A servo valve design method, system and servo valve

Abstract

The present application discloses a servo valve design method, system and servo valve, the method comprising the following steps: obtaining individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve; according to a defined fitness function for the target servo valve, obtaining a first fitness value of the individual data in the initial population under the condition of satisfying the target function; wherein the target function is constructed based on the boundary conditions of the target servo valve; reorganizing the initial population to generate a new population; according to the fitness function, obtaining a second fitness value of the individual data in the new population; based on the second fitness value, judging whether the termination condition is satisfied; if not, returning to the step of reorganizing the initial population to generate a new population; if satisfied, outputting the optimal solution of the target parameter and the corresponding fitness value to obtain the design parameters of the target servo valve. The present application has the advantages of improving the accuracy and efficiency of parameter design.

Description

Technical Field

[0001] The present application relates to the technical field of servo valve design, and in particular to a servo valve design method, system and servo valve. Background Art

[0002] The servo valve is a key electro-hydraulic control component widely used in aerospace, machinery manufacturing, industrial automation, and other fields. It converts electrical signals into hydraulic output, enabling precise control of position, speed, and force. The performance of the servo valve directly affects the accuracy and response speed of the entire control system. Currently, the most common servo valves on the market include electro-hydraulic servo valves, proportional servo valves, and direct-drive servo valves.

[0003] During the design process of a servo valve, it is necessary to consider the actual usage requirements and optimize the design of each target parameter of the servo valve. However, the existing servo valve design method mainly relies on manual experience. When it is necessary to simultaneously consider the optimization design of multiple target parameters, it is difficult to find the optimal solution while taking into account the correlation between the target parameters. Therefore, the existing design method has low accuracy and low efficiency. Summary of the Invention

[0004] The main purpose of this application is to provide a servo valve design method, system and servo valve, aiming to solve the technical problem of low accuracy when the existing servo valve design method needs to optimize the design of multiple target parameters at the same time.

[0005] To achieve the above objectives, the present application provides a servo valve design method, comprising the following steps:

[0006] Obtain individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve;

[0007] According to the defined fitness function for the target servo valve, a first fitness value of individual data in the initial population is obtained under the condition that the objective function is satisfied; wherein the objective function is constructed based on the boundary conditions of the target servo valve;

[0008] The initial population is recombined to generate a new population;

[0009] According to the fitness function, obtaining a second fitness value of the individual data in the new population;

[0010] Based on the second fitness value, determine whether the termination condition is met. If not, return to the step of reorganizing the initial population to generate a new population. If so, output the optimal solution of the target parameters and the corresponding fitness value to obtain the design parameters of the target servo valve.

[0011] Optionally, the target parameters include valve core diameter, valve core displacement, window gradient, and antler fluid channel cross-sectional area, and the fitness function is expressed as:

[0012] Fitness(D s , X V ,W1,A m )=minimize(D s ' 2 +X V '·W1'+A m ');

[0013] In the formula, Fitness represents the fitness value, minimize represents the minimum value, and D s Indicates the valve core diameter, X V Indicates valve core displacement, W1 indicates window gradient, A m Denotes the cross-sectional area of the antler fluid channel, D s ' represents the optimized valve core diameter, X V ' represents the optimized valve core displacement, W1' represents the optimized window gradient, A m ' represents the cross-sectional area of the optimized antler fluid channel.

[0014] Optionally, the objective function is expressed as:

[0015]

[0016] Where Q is the target flow rate of hydraulic oil flowing through the target servo valve, C dmax is the flow coefficient, k1 is the correction constant, ΔP is the pressure drop of the servo valve, ρ is the liquid density of the hydraulic oil, X Vmax is the maximum valve core displacement, W1 max is the maximum window gradient, D s max is the maximum valve core diameter, μ is the fluid viscosity of the hydraulic oil, Re c is the critical Reynolds number, α is the pressure drop loss coefficient, ΔP max is the maximum pressure drop of the servo valve, and β, δ and γ are geometric effect coefficients.

[0017] Optionally, the termination condition includes at least one of the following:

[0018] Reached the maximum number of iterations;

[0019] The fitness value is less than the preset threshold.

[0020] Optionally, the initial population is recombined to generate a new population, including:

[0021] Perform a crossover operation on the initial population to reproduce and obtain the offspring population;

[0022] Perform mutation operations on the individual data corresponding to the offspring population;

[0023] The offspring population after the mutation operation and the initial population form a new population.

[0024] To achieve the above objectives, the present application also provides a servo valve design system, comprising:

[0025] An initial population generation module is used to obtain individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve;

[0026] a first evaluation module, configured to obtain, based on a defined fitness function for the target servo valve, a first fitness value of individual data in the initial population under a condition that the objective function is satisfied; wherein the objective function is constructed based on boundary conditions of the target servo valve;

[0027] A new population generation module, used for recombining the initial population to generate a new population;

[0028] A second evaluation module is configured to obtain a second fitness value of the individual data in the new population according to the fitness function;

[0029] A data processing module is used to determine whether the termination condition is met based on the second fitness value; if not, return to the step of reorganizing the initial population to generate a new population; if so, output the optimal solution of the target parameter and the corresponding fitness value to obtain the design parameters of the target servo valve.

[0030] The present application also provides a servo valve designed based on the above-mentioned servo valve design method.

[0031] The servo valve includes an outer shell, in which a valve assembly is provided, the valve assembly is connected to a nested antler channel, and the nested antler channel is used to connect to the hydraulic equipment; wherein the valve assembly includes a rotating valve stem, a valve core and a valve sleeve, the axis of the rotating valve stem and the axis of the valve core are perpendicular to each other, the valve core is coaxial and movably arranged in the valve sleeve, the bottom of the rotating valve stem is connected to a crankshaft, a first bearing is sleeved on the crankshaft, the valve sleeve is arranged in the nested antler channel, and the valve sleeve is provided with multiple groups of through holes for communicating with the nested antler channel along the axial direction of the valve sleeve, a movable groove cooperating with the crankshaft is radially provided in the middle of the valve sleeve, a waist-shaped mounting hole cooperating with the first bearing is provided inside the valve core, the length direction of the waist-shaped mounting hole is perpendicular to the axial direction of the valve core, and at least one annular sleeve is fixedly sleeved on both sides of the mounting hole on the valve core, and the annular sleeve is used to seal the through holes at different positions.

