水压桥路流动特性及水压伺服阀静态特性研究
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摘要
水压传动技术以海(淡)水作为介质,具有无污染、不燃烧、节约能源、工作介质易于获取等突出优点,正日益受到国内外工程界的广泛重视。水压伺服控制技术是水压技术不可或缺的重要组成部分,是水压技术的一个十分重要的发展分枝和方向,已成为当前国际上本学科前沿一个极为重要的研究课题。水压伺服阀是结合了机械、电子以及液压技术的高精密元件,它的性能直接影响着整个水压伺服系统的性能。
本文根据水的特性提出了一种水压伺服阀结构,其液压桥路采用两级固定阻尼孔与喷嘴挡板串联的结构形式。重点研究了水压伺服阀液压桥路流动特性,探讨了喷嘴挡板位移,阀芯运动速度与阀芯两端压力的关系;研究了喷嘴直径、串联固定阻尼孔直径、阀芯直径及其运动速度、喷嘴挡板与喷嘴之间初始距离等参量对于水压桥路特性的影响。同时运用正交设计方法将各个参量变化以及各参量之间的交互作用对桥路特性的影响进行了分析,为水压伺服阀的设计奠定了理论基础。
对水压伺服阀的静态特性及其传递特性进行了理论分析,得出了水压伺服阀系统反馈方框图,根据方框图得出了伺服阀系统的传递函数,对传递函数进行仿真得出了其伯德图,验证了伺服阀系统的稳定性。
对由两级固定阻尼孔与喷嘴挡板串联的喷嘴挡板液压桥路,应用商业化的CFD软件——FLUENT,引入质量转移方程、气体体积方程以及RNG k ?ε湍流模型,对其流动特性和气穴特性进行了全面的仿真研究。两级固定阻尼孔有两种结构形式,一种是两级均为薄壁小孔,另一种是一级为薄壁小孔、一级为环形圆缝。改变固定阻尼孔的直径、环形圆缝的间隙和叠合长度、喷嘴挡板位移等参数,得出了喷嘴挡板液压桥路在不同的几何条件以及边界条件下的流动特性。
通过对现有试验台架进行技术改造,自行设计了不同形状和规格的喷嘴、环形圆缝、固定阻尼孔等组合试件,对上述喷嘴挡板液压桥路的流动特性进行了试验研究,对喷嘴挡板上液动力进行了相关测试。
在上述研究工作的基础上,完成了水压伺服阀的设计及制造;并利用现有的试验设备,设计了相应的水压伺服阀静态特性试验台,研制了试验装置的硬件接口电路,编制了功能较为完善的数据采集软件,完成了水压伺服阀进行静态特性试验研究。对水压伺服阀的空载流量特性、负载流量特性、内部泄漏特性以及压力特性进行了相关分析,在此基础上对水压伺服阀的零偏、滞环、流量增益、压力增益、非线性度以及不对称度等特性进行了相关研究。
Water hydraulics technology which is operated by fresh water or seawater, has become more and more appealing to engineering fields across the globe, owing to its great advantages such as environment friendliness, non-flammability, cheapness, cleanliness and high availability of the operating fluids. Water hydraulic servo control technology which is an important and indispensable component, and a very important development branch and direction of water hydraulic technology, has already become an extremely important research problem of front disciplines in the world at present.Water hydraulic servo valves are high-precision components, which are the combination of mechanic, electronic and hydraulic technology. Its performance determines the quality of the whole system.
In this paper, a structure of hydraulic servo valves has been developed according to the characteristics of water. The water hydraulic servo bridge model,in which the two tandem fixed dampers are adopted as prepositive dampers, is developed. The flow characteristics of the Hydraulic servo bridge is studied especially. The parameter sensitivity analysis for the hydraulic bridge is undertaken. The relationship among the flapper displacement, the spool speed and the end pressure of the spool is explored. The influence of parameters, including the diameter of the nozzle, the diameters of the two tandem fixed dampers, the spool diameter and its sliding speed, the initial clearance between nozzle and flapper, on the characteristics of the hydraulic bridge is also investigated. The orthogonal design is used to analyze the influence and the interaction of those parameters on the characteristics of the hydraulic bridge. This has laid the theoretical foundation for the design of water hydraulic servo valves.
