CN105825016B - A method of establishing vane type continuous rotary electrohydraulic servo motor internal leakage model - Google Patents
A method of establishing vane type continuous rotary electrohydraulic servo motor internal leakage model Download PDFInfo
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Abstract
A method of establishing vane type continuous rotary electrohydraulic servo motor internal leakage model.Present invention aims at the blank fields for filling up vane type continuous rotary electrohydraulic servo motor internal leakage mathematical model based on numerical simulation and theoretical calculation under minim gap, different operating conditions, and establish a kind of motor internal leakage model.Step A, 4 kinds of position internal leakage formula of motor are established；Step B, 4 kinds of operating conditions of motor are analyzed；Step C, fluid model made of stator, rotor, blade, oil distribution casing enclose is established；Step D, are imported by CFX and simulates calculating in the steady state for 4 kinds of fluid model grid divisions with CFD software, and establish the solid model of stator, rotor, blade and oil distribution casing；Step E, work flow diagram is established in WORKBENCH, and wind-structure interaction is carried out to motor；Step F, the Aberration nephogram of each component is obtained by WORKBENCH post-processing, substitution step A, which corresponds to formula, can acquire leakage rate caused by primary clearance and solid-fluid coupling deformation.
Description
Technical field
The invention belongs to electrohydraulic servo motor fields, in particular to a kind of to establish vane type continuous rotary electrohydraulic servo motor
The method of internal leakage model.
Background technique
With the development of economic level and the continuous enhancing of military capability of the country, China is in Aeronautics and Astronautics and relevant technical field
Huge advance is achieved, while more strict requirements also are proposed to precision, the controllability of exploration tool and aircraft.
Artificial rotary table is the high-grade, precision and advanced key equipment that ground HWIL simulation is carried out in the aircraft development process such as guided missile, it is using electro-hydraulic
Servo motor directly drives.High Precision Simulation turntable has a strict requirements to low-speed performance, and continuous rotary electro-hydraulic servo horse
The leakage reached can make it generate low speed jerking motion phenomenon, this has seriously affected the realization of artificial rotary table low speed.Therefore it studies continuous
Influence of the leakage characteristics of electrohydraulic servo motor to its low-speed performance is turned round to be of great significance.
Leakage is divided into two kinds of situations of internal leakage and external leakage, for vane type continuous rotary electrohydraulic servo motor, outside
The case where leakage, is more complicated, rests on theory deduction level, horse mostly for the research of electrohydraulic servo motor internal leakage at present
Fixed value calculation is pressed up to the gap of each critical component, does not consider the deformation of motor critical component under different operating conditions to internal leakage
It influences, this makes the calculated results differ greatly with actual conditions.Therefore fluid structurecoupling simulation analysis and theoretical calculation are used
The method combined obtains the changing rule of motor internal leakage, to the structure and research of optimization continuous rotary electrohydraulic servo motor
The measure for improving motor low speed has important directive significance.
Summary of the invention
Present invention aims at fill up vane type continuous rotary electrohydraulic servo motor under minim gap, different operating condition to be based on
The blank field of the internal leakage mathematical model of numerical simulation and theoretical calculation, and establish a kind of internal leakage model.
A method of vane type continuous rotary electrohydraulic servo motor internal leakage model is established, is realized according to the following steps.
Step A, 4 kinds of position internal leakage formula of vane type continuous rotary electrohydraulic servo motor are established.
Step B, the various operating conditions of vane type continuous rotary electrohydraulic servo motor are analyzed, which is double-acting type, center
2 high pressure chests and 2 low pressure chambers are symmetrically distributed with, are circumferentially evenly distributed with 13 blades along rotor slot, stator inner curve is by 2 sections of long radiuses
Circular arc, 2 sections of short radius circular arcs and 4 sections of easement curve compositions, blade are close to the rotation of stator inner curve, and in import and export, there are pressure differences
When, stator, rotor, blade and oil distribution casing gap can generate internal leakage, in stator inner curve major radius arc section, there are two leaves
Piece and short radius arc section are there are two when blade, and leakage rate is constant, and leakage rate is when it respectively has a blade
Consecutive variations, therefore 4 kinds of operating conditions that the long and short radius arc section of stator is respectively present a blade and two blades need to be only studied,
The total leakage rate generated inside motor can be acquired, these contain all operating conditions of motor running under normal circumstances.
