CN111649021B - Two-dimensional force feedback type electrohydraulic servo valve - Google Patents
Two-dimensional force feedback type electrohydraulic servo valve Download PDFInfo
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- CN111649021B CN111649021B CN202010572330.3A CN202010572330A CN111649021B CN 111649021 B CN111649021 B CN 111649021B CN 202010572330 A CN202010572330 A CN 202010572330A CN 111649021 B CN111649021 B CN 111649021B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 22
- 229910052742 iron Inorganic materials 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 4
- 235000000396 iron Nutrition 0.000 abstract 3
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/021—Valves for interconnecting the fluid chambers of an actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
- F16K11/07—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides
- F16K11/0716—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides with fluid passages through the valve member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K15/00—Check valves
- F16K15/02—Check valves with guided rigid valve members
- F16K15/08—Check valves with guided rigid valve members shaped as rings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K15/00—Check valves
- F16K15/20—Check valves specially designed for inflatable bodies, e.g. tyres
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Servomotors (AREA)
Abstract
The two-dimensional force feedback type electrohydraulic servo valve comprises a hydraulic amplifying mechanism and an electro-mechanical converter, wherein the electro-mechanical converter comprises an armature with a rotating shaft arranged along a horizontal plane, and the armature comprises two inclined wing surfaces at two sides and is characterized by being in a 180-degree array with a shaft vertical to the horizontal plane and vertical upwards as a central shaft; the two sides of the armature iron are symmetrically provided with a first yoke iron and a second yoke iron, the inner sides of the two yoke irons are arc-shaped, the outer sides of the two yoke irons are respectively wound with a coil, and the inner side wall surfaces of the two yoke irons are provided with inclined grooves which are the same as the inclined direction of the side ends of the adjacent armature iron inclined wing surfaces relative to the rotating shaft; the inclined wing side end of the armature is an arc surface, spans the chute, and forms four working air gaps with two arc surfaces of the first yoke iron divided by the chute and two arc surfaces of the second yoke iron divided by the chute; the upper part and the lower part of the inner sides of the two yokes are respectively provided with a permanent magnet; the upper and lower ridge surfaces of the armature are connected with a spring rod, and the ball ends of the spring rod are respectively movably inserted into the ball sockets of the spring top plate.
Description
Technical Field
The invention relates to the field of electrohydraulic servo control elements, in particular to a two-dimensional force feedback electrohydraulic servo valve.
Background
Since forty years, the electrohydraulic servo control technology occupies a high-end position in the electromechanical transmission and control technology by the remarkable characteristics of high power-weight ratio, large output force (moment), excellent static and dynamic characteristics and the like, is regarded as the core competitiveness of various industries, and has important application in various key occasions such as aerospace, military weapons, ships, large power stations, steel, material testing machines, vibrating tables and the like. In an electrohydraulic servo control system, the electrohydraulic servo valve plays roles of electromechanical conversion and signal amplification, and has a decisive influence on the performance of the whole system to a great extent.
To obtain the desired static and dynamic characteristics, servo valves are usually designed into a pilot-controlled multi-stage structure. Ruan Jian et al propose a two-dimensional flow amplification mechanism design idea based on two degrees of freedom of a valve core when the doctor's science is read by the university of Harbin industry: the spool of a common spool valve has two degrees of freedom of radial rotation and axial movement and does not interfere with each other, so that the functions of a pilot stage and a power stage can be respectively realized by using the two degrees of freedom, the area gradient of a valve port of the spool valve can be considered to be large, the spool valve is easy to be matched with an end cover and the like in a valve hole to form a sensitive cavity, the function of the pilot stage can be realized by using the rotary motion of the spool valve, and the opening of the power stage is realized by using the linear motion.
