Design correction method and system for large-scale torque motor

Abstract

The present invention discloses a design correction method and system for a large-scale torque motor, the method comprising the following steps: obtaining the pilot control chamber pressure and the pilot overflow chamber pressure when the baffle is in the middle position according to the orifice outflow formula; obtaining the pilot flow distribution law of the double-spray baffle valve according to the flow continuity equation; performing implicit function differentiation on the pilot flow distribution law of the double-spray baffle valve, linearizing the flow equation of the inflow slide valve, and obtaining the pilot flow gain; determining the root locus gain of the double-spray baffle valve according to the obtained pilot flow gain, and performing design correction on the double-spray baffle valve. The present application considers the influence of the return oil throttling hole on the overflow chamber pressure under large-flow design conditions, obtains the root locus gain of the double-spray baffle valve through the pilot flow gain, and provides a more accurate design improvement method for the nonlinear problem caused by the large-flow servo valve changing the return oil throttling hole to reduce the static loss flow for energy saving and emission reduction.

Description

Technical Field

[0001] The invention relates to the field of electro-hydraulic servo valve design, and in particular to a design correction method and system for a large-scale torque motor. Background Art

[0002] The hydraulic servo valve is mainly an electro-hydraulic servo valve. After receiving the electrical analog signal, it outputs the modulated flow and pressure accordingly. It is an electro-hydraulic conversion element and a power amplifier element. It can convert the weak electrical input signal of low power into high-power hydraulic energy (flow and pressure) output. In the electro-hydraulic servo system, it connects the electrical part with the hydraulic part to realize the conversion of electro-hydraulic signals and hydraulic amplification. The double-spray flapper valve is designed based on the principle of throttling control chamber. It is equivalent to a four-way valve, so it can be used to control the double-acting hydraulic cylinder of the chamber.

[0003] The electro-hydraulic servo valve is the core of the servo system. In the dual-nozzle flapper type electro-hydraulic servo valve, the torque motor is the core of the design. The bandwidth of the servo valve with large flow in the flow valve is significantly reduced, which requires the optimization of the torque motor to improve the dynamic characteristics of the system. Due to the inherent structural reasons of the dual-nozzle flapper type servo valve, static flow will be generated. Reducing the static flow can play a role in energy conservation and emission reduction. Adding a throttle hole at the return oil position can reduce the static flow. Although the return oil throttle hole is added in the usual design method, the influence of the return oil throttle hole is ignored in the design process of the dual-nozzle flapper type servo valve to simplify the calculation. This simplification will cause obvious nonlinear problems in the pressure-flow curve of the dual-nozzle flapper valve in the design of large-flow servo valves.

[0004] Usually, the influence of the return oil throttle hole on QL and the linearization of QL by Taylor series of the pressure-flow equation are ignored in the design. However, this influence is not a problem that can be ignored in the design of large flow valves. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and to provide a design correction method and system for a large-scale torque motor.

[0006] In a first aspect, the present application provides a design correction method for a large-scale torque motor, comprising the following steps:

[0007] Step S1, obtaining the pilot stage control chamber pressure and the pilot stage overflow chamber pressure when the baffle is in the middle position according to the orifice outflow formula;

[0008] Step S2, obtaining the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation;

[0009] Step S3, performing implicit function derivation on the pilot stage flow distribution law of the dual-spray flapper valve, performing linear processing on the flow equation of the inflow slide valve, and obtaining the pilot stage flow gain;

[0010] Step S4: determining the root locus gain of the dual-injection flapper valve according to the obtained pilot stage flow gain, and performing design correction on the dual-injection flapper valve.

[0011] According to the first aspect, in a first possible implementation of the first aspect, the step S1, the step of obtaining the pilot stage control chamber pressure and the pilot stage overflow chamber pressure when the baffle is in the middle position according to the orifice outflow formula, specifically includes the following steps:

[0012] Get the orifice outflow formula;

[0013] Get the flow continuity equation when the double-spray flapper valve flapper is in the middle position:

[0014] According to the orifice outflow formula and the flow continuity equation when the double-spray flapper valve flapper is in the middle position, the pilot stage control chamber pressure is obtained when the double-spray flapper valve flapper is in the middle position. and pilot stage relief chamber pressure .

