External drive feedback control method for flow control valve

Abstract

This invention provides an external drive feedback control method for a flow control valve, comprising the following steps: S1, a servo motor outputs rotational power to a planetary gear reducer, which then transmits the driving force to a three-stage rotary valve; S2, by controlling the rotational angle, the oil flow capacity and direction of the three-stage rotary valve are controlled, thereby achieving different valve body functions; S3, the sealed chamber of the flow counting component achieves relative rotation of the metering rotor under the action of the first pressure oil, and then the power is transmitted to the encoder through the first transmission shaft connected by a spline. The encoder's precise rotational angle measurement then achieves a high-precision feedback electrical signal output to the control system; S4, closed-loop control of the valve orifice flow. This invention targets a planar flow distribution valve core structure, employing an ultra-low pulsation volumetric flow counting component. By counting the valve orifice flow, high-precision measurement of the valve orifice flow is achieved. The feedback method is simple, the feedback structure is simple, the feedback links are few, and the control is precise.

Description

Technical Field

[0001] This invention relates to the field of fluid transmission and control, and specifically to an externally driven feedback flow control valve and its control method. Background Technology

[0002] Fluid transmission and control play a crucial role in the development of the national economy. With the continuous development of hydraulic or water-driven mechanical equipment such as engineering machinery, mining machinery, and agricultural machinery, the performance requirements of mechanical products are becoming increasingly demanding. Given the huge domestic and international market demand, it is of great significance to provide a fluid control component that is simple in structure, easy to control, has high control precision, and is suitable for high-pressure and high-flow-rate applications. Existing technologies mainly control valves such as solenoid directional valves, electro-hydraulic proportional directional valves, and electro-hydraulic servo valves. Solenoid directional valves only control the on / off state of the switching chamber and cannot achieve high control precision. Electro-hydraulic proportional directional valves and electro-hydraulic servo valves are limited by their valve core structure and cannot be used in high-pressure and high-flow-rate applications. Furthermore, most existing flow control valves use hydraulic oil as the medium, which significantly reduces efficiency or even prevents stable operation with low-resistance fluids such as water. Finally, the feedback loop of existing flow control valve technologies is relatively complex, employing multiple mechanical structures to achieve closed-loop control. This complex structure leads to high product costs, large errors, and hinders widespread application. Summary of the Invention

[0003] To address the shortcomings of the prior art, the present invention aims to provide an external drive feedback control method for flow control valves. This method can ensure that the presence of intervention control does not significantly affect the flow regulation characteristics of the digital valve by pre-calibrating the control quantity, while simultaneously achieving rapid opening and closing of the valve core while maintaining accuracy, thereby improving the response speed of the actuator.

[0004] Specifically, the present invention provides an external drive feedback control method for a flow control valve, which includes the following steps:

[0005] S1. The servo motor outputs rotational power to the input end of the first sun gear of the planetary gear reducer. Through the rotational control of the two-stage gear train, the servo motor transmits the driving force to the three-stage rotary valve via the planetary gear reducer.

[0006] S2. The three-stage rotary valves rotate in coordination. The first, second, and third rotary valves are rigidly transmitted in series through the second and third transmission shafts. The output is sent from the second transmission wheel to the third transmission main shaft, which in turn drives the three-stage rotary valves. The oil flow capacity and direction of the three-stage rotary valves are controlled by controlling the rotation angle.

[0007] S3, Valve port flow measurement and electrical signal feedback: The sealed chamber of the flow counting component realizes the relative rotation of the metering rotor under the action of the first pressure oil, and then transmits the power to the encoder through the first transmission shaft. The encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller.

[0008] S4. Valve orifice flow closed-loop control: The electrical signal from the encoder and the control signal from the servo motor are processed by the onboard controller, which then controls the final output angle of the servo motor to achieve valve core angle control, completing the flow control valve control process, thereby controlling the actuator. The specific process is as follows:

[0009] S41. Calculate the initial control signal of the servo motor based on the initial opening amount;

[0010] S42. The servo motor rotates the valve core in the positive direction based on the initial control signal. After the oil flow rate of the flow control valve is measured by the volumetric metering of the flow counting component, the encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller.

[0011] S43. Read the rotation angle electrical signal to determine the real-time flow value, match and correct the real-time flow value with the preset flow value of the actuator, and send the corrected servo motor drive electrical signal through the onboard controller. Based on the servo drive electrical signal, the servo motor drives the rotary valve core in the forward direction to compensate for the flow while driving the rotary valve core in the reverse direction to recover the flow.

[0012] S44. Repeat steps S42-S43, and ensure that the flow rate at the outlet of the flow control valve is consistent with the predetermined flow rate value through multiple iterations and feedback.

[0013] Preferably, step S4 further includes rapid opening of the rotary valve. The control method for the rapid opening process of the rotary valve is as follows: when the rotary valve needs to provide a large flow to drive the actuator to work, in the first x% working range, the servo motor provides maximum power to drive the valve core to open. At this time, the valve port opens directly from zero to the maximum value of 100% opening.

[0014] Preferably, step S4 further includes a small opening stable closing process. The control method of the small opening stable closing process is as follows: when the actuator is working in the (100-x)% working range, the servo motor drives the valve core to close to the y% valve core opening with maximum power, thereby reducing the flow area of ​​the hydraulic oil in the valve and reducing the flow rate, so as to realize the actuator slowing down and closing.

[0015] Preferably, the specific process of matching and correcting the real-time flow value with the preset flow value of the actuator in step S43 is as follows: the difference between the real-time flow value and the preset flow value of the actuator is obtained, and the difference is kept within the set threshold range.

[0016] Preferably, the flow control valve includes a servo motor, a comparator assembly, a flow counting assembly, an encoder, and a multi-stage rotary valve, wherein the multi-stage rotary valve includes a first rotary valve, a second rotary valve, a third rotary valve, a first diverter valve block, a second diverter valve block, and a third diverter valve block.

[0017] Preferably, the flow counting component is a low-pulsation, multi-cycle volumetric flow counting component that counts the flow through the valve port and outputs a rotation angle electrical signal through an encoder.

[0018] Preferably, a three-stage rotary valve is used to achieve combined on / off control of the high-pressure port P, the second pressure port T, the hydraulic port A, and the hydraulic port B. When the valve core rotates counterclockwise, the high-pressure port P is connected to the hydraulic port A, and the second pressure port T is connected to the hydraulic port B. When the valve core rotates clockwise, the high-pressure port P is connected to the hydraulic port B, and the second pressure port T is connected to the hydraulic port A.

[0019] Preferably, the three-stage rotary valve has a valve core flow area shape of a circular hole of equal diameter, a circular hole with gradually changing diameter, or a continuous oblong hole.

[0020] Preferably, the encoder is fixedly connected to the first drive shaft of the flow counting component, so as to realize the reading and recording of the rotation angle of the flow counting component and feed it back as an electrical signal to the control system.

[0021] Preferably, the servo motor outputs an angle signal with an angle accuracy of a, which, after passing through a planetary gear reducer with a reduction ratio of b, achieves an angle accuracy of a / b. The servo motor achieves an opening angle of c for the first rotary valve under c / (a / b) minimum angle resolutions.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] (1) The external drive feedback control method for the flow control valve of the present invention employs an ultra-low pulsation volumetric flow counting component. By counting the flow at the valve orifice, high-precision measurement of the flow is achieved. An encoder is used to provide feedback on the flow measurement. The feedback method is simple, the feedback structure is simple, and there are few feedback links. This method has significant advantages over existing flow control valves. The flow counting component uses a vane-type volumetric hydraulic motor with very low flow pulsation in the form of a high-order stator curve. The type of motor includes, but is not limited to, vane-type motors; it can also be piston-type, gear-type, etc. By leveraging external drive feedback, precise control of the flow control valve is achieved, enabling the flow control valve to meet various needs and be applied in a wider range of scenarios.