Based on the principle, ruan Jian and the like propose a position direct feedback type two-dimensional electrohydraulic servo valve, the pressure of a sensitive cavity is controlled through a hydraulic resistance half-bridge formed by the intersecting areas of a pair of spiral grooves formed in the inner surface of a valve sleeve and a pair of high-low pressure holes formed in the outer circular surface of a valve core, when an electro-mechanical converter drives the valve core to rotate, the area differential change of an arch-shaped throttling opening formed by the spiral grooves on the valve sleeve and the high-low pressure holes formed in the valve core causes the hydraulic pressure at two ends of the valve core to lose balance and axially move, in the process, the displacement of the valve core is fed back to the area of the arch-shaped throttling opening formed by the spiral grooves and the high-low pressure holes, and finally the valve core gradually tends to be equal, and at the moment, the valve core stops moving and is at a new balance position. The valve has the main advantages that the original discrete pilot stage and the power stage are combined into a whole and integrated on a single valve core, so that the valve has a simple structure and high dynamic response speed, and the pollution resistance of the valve is greatly improved. However, this valve also has problems: the space spiral groove structure on the valve sleeve generally needs more than three shafts of imported electric spark machine tools to machine, the cost is high, the machining efficiency is low, and meanwhile, the machining precision is difficult to guarantee and the detection is difficult because the space spiral groove structure is positioned on the inner surface of the valve sleeve.
In order to reduce the processing cost, meng Bin and the like propose a two-dimensional force feedback type electrohydraulic servo valve based on double degrees of freedom of a valve core, wherein the feedback mode is changed from a position direct feedback mode to a displacement-moment feedback mode (generally simply referred to as a displacement-force feedback mode or a force feedback mode), so that the valve core is changed from a space spiral groove to a straight groove, the processing cost is greatly reduced, and meanwhile, the valve core loses the function of position direct feedback; the common torque motor is an electromechanical conversion element commonly used for a nozzle baffle servo valve and a jet pipe servo valve, the output torque is large, the dynamic response is high, but the armature is of a flat wing structure, can only rotate around a rotating shaft, and does not have a feedback function; the electro-mechanical converter of the electro-hydraulic servo valve adopts a paddle wing type torque motor, and on the basis of retaining the advantages of a common torque motor, the feedback capability of the straight groove of the valve core is integrated in the electro-mechanical converter, so that the displacement-force feedback control of the two-dimensional electro-hydraulic servo valve is realized, and the processing difficulty is reduced.
The paddle wing type torque motor adopts a rectangular air gap, so that when the inclination angle of the armature is too large or the air gap distance is too small, the maximum positions of the axial displacement stroke and the rotation angle of the armature are limited; because the larger the inclination angle is, the smaller the air gap is, the larger the magnetic moment fed back by the moment motor is, and the contradiction between the armature displacement and the large inclination angle and the small air gap is generated due to the existence of the rectangular air gap, the optimal design cannot be achieved. In order to solve the contradiction, a novel double-freedom-degree moment motor based on an annular air gap is provided.
Disclosure of Invention
The invention provides a two-dimensional force feedback type electrohydraulic servo valve, which aims to overcome the defects that the existing position direct feedback type two-dimensional electrohydraulic servo valve has high processing cost, difficult precision guarantee and low processing efficiency of a valve sleeve inner surface space spiral groove structure, and a traditional torque motor cannot simultaneously meet the requirements of feedback, large inclination angle, small air gap and long stroke.