[0015] According to the first aspect, in a second possible implementation of the present application, step S2, the step of obtaining the pilot stage flow distribution law of the dual-spray flapper valve according to the flow continuity equation, specifically includes the following steps:

[0016] The flow continuity equation of the double-spray flapper valve is obtained as follows:

[0017] ;

[0018] ;

[0019] in, is the flow rate into and out of the slide valve, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole;

[0020] According to the flow continuity equation and orifice outflow formula of the double-spray flapper valve, the pilot stage flow distribution law of the double-spray flapper valve is obtained:

[0021] =0;

[0022] In the formula, is the flow rate into and out of the slide valve, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter.

[0023] According to the first aspect, in a third possible implementation of the first aspect, the step S3, performing implicit function derivation on the pilot stage flow distribution law of the dual-spray flapper valve, linearizing the flow equation of the inflow slide valve, and obtaining the pilot stage flow gain, specifically includes the following steps:

[0024] The implicit function derivation of the pilot stage flow distribution law of the double-spray flapper valve is as follows:

[0025] K qp = ;

[0026] K cp ;

[0027] The linearization equation for the flow into the slide valve is as follows:

[0028] ;

[0029] In the formula, K qp is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position;

[0030] The implicit function derivative of the pilot stage flow distribution law of the double-spray flapper valve is performed, and the flow equation of the inflow slide valve is linearized to obtain the pilot stage flow gain as follows:

[0031] ;

[0032] In the formula, is the pilot stage flow gain.

[0033] According to the first aspect, in a fourth possible implementation of the first aspect, the step S4, determining the root locus gain of the dual-injection flapper valve according to the obtained pilot stage flow gain, and performing design correction on the dual-injection flapper valve, specifically includes the following steps:

[0034] The root locus method is used to analyze the system. The diameter of the return oil throttling hole is changed to change the pilot stage flow gain and further change the root locus gain.

[0035] In a second aspect, the present application provides a design correction system for a large-scale torque motor, comprising:

[0036] A cavity pressure acquisition module, used to obtain the pilot stage control cavity pressure and the overflow cavity pressure when the baffle is in the middle position according to the orifice outflow formula;

[0037] A pilot stage flow distribution law acquisition module is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation;

[0038] A pilot flow gain acquisition module is communicatively connected with the pilot flow distribution law acquisition module, and is used to perform implicit function derivation on the pilot flow distribution law of the dual-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain;

[0039] The correction module is in communication connection with the pilot stage flow gain acquisition module, and is used to determine the root locus gain of the dual-injection flapper valve according to the acquired pilot stage flow gain, and to perform design correction on the dual-injection flapper valve.

[0040] According to the second aspect, in a first possible implementation manner of the second aspect, the cavity pressure acquisition module includes:

[0041] A submodule for obtaining a hole outflow formula, used for obtaining a hole outflow formula;

[0042] A mid-position flow continuity equation acquisition submodule is used to obtain the flow continuity equation when the baffle of the double-spray baffle valve is in the mid-position;

[0043] The cavity pressure acquisition submodule is connected to the hole outflow formula acquisition submodule and the center guard flow continuity equation acquisition submodule, and is used to solve and obtain the pilot stage control cavity pressure when the double-spray flapper valve baffle is in the middle position according to the hole outflow formula and the flow continuity equation when the double-spray flapper valve baffle is in the middle position. and pilot stage relief chamber pressure .

[0044] According to the second aspect, in a second possible implementation manner of the second aspect, the pilot flow distribution law acquisition module includes:

[0045] The flow continuity equation acquisition submodule is used to obtain the flow continuity equation of the double-spray flapper valve as follows:

[0046] ;

[0047] ;

[0048] in, is the flow rate into and out of the slide valve, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole;

[0049] The flow distribution law acquisition submodule is communicatively connected with the flow continuity equation acquisition submodule, and is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation and the orifice outflow formula of the double-spray flapper valve:

[0050] =0;

[0051] In the formula, is the flow rate into and out of the slide valve, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter.