[0032] Optionally, the crankshaft simultaneously moves through the valve sleeve and the valve core and is connected to a support shaft, the axis of the support shaft coincides with the axis of the rotating valve stem, a second bearing is sleeved on the support shaft, and the support shaft is movably connected to the bottom of the nested antler channel through the second bearing.

[0033] Optionally, a third bearing is sleeved on the rotating valve stem, and the third bearing is movably embedded in the top of the nested antler channel.

[0034] Optionally, a fitting clearance between the first bearing and the waist-shaped mounting hole is 0-20 μm.

[0035] Optionally, the fitting clearance between the annular sleeve and the valve sleeve is 0-30 μm.

[0036] Optionally, multiple antler fluid channels are opened in the nested antler channel, each antler fluid channel includes a main branch for connecting to the hydraulic equipment, the main branch is connected to a number of first branches, the first branches are connected to a number of second branches, and the second branches are used to connect to the corresponding through holes.

[0037] Optionally, the cross-sectional area of the main branch is greater than or equal to the sum of the cross-sectional areas of the corresponding first branches, and the cross-sectional area of the first branch is greater than or equal to the sum of the cross-sectional areas of the corresponding second branches.

[0038] Optionally, the valve sleeve is provided with X groups of through holes axially arranged, and each group of through holes includes Y pairs of slots distributed radially along the valve sleeve; wherein the range of X is 3-20, and the range of Y is 1-15.

[0039] Alternatively, assuming the cross-sectional area of the main branch is S, then S≥K1*h*b*Y; wherein K1 is a multiple and ranges from 2 to 16, h is the moving distance of the valve core, and b is the width of the slot;

[0040] Assuming that the difference in cross-sectional area between the annular sleeve and the valve core is ΔS, then ΔS≥K2*h*b*Y; wherein K2 is a multiple, and K2 is 2 to 10.

[0041] Optionally, when the crankshaft rotates forward and drives the valve core to slide to the left limit position inside the valve sleeve, group A through holes can be opened, and when the crankshaft rotates backward and drives the valve core to slide to the right limit position inside the valve sleeve, group B through holes can be opened; wherein the ranges of A and B are both 2~(X-1).

[0042] Optionally, the slot is in the shape of at least one of a waist shape, a circle, a polygon, a star shape or an irregular shape.

[0043] Optionally, a receiving cavity for receiving the valve sleeve is provided in the nested antler channel, and a mounting port communicating with the receiving cavity is provided on one side of the nested antler channel, and a sealing cover is detachably connected to the mounting port.

[0044] Optionally, the fitting clearance between the valve sleeve and the accommodating cavity is -20 to 20 μm.

[0045] Optionally, the solid portion of the nested antler channel is a lattice structure.

[0046] Optionally, the lattice structure is any one of a rod lattice, a plate lattice or a continuous curved surface lattice.

[0047] Optionally, an electric motor for driving the rotary valve stem to rotate is provided in the outer shell, and the electric motor is electrically connected to a circuit board, and an angular displacement sensor is provided on the circuit board.

[0048] Optionally, a radiator is provided above the circuit board, the radiator is located at the top of the outer shell, and a heat dissipation hole is opened at the top of the outer shell.

[0049] Optionally, the heat sink includes at least one of thermal grease, a heat dissipation fan or a semiconductor cooler.

[0050] Optionally, the eccentricity of the crankshaft relative to the rotating valve stem is 0.1 to 20 mm.

[0051] Optionally, a limit baffle is provided on the inner wall of the outer shell, and a limit block cooperating with the limit baffle is provided on the rotary valve stem to limit the rotation angle of the rotary valve stem.

[0052] Optionally, the inner wall of the housing is provided with at least one heat dissipation layer, and the material of the heat dissipation layer is any one of thermal conductive gel, pure copper, copper alloy, pure aluminum, aluminum alloy, pure silver or silver alloy.

[0053] Optionally, the thickness of a single layer of the heat dissipation layer is 0.001 mm to 10 mm.

[0054] The beneficial effects that can be achieved by this application are as follows:

[0055] The present application is based on a genetic algorithm, and an objective function can be constructed in advance through the boundary conditions of the target servo valve. The boundary conditions include the relevant design parameters of the target servo valve. The fitness values of multiple target parameters corresponding to the target servo valve under the objective function conditions can be calculated through a predefined fitness function. Therefore, the present application takes into account the correlation between the target parameters, thereby combining multiple target parameters into one fitness value for expression. Since the target parameters generally have multiple optional parameter data, an initial population is first generated based on the individual data of the target parameters. The fitness function is used to calculate the first fitness value corresponding to the individual data in the initial population, and then the initial population is recombined to generate a new population. The second fitness value corresponding to the individual data in the new population is calculated based on the fitness function. At this time, it is judged whether the termination condition is met. If not, the initial population is recombined to generate a new population, and the iteration is performed until the termination condition is met. After the condition is met, the optimal solution of the target parameter and the corresponding fitness value can be output. The obtained optimal solution is the global optimal solution corresponding to the design parameters of the target servo valve that meets the objective function conditions. In summary, this application can automatically generate a large number of servo valve design schemes based on genetic algorithms, and then gradually optimize the design through an evolutionary process to select the best or most demand-oriented design from a large number of schemes, thereby greatly reducing manual intervention and trial and error time, improving accuracy, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0057] Figure 1 A schematic flow chart of a servo valve design method in an embodiment of the present application;

[0058] Figure 2 This is a schematic diagram of the explosion structure of a servo valve in an embodiment of the present application;

[0059] Figure 3 This is a schematic diagram of the internal structure of a servo valve in an embodiment of the present application;

[0060] Figure 4 This is a schematic diagram of the outer surface structure of a servo valve in an embodiment of the present application;

[0061] Figure 5 Schematic diagram of the explosion structure of the valve assembly in the embodiment of the present application;

[0062] Figure 6Schematic diagram of the assembly structure of the valve assembly in the embodiment of the present application;

[0063] Figure 7 Schematic diagram of the cross-sectional structure of the valve assembly in the embodiment of the present application;

[0064] Figure 8 Schematic diagram of the connection structure of the rotary valve stem, crankshaft and support shaft in the embodiment of the present application;

[0065] Figure 9 Schematic diagram of the structure of the valve sleeve in the embodiment of the present application;

[0066] Figure 10 This is a schematic diagram of the structure of the antler fluid channel nested inside the antler channel in an embodiment of the present application;

[0067] Figure 11 To correspond Figure 9 Schematic diagram of the structure of the fluid channel in the middle antler from another perspective;

[0068] Figure 12 Schematic diagram of the working principle of each antler fluid channel (after disassembly) and hydraulic equipment;

[0069] Figure 13 Schematic diagram of the connection structure between the outer shell and the heat dissipation layer in an embodiment of the present application;

[0070] Figure 14 Schematic diagram of the structure of the rod-shaped lattice in the embodiment of the present application;

[0071] Figure 15 Schematic diagram of the structure of the plate lattice in the embodiment of the present application;

[0072] Figure 16 Schematic diagram of the structure of the continuous curved surface lattice in the embodiment of the present application;

[0073] Figure 17 Schematic diagram of another structure of the rod-shaped lattice in the embodiment of the present application.