The technical scheme adopted for solving the technical problems is as follows:
The two-dimensional force feedback type electrohydraulic servo valve comprises a hydraulic amplifying mechanism and an electro-mechanical converter, wherein the hydraulic amplifying mechanism comprises a valve core 27, a valve sleeve 11, a valve body 6, a rear cover plate 1, a right plug ring 25, concentric rings 13 and a plug 3; the valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low-high pressure grooves a and b are formed on the shoulder surface of the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with an overflow hole c and d, the high pressure groove b, the overflow hole c and the overflow hole d are connected through an overflow channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed through an O-shaped sealing ring; the valve core 27 is provided with a concentric ring 13 and a right plug ring 25 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve 11, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low-high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, the pressure difference at two ends of the valve core is controlled, and the axial displacement of the valve core is realized;
The method is characterized in that: the electromechanical converter is a double-degree-of-freedom moment motor and comprises an armature 19 with a rotating shaft arranged along a horizontal plane, wherein the armature 19 comprises two inclined wing surfaces, the two inclined wing surfaces are respectively of 180-degree array characteristics taking a vertical upward axis perpendicular to the horizontal plane as a central axis, and the inclined wing surfaces at the two sides are equal in inclination angle and opposite in direction; the two sides of the armature 19 are symmetrically provided with a first yoke 16 and a second yoke 22, the first yoke 16 and the second yoke 22 are in mirror image relationship with the vertical surface of a rotating shaft passing through the armature 19, the direction close to the armature 19 is the inner side, and the opposite direction is the outer side, the inner sides of the first yoke 16 and the second yoke 22 are circular arc-shaped, the outer sides of the first yoke 16 and the second yoke 22 are respectively wound with a first coil 18 and a second coil 21, the inner side wall surfaces of the first yoke 16 and the second yoke 22 are respectively provided with a chute which is the same as the inclined direction of the side end of the adjacent inclined wing surface of the armature 19 relative to the rotating shaft, and the inclined angle of the chute relative to the rotating shaft is the same as the inclined angle of the inclined wing surface relative to the rotating shaft; the inclined wing side end of the armature 19 is an arc surface, the inclined wing side end of the armature 19 spans the chute and forms four working air gaps with two arc surfaces of the first yoke 16 divided by the chute and two arc surfaces of the second yoke 22 divided by the chute, the radial distance of the four air gaps is always unchanged, and the air gap area is changed along with the rotation of the armature 19;
The upper and lower parts of the inner sides of the first yoke 16 and the second yoke 22 are respectively provided with a first permanent magnet 29 and a second permanent magnet 30; the first permanent magnet 29, the second permanent magnet 30, the first yoke 16 and the second yoke 22 enclose a rotation cavity of the armature 19;
The first spring rod 17 and the second spring rod 31 as elastic elements respectively penetrate into two small holes on the upper and lower ridge surfaces of the armature 19 and are fixedly connected with the two small holes, the ball ends of the first spring top plate 20 and the second spring top plate 23 are respectively movably inserted into ball sockets of the first spring top plate 20 and the second spring top plate 23, and the first spring top plate 20 and the second spring top plate 23 are respectively clung to the first permanent magnet 29 and the second permanent magnet 30.
Preferably, the armature 19 is directly secured to the valve core 27 and is thereby held in the neutral position of the motor.
The change of the four working air gap areas is not only influenced by the rotation of the armature 19, but also influenced by the axial displacement of the valve core 27, so that the force feedback of the valve core displacement to the novel double-freedom-degree torque motor is realized. The novel double-degree-of-freedom moment motor has no moment output when not electrified, and the armature is positioned in the middle position; when the coils 18 and 21 are electrified, the polarized magnetic potential of the permanent magnets 29 and 30 and the control magnetic potential of the coils are mutually and differentially overlapped under the four working air gaps, so that electromagnetic moment is generated to drive the armature 19 to rotate until the electromagnetic moment and the counter moment of the spring rods 17 and 31 are mutually balanced, the armature 19 stops rotating, at the moment, the output moment of the armature 19 is positively related to the control current, and the rotating angle of the armature 19 can be controlled by adjusting the current. When the armature 19 has axial displacement, the working air gap areas of the armature 19 and the first yoke 16 and the second yoke 22 are changed again, so that the resultant moment acting on the armature 19 is unbalanced, and the armature 19 and the valve core 27 are driven to simultaneously rotate reversely in the moving process until the working air gap areas of the armature 19 and the first yoke 16 and the second yoke 22 are restored to the original values. In the above process, the axial displacement of the valve core 27 is changed by changing the air gap of the armature 19 to change the electromagnetic torque output from the armature 19, thereby realizing displacement-force feedback.