The static characteristics and the transmission characteristics of the Hydraulic servo valve are analyzed theoretically, educing its feedback block diagram. According to the block diagram of the servo valve system, the transfer function of the system is obtained. Through the simulation of the transfer function, the bode diagram of the system is drawn, verifying the stability of the servo valve.
The flow characteristics of the typical throttles and hydraulic half bridge which consists of two tandem fixed dampers and a flapper-nozzle, are numerically studied using RNG k ?εturbulent model combined with mass transfer equation, volume fraction equation and two-layer zonal model through commercial CFD software package FLUENT. There are two structures of the tandem fixed dampers; one is two small orifices; the other is a small orifice and annular gap damper. By changing the fixed orifice diameter, ring slot length of the gap and, clearance of the gap, the nozzle displacement parameters, the flow characteristics of the Hydraulic bridge is obtained in different geometric conditions and different boundary conditions.
The test-bed is technologically reconstructed, a series of coupled elements, including flapper-nozzle, annular gap damper and fixed orifice, are designed. Under the conditions of various throttle clearances, experimental tests are conducted to obtain the flow characteristics of these typical throttles. The force of liquid on the nozzle-flapper is tested
On the basis of these studies, the design and manufacture of the hydraulic servo valve is completed. And by the use of existing test equipment, the test rig of the static characteristics of the hydraulic servo valve is designed. The hardware interface circuit of the experiment device is developed. The multifunction data acquisition and control software is compiled. The test on the static characteristics of the water hydraulic servo valves is completed, and the correlation of test results is analyzed. The static characteristics including no-load flow characteristics, load flow characteristics, leakage characteristics and the characteristics of internal pressure are studied. The Null bias, Hysteresis, Flow gain, Pressure gain, Nonlinearity and Unsymmetry of the Hydraulic servo valve has researched on the basis of the static characteristics.
本文根据水的特性提出了一种水压伺服阀结构,其液压桥路采用两级固定阻尼孔与喷嘴挡板串联的结构形式。重点研究了水压伺服阀液压桥路流动特性,探讨了喷嘴挡板位移,阀芯运动速度与阀芯两端压力的关系;研究了喷嘴直径、串联固定阻尼孔直径、阀芯直径及其运动速度、喷嘴挡板与喷嘴之间初始距离等参量对于水压桥路特性的影响。同时运用正交设计方法将各个参量变化以及各参量之间的交互作用对桥路特性的影响进行了分析,为水压伺服阀的设计奠定了理论基础。
对水压伺服阀的静态特性及其传递特性进行了理论分析,得出了水压伺服阀系统反馈方框图,根据方框图得出了伺服阀系统的传递函数,对传递函数进行仿真得出了其伯德图,验证了伺服阀系统的稳定性。
对由两级固定阻尼孔与喷嘴挡板串联的喷嘴挡板液压桥路,应用商业化的CFD软件——FLUENT,引入质量转移方程、气体体积方程以及RNG k ?ε湍流模型,对其流动特性和气穴特性进行了全面的仿真研究。两级固定阻尼孔有两种结构形式,一种是两级均为薄壁小孔,另一种是一级为薄壁小孔、一级为环形圆缝。改变固定阻尼孔的直径、环形圆缝的间隙和叠合长度、喷嘴挡板位移等参数,得出了喷嘴挡板液压桥路在不同的几何条件以及边界条件下的流动特性。
通过对现有试验台架进行技术改造,自行设计了不同形状和规格的喷嘴、环形圆缝、固定阻尼孔等组合试件,对上述喷嘴挡板液压桥路的流动特性进行了试验研究,对喷嘴挡板上液动力进行了相关测试。
在上述研究工作的基础上,完成了水压伺服阀的设计及制造;并利用现有的试验设备,设计了相应的水压伺服阀静态特性试验台,研制了试验装置的硬件接口电路,编制了功能较为完善的数据采集软件,完成了水压伺服阀进行静态特性试验研究。对水压伺服阀的空载流量特性、负载流量特性、内部泄漏特性以及压力特性进行了相关分析,在此基础上对水压伺服阀的零偏、滞环、流量增益、压力增益、非线性度以及不对称度等特性进行了相关研究。
Water hydraulics technology which is operated by fresh water or seawater, has become more and more appealing to engineering fields across the globe, owing to its great advantages such as environment friendliness, non-flammability, cheapness, cleanliness and high availability of the operating fluids. Water hydraulic servo control technology which is an important and indispensable component, and a very important development branch and direction of water hydraulic technology, has already become an extremely important research problem of front disciplines in the world at present.Water hydraulic servo valves are high-precision components, which are the combination of mechanic, electronic and hydraulic technology. Its performance determines the quality of the whole system.