[0074] Reference numerals:

[0075] 110-outer shell, 120-valve assembly, 121-rotating valve stem, 122-valve core, 1221-waist-shaped mounting hole, 1222-annular sleeve, 123-valve sleeve, 1231-slot hole, 1232-movable slot, 124-crankshaft, 125-first bearing, 126-support shaft, 127-second bearing, 128-third bearing, 130-nested antler channel, 131-main branch, 132-first branch, 133-second branch, 140-sealing cover, 150-electric motor, 160-circuit board, 170-radiator, 180-limit block, 190-heat dissipation layer.

[0076] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0078] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0079] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0080] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0081] Example 1

[0082] Reference Figure 1 , this embodiment provides a servo valve design method, comprising the following steps:

[0083] Obtain individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve;

[0084] According to the defined fitness function for the target servo valve, a first fitness value of individual data in the initial population is obtained under the condition that the objective function is satisfied; wherein the objective function is constructed based on the boundary conditions of the target servo valve;

[0085] The initial population is recombined to generate a new population;

[0086] According to the fitness function, obtaining a second fitness value of the individual data in the new population;

[0087] Based on the second fitness value, determine whether the termination condition is met. If not, return to the step of reorganizing the initial population to generate a new population. If so, output the optimal solution of the target parameters and the corresponding fitness value to obtain the design parameters of the target servo valve.

[0088] This embodiment, based on a genetic algorithm, can pre-construct an objective function based on the boundary conditions of the target servo valve. The boundary conditions include various relevant design parameters of the target servo valve. A predefined fitness function can be used to calculate the fitness values of multiple target parameters corresponding to the target servo valve under the objective function conditions. Therefore, this embodiment takes into account the correlation between the target parameters, thereby aggregating the multiple target parameters into a single fitness value for expression. Since target parameters generally have multiple optional parameter data, an initial population is first generated based on the individual data of the target parameters. Using the fitness function, a first fitness value corresponding to the individual data in the initial population is calculated. The initial population is then recombined to generate a new population. A second fitness value corresponding to the individual data in the new population is then calculated based on the fitness function. At this point, a determination is made as to whether a termination condition is met. If not, the initial population is recombined to generate a new population. The iteration continues until the termination condition is met. Once the condition is met, the optimal solution for the target parameters and the corresponding fitness value are output. The resulting optimal solution is the global optimal solution corresponding to the design parameters of the target servo valve that meets the objective function conditions. In summary, this embodiment can automatically generate a large number of servo valve design schemes based on genetic algorithms, and then gradually optimize the design through an evolutionary process to select the best or most suitable design from among the numerous schemes, thereby greatly reducing manual intervention and trial and error time, improving accuracy, and improving work efficiency.

[0089] In addition, the design of servo valves by genetic algorithms has the following advantages:

[0090] (1) Global search capability: In many cases, optimization problems have local maxima and minima that represent solutions that are better than surrounding solutions, but not the best solutions. Most traditional search and optimization algorithms, especially those based on gradients, are prone to getting stuck in local maxima rather than finding the global maximum. Genetic algorithms are more likely to find the global maximum because they use a set of candidate solutions rather than just one, and in many cases, crossover and mutation operations will result in candidate solutions that are different from previous solutions. As long as the diversity of the population is maintained and premature convergence is avoided, a global optimal solution may be generated.

[0091] (2) Adaptability to complex problems: For complex, multi-constraint design problems, genetic algorithms can handle nonlinear and discontinuous design spaces and find design solutions that are difficult to solve with traditional optimization methods.

[0092] (3) Flexibility and adaptability: Genetic algorithms are highly flexible and can adapt to various types of design problems. Designers can adjust the parameters of genetic algorithms according to specific needs, such as population size, mutation rate, crossover rate, etc., to optimize the design process.

[0093] (4) Innovative design: By simulating natural evolution, genetic algorithms can produce innovative designs that are difficult for human designers to think of. This creativity can bring unique and unprecedented design solutions.

[0094] (5) Parallel processing: Genetic algorithms are suitable for parallel computing and can run simultaneously on multiple computing nodes to improve computing efficiency, which is particularly important for dealing with large-scale design problems.

[0095] (6) Robustness: Genetic algorithms are insensitive to initial conditions and do not rely on the design of initial guesses. They have strong robustness through diverse populations and random mutations and can find good solutions under different initial conditions.

[0096] As an optional implementation, the target parameters include valve core diameter, valve core displacement, window gradient and antler fluid channel cross-sectional area, and the fitness function is expressed as:

[0097] Fitness(D s , X V ,W1,A m )=minimize(D s ' 2 +X V '·W1'+A m ');

[0098] In the formula, Fitness represents the fitness value, minimize represents the minimum value, and D sIndicates the valve core diameter, X V Indicates valve core displacement, W1 indicates window gradient, A m Denotes the cross-sectional area of the antler fluid channel, D s ' represents the optimized valve core diameter, X V ' represents the optimized valve core displacement, W1' represents the optimized window gradient, A m ' represents the cross-sectional area of the optimized antler fluid channel.

[0099] In this embodiment, since the design core of the servo valve lies in its internal flow design, and the valve core diameter, valve core displacement, window gradient and antler fluid channel cross-sectional area are the core variables affecting the flow design, the above-mentioned core variables are selected as target parameters to construct the fitness function, which can accurately express the correlation between the variables and their common impact on the fitness. According to the above, under the premise of meeting the fitness value, the minimum valve core diameter, valve core displacement, window gradient and antler fluid channel cross-sectional area can be found as much as possible, which is conducive to finding the global optimal solution.