[0024] (2) The valve core of the flow control valve of the present invention adopts a planar flow distribution valve core structure, which makes the valve core and valve body easy to process, and adopts a more reliable static seal to ensure sealing. The valve core working area is larger, which can be used for occasions with higher pressure and flow rate. It has a wide range of applications, and the flow control valve has a simple structure, small size, and is easy to use.

[0025] (3) This invention proposes multiple flow distribution methods for the working area of ​​the valve core for planar flow distribution valve core structure. Since the effective volume cavity of the valve core is large, the valve core opening can be machined with various structural holes such as discrete flow holes with the same diameter, discrete flow holes with no diameter, and continuous waist-shaped flow holes. The valve core structure design space is large and there are more types. At the same time, the flow area of ​​the valve core is larger than that of the existing hydraulic generator axial flow distribution structure and slide valve flow distribution structure under the same volume, and the flow capacity is stronger.

[0026] (4) The first hydraulic motor of the present invention is a positive displacement pump with high metering accuracy, while the existing metering is an impeller type with low metering accuracy; the second hydraulic motor is used here because the load is very small, the inlet and outlet pressure difference is very small, the leakage is very low, and the volumetric efficiency is very large, so the service life and metering error are both very good. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the method flow of the external drive feedback control method for the flow control valve of the present invention;

[0028] Figure 2 This is a schematic diagram of the flow control valve of the present invention;

[0029] Figure 3 This is a cross-sectional view of the flow control valve of the present invention;

[0030] Figure 4 This is a radial sectional view of the first rotary valve of the flow control valve of the present invention;

[0031] Figure 5 This is a radial sectional view of the second rotary valve of the flow control valve of the present invention;

[0032] Figure 6 This is a radial sectional view of the third rotary valve of the flow control valve of the present invention;

[0033] Figure 7 This is a radial cross-sectional view of the flow counting component of the present invention;

[0034] Figure 8a and Figure 8b These are schematic diagrams of the first mounting surface and the second mounting surface of the first diversion valve block of the present invention, respectively.

[0035] Figure 9a and Figure 9b These are schematic diagrams of the first mounting surface and the second mounting surface of the second diversion valve block of the present invention, respectively.

[0036] Figure 10a and Figure 10b These are schematic diagrams of the first and second mounting surfaces of the third diversion valve block of the present invention.

[0037] Figures 11a-11cThese are schematic diagrams of the first static pressure support plate, the second static pressure support plate, and the third static pressure support plate of the present invention.

[0038] Figure 12 This is a schematic diagram illustrating the hydraulic working principle of the present invention.

[0039] The main reference numerals in the figure are as follows:

[0040] 1-Servo motor, 201-First end cover, 202-Second end cover, 301-First housing, 302-Second housing, 303-Third housing, 4-Flow counting component, 401-First metering end cover, 402-Second metering end cover, 403-First distribution plate, 404-Second distribution plate, 405-Metering stator, 406-Metering rotor, 407-Metering mother blade, 408-Metering daughter blade, 501-First sun gear, 5021-First planetary gear, 5022- Second planetary gear, 5023-Third planetary gear, 503-First internal gear ring, 504-First transmission gear, 505-Second sun gear, 5061-Fourth planetary gear, 5062-Fifth planetary gear, 5063-Sixth planetary gear, 507-Second internal gear ring, 508-Second transmission gear, 601-First rotary valve seat, 602-First rotary valve body, 603-First rotary valve center spring, 604-First rotary valve core, 605-First hydrostatic support plate, 701-Second rotary valve seat 702 - Second rotary valve body; 703 - Second rotary valve center spring; 704 - Second rotary valve core; 705 - Second hydrostatic support plate; 801 - Third rotary valve seat; 802 - Third rotary valve body; 803 - Third rotary valve center spring; 804 - Third rotary valve core; 805 - Third hydrostatic support plate; 901 - First bearing; 902 - Second bearing; 903 - Third bearing; 904 - Fourth bearing; 905 - Fifth bearing; 906 - Sixth bearing; 907 - Seventh shaft Bearing, 908-Eighth Bearing, 909-Ninth Bearing, 910-Tenth Bearing, 10-Encoder, 1101-First Drive Shaft, 1102-Second Drive Shaft, 1103-Third Drive Shaft, 1201-First Diverter Valve Block, 1202-Second Diverter Valve Block, 1203-Third Diverter Valve Block, 13-First Mounting Sleeve, 1401-First Hydraulic Pipe Connector, 1402-Second Hydraulic Pipe Connector, 1403-Third Hydraulic Pipe Connector, 1404-Fourth Hydraulic Pipe Connector,Q1 - Bottom cavity of the first rotary valve core, Q2 - Bottom cavity of the second rotary valve core, Q3 - Bottom cavity of the third rotary valve core, P1 - First pressure oil passage groove, P2 - Second pressure oil passage groove, R11 - First valve core volume cavity of the first rotary valve, R12 - Second valve core volume cavity of the first rotary valve, R21 - First valve core volume cavity of the second rotary valve, R22 - Second valve core volume cavity of the second rotary valve, R31 - First valve core volume cavity of the third rotary valve, R32 - Second valve core volume cavity of the third rotary valve, K11 - First valve core opening of the first rotary valve, K12 - Second valve core opening of the first rotary valve, K21 - First valve core opening of the second rotary valve, K22 - Second valve core opening of the second rotary valve, K31 - First valve core opening of the third rotary valve, K32 - Second valve core opening of the third rotary valve, A1 - First working oil port, A2 - Second working oil port Ports B1-Third working oil port, B2-Fourth working oil port, 605a-First equalizing oil groove, 605b-First static pressure support plate equalizing groove, 705b-Second static pressure support plate equalizing groove, 805b-Third static pressure support plate equalizing groove, 1201a-First pressure oil guide groove, 1201p-First pressure oil guide hole, 1201j-Third equalizing oil groove, 1202a-First working oil guide groove a, 1202b-Second working oil guide groove a, 1202j-Fourth equalizing oil groove, 1203a-First working oil guide groove b, 1203b-Second working oil guide groove b, 1203j-Fifth equalizing oil groove, J1-First equalizing oil hole, J2-Second equalizing oil hole, J3-Third equalizing oil hole, J4-Fourth equalizing oil hole, J5-Fifth equalizing oil hole. Detailed Implementation

[0041] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0042] This invention provides an external drive feedback control method for a flow control valve, which is based on an improved flow control valve. The flow control valve is as follows: Figure 2 and Figure 3 As shown, the externally driven indirect feedback flow control valve is arranged along the central axis of the valve body as follows: a servo motor 1, a reduction gear assembly, a first-stage rotary valve, a second-stage rotary valve, a third-stage rotary valve, a flow counting assembly 4, and an encoder 10. The servo motor 1 is fixed to the first mounting surface of the first end cover 201 by screws, and the second mounting surface of the first end cover is fixed to the first mounting surface of the first housing 301 by screws.