The hydraulic amplifying mechanism comprises a valve core 27, a valve sleeve 11, a valve body 6, a rear cover plate 1, a right plug ring 25, concentric rings 13 and a plug 3; the valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low-high pressure grooves a and b are formed on the shoulder surface of the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with an overflow hole c and d, the high pressure groove b, the overflow hole c and the overflow hole d are connected through an overflow channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed through an O-shaped sealing ring; the valve core 27 is provided with a concentric ring 13 and a right plug ring 25 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve 11, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low-high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, and accordingly the pressure difference at the two ends of the valve core is controlled, and axial displacement of the valve core is achieved. The novel double-freedom moment motor is connected to one end of the valve body 6, and the central axis of the armature 19 and the central axis of the valve core 27 are positioned on the same straight line.
The beneficial effects of the invention are mainly shown in the following steps:
1. Simple structure and low processing cost. The invention designs the armature inclined airfoil surface and the yoke iron cambered surface chute into a novel double-degree-of-freedom moment motor with an axial 180-degree array characteristic as an electric-mechanical converter, and can feed back the valve core displacement to the armature moment while driving the valve core to rotate, thereby forming a displacement-force feedback mechanism. Compared with the existing spatial spiral groove structure of the inner surface of the valve sleeve of the position direct feedback type two-dimensional servo valve, the structure of the two-dimensional force feedback type electrohydraulic servo valve is obviously easier to process.
2. The feedback moment is large. The novel torque motor adopts the structure of annular air gap, compares the rectangle air gap, and the inclination increases when the annular air gap can reduce the air gap distance under the circumstances of guaranteeing armature displacement stroke for this novel torque motor feedback moment is bigger, and has bigger corner in theory.
Drawings
Fig. 1 is a side view of the structure of the present invention.
Fig. 2 is a rear view of the structure of the present invention.
Fig. 3 is a schematic structural view of an armature of the present invention.
Fig. 4 (a) is a schematic structural view of the first yoke of the present invention; and 4 (b) is a schematic view of another angle of the first yoke.
Fig. 5 (a) is a schematic view of the structure of the second yoke of the present invention, and fig. 5 (b) is a schematic view of the second yoke at another angle.
FIG. 6 is a schematic view of the structure of the primary spring rod of the present invention; the second spring rod is identical in construction to it.
FIG. 7 is a schematic diagram of the two-dimensional force feedback electro-hydraulic servo valve housing of the present invention.
FIG. 8 is a schematic diagram of the two-dimensional force feedback electro-hydraulic servo valve spool of the present invention.
Fig. 9 is a schematic structural view of the present invention.
Fig. 10 (a) to 10 (c) are schematic diagrams of the working principle of the present invention, fig. 10 (a) is a schematic diagram of the initial armature rotation state of the present invention, 10 (b) is a schematic diagram of the rotation driving valve core displacement state of the present invention, and 10 (c) is a schematic diagram of the feedback reset state of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 10, the two-dimensional force feedback type electro-hydraulic servo valve includes a novel dual-degree-of-freedom torque motor and a hydraulic amplifying part. The novel double-freedom-degree torque motor consists of a first yoke 16, a second yoke 22, an armature 19, a first permanent magnet 29, a second permanent magnet 30, a first spring rod 17, a second spring rod 31, a first coil 18, a second coil 21, a first spring top plate 20, a second spring top plate 23, a fixing screw and the like.
The armature 19 is symmetrically provided with a first yoke 16 and a second yoke 22 on both sides, and the first yoke 16 and the second yoke 22 are mirror images with respect to the vertical plane passing through the rotation axis of the armature 19, so that the direction approaching the armature 19 is the inner side, and the opposite direction is the outer side.