[0100] As an optional implementation, the objective function is expressed as:

[0101]

[0102] Where Q is the target flow rate of hydraulic oil flowing through the target servo valve, C dmax is the flow coefficient, k1 is the correction constant, ΔP is the pressure drop of the servo valve, ρ is the liquid density of the hydraulic oil, X Vmax is the maximum valve core displacement, W1 max is the maximum window gradient, D s max is the maximum valve core diameter, μ is the fluid viscosity of the hydraulic oil, Re c is the critical Reynolds number, α is the pressure drop loss coefficient, ΔP max is the maximum pressure drop of the servo valve, and β, δ and γ are geometric effect coefficients.

[0103] In this embodiment, based on the servo valve design requirements, when it is necessary to design a servo valve with a known target flow rate of Q, the relevant parameters are input based on the expression of the above-mentioned objective function, among which the valve core diameter, valve core displacement, window gradient and antler fluid channel cross-sectional area are variables, and the remaining parameters are all known quantities. Therefore, the formula based on the above-mentioned objective function and fitness function can constrain the above four variables at the same time, so as to obtain the recommended values of valve core diameter, valve core displacement, window gradient and antler fluid channel cross-sectional area that meet both the objective function and the fitness function. The calculation is accurate and efficient, meeting the design requirements.

[0104] As an optional implementation, the termination condition includes at least one of the following:

[0105] Reached the maximum number of iterations;

[0106] The fitness value is less than the preset threshold.

[0107] In this embodiment, the two termination conditions described above effectively determine whether to terminate iteration and output the theoretically optimal solution. It should be noted that the termination condition can be set to satisfy only one of the conditions, or both conditions can be set to satisfy simultaneously. This can be determined based on actual needs. Other termination conditions, such as low population diversity, can also be used.

[0108] As an optional implementation, the initial population is reorganized to generate a new population, including:

[0109] Perform a crossover operation on the initial population to reproduce and obtain the offspring population;

[0110] Perform mutation operations on the individual data corresponding to the offspring population;

[0111] The offspring population after the mutation operation and the initial population form a new population.

[0112] In this embodiment, during recombination, a crossover operation is first performed on the initial population. The crossover operation in the genetic algorithm is usually performed between two parent individuals (i.e., the individual data of the initial population) to generate a new offspring individual. This new individual will inherit certain characteristics of the parent individual, thereby obtaining an offspring population. The individual data corresponding to the offspring population is then mutated. The mutation operation is a key operation in the genetic algorithm. It introduces diversity by randomly changing individual genes (i.e., individual data), thereby preventing the algorithm from falling into a local optimum. The purpose of the mutation operation is to maintain the diversity of the population, avoid premature convergence of the algorithm, and provide opportunities for the algorithm to explore new search spaces. Finally, the offspring population after the mutation operation and the initial population are recombined to obtain a new population.

[0113] The following is an explanation based on actual design data:

[0114] Assuming the target flow rate Q is 70L / min, based on the fitness function, some individual solutions are as follows:

[0115]

[0116] Then generate the initial population, which is as follows:

[0117]

[0118] After performing crossover and mutation operations on the individual data of the initial population, the offspring population and possible parents are obtained to form a new population, and the fitness evaluation is performed again:

[0119]

[0120] Check whether the termination condition is met (for example, the maximum number of iterations is less than or equal to 10 30 And there is a solution with a fitness value less than 300), if the termination condition is met, stop the algorithm and output the optimal solution. The output optimal solution and its corresponding fitness value are:

[0121]

[0122] Based on this result, the system can automatically generate a 3D model of the required antler fluid channel.

[0123] Example 2

[0124] Based on the same inventive concept as the above embodiment, this embodiment further provides a servo valve design system, including:

[0125] An initial population generation module is used to obtain individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve;

[0126] a first evaluation module, configured to obtain, based on a defined fitness function for the target servo valve, a first fitness value of individual data in the initial population under a condition that the objective function is satisfied; wherein the objective function is constructed based on boundary conditions of the target servo valve;

[0127] A new population generation module, used for recombining the initial population to generate a new population;

[0128] A second evaluation module is configured to obtain a second fitness value of the individual data in the new population according to the fitness function;

[0129] A data processing module is used to determine whether the termination condition is met based on the second fitness value; if not, return to the step of reorganizing the initial population to generate a new population; if so, output the optimal solution of the target parameter and the corresponding fitness value to obtain the design parameters of the target servo valve.

[0130] The relevant explanations and examples of each module in the device of this embodiment can refer to the methods of the aforementioned embodiments, and will not be repeated here.

[0131] Example 3

[0132] Reference Figure 2-Figure 17This embodiment also provides a servo valve, which is designed based on the above-mentioned servo valve design method. The servo valve includes an outer shell 110, in which a valve assembly 120 is provided. The valve assembly 120 is connected to a nested antler channel 130, and the nested antler channel 130 is used to connect to the hydraulic equipment; wherein the valve assembly 120 includes a rotating valve stem 121, a valve core 122 and a valve sleeve 123, the axis of the rotating valve stem 121 and the axis of the valve core 122 are perpendicular to each other, the valve core 122 is coaxial and movably arranged in the valve sleeve 123, the bottom of the rotating valve stem 121 is connected to a crankshaft 124, the crankshaft 124 is sleeved with a first bearing 125, and the valve sleeve 123 is provided with a first bearing 125. In the nested antler channel 130, a plurality of through holes for communicating with the nested antler channel 130 are provided on the valve sleeve 123 along the axial direction of the valve sleeve 123. A movable groove 1232 is radially provided in the middle part of the valve sleeve 123 to cooperate with the crankshaft 124. A waist-shaped mounting hole 1221 is provided inside the valve core 122 to cooperate with the first bearing 125. The length direction of the waist-shaped mounting hole 1221 is perpendicular to the axial direction of the valve core 122. At least one annular sleeve 1222 is fixedly provided on both sides of the mounting hole on the valve core 122. The annular sleeve 1222 is used to seal the through holes at different positions.

[0133] In this embodiment, during operation, the crankshaft 124 rotates correspondingly by rotating the valve stem 121 forward or reversely. Since the crankshaft 124 is eccentrically arranged relative to the rotating valve stem 121, the first bearing 125 is driven to move leftward or rightward in the waist-shaped mounting hole 1221 inside the valve core 122, thereby pushing the valve core 122 to move leftward or rightward in the valve sleeve 123 accordingly, so that the annular sleeve 1222 on the valve core 122 blocks the through holes at different positions of the valve sleeve 123, thereby forming different passages to control the liquid. The flow rate and direction of the pressurized oil ultimately control the hydraulic equipment to perform corresponding actions. In the process of the crankshaft 124 controlling the movement of the valve core 122, the first bearing 125 can cooperate with the rotation of the crankshaft 124. At the same time, the first bearing 125 avoids the crankshaft 124 from directly acting on the valve core 122, thereby greatly reducing wear and improving service life. The first bearing 125 is always in the waist-shaped mounting hole 1221 of the valve core 122 and is not easy to detach. The structure is compact, firm and stable, meeting the use requirements.