[0052] According to the second aspect, in a third possible implementation manner of the second aspect, the pilot stage flow gain acquisition module includes:

[0053] The implicit function derivation submodule is used to perform implicit function derivation on the pilot stage flow distribution law of the double-spray flapper valve as follows:

[0054] K q = ;

[0055] K cp ;

[0056] The linearization submodule is used to linearize the flow equation of the flow into the slide valve as follows:

[0057] ;

[0058] In the formula, K qp is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position, is the flow difference between inflow and outflow of the slide valve;

[0059] The pilot flow gain acquisition submodule is in communication with the derivation submodule and the linearization submodule, and is used to perform implicit function derivation on the pilot flow distribution law of the dual-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain as follows:

[0060] ;

[0061] In the formula, is the pilot stage flow gain.

[0062] Compared with the prior art, the advantages of the present invention are as follows:

[0063] This application considers the influence of the return oil throttling hole on the overflow chamber pressure under large flow design conditions, obtains the root trajectory gain of the double-spray flapper valve through the pilot stage flow gain, and provides a more accurate design improvement method for the nonlinear problem caused by the large flow servo valve changing the return oil throttling hole to reduce the static flow and save energy and reduce emissions. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a method flow chart of a design correction method for a large-scale torque motor according to an embodiment of the present application;

[0065] Figure 2 It is the principle diagram of pressure calculation of each chamber of the double-spray flapper valve;

[0066] Figure 3 This is the flow calculation principle diagram of the double-spray flapper valve;

[0067] Figure 4 It is a flowchart of simulation analysis on simulink provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the embodiments described. On the contrary, it is intended to cover changes, modifications and equivalents included in the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0069] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0071] The inherent structural reasons of the double-jet flapper servo valve will produce static flow loss. Reducing the static flow loss can help save energy and reduce emissions. Adding a throttle hole at the return oil position can reduce the static flow loss. Although the return oil throttle hole is added in the usual design method, the influence of the return oil throttle hole is ignored in the design process of the double-jet flapper servo valve to simplify the calculation. This simplification will cause obvious nonlinear problems in the pressure-flow curve of the double-jet flapper valve in the design of large-flow servo valves.

[0072] In view of this, the present application provides a design correction method for a large-scale torque motor to solve the nonlinear problem of the pressure-flow curve of the star double-injection flapper valve caused by adding a throttling hole at the return oil position of the large-flow servo valve to reduce the static loss flow.

[0073] See also Figure 1 As shown, an embodiment of the present invention provides a design correction method for a large-scale torque motor, comprising the following steps:

[0074] Step S1, obtaining the pilot stage control chamber pressure and the pilot stage overflow chamber pressure when the double-spray flapper valve flapper is in the middle position according to the orifice outflow formula;

[0075] Step S2, obtaining the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation;

[0076] Step S3, using the pilot stage control chamber pressure and the pilot stage overflow chamber pressure, perform implicit function derivation on the pilot stage flow distribution trajectory of the dual-spray flapper valve, linearize the inflow painting flow equation, and obtain the pilot stage flow gain;

[0077] Step S4: determining the root locus gain of the dual-injection flapper valve according to the obtained pilot stage flow gain, and performing design correction on the dual-injection flapper valve.

[0078] The design correction method for a large-scale torque motor provided in the present application takes into account the effect of adding an oil return throttling hole at the oil return position in a large-flow valve on QL and the linearization of QL after performing Taylor series on the pressure-flow equation, obtains the pilot stage flow gain by calculation, and improves the aperture size of the oil return throttling hole of the dual-injection flow valve based on the pilot stage flow gain, so as to further change the root trajectory gain and improve the nonlinear problem of the pressure-flow curve of the dual-injection flapper valve.

[0079] In one embodiment, please refer to Figure 2The step S1, obtaining the pilot stage control chamber pressure and the pilot stage overflow chamber pressure when the baffle is in the middle position according to the orifice outflow formula, specifically includes the following steps:

[0080] The formula for obtaining the hole outflow is as follows:

[0081] = ;

[0082] = ;

[0083] = ;

[0084] = ;

[0085] Q 回 = C d回 · ;

[0086] in, The flow rate into the left oil inlet throttle hole when the baffle is in the middle position. The flow rate entering the left nozzle when the baffle is in the middle position. The flow rate entering the right oil inlet throttle hole when the baffle is in the middle position. The flow rate entering the right oil return throttle hole when the baffle is in the middle position. is the diameter of the left and right oil inlet throttle holes, is the diameter of the left and right nozzles, is the diameter of the oil return throttle hole, is the oil inlet pressure, is the pressure in the left control chamber when the baffle is in the middle position, The pressure of the right control chamber when the baffle is in the middle position;

[0087] Obtain the flow continuity equation of the double nozzle flapper valve when the flapper is in the middle position;

[0088] According to the orifice outflow formula and the flow continuity equation when the double nozzle flapper valve flapper is in the middle position, the pilot stage control chamber pressure is obtained when the double nozzle flapper valve flapper is in the middle position. and pilot stage relief chamber pressure .