Step C, according to the structure size of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, three are used
Dimension modeling software establishes fluid model made of motor stator, rotor, blade, oil distribution casing enclose, and exports moxing1.x_t,
Moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file.
Step D, grid dividing is carried out to 4 kinds of fluid models with ANSYS ICEM CFD software, obtains grid, given fluid
Domain boundary condition simultaneously exports moxing1.cfx5, moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file, will
The above file is directed respectively into ANSYS CFX, is inputted different inlet pressure and outlet pressure, is then simulated in the steady state
Calculating finally obtains moxing1.res, moxing2.res, moxing3.res, moxing4.res file, and establishes and include
The solid model of the motors critical component such as stator, rotor, blade and oil distribution casing.
Step E, work flow diagram is established in ANSYS WORKBENCH software, to vane type continuous rotary electro-hydraulic servo
Motor carries out indirect fluid-solid coupling analysis.
Step F, it can get by WORKBENCH post-processing comprising the motor including stator, rotor, blade and oil distribution casing
The Aberration nephogram of critical component, by cloud atlas maximum deformation quantity and least amount of deformation be averaged, it is theoretical public to substitute into internal leakage
Formula calculating can acquire leakage rate caused by primary clearance and solid-fluid coupling deformation.
Compared with prior art, the present invention has the advantages that.
The method of the present invention utilizes 4 kinds of vane type continuous rotary electrohydraulic servo motor streams under the practical different operating conditions of computer simulation
Deformation of the body Model under different import and export pressure obtains 4 kinds of deformed gap widths of fluid model, according to parallel flat
Slot leakage principle formula in face derives the internal leakage formula at 4 kinds of positions of motor, by primary clearance and solid-fluid coupling deformation gap width
The separate equations are substituted into, obtain the internal leakage at each position of motor respectively, and then acquire the total internal leakage of motor.The above process is fixed
Amount obtains each position internal leakage of motor and total internal leakage provides important theoretical reference foundation, while also revealing influence horse
Up to the structural parameters and physical descriptor of each position internal leakage.This is specified for the improvement of continuous rotary electrohydraulic servo motor low speed
Direction provides important for the design of continuous rotary electrohydraulic servo motor critical component, the improvement of optimized integral structure and low-speed performance
Reference.Computer Numerical Simulation process meets actual condition, obtains motor solid-fluid coupling deformation gap width, makes designer can
The gap for rapidly obtaining vane type continuous rotary electrohydraulic servo motor each critical component of motor under different import and export pressure becomes
Shape value, and then can be in the hope of the internal leakage at 4 kinds of positions of motor, to calculate and controlling vane type continuous rotary electrohydraulic servo motor
Internal leakage provides more valuable theoretical foundation, and numerical simulation result has prior practical value.
Detailed description of the invention
Fig. 1 is flow chart of the present invention.
Fig. 2 is the specific flow chart of process E of the present invention.
Fig. 3 is vane type continuous rotary electrohydraulic servo motor schematic diagram of internal structure.
Fig. 4, Fig. 5 are fluid model schematic diagrames made of motor stator, rotor, blade, oil distribution casing enclosing.
Specific embodiment
In order to guarantee 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 action of pressure difference, internal leakage will necessarily be generated,
Internal leakage specifically includes that
(1) leakage between vane tip and stator inner surface；
(2) leakage between vane end faces and oil distribution casing working face；
(3) between blade and blade groove fit clearance leakage；
(4) leakage between rotor end-face and oil distribution casing working face.
By carefully analyzing and Rational Simplification, this 4 kinds of leakage parts can be classified as parallel plane slot leakage.
Vane type continuous rotary electrohydraulic servo motor parameter definition is as follows: the pressure of high pressure chest, the pressure of low pressure chamber, stator shaft orientation widthB, clearance height, the radius of stator negative camber major radius circular arc, stator negative camber short radius circular arc
Radius, motor rotation angular speed, coefficient of kinetic viscosity, blade circumferential gap length, width of blade, fixed
The gap length of sub- major radius circular arc, the gap length of stator short radius circular arc, two blade grooves surround fan-shaped circle
Heart angle, rotor radiusr, distance of the blade trench bottom to the rotor center of circle。
According to parallel plane slot leakage amount formula, when can acquire motor major radius arc section has 2 blades, each position
Internal leakage expression formula is as follows.