[0134] It should be noted that, since the axis of the crankshaft 124 revolves around the axis of the rotary valve stem 121, the movable groove 1232 can match the revolution range of the crankshaft 124. When the axis of the crankshaft 124 rotates to the front and rear limit positions, it is just located at the front and rear end positions of the waist-shaped mounting hole 1221 in the length direction. When the axis of the crankshaft 124 rotates to the left and right limit positions, it can drive the valve core 122 to move to the left and right limit positions accordingly, so that the valve core 122 only moves left and right linearly. The first bearing 125 can be a radial contact bearing, an angular contact centripetal bearing, an axial contact bearing, or a radial contact bearing. Any one of the bearings or angular contact thrust bearings; the fitting clearance between the first bearing 125 and the waist-shaped mounting hole 1221 is 0 to 20 μm, preferably 0 to 10 μm. The size of the gap here has a greater impact on the control accuracy. Reducing the gap can increase the accuracy of control; the diameter of the valve core 122 is 1 to 100 mm, preferably 2 to 70 mm; 2 to 10 annular sleeves 1222 can be set on the valve core 122, and the wall thickness of the valve sleeve 123 is 0.5 to 20 mm, preferably 0.6 to 2 mm; the fitting clearance between the annular sleeve 1222 and the valve sleeve 123 is 0 to 30 μm , preferably 0 to 10 μm, where the size of the gap will affect the internal leakage. The smaller the gap, the smaller the leakage. It can be designed according to the needs; the outer shell 110 can be formed by laser powder bed melting, electron beam powder bed melting, binder jetting, direct energy deposition, material extrusion, cold spraying, casting, forging or machining. The outer shell 110 can be made of aluminum alloy, titanium alloy, high-temperature alloy, stainless steel, mold steel, plastic or composite material. The surface of the outer shell 110 is sandblasted, electroplated, sprayed, anodized, coated or painted. One or more treatments; the valve sleeve 123, The valve core 122 and the crankshaft 124 can be formed by laser powder bed melting, electron beam powder bed melting, binder jetting, direct energy deposition, stereolithography, injection molding, cold spraying, casting, electromachining or machining; the valve sleeve 123, the valve core 122 and the crankshaft 124 can be made of aluminum alloy, titanium alloy, high-temperature alloy, stainless steel, mold steel, ceramic or composite material; the surfaces of the valve sleeve 123, the valve core 122 and the crankshaft 124 can be subjected to one or more treatments of sandblasting, electroplating, spraying, anodizing, physical vapor deposition, chemical vapor deposition, coating or painting.

[0135] As an optional embodiment, the crankshaft 124 simultaneously moves through the valve sleeve 123 and the valve core 122 and is connected to the support shaft 126. The axis of the support shaft 126 coincides with the axis of the rotating valve stem 121. A second bearing 127 is sleeved on the support shaft 126. The support shaft 126 is movably connected to the bottom of the nested antler channel 130 through the second bearing 127.

[0136] In this embodiment, by designing the crankshaft 124 to pass through the valve sleeve 123 and the valve core 122, the valve core 122 is driven to move through the middle of the crankshaft 124. Compared with driving the valve core 122 through the end of the crankshaft 124, the force applied to the valve core 122 is smaller and the risk of breakage is less likely to occur, thereby further improving the service life. At the same time, the cooperation of the support shaft 126 and the second bearing 127 can support the crankshaft 124 and the rotating valve stem 121, with good operating stability and low wear.

[0137] As an optional embodiment, a third bearing 128 is provided on the rotating valve stem 121, and the third bearing 128 is movably embedded in the top of the nested antler channel 130. The third bearing 128 can rotate in conjunction with the rotating valve stem 121 and support it on the nested antler channel 130 at the same time, thereby further improving the operating stability and reducing wear.

[0138] As an optional embodiment, multiple antler fluid channels are opened in the nested antler channel 130, each antler fluid channel includes a main branch 131 for connecting to the hydraulic equipment, the main branch 131 is connected to a number of first branches 132, the first branches 132 are connected to a number of second branches 133, and the second branches 133 are used to connect to the corresponding through holes.

[0139] In this embodiment, the multiple antler fluid channels opened in the nested antler channel 130 can flow through different hydraulic oil passages respectively. At the same time, the hydraulic oil can be evenly divided into multiple streams and connected to the corresponding through holes through the first branch 132 and the second branch 133, so that the valve core 122 is evenly stressed and the drive is more stable.

[0140] It should be noted that the number of first branches 132 is 1 to 10, and the number of second branches 133 is 2 to 40, which can be designed according to actual needs; the wall thickness of the antler fluid channel is 0.1 to 5 mm, which can be a uniform wall thickness or a non-uniform wall thickness, wherein the non-uniform wall thickness variation ratio is 20% to 80%; the nested antler channel 130 can be formed using laser powder bed melting, electron beam powder bed melting, binder jetting, direct energy deposition, stereolithography, material extrusion, cold spraying or casting; the nested antler channel 130 can be made of aluminum alloy, titanium alloy, high-temperature alloy, stainless steel or mold steel; the surface of the nested antler channel 130 is sandblasted, electroplated, sprayed, anodized or coated; the inner wall of the nested antler channel 130 is subjected to one or more treatments of ultrasonic cleaning, abrasive flow, water particle flow, magnetic grinding, chemical polishing or oil cleaning.

[0141] Several methods for forming the nested antler channel 130 are specifically described below:

[0142] (1) When the nested antler channel 130 is formed by laser powder bed fusion, the forming method includes the following steps:

[0143] Step S1: The powder is batched, sieved, dried, and then loaded into a manufacturing environment equipped with a forming platform;

[0144] Step S2: preheating the forming platform and replacing the manufacturing environment with inert gas;

[0145] Step S3: spreading powder on the surface of the forming platform, and then scanning and sintering a local area of the powder layer by laser;

[0146] Step S4: The forming platform descends one layer thickness and repeats step S3 until the three-dimensional nested antler channel 130 is formed.

