characterised in that the method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model realizes according to the following steps:
Step A, set up the internal leakage formula at 4 kinds of positions of vane type continuous rotary electrohydraulic servo motor；
nullStep B、Analyze the various operating modes of vane type continuous rotary electrohydraulic servo motor，This motor is double-acting type，Centrosymmetry is distributed 2 high pressure chests and 2 low pressure chamber，Along rotor slot uniform 13 blades of circumference，Stator inner curve is by 2 segment length's radius arc、2 sections of short radius arc and 4 sections of easement curve compositions，Blade is close to stator inner curve and is rotated，Entering、When there is pressure reduction in outlet，Gap can produce leakage，When stator inner curve major radius arc section has two blades and short radius arc section to have two blades，Leakage rate is constant，And leakage rate is continually varying when it respectively exists a blade，Therefore it is long only need to study stator、Short radius arc section is respectively present 4 kinds of operating modes of a blade and two blades，The internal total leakage rate produced of motor can be tried to achieve，These contain all operating modes of generally motor running；
Step C, according to the physical dimension of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, use the fluid model that 3 d modeling software sets up motor stator, rotor, blade, oil distribution casing enclose, derive moxing1.x_t, moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file；
Step D, with ANSYSICEMCFD software, 4 kinds of fluid models are carried out stress and strain model, obtain grid, given fluid territory boundary condition also exports moxing1.cfx5, moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file, above file is directed respectively in ANSYSCFX, input different inlet pressures and outlet pressure, it is simulated calculating the most in the steady state and finally gives moxing1.res, moxing2.res, moxing3.res, moxing4.res file, sets up the solid model comprising the motor critical components such as stator, rotor, blade and oil distribution casing；
Step E, in ANSYSWORKBENCH software, set up workflow diagram, vane type continuous rotary electrohydraulic servo motor is carried out indirect fluid-solid coupling analysis；
Step F, the Aberration nephogram of the motor critical component comprising stator, rotor, blade and oil distribution casing can be obtained by WORKBENCH post processing, maximum deformation quantity in cloud atlas and least amount of deformation are averaged, substitutes into the leakage rate that internal leakage theoretical formula method can try to achieve primary clearance and solid-fluid coupling deformation causes.
A kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model the most according to claim 1, it is characterised in that set up 4 kinds of position internal leakage formula of vane type continuous rotary electrohydraulic servo motor in step:
(1) leakage between vane tip and stator inner surface
；
(2) leakage between vane end faces and oil distribution casing work surface
；
(3) leakage of fit clearance between blade and blade groove
；
(4) leakage between rotor end-face and oil distribution casing work surface
；
The total internal leakage of motor
Wherein vane type continuous rotary electrohydraulic servo motor parameter is defined as follows: the pressure of high pressure chest, the pressure of low pressure chamber, stator shaft orientation width B, clearance height, the radius of stator negative camber major radius circular arc, the radius of the short radius arc of stator negative camber, motor angular velocity of rotation, coefficient of kinetic viscosity, blade circular gap length, width of blade, gap length at stator major radius circular arc, gap length at the short radius arc of stator, two blade grooves surround the central angle of sector, rotor radius r, to the distance in the rotor center of circle bottom blade groove。
A kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model the most according to claim 1, it is characterized in that by the model partition of motor seal cavity volume be four parts, i.e. major radius arc section has a blade and two blades and short radius arc Duan Youyi blade and the model of two blades, can total leakage of motor seal cavity volume be obtained.
A kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model the most according to claim 1, it is characterized in that described step E sets up workflow diagram in ANSYSWORKBENCH software, vane type continuous rotary electrohydraulic servo motor is carried out indirect fluid-solid coupling analysis, particularly as follows:
Step E1, interpolation CFX module, import fluid analysis result；
Step E2, interpolation Geometry module, the solid model that will comprise the motor critical components such as stator, rotor, blade and oil distribution casing in step D imports；
Step E3, interpolation StaticStructrual module, motor critical component is carried out stress and strain model, the pressure field of fluid analysis is applied on the coupling wall of solid as load simultaneously, and solid is applied suitable constraint, the material properties of stator, rotor, blade and oil distribution casing is set, then solves calculating.
A kind of method setting up vane type continuous rotary electrohydraulic servo motor internal leakage model the most according to claim 4, it is characterized in that stator described in described step E3 is 38CrMoAl steel, rotor is 40Cr steel, blade is W18Cr4V steel, oil distribution casing is 45 steel, fills out density, Young's modulus and the Poisson's ratio of correspondence at material properties window.
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| CN109359430A (en) * | 2018-11-29 | 2019-02-19 | 上海交通大学 | Vertical long shaft pump clearance seal calculation method |
| CN109884887A (en) * | 2019-04-03 | 2019-06-14 | 哈尔滨理工大学 | A kind of Continuous rotary electrohydraulic servomotor control method based on self-correcting wavelet neural network |
| CN110196991A (en) * | 2019-04-22 | 2019-09-03 | 哈尔滨理工大学 | A kind of motor precommpression holding cavity structure design method based on drosophila algorithm |
| CN111814409A (en) * | 2019-12-03 | 2020-10-23 | 哈尔滨理工大学 | Numerical simulation method for determining internal leakage influence factors of continuous rotary motor |
| CN113065212A (en) * | 2021-04-09 | 2021-07-02 | 哈尔滨理工大学 | Motor combination pressure buffer tank structure design method based on bird swarm algorithm |
| CN114611360A (en) * | 2022-03-16 | 2022-06-10 | 北京建筑大学 | Optimization method for sealing structure of continuous rotary electrohydraulic servo motor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109359430A (en) * | 2018-11-29 | 2019-02-19 | 上海交通大学 | Vertical long shaft pump clearance seal calculation method |
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| CN111814409A (en) * | 2019-12-03 | 2020-10-23 | 哈尔滨理工大学 | Numerical simulation method for determining internal leakage influence factors of continuous rotary motor |
| CN113065212A (en) * | 2021-04-09 | 2021-07-02 | 哈尔滨理工大学 | Motor combination pressure buffer tank structure design method based on bird swarm algorithm |
| CN114611360A (en) * | 2022-03-16 | 2022-06-10 | 北京建筑大学 | Optimization method for sealing structure of continuous rotary electrohydraulic servo motor |
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