[0043] The reduction gear assembly includes a first end cover 201, a first housing 301, a first bearing 901, a first sun gear 501, a first planetary gear 5021, a second planetary gear 5022, a third planetary gear 5023, a first internal gear ring 503, a second bearing 902, a first transmission wheel 504, a second sun gear 505, a third bearing 903, a fourth planetary gear 5061, a fifth planetary gear 5062, a sixth planetary gear 5063, a second internal gear ring 507, a fourth bearing 904, and a second transmission wheel 508. The first sun gear 501, the first planetary gear 5021, the second planetary gear 5022, the third planetary gear 5023, and the first internal gear ring 503 form a first fixed-axis gear train, while the second sun gear 505, the fourth planetary gear 5061, the fifth planetary gear 5062, the sixth planetary gear 5063, and the second internal gear ring 507 form a second fixed-axis gear train. In the first gear train, the first sun gear 501 rotates relative to the first end cover 201 via the first bearing 901. The central shafts of the first planetary gear 5021, the second planetary gear 5022, and the third planetary gear 5023 are evenly distributed and mounted on the first end cover 201. The first transmission gear 504 is mounted on the second mounting surface of the first housing 301 via the second bearing 902. The first transmission gear 504 is fixedly mounted to the first internal gear ring 503 with screws. In the second gear train, the second sun gear 505 rotates relative to the first housing 301 via the third bearing 903. The central shafts of the fourth planetary gear 5061, the fifth planetary gear 5062, and the sixth planetary gear 5063 are evenly distributed and mounted on the first housing 301. The second transmission gear 508 is mounted on the fourth mounting surface of the first housing 301 via the fourth bearing 904. The second transmission gear 508 is fixedly mounted to the second internal gear ring 507 with screws. The first fixed-axis gear train transmits power as follows: the first sun gear 501 transmits power to the first planetary gear set 502 fixed on the first end cover 201 via gear meshing; the first planetary gear set 502 transmits power to the first internal gear ring 503 via gear meshing; and then the first drive wheel 504, fixed to the first internal gear ring 503 with screws, outputs power. The second fixed-axis gear train has the same transmission relationship as the first fixed-axis gear train. The first drive wheel 504 of the first fixed-axis gear train transmits power via a spline connection to the second sun gear 505 of the second fixed-axis gear train, and finally outputs power through the second drive wheel 508. The angular power input from the servo motor 1, controlled by an electrical signal, is fed to the first sun gear 501 of the first gear train. Through the two-stage planetary gear reducer 5 composed of the first and second fixed-axis gear trains, a higher resolution angular power output is achieved to the second drive wheel 508 of the second fixed-axis gear train.

[0044] like Figure 1 As shown, the external drive feedback control method for the flow control valve is based on the improved flow control valve. The flow control valve is as follows: Figure 2 and Figure 3 As shown, the external drive indirect feedback type specifically includes the following steps:

[0045] S1. The servo motor outputs rotational power to the input end of the first sun gear of the planetary gear reducer. Through the rotational control of the two-stage gear train, the servo motor transmits the driving force to the three-stage rotary valve via the planetary gear reducer.

[0046] S2. The three-stage rotary valves rotate in coordination. The first, second, and third rotary valves are rigidly transmitted in series through the second and third transmission shafts. The output is sent from the second transmission wheel to the third transmission main shaft, which in turn drives the three-stage rotary valves connected in series. The oil flow capacity and direction of the three-stage rotary valves are controlled by controlling the rotation angle.

[0047] S3, high-precision valve port flow measurement and electrical signal feedback: the sealed chamber of the flow counting component realizes the relative rotation of the metering rotor under the action of the first pressure oil, and then transmits the power to the encoder through the first transmission shaft. The encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller.

[0048] S4. Valve orifice flow closed-loop control: The encoder's electrical signal and the servo motor's control signal are processed by the onboard controller, which then controls the servo motor's final output angle to achieve valve core angle control, completing the flow control valve's control process and thus controlling the actuator. The specific process is as follows:

[0049] S41. Calculate the initial control signal of the servo motor based on the initial opening amount;

[0050] S42. The servo motor rotates the valve core in the positive direction based on the initial control signal. After the oil flow rate of the flow control valve is measured by the volumetric metering of the flow counting component, the encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller.

[0051] S43. Read the rotation angle electrical signal to determine the real-time flow value, match and correct the real-time flow value with the preset flow value of the actuator, and send the corrected servo motor drive electrical signal through the onboard controller. Based on the servo drive electrical signal, the servo motor drives the rotary valve core in the forward direction to compensate for the flow while driving the rotary valve core in the reverse direction to recover the flow.

[0052] S44. Repeat steps S42-S43, and ensure that the flow rate at the outlet of the flow control valve is consistent with the predetermined flow rate value through multiple iterations and feedback.

[0053] In this embodiment of the invention, the flow counting component is actually a volumetric metering motor, used inside the valve to drive the hydraulic motor through a small pressure difference, outputting the rotation angle of the hydraulic motor. The product of the hydraulic motor rotation angle and the theoretical displacement of the hydraulic motor is the flow rate through the valve orifice. For example, if the hydraulic motor (vane motor) displacement is X ml / r and the measured rotation angle is 5 revolutions, then the statistical flow rate is 5*X ml. The accuracy of the flow counting component depends mainly on the pulsation pattern of the vane motor. Specifically, at lower flow rates, the accuracy is related to the size of the vane motor's flow pulsation period and amplitude, as well as hydraulic motor leakage (due to the low operating pressure difference and very low leakage). Furthermore, as the measurement time increases, the measurement accuracy gradually increases, with the measurement error existing only within a small pulsation. If one revolution is used as the measurement base, theoretically there is no error.

[0054] The flow counting assembly 4 includes a first metering end cover 401, a first distribution plate 403, a first transmission shaft 1101, a metering stator 405, a metering rotor 406, metering sub-blades 408, metering master blades 407, a second distribution plate 404, a second metering end cover 402, a ninth bearing 909, and a tenth bearing 910. A first rotary valve seat 601 is fixed to the first metering end cover 401 with screws. The ninth bearing 909 is mounted on the inner ring of the first mounting surface of the first metering end cover 401, thus enabling free rotation of the first transmission shaft 1101, which is fixed to the inner ring of the bearing. The tenth bearing 910 is mounted on the inner ring of the second mounting surface of the second metering end cover 402, thus enabling free rotation of the first transmission shaft 1101, which is fixed to the inner ring of the bearing. The metering rotor 406 is connected to the first transmission shaft 1101 via a spline, thus transmitting the rotational power of the metering rotor 406 to the first transmission shaft 1101. The second mounting surface of the first metering end cover 404 is connected to the first distribution plate 405, a first distribution disk 403, a first transmission shaft 1101, a metering stator 405, a metering rotor 406, a metering sub-blade 408, a metering master blade 407, a second distribution plate 404, a second distribution plate 402, a ninth bearing 909, and a tenth bearing 910. The first mounting surface of the first distribution plate 403 contacts the first mounting surface of the metering stator 405, and the three are fixedly installed by screws. The first mounting surface of the second metering end cover 402 contacts the second mounting surface of the second distribution plate 404, and the first mounting surface of the second distribution plate 404 contacts the second mounting surface of the metering stator 405. The three are fixedly installed by screws. The metering sub-blades 408 are installed inside the metering mother blades 407 to form metering blades. The metering blades are evenly distributed and installed in the blade mounting slots of the metering rotor 406. The metering blades can achieve radial reciprocating motion inside the metering rotor 406. Under the action of the first pressure oil, the top of the metering blades is always in contact with the metering stator 405 and a certain amount of clamping is achieved during the contact process. The second metering end cap 402 and the second end cap 202 are installed and limited by a recessed platform structure. The third housing 303 and the second end cap 202 are fixedly installed by screws. The second housing 302 and the third housing 303 are fixedly installed by screws. At the same time, the flow counting component 4 is limited by the second installation end of the second housing 302, thereby fixing the three-stage rotary valve and the flow counting component 4 inside the valve body composed of the second housing 302, the third housing 303, and the second end cap 202. The sealed cavity composed of the first distribution plate 403, metering stator 405, metering rotor 406, metering sub-blade 408, metering mother blade 407, and second distribution plate 404 is connected to the first working oil port A1 and the second working oil port A2, which drives the metering rotor 406 to rotate relative to each other. Then, the power is transmitted to the second output end of the first transmission shaft 1101 connected by splines. At the same time, the third working oil port B1 and the fourth working oil port B2 output oil to the third working oil port B1 and the fourth working oil port B2 of the first diversion valve block 1201.