[0147] (2) When the nested antler channel 130 is formed by electron beam powder bed fusion, the forming method includes the following steps:

[0148] Step S1: The powder is batched, sieved, dried, and then loaded into a manufacturing environment equipped with a forming platform;

[0149] Step S2: preheating the forming platform and evacuating the manufacturing environment;

[0150] Step S3: spreading powder on the surface of the forming platform, and then heating the powder layer area by electron beam scanning;

[0151] Step S4: Scanning and sintering a local area of the powder layer by electron beam;

[0152] Step S5: The sintering area is kept warm for a certain period of time, and the forming platform is lowered by one layer thickness;

[0153] Step S6: Repeat steps S3 to S5 until the three-dimensional nested antler channel 130 is formed.

[0154] (3) When the nested antler channel 130 is formed by adhesive injection molding, the molding method includes the following steps:

[0155] Step S1: The powder is batched, sieved, dried, and then loaded into a manufacturing environment equipped with a forming platform;

[0156] Step S2: Spread and compact the powder on the surface of the forming platform, and use a nozzle to spray the binder on the surface of the powder layer according to the cross section of the current layer model to bond the powder particles together to form a solid structure.

[0157] Step S3: the forming platform descends by one layer thickness, and step S2 is repeated until the three-dimensional nested antler channels 130 are bonded together to form a printed blank;

[0158] Step S4: The printed blank is solidified by drying or chemical reaction to complete the formation of the three-dimensional nested antler channel 130.

[0159] (4) When the nested antler channel 130 is formed by casting, the forming method includes the following steps:

[0160] Step S1: melting the casting material to form molten metal;

[0161] Step S2: pouring the molten metal into the mold, entering the mold cavity through the gate, and filling the entire mold cavity;

[0162] Step S3: After the metal filling is completed, wait for a certain period of time for the metal to cool and solidify;

[0163] Step S4: After the casting is completely cooled, the mold is disassembled to complete the formation of the three-dimensional nested antler channel 130.

[0164] As an optional embodiment, the cross-sectional area of the main branch 131 is greater than or equal to the sum of the cross-sectional areas of the corresponding first branches 132, and the cross-sectional area of the first branch 132 is greater than or equal to the sum of the cross-sectional areas of the corresponding second branches 133, thereby preventing flow saturation.

[0165] As an optional embodiment, the valve sleeve 123 is provided with X groups of through holes arranged axially, and each group of through holes includes Y pairs of slots 1231 distributed radially along the valve sleeve 123; wherein, the range of X is 3 to 20, the range of Y is 1 to 15, and the spacing between adjacent groups of through holes is 0 to 10 mm, which can be designed according to actual usage requirements.

[0166] As an optional embodiment, assuming that the cross-sectional area of the main branch 131 is S, then S≥K1*h*b*Y; wherein, K1 is a multiple, and K1 is 2 to 16, h is the moving distance of the valve core 122, and b is the width of the slot 1231; assuming that the difference between the cross-sectional areas of the annular sleeve 1222 and the valve core 122 is ΔS, then ΔS≥K2*h*b*Y; wherein, K2 is a multiple, and K2 is 2 to 10, thereby preventing flow saturation.

[0167] As an optional embodiment, it is assumed that when the crankshaft 124 rotates forward and drives the valve core 122 to slide to the left limit position inside the valve sleeve 123, the group A through holes can be opened, and when the crankshaft 124 rotates backward and drives the valve core 122 to slide to the right limit position inside the valve sleeve 123, the group B through holes can be opened; wherein the ranges of A and B are both 2~(X-1), thereby ensuring that a passage can be formed when the valve core 122 moves to the limit position.

[0168] As an optional embodiment, the shape of the slot 1231 is at least one of waist-shaped, circular, polygonal (such as rectangular, pentagonal, etc.), star-shaped or special-shaped (such as irregular polygon), and can be designed according to actual needs.

[0169] As an optional embodiment, a housing cavity for accommodating the valve sleeve 123 is provided in the nested antler channel 130, and a mounting port communicating with the housing cavity is provided on one side of the nested antler channel 130. A sealing cover 140 is detachably connected (for example, threaded or screwed) to the mounting port to facilitate assembly of the valve sleeve 123. After assembly, the sealing cover 140 is installed on the mounting port to fix the valve sleeve 123 in the nested antler channel 130 to prevent it from moving. It should be noted that the fitting clearance between the valve sleeve 123 and the housing cavity is -20 to 20 μm, preferably -10 to 10 μm. The size of the clearance affects the amount of internal leakage. In principle, the smaller the better, and it can be selected according to design requirements.

[0170] The assembly method of the valve sleeve 123 and the nested antler channel 130 is as follows: freeze the 3D printed valve sleeve 123 to reduce the size of the valve sleeve 123; embed the valve sleeve 123 into the accommodating cavity of the nested antler channel 130 at room temperature; wait for the valve sleeve 123 to return to room temperature, and complete the interference fit and lossless assembly.

[0171] As an optional embodiment, the solid part of the nested antler channel 130 is a lattice structure, and the lattice structure is any one of a rod-shaped lattice, a plate-shaped lattice or a continuous curved surface lattice, so as to achieve the purpose of weight reduction, making the entire servo valve lighter and reducing material costs. The weight reduction ratio can be set according to 0.5% to 99.5%.

[0172] It should be noted that the rod-shaped lattice can be configured as a variable density structure (e.g. Figure 17 As shown in the figure, a rod-shaped lattice with variable density can be constructed by taking the 3D stress map of the part as input, which can convert the stress map into a material density map. The generated lattice has a higher density in areas with higher stress and a lower density in areas with lower stress, thereby improving the uniformity of stress resistance.

[0173] As an optional embodiment, an electric motor 150 for driving the rotary valve stem 121 to rotate is disposed in the outer shell 110 . The electric motor 150 is electrically connected to a circuit board 160 , and an angular displacement sensor is disposed on the circuit board 160 .

[0174] In this embodiment, the circuit board 160 can drive the electric motor 150 to operate after receiving the signal, and the electric motor 150 can drive the rotary valve stem 121 to rotate, thereby driving the crankshaft 124 to rotate. The angular displacement sensor can collect the current rotation angle of the crankshaft 124 and feed it back to the circuit board 160, compare the difference between the rotation angle of the crankshaft 124 and the input signal in real time, dynamically adjust the rotation speed and position of the crankshaft 124, and realize closed-loop control.