[0089] Please refer to Figure 3 , the flow continuity equation of the double-spray flapper valve when the flapper is in the middle position is:

[0090] , ;

[0091] Solve the orifice outflow formula and the flow continuity equation of the double-spray flapper valve when the flapper is in the middle position. , ;

[0092] In one embodiment, the calculation is performed by the Maltlab program. , .

[0093] In one embodiment, the step S2, the step of obtaining the pilot stage flow distribution law of the dual-spray flapper valve according to the flow continuity equation, specifically includes the following steps:

[0094] Please refer to Figure 3 , the flow continuity equation of the double-spray flapper valve is obtained as follows:

[0095] ,

[0096] ;

[0097] in, is the flow rate into and out of the slide valve, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole;

[0098] Substituting the orifice outflow formula into the flow continuity equation of the above double-spray flapper valve, the following formula is obtained:

[0099] Formula 1;

[0100] Formula 2;

[0101] Subtracting equation 1 from equation 2 yields equation 3:

[0102] =0 Formula 3

[0103] Will Substituting into formula 3, the pilot flow distribution law of the double-spray flapper valve is obtained as follows:

[0104] =0;

[0105] In the formula, is the flow rate into and out of the slide valve, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter (the nozzle drop of the left and right nozzles is considered to be the same during modeling).

[0106] In one embodiment, the step S3, performing implicit function derivation on the pilot stage flow distribution law of the dual-spray flapper valve, linearizing the flow equation of the inflow slide valve, and obtaining the pilot stage flow gain, specifically includes the following steps:

[0107] The implicit function derivation of the pilot stage flow distribution law of the double-spray flapper valve is as follows:

[0108] K qp = ;

[0109] K cp ;

[0110] The linearization equation for the flow into the slide valve is as follows:

[0111] ;

[0112] In the formula, K qp is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position;

[0113] In one embodiment, the pilot stage flow distribution law of the dual-spray flapper valve is derived by implicit function, and the flow equation of the inflow slide valve is linearized to obtain the pilot stage flow gain as follows:

[0114] ;

[0115] In the formula, is the pilot stage flow gain.

[0116] In one embodiment, the calculation is performed by Maltlab .

[0117] In one embodiment, the step S4, determining the root locus gain of the dual-injection flapper valve according to the obtained pilot stage flow gain, and performing design correction on the dual-injection flapper valve, specifically includes the following steps:

[0118] The root locus method is used to analyze the system. The diameter of the return oil throttling hole is changed to change the pilot stage flow gain and further change the root locus gain.

[0119] In one embodiment, the root locus gain is further changed by reducing or increasing the diameter of the oil return throttling hole to reduce or increase the pilot stage flow gain.

[0120] In one embodiment, if Figure 4 As shown in the figure, the root locus gain of the dual nozzle flapper valve is determined based on the obtained pilot stage flow gain. The system is analyzed using the root locus method by simulating and analyzing on simulink. The return oil throttle hole is changed to change Kqp to further change the root locus gain, and a balance is struck between the appropriate static flow (power loss) and dynamic response.

[0121] In a second aspect, the present application provides a design correction system for a large-scale torque motor, comprising:

[0122] A cavity pressure acquisition module, used to obtain the pilot stage control cavity pressure and the overflow cavity pressure when the baffle is in the middle position according to the orifice outflow formula;

[0123] A pilot stage flow distribution law acquisition module is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation;

[0124] A pilot flow gain acquisition module is communicatively connected with the pilot flow distribution law acquisition module, and is used to perform implicit function derivation on the pilot flow distribution law of the dual-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain;

[0125] The correction module is in communication connection with the pilot stage flow gain acquisition module, and is used to determine the root locus gain of the dual-injection flapper valve according to the acquired pilot stage flow gain, and to perform design correction on the dual-injection flapper valve.