(1) leakage between vane tip and stator inner surface
。
(2) leakage between vane end faces and oil distribution casing working face
。
(3) between blade and blade groove fit clearance leakage
。
(4) leakage between rotor end-face and oil distribution casing working face
。
The total internal leakage of motor
。
Fluid model and simulation analysis are established to vane type continuous rotary electrohydraulic servo motor leakage part below.
Step A, the various operating conditions of vane type continuous rotary electrohydraulic servo motor are analyzed, which is double-acting type, center
2 high pressure chests and 2 low pressure chambers are symmetrically distributed with, are circumferentially evenly distributed with 13 blades along rotor slot, stator inner curve is by 2 sections of long radiuses
Circular arc, 2 sections of short radius circular arcs and 4 sections of easement curve compositions, blade are close to the rotation of stator inner curve, and in import and export, there are pressure differences
When, gap can generate leakage, and in stator inner curve major radius arc section, there are two blade and short radius arc section, there are two leaves
When piece, leakage rate is constant, and leakage rate is consecutive variations when it respectively has a blade, therefore need to only study stator
Long and short radius arc section is respectively present 4 kinds of situations of a blade and two blades, can acquire always letting out for motor inside generation
Leakage, these contain all operating conditions of motor running under normal circumstances.
Step B, according to the structure size of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, three are used
Dimension modeling software establishes fluid model made of motor stator, rotor, blade, oil distribution casing enclose, and exports moxing1.x_t,
Moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file.
Step C, grid dividing is carried out to fluid model with ANSYS ICEM CFD software, obtains grid, given fluid domain
Boundary condition simultaneously exports moxing1.cfx5, moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file, will more than
File is directed respectively into ANSYS CFX, is inputted different inlet pressure and outlet pressure, is then carried out simulation calculating in the steady state
Moxing1.res, moxing2.res, moxing3.res, moxing4.res file are finally obtained, and establishes comprising stator, turn
The solid model of the motors critical components such as son, blade and oil distribution casing.
Step D, work flow diagram is established in ANSYS WORKBENCH software, to vane type continuous rotary electro-hydraulic servo
Motor carries out indirect fluid-solid coupling analysis.
Step E, it can get by WORKBENCH post-processing comprising the motor including stator, rotor, blade and oil distribution casing
The Aberration nephogram of critical component, by cloud atlas maximum deformation quantity and least amount of deformation be averaged, it is theoretical public to substitute into internal leakage
Formula calculating can acquire leakage rate caused by primary clearance and solid-fluid coupling deformation.
Claims (5)
1. a kind of method for establishing vane type continuous rotary electrohydraulic servo motor internal leakage model, it is characterised in that establish vane type
The method of continuous rotary electrohydraulic servo motor internal leakage model is realized according to the following steps:
Step A, the internal leakage formula at 4 kinds of positions of vane type continuous rotary electrohydraulic servo motor is established；
Step B, the various operating conditions of vane type continuous rotary electrohydraulic servo motor are analyzed, which is double-acting type, central symmetry
2 high pressure chests and 2 low pressure chambers are distributed with, are circumferentially evenly distributed with 13 blades along rotor slot, stator inner curve is by 2 sections long radius circle
Arc, 2 sections of short radius circular arcs and 4 sections of easement curves composition, blade are close to the rotation of stator inner curve, in import and export there are when pressure difference,
Gap can generate leakage, and in stator inner curve major radius arc section, there are two blade and short radius arc section, there are two blades
When, leakage rate is constant, and leakage rate is consecutive variations when it respectively has a blade, therefore need to only study stator it is long,
Short radius arc section is respectively present 4 kinds of operating conditions of a blade and two blades, can acquire the total leakage generated inside motor
Amount, these contain all operating conditions of motor running under normal circumstances；
Step C, it according to the structure size of vane type continuous rotary electrohydraulic servo motor and given initialized gap values, is built using three-dimensional