The first yoke 16, the second yoke 22 and the armature 19 are all magnetic conductors; the first permanent magnet 29 and the second permanent magnet 30 are symmetrically disposed at upper and lower portions of the inner sides of the first yoke and the second yoke, respectively, for providing polarized magnetic potential; the first coil 18 and the second coil 21 are symmetrically wound on the outer sides of the first yoke and the second yoke respectively and are used for providing control magnetic potential; the first spring rod 17 and the second spring rod 31 as elastic elements penetrate through two small holes on the upper and lower ridge surfaces of the armature 19 and are fixedly connected with the two small holes, the ball ends of the first spring rod 17 and the second spring rod 31 are respectively movably inserted into ball sockets of the first spring top plate 20 and the second spring top plate 23, the first spring top plate 20 and the second spring top plate 23 are respectively clung to the first permanent magnet 29 and the second permanent magnet 30, and are symmetrically arranged on two sides of the first yoke 16 and the second yoke 22, and the armature 19 is directly fixedly connected with the valve core 27 and is kept in the middle position of the motor. After the whole double-freedom moment motor is assembled, the whole double-freedom moment motor is fixedly connected to one end of the valve body through a screw.
As shown in fig. 3,4 and 5. Unlike the conventional novel dual degree of freedom torque motors used as nozzle flapper valves and jet pipe valve electro-mechanical converters, for the novel dual degree of freedom torque motors, the armature 19 is composed of a central shaft and two oblique wing surfaces arranged horizontally, and the oblique wing surfaces on two sides are all characterized by 180 ° array taking a vertical upward axis perpendicular to the horizontal plane as the central shaft, namely one oblique wing is overlapped with the other oblique wing after rotating 180 ° along the axial direction, and the oblique wing surfaces on two sides have the same and opposite inclination angles with the axial direction;
The shapes and the sizes of the first yoke 16 and the second yoke 22 are completely consistent, the first yoke 16 and the second yoke 22 are symmetrically arranged along the axial center by 180 degrees, and grooves inclined at a certain angle with the axial direction are formed on the cambered surfaces of the first yoke 16 and the second yoke 22 and are used for dividing a magnetic circuit; the inclined angles of the inclined wings of the first yoke 16, the second yoke 22 and the armature 19 are the same; the oblique wing side end of the armature 19 is an arc surface, four working air gaps are formed by the arc surfaces of the first yoke 16 divided by the oblique groove and the arc surfaces of the second yoke 22 divided by the oblique groove, the radial distance of the four air gaps is always unchanged, and the air gap area can be changed along with the rotation of the armature 19.
The change of the four working air gap areas is not only influenced by the rotation of the armature 19, but also influenced by the axial displacement of the valve core 27, so that the force feedback of the valve core displacement to the novel double-freedom-degree torque motor is realized. The novel double-degree-of-freedom moment motor has no moment output when not electrified, and the armature is positioned in the middle position; when the coils 18 and 21 are electrified, the polarized magnetic potential of the permanent magnets 29 and 30 and the control magnetic potential of the coils are mutually and differentially overlapped under the four working air gaps, so that electromagnetic moment is generated to drive the armature 19 to rotate until the electromagnetic moment and the counter moment of the spring rods 17 and 31 are mutually balanced, the armature 19 stops rotating, at the moment, the output moment of the armature 19 is positively related to the control current, and the rotating angle of the armature 19 can be controlled by adjusting the current. When the armature 19 has axial displacement, the working air gap areas of the armature 19 and the first yoke 16 and the second yoke 22 are changed again, so that the resultant moment acting on the armature 19 is unbalanced, and the armature 19 and the valve core 27 are driven to simultaneously rotate reversely in the moving process until the working air gap areas of the armature 19 and the first yoke 16 and the second yoke 22 are restored to the original values. In the above process, the axial displacement of the valve core 27 is changed by changing the air gap of the armature 19 to change the electromagnetic torque output from the armature 19, thereby realizing displacement-force feedback.