[0126] In one embodiment, the cavity pressure acquisition module includes:

[0127] A submodule for obtaining a hole outflow formula, used for obtaining a hole outflow formula;

[0128] A mid-position flow continuity equation acquisition submodule is used to obtain the flow continuity equation when the baffle of the double-spray baffle valve is in the mid-position;

[0129] The cavity pressure acquisition submodule is connected to the hole outflow formula acquisition submodule and the center guard flow continuity equation acquisition submodule, and is used to solve and obtain the pilot stage control cavity pressure when the double-spray flapper valve baffle is in the middle position according to the hole outflow formula and the flow continuity equation when the double-spray flapper valve baffle is in the middle position. and pilot stage relief chamber pressure .

[0130] In one embodiment, the pilot flow distribution law acquisition module includes a flow continuity equation acquisition submodule and a flow distribution law acquisition submodule;

[0131] The flow continuity equation acquisition submodule is used to obtain the flow continuity equation of the double-spray flapper valve as follows:

[0132] ;

[0133] ;

[0134] in, is the flow rate into and out of the slide valve, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole;

[0135] The flow distribution law acquisition submodule is communicatively connected with the flow continuity equation acquisition submodule, and is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation and the orifice outflow formula of the double-spray flapper valve:

[0136] =0;

[0137] In the formula, is the flow rate into and out of the slide valve, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter.

[0138] In one embodiment, the pilot flow gain acquisition module includes an implicit function derivation submodule and a pilot flow gain acquisition submodule;

[0139] The implicit function derivation submodule is used to perform implicit function derivation on the pilot stage flow distribution law of the double-spray flapper valve as follows:

[0140] K q = ;

[0141] K cp ;

[0142] The linearization submodule is used to linearize the flow equation of the flow into the slide valve as follows:

[0143] ;

[0144] In the formula, K qp is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position, is the flow difference between inflow and outflow of the slide valve;

[0145] The pilot flow gain acquisition submodule is in communication with the derivation submodule and the linearization submodule, and is used to perform implicit function derivation on the pilot flow distribution law of the dual-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain as follows:

[0146] ;

[0147] In the formula, is the pilot stage flow gain.

[0148] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0149] The present invention implements all or part of the processes in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0150] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0151] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control cavity center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0152] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and an application required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0153] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, servers or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0154] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A design correction method for a large-scale torque motor, characterized in that: The following steps are involved: According to the orifice outflow formula, the pilot stage control chamber pressure and the pilot stage overflow chamber pressure are obtained when the baffle is in the middle position; The pilot stage flow distribution law of the double-spray flapper valve is obtained according to the flow continuity equation; The pilot stage flow distribution law of the double-spray flapper valve is derived by implicit function, and the flow equation of the inflow slide valve is linearized to obtain the pilot stage flow gain. According to the obtained pilot stage flow gain, the root locus gain of the double-injection flapper valve is determined, and the design of the double-injection flapper valve is modified; The step of obtaining the pilot stage flow distribution law of the dual-spray flapper valve according to the flow continuity equation specifically includes the following steps: The flow continuity equation of the double-spray flapper valve is obtained as follows: ； ； in, is the flow rate flowing into and out of the slide valve on the left side, is the flow rate flowing into and out of the slide valve on the right side, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole; According to the flow continuity equation and orifice outflow formula of the double-spray flapper valve, the pilot stage flow distribution law of the double-spray flapper valve is obtained: =0 In the formula, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter; The step of performing implicit function derivation on the pilot stage flow distribution law of the dual-spray flapper valve, linearizing the flow equation of the inflow slide valve, and obtaining the pilot stage flow gain specifically includes the following steps: The implicit function derivative of the pilot stage flow distribution law of the double-spray flapper valve is performed; The linearization equation for the flow into the slide valve is as follows: ； In the formula, is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position; The implicit function derivative of the pilot stage flow distribution law of the double-spray flapper valve is performed, and the flow equation of the inflow slide valve is linearized to obtain the pilot stage flow gain as follows: ； In the formula, is the pilot stage flow gain.