[0055] The first, second, and third rotary valves are rigidly connected in series via the second and third transmission shafts 1102 and 1103, respectively. The valve bodies of the three valves are arranged at a certain angle, allowing for different combinations of valve functions. The servo motor 1 drives the second transmission wheel 508 of the second fixed-axis gear train to the third transmission shaft 1103, thus enabling the first, second, and third rotary valves to rotate together. This allows the different openings of the three valves to achieve coordinated flow control.

[0056] The second mounting end of the encoder 10 is fixedly mounted to the second mounting end of the second end cover 202 by screws, thereby effectively fixing the encoder 10. The first mounting end of the encoder 10 is mounted to the second mounting end of the first transmission shaft 1101 by spline, thereby realizing the reading, recording and feedback of the rotation angle of the flow counting component 4 as an electrical signal output to the control system.

[0057] In summary, taking the counterclockwise rotation of servo motor 1 as an example, the first pressure oil is output to the second hydraulic pipe joint 1402 through the first hydraulic pipe joint 1401, the first diverter valve 1201, the first rotary valve, the flow counting component 4, the second diverter valve 1202, and the third diverter valve 1203. Simultaneously, the second pressure oil is output to the third hydraulic pipe joint 1403 through the fourth hydraulic pipe structure 1404, the third diverter valve 1203, and the third rotary valve. In this embodiment, the first rotary valve and the second rotary valve have a 27.5-degree angle. After the first rotary valve outputs oil to the flow counting component 4, the counterclockwise rotation means that the second rotary valve only outputs its third working port B1 and fourth working port B2 to the second diverter valve block. This seals the first working port A1 and the second working port A2 of the second rotary valve while ensuring that the opening amounts of the three rotary valves are the same.

[0058] The following is combined with Figure 12 The working process of the rotary valve of the present invention will be described in detail.

[0059] The valve core control relationship is as follows: servo motor 1 outputs a rotation angle signal to planetary gear reducer 5 under a given control signal, thereby achieving higher rotation angle resolution control. The active opening amount of the valve core is given by the user through calculation. The flow control valve's onboard controller provides the given control signal. The flow control valve, through its built-in flow counter component 4, measures the flow generated by the valve core opening and outputs a rotation angle signal to encoder 10. This signal is then fed back to the numerical method onboard controller via an electrical signal. The controller calculates and provides the final control signal for the valve, and servo motor 1 controls the actual rotation angle of the valve core. The feedback signal in this control process is the flow rate signal at the valve's working port, ultimately ensuring a constant flow rate output to the outside of the valve, thus enabling the valve-controlled actuator to achieve high-precision rotation angle or displacement.

[0060] The valve core rotation angle control relationship is as follows: the servo motor 1 outputs a rotation angle signal with a rotation angle accuracy of a, which, after passing through the planetary gear reducer 5 with a reduction ratio of b, has a rotation angle accuracy of a / b. The servo motor 1 achieves the first valve opening rotation angle of c under c / (a / b) minimum rotation angle resolutions.

[0061] The control process of the first rotary valve is as follows: When the first rotary valve is opened, the first pressure oil is introduced through the first pressure oil guide hole 1201p, through the first hydraulic pipe joint 1401 and the first pressure oil guide groove 1201a into the pressure equalization groove 605b of the first static pressure support plate, and then through the first pressure oil passage groove P1 into the first valve core volume chamber R11 and the second valve core volume chamber R12 of the first rotary valve, thus realizing the access of the first pressure oil. The first rotary valve core 604, the first rotary valve body 602, the first static pressure support plate 605, and the first rotary valve sleeve 601 form the first rotary valve cavity, which is composed of the first valve core volume chamber R11 and the second valve core volume chamber R12. The first pressure oil is supplied to the first valve core bottom cavity Q1 of the first valve body 602 and the first valve cavity formed by the first valve core volume cavity R11 and the first valve core volume cavity R12 of the first valve body 602 through the first pressure equalizing oil groove 605a of the first mounting surface of the first static pressure support plate 605 and the first pressure equalizing oil groove 605b of the first static pressure support plate 605. The relative rotation of the first valve body 602 and the first valve seat 601 increases the opening K11 and the opening K12 of the first valve core, and enables the first valve core volume cavity R11 and the first valve core volume cavity R12 of the first valve to be connected to the first working oil port A1 and the second working oil port A2 of the flow counting component 4, respectively. The first pressure oil guide groove 1201a on the second mounting surface of the first diversion valve block 1201 is connected to the first pressure equalizing oil groove 605a of the first rotary valve static pressure support plate 605. The first pressure oil is introduced into the bottom cavity Q1 of the first rotary valve core, which is composed of the first static pressure support plate 605, the bottom cavity of the first rotary valve core 604, and the first rotary valve seat 601, through the first pressure oil at the bottom of the first rotary valve core 604 and the driving force of the first central spring 603 installed inside the first rotary valve core 604. The top of the first rotary valve core 604 and the first rotary valve sleeve 601 are radially tightly fitted under the driving force of the first pressure oil at the bottom of the first rotary valve core 604 and the driving force of the first central spring 603 installed inside the first rotary valve core 604. This achieves radial static pressure support and wear compensation for the first rotary valve, and thus ensures that the radial leakage during the rotation of the valve core is minimized even under a certain amount of wear. Simultaneously, in the axial direction, the first pressure oil acts on the pressure equalization groove 605b of the first static pressure support plate. The first static pressure support plate 605 achieves effective sealing with the first diverter valve block 1201 through the sealing ring. Therefore, under the action of the first pressure oil, the first static pressure support plate 605 of the first rotary valve achieves effective clamping force with the first rotary valve core 604, the first rotary valve body 602, and the first rotary valve sleeve 601. This results in the first rotary valve core 604 being tightly fitted axially with the first rotary valve sleeve 601 and the first static pressure support plate 605 on both axial sides, achieving axial static pressure support and wear compensation for the first rotary valve. Thus, even with a certain amount of wear, the axial leakage during the valve core rotation process can still be minimized.In summary, when the opening angle of the first rotary valve is rotated counterclockwise or clockwise under the drive of the servo motor 1, the first pressure oil flows from the first hydraulic pipe joint 1401 to the valve chamber of the first rotary valve. The relative rotation angle between the valve core 604 of the first rotary valve and the valve sleeve 601 of the first rotary valve enables the oil to flow from the valve chamber of the first rotary valve to the first working port A1, the second working port A2, or the third working port B1 and the fourth working port B2 of the valve sleeve 601 of the first rotary valve.

[0062] The flow counting component 4 is connected as follows: When the first rotary valve rotates counterclockwise or clockwise to a fixed value, the oil flows from the effective cavity of the first rotary valve core 604 to the first working port A1, second working port A2, or third working port B1, fourth working port B2 of the first rotary valve sleeve 604. The first working port A1, second working port A2, or third working port B1, fourth working port B2 of the first rotary valve sleeve 601 are connected to the first working port A1, second working port A2, or third working port B1, fourth working port B2 of the first metering end cover 401 through a seal. The sealed cavity composed of the first distribution plate 403, metering stator 405, metering blades, metering rotor 406, and second distribution plate 404 achieves fixed-axis rotation under the drive of the first pressure oil. The number of fixed-axis rotations is related to the internal curve structure of the metering stator 405, thereby achieving an ideal linear relationship between the oil entering and the number of rotations. Under the periodic change of high pressure driven by the stator curve, when the first working oil port A1, the second working oil port A2, or the third working oil port B1 and the fourth working oil port B2 are connected to the first pressure oil, the second stage hydraulic oil will be output from the third working oil port B1, the fourth working oil port B2, or the first working oil port A1 and the second working oil port A2. At the same time, the rotation of the flow counting component 4 is output to the encoder 10 through the first transmission shaft 1101 connected to the metering rotor 406 by a spline. The encoder 10 then performs the conversion of the rotation angle signal and the flow signal and outputs the electrical control signal to the onboard controller to realize the feedback function of metering and flow signal.