As shown in fig. 1, 2, 7, 8 and 9, the hydraulic amplifying section includes a valve spool 27, a valve housing 11, a valve body 6, a back cover plate 1, a right plug ring 25, a concentric ring 13, a plug 3, O-rings 4, 5, 7, 8, 9, 10, 12, 15, 26, a plurality of screws, and the like. The valve core 27, the valve sleeve 11 and the rear cover plate 1 are matched to form a left sensitive cavity h, two pairs of axisymmetric low-high pressure grooves a and b are formed on the shoulder surface of the left end of the valve core 27 close to the left sensitive cavity h, the valve rod is also provided with an overflow hole c and d, the high pressure groove b, the overflow hole c and the overflow hole d are connected through an overflow channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core 27 is arranged in the valve sleeve 11, and the valve sleeve 11 and the valve body 6 are sealed by O-shaped sealing rings 5, 7, 8, 9 and 10; the valve core 27 is provided with a concentric ring 13 and a right plug ring 25 to ensure the positioning among the valve core 27, the valve sleeve 11 and the valve body 6; a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve 11, one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low-high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, and accordingly the pressure difference at the two ends of the valve core is controlled, and axial displacement of the valve core is achieved.
In the embodiment, a two-dimensional force feedback type electrohydraulic servo valve with the valve core diameter of 12.5mm and the flow rate of 120L/min is taken as an example, and the invention is further described with reference to the accompanying drawings.
The working principle of the two-dimensional force feedback type electrohydraulic servo valve is as follows: as shown in fig. 9, when the hydraulic pump is opened and the novel dual-degree-of-freedom torque motor is not electrified, the armature 19 is in the middle position under the support of the first spring rod 17 and the second spring rod 31, the areas of the upper working air gap and the lower working air gap of the cambered surfaces of the inclined wings on the two sides of the armature are equal, the areas can be approximately regarded as the bottom of a parallelogram multiplied by the height (the bottom is the same, the heights are g at the moment), the right cavity k of the two-dimensional force feedback electrohydraulic servo valve is communicated with the oil inlet P port (system pressure) through the overflow hole d, and the pressure bearing area of the right cavity k is half of the area of the left sensitive cavity h through the small hole c and the channel in the valve core 27 rod; the pressure of the left sensing chamber h is controlled by a hydraulic resistance half bridge of a pair of low and high pressure grooves a and b formed on the left end land of the spool 27 in series with two tiny rectangular windows intersecting a pair of straight groove sensing channels f formed on the inner surface of the valve housing 11. If the influence of friction force and hydrodynamic force is not considered in static state, the pressure of the left sensitive cavity h is half of the pressure of the P port (system pressure), the valve core 27 axially keeps static pressure balance, and the covering areas of the two sides of the low-pressure groove and the high-pressure groove intersected with the straight groove sensing channel f are equal.
As shown in fig. 10 (a), 10 (b) and 10 (c), when the novel two-degree-of-freedom torque motor is energized, the armature 19 drives the spool 27 to rotate counterclockwise (seen from left to right) until the output torque and the resistive torque of the first spring lever 17 and the second spring lever 31 are equal to each other in the equilibrium position, as shown in fig. 10 (a); at this time, the height of the upper and lower working air gaps of the armature 19 is changed (g 1 and g 2,g1>g,g2 < g), the area of the throttle opening formed by the low-pressure groove a and the straight groove sensing channel f of the valve core is reduced, the area of the throttle opening formed by the high-pressure groove b and the sensing channel f is increased, the pressure in the sensitive cavity h is increased, and the valve core 27 is moved rightwards after being out of balance axially; due to the diagonal wing structure of the novel dual-degree-of-freedom torque motor, the axial movement of the valve core 27 causes the upper and lower working air gap heights of the armature 19 to be changed again (g 3 and g 4,g3<g1,g4>g2), as shown in fig. 10 (b), at this time, the driving torque acting on the armature 19 is reduced, smaller than the counter moment of the spring rod, the resultant moment is out of balance, the armature 19 and the valve core 27 rotate reversely while moving axially until the two choke areas between the sensing channel f and the low-high pressure groove return to be equal, at this time, the armature 19 stops rotating, the valve core 27 stops moving axially and is in a new balance position, and the pressure of the sensing cavity h is restored to half of the system pressure, as shown in fig. 10 (c). In the above process, the axial displacement of the valve core 27 changes the electromagnetic torque output by the armature 19 through the change of the air gap of the armature 19 to realize displacement-force feedback, so the valve is a two-stage force feedback electrohydraulic servo valve.