[0175] It should be noted that the diameter of the electric motor 150 is 5 to 200 mm and the height is 5 to 200 mm. The electric motor 150 consists of a stator and a rotor. The rotor can form an integrated structure with the rotary valve stem 121. The thermal conductivity of the stator of the electric motor 150 can be increased through a glue filling process; the angular displacement sensor can adopt any one of a capacitive encoder, a photoelectric encoder, a magnetic encoder, a Hall sensor, an inductive sensor, a resistive sensor, a micro-electromechanical system sensor or a laser sensor; the number of layers of the circuit board 160 is 1 to 20 layers, which can be designed according to requirements; the side wall of the outer shell 110 is provided with a connector for power and signal communication with external equipment.

[0176] As an optional embodiment, a radiator 170 is provided above the circuit board 160. The radiator 170 is located at the top of the outer shell 110. A heat dissipation hole is opened at the top of the outer shell 110. The setting of the radiator 170 and the heat dissipation hole can dissipate heat for the circuit board 160, thereby ensuring that the circuit board 160 can operate efficiently.

[0177] As an optional embodiment, the radiator 170 includes at least one of thermal grease, a cooling fan or a semiconductor cooler, all of which can meet the heat dissipation requirements. Other applicable radiators 170 can also be used.

[0178] As an optional embodiment, the eccentricity of the crankshaft 124 relative to the rotating valve stem 121 is 0.1 to 20 mm, preferably 0.5 to 2.5 mm, and can be designed according to actual usage requirements.

[0179] As an optional embodiment, a limit baffle is provided on the inner wall of the outer shell 110, and a limit block 180 is provided on the rotary valve stem 121 to cooperate with the limit baffle to limit the rotation angle of the rotary valve stem 121, thereby limiting the rotation angle of the crankshaft 124. The limited rotation angle of the crankshaft 124 here is 0~180°, preferably 10°~170°.

[0180] As an optional embodiment, at least one heat dissipation layer 190 is provided on the inner wall of the outer shell 110. The material of the heat dissipation layer 190 is any one of thermal conductive gel, pure copper, copper alloy, pure aluminum, aluminum alloy, pure silver or silver alloy. It can dissipate the heat generated by the components inside the outer shell 110 during operation, thereby reducing the failure rate.

[0181] It should be noted that the processing technology of the heat dissipation layer 190 adopts at least one of hot extrusion, direct energy deposition, coating, electroplating, chemical plating, hot dip plating, cold spraying, vapor deposition or thermal spraying; the number of layers of the heat dissipation layer 190 is ≥1, preferably 1 to 5 layers; the single layer thickness of the heat dissipation layer 190 is 0.001mm to 10mm, preferably 0.01mm to 0.5mm.

[0182] As an optional embodiment, in order to improve the surface strength of the outer shell 110 and the nested antler channel 130, a reinforcing texture can be set on the outer wall of the shell 110 and the nested antler channel 130. The reinforcing texture can adopt at least one of triangular texture, square texture, hexagonal texture, octagonal texture, rhombus dodecahedron texture, double-angle tensile texture, single-angle tensile texture or random texture.

[0183] It should be noted that each sealing part in the servo valve of this embodiment needs to use a sealing ring, which can be composed of an O-ring and a retaining ring. The O-ring can be made of nitrile rubber, hydrogenated nitrile rubber, fluororubber, silicone rubber, EPDM rubber, acrylate rubber, ethylene acrylate rubber, polyester polyurethane rubber or polyether polyurethane rubber, and its hardness is 70 to 100HA; the retaining ring can be made of polytetrafluoroethylene, nylon 6, or nylon 1010, and its hardness is greater than or equal to 90HS.

[0184] The working principle of the present application is illustrated below with reference to an example: here, the antler fluid channels can be set up in four groups, namely, antler fluid channel E, antler fluid channel O, antler fluid channel Y1 and antler fluid channel Y2; wherein the antler fluid channel E has one main branch 131, eight first branches 132 and sixteen second branches 133, the antler fluid channel O has one main branch 131, four first branches 132 and sixteen second branches 133, the antler fluid channel Y1 and the antler fluid channel Y2 each have one main branch 131, two first branches 132 and eight second branches 133; the main branch 131 of the antler fluid channel E is connected to the hydraulic pump, and the antler fluid channel The main branch 131 of channel O is connected to the oil source, and the antler fluid channel Y1 and the antler fluid channel Y2 are respectively connected to the oil inlet and oil return port of the hydraulic equipment (such as a hydraulic cylinder); the valve sleeve 123123 is provided with two groups of through holes a, one group of through holes b, one group of through holes c and two groups of through holes d, each group of through holes a has 8 slots 1231, which are respectively connected to the second branches 133 corresponding to the antler fluid channel E, the through holes b and the through holes c both have 8 slots 1231, which are respectively connected to the corresponding second branches 133 of the antler fluid channel Y1 and the antler fluid channel Y2, and each group of through holes d has 8 slots 1231, which are respectively connected to the second branches 133 of the antler fluid channel O. After being assembled correctly according to the above relationship, the antler fluid channel is connected to the through hole of the valve sleeve 123 through the second branch 133 to form a passage. The working process of the servo valve is mainly to calculate the current control signal according to the target position given by the hydraulic system, and transmit it to the servo amplifier after D / A conversion to drive the electric motor 150 to rotate the crankshaft 124 forward or reverse. The angular displacement sensor collects the current rotation angle of the crankshaft 124 and feeds it back to the circuit board 160, compares the difference between the rotation angle of the crankshaft 124 and the input signal in real time, and dynamically adjusts the rotation speed and position of the crankshaft 124 to achieve closed-loop control; by rotating the crankshaft 124 forward and reverse Thereby, the valve core 122 is driven to move in the forward and reverse directions. When the crankshaft 124 rotates forward and drives the valve core 122 to slide to the left inside the valve sleeve 123, the antler fluid channel E and the antler fluid channel Y2 form a passage, and the antler fluid channel O and the antler fluid channel Y1 form a passage, so that the push rod of the actuator in the hydraulic equipment moves to the right. When the crankshaft 124 rotates reverse and drives the valve core 122 to slide to the right inside the valve sleeve 123, the antler fluid channel E and the antler fluid channel Y1 form a passage, and the antler fluid channel O and the antler fluid channel Y2 form a passage, so that the push rod of the actuator moves to the left, thereby realizing the action execution control of the hydraulic equipment.