[0063] To better understand the method of the present invention, the following is as follows: Figure 4-Figure 1 1. A detailed description of the structure and working principle of the three-stage rotary valve and the flow divider block:

[0064] Three-stage rotary valve:

[0065] The three-stage rotary valve includes a first rotary valve, a second rotary valve, and a third rotary valve. The first rotary valve includes a first rotary valve seat 601, a first rotary valve body 602, a first rotary valve core 604, a first rotary valve center spring 603, and a first hydrostatic support plate 605. The first rotary valve body 602 is mounted on the first mounting end of the first rotary valve seat 601. Six first rotary valve cores 604 are evenly distributed circumferentially within the radial mounting groove of the first rotary valve body 602. A first rotary valve center spring 603 is installed inside the first rotary valve body 602 and the first rotary valve core 604. The pre-compression of the first rotary valve center spring 603 ensures a tight fit between the first rotary valve core 604 and the first rotary valve seat 601. The second mounting surface of the first static pressure support plate 605 is connected to the first mounting surfaces of the first rotary valve body 602 and the first rotary valve core 604. The first static pressure support plate 605 is mounted within the second mounting surface of the first diverter valve block 1201. First pressure oil is introduced into the bottom cavity Q1 of the first rotary valve core through the first equalizing oil groove 605a and the first static pressure support plate equalizing groove 605b, achieving the compression of the first static pressure support plate 605 with the first rotary valve body 602 and the first rotary valve core 604, ensuring the first rotary valve core... The clearance compensation due to relative rotational wear of the valve body 602 and the first rotary valve core 604 ensures the effectiveness of the first rotary valve core volume chamber R11 and the first rotary valve core volume chamber R12, which are composed of the first rotary valve seat 601, the first rotary valve body 602, the first rotary valve core 604, and the first diverter valve block 1201. At the same time, the second mounting end of the second drive shaft 1102 is connected to the inner ring of the first rotary valve body 602 through a spline for transmission, realizing the power transmission from the second mounting end of the second drive shaft 1102 to the first rotary valve body 602. The relative rotation of the first rotary valve body 602 increases the opening K11 of the first rotary valve core and the opening K12 of the first rotary valve core, so that the first rotary valve core volume chamber R11 and the first rotary valve core volume chamber R12 are respectively connected to the first working oil port A1 and the second working oil port A2 of the flow counting component 4.

[0066] The second rotary valve includes a second rotary valve seat 701, a second rotary valve body 702, a second rotary valve core 704, a second rotary valve center spring 703, a second static pressure support plate 705, and a second drive shaft 1102. The connection and rotation relationship are as follows: the second rotary valve body 702 is installed in the inner hole of the second rotary valve seat 701. Four second rotary valve cores 704 are circumferentially distributed within the radial mounting groove of the second rotary valve body 702. The second rotary valve center spring 703 is installed inside the second rotary valve body 702 and the second rotary valve core 704. The pre-compression of the second rotary valve center spring 703 ensures that the second rotary valve core 704 is tightly fitted to the second rotary valve seat 701. The first mounting surface of the second static pressure support plate 705 is... The second rotary valve body 702 and the second rotary valve core 704 are connected by a plane on their second mounting surfaces. The second hydrostatic support plate 705 is installed in the first mounting surface of the first diverter valve block 1201. First pressure oil is introduced into the bottom cavity Q2 of the second rotary valve core through the first pressure equalization oil hole J1 and the pressure equalization groove 705b of the second hydrostatic support plate, thereby achieving the clamping of the second hydrostatic support plate 705 with the second rotary valve body 702 and the second rotary valve core 704, ensuring that the second rotary valve body 702 and the second rotary valve core 704 are subjected to relative rotational wear. The gap compensation ensures the effectiveness of the first valve core volume chamber R21 and the second valve core volume chamber R22 of the second rotary valve, which are composed of five parts: the second rotary valve seat 701, the second rotary valve body 702, the second rotary valve core 704, the first diverter valve block 1201, and the second static pressure support plate 705. Simultaneously, the outer ring of the first mounting end of the second drive shaft 1102 is connected to the inner ring of the second rotary valve body 702 via a spline for transmission, thereby achieving rigidity between the first rotary valve body 602 and the second rotary valve body 702. The transmission mechanism involves the relative rotation of the second rotary valve body 702, which increases the openings of the first valve core K21 and the second valve core K22 of the second rotary valve. This allows the first valve core volume chamber R21 and the second valve core volume chamber R22 of the second rotary valve to connect with the third working port B1 and the fourth working port B2 of the first diverter valve block 1201, respectively. Simultaneously, it closes the connection between the second rotary valve and the first working port A1 and the second working port A2 of the first diverter valve block 1201.

[0067] The third rotary valve includes a third rotary valve seat 801, a third rotary valve body 802, a third rotary valve core 804, a third rotary valve center spring 803, a third static pressure support plate 805, a fifth bearing 905, a first mounting sleeve 13, a sixth bearing 906, a fourth hydraulic pipe connector 1404, and a third drive shaft 1103. The third rotary valve body 802 is installed in the inner hole of the second mounting surface of the third rotary valve seat 801. Six third rotary valve cores 804 are evenly distributed circumferentially within the radial mounting groove of the third rotary valve body 802. A third rotary valve center spring 803 is installed inside the third rotary valve body 802 and the third rotary valve core 804. The pre-compression of the third rotary valve center spring 803 ensures a tight fit between the third rotary valve core 804 and the third rotary valve seat 801. The first mounting surface of the third static pressure support plate 805 is connected to the plane of the second mounting surfaces of the third rotary valve body 802 and the third rotary valve cores 804. The third static pressure support plate 805 is installed on the third diverter. Within the first mounting surface of valve block 1203, first pressure oil is introduced into the bottom cavity Q3 of the third rotary valve core through the second equalizing oil hole J2 and the equalizing groove 805b of the third static pressure support plate. This achieves the clamping of the third static pressure support plate 805 with the third rotary valve body 802 and the third rotary valve core 804, ensuring clearance compensation for wear caused by relative rotation of the third rotary valve body 802 and the third rotary valve core 804. It also ensures the connection between the first valve core volume cavity R31 and the second valve core volume cavity R3 of the third rotary valve, which is composed of the third rotary valve seat 801, the third rotary valve body 802, the third rotary valve core 804, and the third static pressure support plate 805. The effectiveness of 2 is ensured, and the outer ring of the second mounting end of the third drive shaft 1103 is connected to the inner ring of the third rotary valve body 802 via a spline for transmission. The outer ring of the second mounting end of the third drive shaft 1102 is connected to the inner ring of the first mounting end of the second drive shaft 1102 via a spline, thereby achieving rigid transmission between the third rotary valve body 802 and the second rotary valve body 702. The transmission power is input from the inner ring of the first mounting end of the third drive shaft 1103 and transmitted to the third rotary valve body 802. The fifth bearing 905 and the sixth bearing 906 are mounted on the inner ring of the first rotary valve seat 601 via the first mounting sleeve 13, thereby achieving the third rotary valve... The relative rotation of valve seat 801 and third transmission shaft 1103, wherein the relative rotation of valve body 802 of third rotary valve increases the opening K31 of first valve core and opening K32 of second valve core of third rotary valve, thereby enabling the first valve core volume chamber R31 and the second valve core volume chamber R32 of third rotary valve to be connected to the third working oil port B1 and the fourth working oil port B2 of third diverter block 1203, respectively. The fourth hydraulic pipe joint 1404 is threadedly installed on the outside of valve seat 801 of third rotary valve, enabling the third valve seat 801 to be connected to the second pressure oil through second pressure oil passage groove P2.