Mould software establishes fluid model made of motor stator, rotor, blade, oil distribution casing enclose, and exports moxing1.x_t,
Moxing2.x_t, moxing3.x_t, moxing4.x_t fluid model file；
Step D, grid dividing is carried out to 4 kinds of fluid models with ANSYS ICEM CFD software, obtains grid, given fluid domain side
Boundary's condition simultaneously exports moxing1.cfx5, and moxing2.cfx5, moxing3.cfx5, moxing4.cfx5 file will be with above
Part is directed respectively into ANSYS CFX, inputs different inlet pressure and outlet pressure, is then carried out simulation in the steady state and is calculated most
Obtain moxing1.res, moxing2.res, moxing3.res eventually, moxing4.res file, establish comprising stator, rotor,
The solid model of blade and oil distribution casing critical component；
Step E, work flow diagram is established in ANSYS WORKBENCH software, to vane type continuous rotary electrohydraulic servo motor
Carry out indirect fluid-solid coupling analysis；
Step F, it can get by WORKBENCH post-processing crucial comprising the motor including stator, rotor, blade and oil distribution casing
The Aberration nephogram of component, by cloud atlas maximum deformation quantity and least amount of deformation be averaged, substitute into internal leakage theoretical formula meter
Calculation can acquire leakage rate caused by primary clearance and solid-fluid coupling deformation.
2. a kind of method for establishing vane type continuous rotary electrohydraulic servo motor internal leakage model according to claim 1,
It is characterized in that establishing 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 working face
(3) between blade and blade groove fit clearance leakage
(4) leakage between rotor end-face and oil distribution casing working face
The total internal leakage of motor
Wherein vane type continuous rotary electrohydraulic servo motor parameter definition is as follows: the pressure p of high pressure chest1, the pressure p of low pressure chamber2,
Stator shaft orientation width B, clearance height h, the radius R of stator negative camber major radius circular arc1, the half of stator negative camber short radius circular arc
Diameter R2, motor rotation angular velocity omega, coefficient of kinetic viscosity μ, blade circumferential gap length l1, width of blade l2, stator major radius circle
Gap length l at arc3, the gap length l of stator short radius circular arc4, two blade grooves surround fan-shaped central angle θ, rotor half
Diameter r, the distance r of blade trench bottom to the rotor center of circle0。
3. a kind of method for establishing vane type continuous rotary electrohydraulic servo motor internal leakage model according to claim 1,
It is characterized in that being four parts by the model partition of motor seal cavity, i.e. major radius arc section has a blade and two blades
And short radius arc section has the model of a blade and two blades, can find out total leakage of motor seal cavity.
4. a kind of method for establishing vane type continuous rotary electrohydraulic servo motor internal leakage model according to claim 1,
It is characterized in that the step E establishes work flow diagram in ANSYS WORKBENCH software, it is electro-hydraulic to vane type continuous rotary
Servo motor carries out indirect fluid-solid coupling analysis, specifically:
Step E1, CFX module is added, fluid analysis result is imported；
Step E2, Geometry module is added, will include consolidating for stator, rotor, blade and oil distribution casing critical component in step D
Body Model imports；
Step E3, Static Structrual module is added, grid dividing is carried out to motor critical component, while fluid being divided
The pressure field of analysis is applied on the coupling wall surface of solid as load, and applies constraint appropriate to solid, and setting stator turns
Then the material properties of son, blade and oil distribution casing are solved and are calculated.
5. a kind of method for establishing vane type continuous rotary electrohydraulic servo motor internal leakage model according to claim 4,
It is characterized in that stator described in the step E3 is 38CrMoAl steel, rotor is 40Cr steel, and blade is W18Cr4V steel, with oil
Disk is 45 steel, fills out corresponding density, Young's modulus and Poisson's ratio in material properties window.
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| CN109359430B (en) * | 2018-11-29 | 2023-01-06 | 上海交通大学 | Vertical long-shaft pump gap sealing calculation method |
| CN109884887B (en) * | 2019-04-03 | 2022-03-22 | 哈尔滨理工大学 | Continuous rotary motor 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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