The above-described embodiments are intended to illustrate the present invention, not to limit the present invention, and any modifications and variations made to the present invention within the spirit of the present invention and the scope of the appended claims fall within the scope of the present invention.
Claims (1)
1. The two-dimensional force feedback type electrohydraulic servo valve comprises a hydraulic amplifying mechanism and an electro-mechanical converter, wherein the hydraulic amplifying mechanism comprises a valve core (27), a valve sleeve (11), a valve body (6), a rear cover plate (1), a right plug ring (25), concentric rings (13) and a plug (3); the valve core (27) is matched with the valve sleeve (11) and the rear cover plate (1) to form a left sensitive cavity h, two pairs of axisymmetric low-high pressure grooves a and b are formed in the surface of a left end shoulder of the valve core (27) close to the left sensitive cavity h, the valve rod is also provided with an overflow hole c and d, the high pressure groove b, the overflow hole c and the overflow hole d are connected through an overflow channel formed in the valve core, and the low pressure groove a is directly connected with an oil return port; the valve core (27) is arranged in the valve sleeve (11), and the valve sleeve (11) and the valve body (6) are sealed through an O-shaped sealing ring; the valve core (27) is provided with a concentric ring (13) and a right plug ring (25) to ensure the positioning among the valve core (27), the valve sleeve (11) and the valve body (6); a pair of axisymmetric straight groove sensing channels f are formed in the inner surface of the valve sleeve (11), one end of each sensing channel is communicated with the sensitive cavity h, the other end of each sensing channel and the low-high pressure grooves a and b form a resistance half bridge, the resistance half bridge controls the pressure in the sensitive cavity h through the sensing channels f, the pressure difference at two ends of the valve core is controlled, and axial displacement of the valve core is achieved;
The method is characterized in that: the electromechanical converter is a double-degree-of-freedom moment motor and comprises an armature (19) with a rotating shaft arranged along a horizontal plane, wherein the armature (19) comprises two inclined wing surfaces at two sides, and the inclined wing surfaces at two sides are respectively characterized by being 180-degree array by taking a vertical upward axis perpendicular to the horizontal plane as a central axis, and the inclined wing surfaces at two sides are equal in inclination angle and opposite in direction; the two sides of the armature (19) are symmetrically provided with a first yoke (16) and a second yoke (22), the first yoke (16) and the second yoke (22) are in mirror image relationship with the vertical plane passing through the rotating shaft of the armature (19), the direction close to the armature (19) is taken as the inner side, the opposite direction is taken as the outer side, the inner sides of the first yoke (16) and the second yoke (22) are arc-shaped, the outer sides of the first yoke (16) and the second yoke (22) are respectively wound with a first coil (18) and a second coil (21), and the inner side wall surfaces of the first yoke (16) and the second yoke (22) are respectively provided with a chute which is the same as the inclined direction of the side end of the inclined airfoil surface of the adjacent armature (19) relative to the rotating shaft, and the inclined angle of the chute relative to the rotating shaft is the inclined airfoil relative to the rotating shaft is the inclined angle of the inclined airfoil; the inclined wing side end of the armature (19) is an arc surface, the inclined wing side end of the armature (19) spans the chute, four working air gaps are formed by the inclined wing side end of the armature (19) and two arc surfaces of the first yoke (16) divided by the chute and two arc surfaces of the second yoke (22) divided by the chute, the radial distance of the four air gaps is always unchanged, and the air gap area is changed along with the rotation of the armature (19); the armature (19) and the valve core (27) are fixedly connected and are thereby kept in the middle position of the motor;
The upper part and the lower part of the inner sides of the first yoke (16) and the second yoke (22) are respectively provided with a first permanent magnet (29) and a second permanent magnet (30); the first permanent magnet (29) and the second permanent magnet (30), the first yoke (16) and the second yoke (22) enclose a rotating inner cavity of the armature (19);
the first spring rod (17) and the second spring rod (31) are used as elastic elements to respectively penetrate into two small holes on the upper and lower ridge surfaces of the armature (19) and are fixedly connected with the two small holes, the ball ends of the first spring rod and the second spring rod are respectively movably inserted into ball sockets of the first spring top plate (20) and the second spring top plate (23), and the first spring top plate (20) and the second spring top plate (23) are respectively clung to the first permanent magnet (29) and the second permanent magnet (30);
The first yoke iron (16), the second yoke iron (22) and the armature iron (19) are all magnetizers; the first permanent magnet (29) and the second permanent magnet (30) are symmetrically arranged at the upper part and the lower part of the inner sides of the first yoke and the second yoke respectively to provide polarized magnetic potential; the first coil (18) and the second coil (21) are respectively and symmetrically wound on the outer sides of the first yoke and the second yoke to provide control magnetic potential; the armature (19) is directly fixed with the valve core (27) and is kept in the middle position of the motor, and after the double-freedom moment motor is assembled, the armature is fixed to one end of the valve body through a screw.