[0068] Diverter valve block:

[0069] The flow divider block includes a first flow divider block 1201, a second flow divider block 1202, a third flow divider block 1203, a seventh bearing 907, an eighth bearing 908, a first hydraulic pipe joint 1401, a second hydraulic pipe joint 1402, and a third hydraulic pipe joint 1403. The connection and rotation relationships are as follows: the first diversion valve block 1201 and the first rotary valve seat 601 are fixedly installed with screws, thereby restricting the sealing on both sides of the first rotary valve core 604. The seventh bearing 907 and the eighth bearing 908 are respectively installed on both sides of the inner ring of the first diversion valve block 1201, thereby realizing the relative rotation between the first diversion valve block 1201 and the second transmission shaft 1102; the first diversion valve block 1201, the second rotary valve seat 701, and the second diversion valve block 1202 are fixedly installed with screws, thereby restricting the sealing on both sides of the second rotary valve core 704; the second diversion valve block 1202, the third diversion valve block 1203, and the third rotary valve seat 801 are fixedly installed with screws, thereby restricting the sealing on both sides of the third rotary valve core 804. The first diversion valve block 1201 has a first pressure oil guide hole 1201p machined on its outer side, which introduces the first pressure oil into the first pressure oil guide groove 1201a. The first pressure oil guide groove 1201a on the second mounting surface of the first diversion valve block 1201 is connected to the first pressure equalizing oil groove 605a of the first rotary valve static pressure support plate 605. The first pressure oil is introduced into the bottom cavity Q1 of the first rotary valve core through the first pressure equalizing oil groove 605a and the pressure equalizing groove 605b of the first static pressure support plate, so as to realize the radial static pressure support and wear compensation of the first rotary valve. At the same time, the first pressure oil acts on the pressure equalizing groove 605b of the first static pressure support plate to realize the axial static pressure support and wear compensation of the first rotary valve. The first pressure oil is introduced into the third pressure equalization oil groove 1201j through the third pressure equalization oil hole J3 of the first diverter valve block 1201 and acts on the first pressure equalization oil hole J1 of the second mounting surface of the second rotary valve static pressure support plate 705. The first pressure oil is introduced into the bottom cavity Q2 of the second rotary valve core through the first pressure equalization oil hole J1 and the pressure equalization groove 705b of the second static pressure support plate, so as to realize the radial static pressure support and wear compensation of the second rotary valve. At the same time, the first pressure oil acts on the pressure equalization groove 705b of the second static pressure support plate to realize the axial static pressure support and wear compensation of the second rotary valve. High-pressure oil in the bottom cavity Q2 of the second rotary valve core is transmitted from the fourth equalizing oil groove 1202j, the fourth equalizing oil hole J4, and the fifth equalizing oil hole J5 on the second mounting surface of the second diverter valve block 1202 to the fifth equalizing oil groove 1203j, and acts on the equalizing groove 805b of the third static pressure support plate 805 on the second mounting surface of the third rotary valve. The equalizing groove 805b of the third static pressure support plate introduces the first pressure oil to the bottom cavity Q3 of the third rotary valve core, realizing radial static pressure support and wear compensation of the third rotary valve. At the same time, the first pressure oil acts on the equalizing groove 805b of the third static pressure support plate to realize axial static pressure support and wear compensation of the third rotary valve.The first pressure oil is introduced into the pressure equalization groove 605b of the first static pressure support plate through the first pressure oil guide hole 1201p and the first pressure oil guide groove 1201a. Then, it is introduced into the first valve core volume chamber R11 and the second valve core volume chamber R12 of the first rotary valve through the first pressure oil passage groove P1, thereby realizing the access of the first pressure oil. The third working oil port B1 and the fourth working oil port B2 of the second diversion valve block 1202 are connected to the first working oil guide groove a1202a. The first working oil guide groove a1202a is connected to the first working oil guide groove b1203a of the third diversion valve block 1203. The first working oil guide groove b1203a is connected to the second hydraulic pipe joint 1402. The first working oil port A1 and the second working oil port A2 of the second diversion valve block 1202 are connected to the second working oil guide groove a1202b. The second working oil guide groove a1202b is connected to the second working oil guide groove b1203b of the third diversion valve block 1203. The first working oil guide groove b1203b is connected to the third hydraulic pipe joint 1403.

[0070] The second rotary valve control process is as follows: the four holes of the first rotary valve seat 601, namely the first working port A1, the second working port A2, the third working port B1, and the fourth working port B2, correspond to the four holes of the flow counting component 4, respectively; the four holes of the first rotary valve seat 601, namely the first working port A1, the second working port A2, the third working port B1, and the fourth working port B2, correspond to the four holes of the first diverter valve block 1201, respectively, and are effectively sealed and fixed by a static sealing ring and screws. The second rotary valve cavity, consisting of the second rotary valve core 704, the second rotary valve body 702, the second static pressure support plate 705, the second rotary valve sleeve 701, and the second diverter valve block 1202, comprises the second rotary valve cavity formed by the first rotary valve core volume chamber R21 and the second rotary valve core volume chamber R22. Oil is output from the third working port B1 and the fourth working port B2 of the flow counting component 4 to the third working port B1 and the fourth working port B2 of the first diverter valve block 1201, and then flows through the second static pressure support plate to the second rotary valve core volume chamber R21 and the second rotary valve core volume chamber R22, thus achieving the connection of the first pressure oil. The relative rotation of the second rotary valve body 702 and the second rotary valve seat 701 increases the opening K21 of the first valve core and the opening K22 of the second rotary valve, thereby enabling the first valve core volume chamber R21 and the second valve core volume chamber R22 of the second rotary valve to be connected and controlled to the third working oil port B1 and the fourth working oil port B2 of the flow counting component 4, respectively. The first pressure oil is introduced into the third pressure equalization oil groove 1201j through the third pressure equalization oil hole J3 of the first diversion valve block 1201 and acts on the first pressure equalization oil hole J1 of the second mounting surface of the second rotary valve static pressure support plate 705. The first pressure oil is introduced into the bottom cavity Q2 of the second rotary valve core, which is composed of the second static pressure support plate 705, the bottom cavity of the second rotary valve core 704, the second rotary valve seat 701, and the second diversion valve block 1202, through the first pressure oil at the bottom of the second rotary valve core 704 and the driving force of the second central spring 703 installed inside the second rotary valve core 704, so that the top of the second rotary valve core 704 and the second rotary valve sleeve 701 are radially tightly fitted, so as to achieve radial static pressure support and wear compensation of the second rotary valve, and thus ensure that the radial leakage during the rotation of the valve core is minimized even under a certain amount of wear. At the same time, the first pressure oil acts on the pressure equalization groove 705b of the second static pressure support plate to achieve axial static pressure support and wear compensation for the second rotary valve.Simultaneously, in the axial direction, the first pressure oil acts on the pressure equalization groove 705b of the second static pressure support plate. The second static pressure support plate 705 achieves effective sealing with the first diverter valve block 1201 through the sealing ring. Therefore, under the action of the first pressure oil, the second static pressure support plate 705 of the second rotary valve achieves effective clamping force with the second rotary valve core 704, the second rotary valve body 702, the second rotary valve sleeve 701, and the second diverter valve block 1202. This results in the second rotary valve core 704 being tightly fitted axially with the second diverter valve block 1202 and the second static pressure support plate 705 on both axial sides, achieving axial static pressure support and wear compensation for the second rotary valve. Thus, even with a certain amount of wear, the axial leakage during the valve core rotation process can still be minimized. In summary, when the opening angle of the second rotary valve is a fixed value of counterclockwise or clockwise under the drive of the servo motor 1, the third working port B1, the fourth working port B2 or the first working port A1 and the second working port A2 of the first diverter valve block 1202 enter the valve chamber of the second rotary valve through the second hydrostatic support plate 705. The relative rotation angle between the valve core 704 of the second rotary valve and the valve sleeve 701 enables the oil to flow from the valve chamber of the second rotary valve to the first valve core volume chamber R21 and the second valve core volume chamber R22 of the second rotary valve in the valve sleeve 701.