In this paper, a structure of hydraulic servo valves has been developed according to the characteristics of water. The water hydraulic servo bridge model,in which the two tandem fixed dampers are adopted as prepositive dampers, is developed. The flow characteristics of the Hydraulic servo bridge is studied especially. The parameter sensitivity analysis for the hydraulic bridge is undertaken. The relationship among the flapper displacement, the spool speed and the end pressure of the spool is explored. The influence of parameters, including the diameter of the nozzle, the diameters of the two tandem fixed dampers, the spool diameter and its sliding speed, the initial clearance between nozzle and flapper, on the characteristics of the hydraulic bridge is also investigated. The orthogonal design is used to analyze the influence and the interaction of those parameters on the characteristics of the hydraulic bridge. This has laid the theoretical foundation for the design of water hydraulic servo valves.
The static characteristics and the transmission characteristics of the Hydraulic servo valve are analyzed theoretically, educing its feedback block diagram. According to the block diagram of the servo valve system, the transfer function of the system is obtained. Through the simulation of the transfer function, the bode diagram of the system is drawn, verifying the stability of the servo valve.
The flow characteristics of the typical throttles and hydraulic half bridge which consists of two tandem fixed dampers and a flapper-nozzle, are numerically studied using RNG k ?εturbulent model combined with mass transfer equation, volume fraction equation and two-layer zonal model through commercial CFD software package FLUENT. There are two structures of the tandem fixed dampers; one is two small orifices; the other is a small orifice and annular gap damper. By changing the fixed orifice diameter, ring slot length of the gap and, clearance of the gap, the nozzle displacement parameters, the flow characteristics of the Hydraulic bridge is obtained in different geometric conditions and different boundary conditions.
The test-bed is technologically reconstructed, a series of coupled elements, including flapper-nozzle, annular gap damper and fixed orifice, are designed. Under the conditions of various throttle clearances, experimental tests are conducted to obtain the flow characteristics of these typical throttles. The force of liquid on the nozzle-flapper is tested
On the basis of these studies, the design and manufacture of the hydraulic servo valve is completed. And by the use of existing test equipment, the test rig of the static characteristics of the hydraulic servo valve is designed. The hardware interface circuit of the experiment device is developed. The multifunction data acquisition and control software is compiled. The test on the static characteristics of the water hydraulic servo valves is completed, and the correlation of test results is analyzed. The static characteristics including no-load flow characteristics, load flow characteristics, leakage characteristics and the characteristics of internal pressure are studied. The Null bias, Hysteresis, Flow gain, Pressure gain, Nonlinearity and Unsymmetry of the Hydraulic servo valve has researched on the basis of the static characteristics.
引文
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