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| CN202010161818.7A CN111396385A (en) | 2020-03-10 | 2020-03-10 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN2020101618187 | 2020-03-10 |
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| CN202010161818.7A Withdrawn CN111396385A (en) | 2020-03-10 | 2020-03-10 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN202010572330.3A Active CN111649021B (en) | 2020-03-10 | 2020-06-22 | Two-dimensional force feedback type electrohydraulic servo valve |
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| CN111396385A (en) * | 2020-03-10 | 2020-07-10 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN112065797B (en) * | 2020-08-12 | 2024-06-11 | 浙江工业大学 | Two-dimensional electrohydraulic servo proportional valve based on permanent magnet type annular air gap magnetic suspension coupling |
| CN112377481B (en) * | 2021-01-18 | 2021-03-30 | 烟台大学 | High-frequency-response electro-hydraulic servo valve |
| CN114198531A (en) * | 2021-11-20 | 2022-03-18 | 河南航天液压气动技术有限公司 | Low-leakage tubular electro-hydraulic proportional reversing valve and reversing method |
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| KR20060028496A (en) * | 2004-09-24 | 2006-03-30 | 엘지전자 주식회사 | Magnetically levitated, electromagnetically actuated valve for fluidic mass flow control |
| CN105201945A (en) * | 2015-09-25 | 2015-12-30 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve based on two freedom degrees of valve element |
| CN106763994A (en) * | 2017-02-28 | 2017-05-31 | 浙江工业大学 | The oblique wing torque-motor of coil external |
| CN110617246A (en) * | 2018-09-17 | 2019-12-27 | 浙江工业大学 | Two-dimensional half-bridge type electro-hydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling |
| CN111396385A (en) * | 2020-03-10 | 2020-07-10 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN212455029U (en) * | 2020-03-10 | 2021-02-02 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
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2020
- 2020-03-10 CN CN202010161818.7A patent/CN111396385A/en not_active Withdrawn
- 2020-06-22 CN CN202010572330.3A patent/CN111649021B/en active Active
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| KR20060028496A (en) * | 2004-09-24 | 2006-03-30 | 엘지전자 주식회사 | Magnetically levitated, electromagnetically actuated valve for fluidic mass flow control |
| CN105201945A (en) * | 2015-09-25 | 2015-12-30 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve based on two freedom degrees of valve element |
| CN106763994A (en) * | 2017-02-28 | 2017-05-31 | 浙江工业大学 | The oblique wing torque-motor of coil external |
| CN110617246A (en) * | 2018-09-17 | 2019-12-27 | 浙江工业大学 | Two-dimensional half-bridge type electro-hydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling |
| CN111396385A (en) * | 2020-03-10 | 2020-07-10 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN212455029U (en) * | 2020-03-10 | 2021-02-02 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
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| CN111649021A (en) | 2020-09-11 |
| CN111396385A (en) | 2020-07-10 |
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