[0071] The control process of the diversion valve block 12 is as follows: the third working oil port B1 and the fourth working oil port B2 of the second diversion valve block 1202 are connected to the first working oil guide groove a1202a, the first working oil guide groove a1202a is connected to the first working oil guide groove b1203a of the third diversion valve block 1203, and the first working oil guide groove b1203a is connected to the second hydraulic pipe joint 1402; the first working oil port A1 and the second working oil port A2 of the second diversion valve block 1202 are connected to the second working oil guide groove a1202b, the second working oil guide groove a1202b is connected to the second working oil guide groove b1203b of the third diversion valve block 1203, and the first working oil guide groove b1203b is connected to the third hydraulic pipe joint 1403. In summary, when the opening angle of the first rotary valve is rotated counterclockwise or clockwise under the drive of the servo motor 1, the first valve core volume chamber R21 and the second valve core volume chamber R22 of the second rotary valve sleeve 701 are connected to the third working oil port B1, the fourth working oil port B2 or the first working oil port A1 and the second working oil port A2 of the second diverter valve block 1202, thereby realizing the output of working oil through the second hydraulic pipe joint 1402 or the third hydraulic pipe joint 1403 installed on the third diverter valve block 1203.

[0072] The control process of the third rotary valve is as follows: the four holes of the third diverter valve block 1203—the first working port A1, the second working port A2, the third working port B1, and the fourth working port B2—correspond to the four holes of the third rotary valve, respectively, and are effectively sealed and fixed by sealing rings and screws. The fourth hydraulic pipe connector 1404 is installed on the outside of the third rotary valve seat 801. Through its internal structure, the second pressure oil is introduced into the first valve core volume chamber R31 and the second valve core volume chamber R32 of the third rotary valve via the second pressure oil passage groove P2, thus realizing the access of the second pressure oil. The third rotary valve core 804, the third rotary valve body 802, the third static pressure support plate 805, and the third rotary valve sleeve 801 form the valve chamber of the third rotary valve, which is composed of the first valve core volume chamber R31 and the second valve core volume chamber R32. The first pressure oil is passed through the hole in the second mounting surface of the third rotary valve seat 801 to the valve chamber of the first rotary valve, which is composed of the first valve core volume chamber R11 and the second valve core volume chamber R12. The relative rotation of the third rotary valve body 802 and the third rotary valve seat 801 increases the opening K31 and the opening K32 of the first valve core of the third rotary valve, so that the first valve core volume chamber R31 and the second valve core volume chamber R32 of the third rotary valve are connected to the first working oil port A1 and the second working oil port A2 of the third diverter valve, respectively. The high-pressure oil in the bottom cavity Q2 of the second rotary valve core is transmitted from the fourth equalizing oil groove 1202j, the fourth equalizing oil hole J4, and the fifth equalizing oil hole J5 on the second mounting surface of the second diverter valve block 1202 to the fifth equalizing oil groove 1203j, and acts on the equalizing groove 805b of the third static pressure support plate 805 on the second mounting surface of the third rotary valve. The equalizing groove 805b of the third static pressure support plate introduces the first pressure oil into the bottom cavity Q3 of the third rotary valve core, which is composed of the third static pressure support plate 805, the bottom cavity 804 of the third rotary valve core, and the valve seat 801 of the third rotary valve, to achieve radial static pressure support and wear compensation of the third rotary valve. At the same time, the first pressure oil acts on the equalizing groove 805b of the third static pressure support plate to achieve axial static pressure support and wear compensation of the third rotary valve. The bottom of the third rotary valve core 804 is provided with first pressure oil, and the driving force of the third central spring 803 installed inside the third rotary valve core 804 enables the top of the third rotary valve core 804 to be radially and tightly fitted with the third rotary valve sleeve 801, thereby achieving radial static pressure support and wear compensation for the third rotary valve. In this way, even with a certain amount of wear, radial leakage during the valve core rotation process can still be minimized.Simultaneously, in the axial direction, the first pressure oil acts on the pressure equalization groove 805b of the third static pressure support plate. The third static pressure support plate 805 achieves effective sealing with the valve sleeve 801 of the third rotary valve through the sealing ring. Therefore, under the action of the first pressure oil, the third static pressure support plate 805 of the third rotary valve achieves effective clamping force with the valve core 804, valve body 802, and valve sleeve 801 of the third rotary valve. This results in the valve core 804 of the third rotary valve being tightly fitted axially with the valve sleeve 801 and the third static pressure support plate 805 on both axial sides, achieving axial static pressure support and wear compensation for the third rotary valve. Thus, even with a certain amount of wear, the axial leakage during the rotation of the valve core can still be minimized. In summary, when the opening angle of the first rotary valve is rotated counterclockwise or clockwise under the drive of the servo motor 1, the second pressure oil flows from the fourth hydraulic pipe joint 1404 to the valve chamber of the third rotary valve. The relative rotation angle between the valve core 804 and the valve sleeve 801 of the third rotary valve enables the oil to flow from the valve chamber of the third rotary valve to the first working port A1, the second working port A2 or the third working port B1 and the fourth working port B2 of the third diversion valve block 1203, and then the working oil is output through the second or fourth hydraulic pipe joint 1402 of the third hydraulic pipe joint 1403 installed on the third diversion valve block 1203.

[0073] In summary, a three-stage rotary valve enables combined on / off control of the first pressure port P, the second pressure port T, the hydraulic port A, and the hydraulic port B. When the valve core rotates counterclockwise, the first pressure port P connects to the hydraulic port A, and the second pressure port T connects to the hydraulic port B. When the valve core rotates clockwise, the first pressure port P connects to the hydraulic port B, and the second pressure port T connects to the hydraulic port A.

[0074] The following describes in detail the valve port structure of an externally driven indirect feedback flow control valve and its control method in this embodiment.

[0075] The three-stage rotary valve can be machined in various forms to achieve different flow area shapes in the valve core. It can be a circular orifice of uniform diameter, where a single orifice allows flow through a fixed rotation angle, and multiple orifices can be driven by multiple fixed rotation angles to achieve flow capacity. Compared to existing valve controls with fixed flow areas and known flow coefficients, this allows for incremental digital control of flow rate on the mechanism. Alternatively, the valve core flow area can be machined as a gradually increasing diameter circular orifice, achieving different combinations of flow areas, providing more flow combinations and a larger maximum flow area than the first option. Finally, the valve core flow area can be machined as a continuous oblong orifice, where the flow area increases from zero to the maximum opening as the valve body rotation angle increases, resulting in a larger flow area and continuous, stable control compared to the previous two options.