2. The design correction method of a large-scale torque motor according to claim 1, characterized in that: The step of obtaining the pilot stage control chamber pressure and the pilot stage overflow chamber pressure when the baffle is in the middle position according to the orifice outflow formula specifically includes the following steps: Get the orifice outflow formula; Get the flow continuity equation when the double-spray flapper valve flapper is in the middle position: According to the orifice outflow formula and the flow continuity equation when the double-spray flapper valve flapper is in the middle position, the pilot stage control chamber pressure is obtained when the double-spray flapper valve flapper is in the middle position. and pilot stage relief chamber pressure .

3. The design correction method of a large-scale torque motor according to claim 1, characterized in that: The step of determining the root locus gain of the dual-injection flapper valve according to the obtained pilot stage flow gain and performing design correction on the dual-injection flapper valve specifically includes the following steps: The root locus method is used to analyze the system. The diameter of the return oil throttling hole is changed to change the pilot stage flow gain and further change the root locus gain.

4. A design correction system for a large-scale torque motor, characterized in that: include: A cavity pressure acquisition module, used to obtain the pilot stage control cavity pressure and the overflow cavity pressure when the baffle is in the middle position according to the orifice outflow formula; A pilot stage flow distribution law acquisition module is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation; A pilot flow gain acquisition module is communicatively connected with the pilot flow distribution law acquisition module, and is used to perform implicit function derivation on the pilot flow distribution law of the dual-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain; A correction module, which is in communication with the pilot stage flow gain acquisition module, and is used to determine the root locus gain of the dual-injection flapper valve according to the acquired pilot stage flow gain, and to perform design correction on the dual-injection flapper valve; The pilot flow distribution law acquisition module includes: The flow continuity equation acquisition submodule is used to obtain the flow continuity equation of the double-spray flapper valve as follows: ； ； in, is the flow rate flowing into and out of the slide valve on the left side, is the flow rate flowing into and out of the slide valve on the right side, is the flow rate into the nozzle on the left side, is the flow rate from the left side into the oil inlet throttle hole, is the flow rate into the nozzle on the right side, The flow rate from the right side into the oil inlet throttle hole; The flow distribution law acquisition submodule is communicatively connected with the flow continuity equation acquisition submodule, and is used to obtain the pilot stage flow distribution law of the double-spray flapper valve according to the flow continuity equation and the orifice outflow formula of the double-spray flapper valve: =0 In the formula, is the displacement of the baffle relative to the initial position, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the right control chamber pressure of the double-spray flapper valve, is the oil inlet throttle hole diameter, is the flow coefficient, is the initial gap between the nozzle and the baffle, is the spray flow coefficient, is the oil inlet pressure, is the nozzle diameter; The pilot stage flow gain acquisition module comprises: Implicit function derivation submodule, used to perform implicit function derivation on the pilot stage flow distribution law of the double-spray flapper valve; The linearization submodule is used to linearize the flow equation of the flow into the slide valve as follows: ； In the formula, is the pilot stage flow gain, is the zero flow-pressure coefficient of the pilot stage of the nozzle flapper valve, It is the pressure difference of the control chamber on both sides of the double-spray flapper valve. is the displacement distance of the baffle relative to the zero position, is the flow difference between inflow and outflow of the slide valve; The pilot flow gain acquisition submodule, the derivation submodule and the linearization are used to perform implicit function derivation on the pilot flow distribution law of the double-spray flapper valve, linearize the flow equation of the inflow slide valve, and obtain the pilot flow gain as follows: ； In the formula, is the pilot stage flow gain.

5. The design correction system for a large-scale torque motor as claimed in claim 4, characterized in that: The cavity pressure acquisition module comprises: A submodule for obtaining a hole outflow formula, used for obtaining a hole outflow formula; A mid-position flow continuity equation acquisition submodule is used to obtain the flow continuity equation when the baffle of the double-spray baffle valve is in the mid-position; The cavity pressure acquisition submodule is in communication connection with the hole outflow formula acquisition submodule and the mid-position flow continuity equation acquisition submodule, and is used to solve and obtain the pilot stage control cavity pressure when the double-spray flapper valve baffle is in the mid-position according to the hole outflow formula and the flow continuity equation when the double-spray flapper valve baffle is in the mid-position and pilot stage relief chamber pressure .

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