[0076] The following describes an external drive feedback control method for a flow control valve according to this embodiment, wherein the valve core control method is as follows:

[0077] The overall control relationship is as follows: First step: high-resolution angle power distribution. The servo motor 1 outputs angle power to the input end of the first sun gear 501 of the planetary gear reducer 5. Through the two-stage gear train, the higher resolution angle control output is achieved to the second transmission gear 508 of the second fixed-axis gear train, completing the transmission process of the servo motor 1 transmitting the driving force to the three-stage rotary valve through the planetary gear reducer 5. Step 2: The three-stage rotary valves rotate in tandem. The first, second, and third rotary valves are rigidly driven in series via the second transmission shaft 1102 and the third transmission shaft 1103. The valve bodies of the three rotary valves are arranged at a certain angle to achieve different combinations of rotary valve functions. The output is sent from the second transmission wheel 508 of the second fixed-axis gear train to the third transmission main shaft 1103, which in turn drives the three-stage rotary valves connected in series. By controlling the rotation angle, the oil flow capacity and direction of the three-stage rotary valves are controlled, thereby achieving different valve body functions. Step 3: High-precision valve port flow measurement and electrical signal feedback. The sealed chamber of the flow counting component 4 achieves relative rotation of the metering rotor 406 under the action of the first pressure oil. The power is then transmitted to the encoder 10 via the first transmission shaft 1101 connected by a spline. The precise rotation angle measurement of the encoder 10 achieves high-precision feedback electrical signal output to the control system. Step 4: Closed-loop control of valve orifice flow. The feedback electrical signal from encoder 10 and the control signal from servo motor 1 are processed by the onboard controller, thereby controlling the final output angle of servo motor 1 to achieve high-precision angle control of valve core, thus completing the control process of flow control valve.

[0078] The specific control process is as follows:

[0079] Step 1: Rapid opening of the rotary valve. When the rotary valve needs to provide a large flow to drive the actuator, in the first x% working range, servo motor 1 provides maximum power to drive the valve core to open. At this time, the valve port opens directly from zero to the maximum value of 100%, thereby achieving a rapid response of the actuator. Step 2: Stable closing of the small opening. When the actuator is working in the (100-x)% working range, servo motor 1 drives the valve core to close to y% of the valve core opening with maximum power, thereby reducing the flow area of ​​the hydraulic oil in the valve, reducing the flow rate, and achieving a slow closing of the actuator. Here, x and y are determined according to the actuator. Step 3: Precise matching of flow control valve and actuator valve flow. After the oil flow of the flow control valve is precisely measured by the volumetric flow counting component after the first rotary valve, the flow signal is fed back to the onboard controller. By matching and correcting with the flow required for the operation of the actuator, the onboard controller sends a correction servo motor 1 drive electrical signal to realize the forward drive of the rotary valve core by the servo motor 1 to compensate for the flow and the reverse drive of the rotary valve core by the servo motor 1 to recover the flow. Finally, through multiple iterative feedback in the later stage, the flow of the flow control valve outlet section is guaranteed to maintain a high consistency with the predetermined flow value, so as to achieve high-precision control of the actuator.

[0080] The valve core's rapid opening working range value, valve core opening value in the small opening state, and the deviation value between the valve orifice flow rate and the predetermined flow rate value can all be controlled and upgraded by the flow control valve's onboard controller, thereby combining the performance of different flow control valves with the requirements and providing the best flow control valve solution.

[0081] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An external drive feedback control method for a flow control valve, characterized in that: It includes the following steps: S1. The servo motor outputs rotational power to the input end of the first sun gear of the planetary gear reducer. Through the rotational control of the two-stage gear train, the servo motor transmits the driving force to the three-stage rotary valve via the planetary gear reducer. S2. The three-stage rotary valves rotate in coordination. The first, second, and third rotary valves are rigidly transmitted in series through the second and third transmission shafts. The output is sent from the second transmission wheel to the third transmission main shaft, which in turn drives the three-stage rotary valves. The oil flow capacity and direction of the three-stage rotary valves are controlled by controlling the rotation angle. S3, Valve port flow measurement and electrical signal feedback: The sealed chamber of the flow counting component realizes the relative rotation of the metering rotor under the action of the first pressure oil, and then transmits the power to the encoder through the first transmission shaft. The encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller. S4. Valve orifice flow closed-loop control: The electrical signal from the encoder and the control signal from the servo motor are processed by the onboard controller, which then controls the final output angle of the servo motor to achieve valve core angle control, completing the flow control valve control process, thereby controlling the actuator. The specific process is as follows: S41. Calculate the initial control signal of the servo motor based on the initial opening amount; S42. The servo motor rotates the valve core in the positive direction based on the initial control signal. After the oil flow rate of the flow control valve is measured by the volumetric metering of the flow counting component, the encoder measures the rotation angle and outputs an electrical signal based on the rotation angle signal, and then feeds back the electrical signal to the onboard controller. S43. Read the rotation angle electrical signal to determine the real-time flow value, match and correct the real-time flow value with the preset flow value of the actuator, and send the corrected servo motor drive electrical signal through the onboard controller. Based on the servo drive electrical signal, the servo motor drives the rotary valve core in the forward direction to compensate for the flow while driving the rotary valve core in the reverse direction to recover the flow. S44. Repeat steps S42-S43, and through multiple iterations and feedback, make the flow rate at the outlet of the flow control valve consistent with the predetermined flow rate value.

2. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: Step S4 also includes rapid opening of the rotary valve. The control method for the rapid opening process of the rotary valve is as follows: when the rotary valve needs to provide a large flow to drive the actuator to work, in the first x% working range, the servo motor provides the maximum power to drive the valve core to open. At this time, the valve port opens directly from zero to the maximum value of 100% opening.

3. The external drive feedback control method for the flow control valve according to claim 2, characterized in that: Step S4 also includes a small opening stable closing process. The control method of the small opening stable closing process is as follows: when the actuator is working in the (100-x)% working range, the servo motor drives the valve core to close to the y% valve core opening with maximum power, reducing the flow area of ​​the hydraulic oil in the valve, reducing the flow rate, and realizing the actuator slowing down and closing.

4. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: The specific process of matching and correcting the real-time flow value with the preset flow value of the actuator in step S43 is as follows: the difference between the real-time flow value and the preset flow value of the actuator is calculated to obtain the difference value, so that the difference value is within the set threshold range.

5. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: The flow control valve includes a servo motor, a comparator assembly, a flow counting assembly, an encoder, and a multi-stage rotary valve. The multi-stage rotary valve includes a first rotary valve, a second rotary valve, a third rotary valve, a first diverter valve block, a second diverter valve block, and a third diverter valve block.

6. The external drive feedback control method for the flow control valve according to claim 5, characterized in that: The flow counting component is a low-pulsation, multi-cycle volumetric flow counting component that counts the flow rate through the valve port and outputs a rotation angle electrical signal through an encoder.

7. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: A three-stage rotary valve enables combined on / off control of the high-pressure port P, the second pressure port T, the hydraulic port A, and the hydraulic port B. When the valve core rotates counterclockwise, the high-pressure port P connects to the hydraulic port A, and the second pressure port T connects to the hydraulic port B. When the valve core rotates clockwise, the high-pressure port P connects to the hydraulic port B, and the second pressure port T connects to the hydraulic port A.

8. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: The three-stage rotary valve has a valve core flow area shape of equal diameter circular hole, diameter gradually changing circular hole, or continuous waist-shaped hole.

9. The external drive feedback control method for the flow control valve according to claim 6, characterized in that: The encoder is fixedly connected to the first drive shaft of the flow counting component, enabling the reading and recording of the rotation angle of the flow counting component and feeding it back as an electrical signal to the control system.

10. The external drive feedback control method for the flow control valve according to claim 1, characterized in that: The servo motor outputs an angle signal with an angle accuracy of a. After passing through a planetary gear reducer with a reduction ratio of b, the angle accuracy becomes a / b. The servo motor achieves the first valve opening angle of c under c / (a / b) minimum angle resolutions.

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