[0185] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A servo valve design method, characterized in that: The following steps are involved: Acquire individual data of several target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve, and the target parameters include valve core diameter, valve core displacement, window gradient, and antler fluid channel cross-sectional area; According to the defined fitness function for the target servo valve, a first fitness value of the individual data in the initial population is obtained under the condition that the objective function is satisfied; wherein the fitness function is expressed as: Fitness(D s ,X V ,W1,A m )=minimize(D s ' 2 +X V '·W1'+A m '); In the formula, Fitness represents the fitness value, minimize represents the minimum value, and D s Indicates the valve core diameter, X V Indicates valve core displacement, W1 indicates window gradient, A m Denotes the cross-sectional area of the antler fluid channel, D s ' represents the optimized valve core diameter, X V ' represents the optimized valve core displacement, W1' represents the optimized window gradient, A m ' represents the cross-sectional area of the optimized antler fluid channel; The objective function is constructed based on the boundary conditions of the target servo valve, and the expression of the objective function is: Where Q is the target flow rate of hydraulic oil flowing through the target servo valve, C dmax is the flow coefficient, k1 is the correction constant, ΔP is the pressure drop of the servo valve, ρ is the liquid density of the hydraulic oil, X Vmax is the maximum valve core displacement, W 1max is the maximum window gradient, D smax is the maximum valve core diameter, μ is the fluid viscosity of the hydraulic oil, Re c is the critical Reynolds number, α is the pressure drop loss coefficient, ΔP max is the maximum pressure drop of the servo valve, β, δ and γ are geometric effect coefficients; Recombining the initial population to generate a new population; Obtaining, according to the fitness function, a second fitness value of the individual data in the new population; Based on the second fitness value, determine whether the termination condition is met. If not, return to the step of reorganizing the initial population to generate a new population. If so, output the optimal solution of the target parameter and the corresponding fitness value to obtain the design parameters of the target servo valve.

2. A servo valve design method according to claim 1, characterized in that: The termination condition includes at least one of the following: Reached the maximum number of iterations; The fitness value is less than the preset threshold.

3. A servo valve design method according to claim 1, characterized in that: The recombining of the initial population to generate a new population comprises: Performing a crossover operation on the initial population to reproduce and obtain an offspring population; Performing a mutation operation on the individual data corresponding to the offspring population; The offspring population after the mutation operation and the initial population are combined into a new population.

4. A servo valve design system, characterized in that: include: An initial population generation module is used to obtain individual data of a number of target parameters to generate an initial population; wherein the target parameters are design parameters corresponding to the target servo valve, and the target parameters include valve core diameter, valve core displacement, window gradient, and antler fluid channel cross-sectional area; The first evaluation module is configured to obtain, based on a defined fitness function for the target servo valve, a first fitness value of the individual data in the initial population under a condition that the target function is satisfied; wherein the fitness function is expressed as: Fitness(D s ,X V ,W1,A m )=minimize(D s ' 2 +X V '·W1'+A m '); In the formula, Fitness represents the fitness value, minimize represents the minimum value, and D s Indicates the valve core diameter, X V Indicates valve core displacement, W1 indicates window gradient, A m Denotes the cross-sectional area of the antler fluid channel, D s ' represents the optimized valve core diameter, X V ' represents the optimized valve core displacement, W1' represents the optimized window gradient, A m ' represents the cross-sectional area of the optimized antler fluid channel; The objective function is constructed based on the boundary conditions of the target servo valve, and the expression of the objective function is: Where Q is the target flow rate of hydraulic oil flowing through the target servo valve, C dmax is the flow coefficient, k1 is the correction constant, ΔP is the pressure drop of the servo valve, ρ is the liquid density of the hydraulic oil, X Vmax is the maximum valve core displacement, W 1max is the maximum window gradient, D smax is the maximum valve core diameter, μ is the fluid viscosity of the hydraulic oil, Re c is the critical Reynolds number, α is the pressure drop loss coefficient, ΔP max is the maximum pressure drop of the servo valve, β, δ and γ are geometric effect coefficients; A new population generation module, used for recombining the initial population to generate a new population; A second evaluation module is configured to obtain a second fitness value of the individual data in the new population according to the fitness function; A data processing module is used to determine whether the termination condition is met based on the second fitness value; if not, return to the step of reorganizing the initial population to generate a new population; if so, output the optimal solution of the target parameter and the corresponding fitness value to obtain the design parameters of the target servo valve.

5. A servo valve, characterized in that: The design is based on a servo valve design method according to any one of claims 1-3.

6. A servo valve according to claim 5, characterized in that: It comprises an outer shell, wherein a valve assembly is provided in the outer shell, wherein the valve assembly is connected to a nested antler channel, and the nested antler channel is used to connect to the hydraulic equipment; wherein, The valve assembly includes a rotating valve stem, a valve core and a valve sleeve. The axis of the rotating valve stem is perpendicular to the axis of the valve core. The valve core is coaxial and movably arranged in the valve sleeve. The bottom of the rotating valve stem is connected to a crankshaft. A first bearing is sleeved on the crankshaft. The valve sleeve is arranged in the nested antler channel. The valve sleeve is provided with multiple groups of through holes for communicating with the nested antler channel along the axial direction of the valve sleeve. A movable groove cooperating with the crankshaft is radially provided in the middle part of the valve sleeve. A waist-shaped mounting hole cooperating with the first bearing is provided inside the valve core. The length direction of the waist-shaped mounting hole is perpendicular to the axial direction of the valve core. At least one annular sleeve is fixedly sleeved on both sides of the mounting hole on the valve core. The annular sleeve is used to seal the through holes at different positions.

7. A servo valve according to claim 6, characterized in that: The crankshaft simultaneously moves through the valve sleeve and the valve core and is connected to a support shaft. The axis of the support shaft coincides with the axis of the rotating valve stem. A second bearing is sleeved on the support shaft, and the support shaft is movably connected to the bottom of the nested antler channel through the second bearing.

8. A servo valve according to claim 6 or 7, characterized in that: A third bearing is sleeved on the rotating valve stem, and the third bearing is movably embedded in the top of the nested antler channel.

9. A servo valve according to claim 6, characterized in that: The fitting clearance between the first bearing and the waist-shaped mounting hole is 0-20 μm.

10. A servo valve according to claim 6, characterized in that: The fitting clearance between the annular sleeve and the valve sleeve is 0 to 30 μm.

11. A servo valve according to claim 6, characterized in that: There are multiple antler fluid channels in the nested antler channel, and each of the antler fluid channels includes a main branch for connecting to the hydraulic equipment. The main branch is connected to a number of first branches, and the first branches are connected to a number of second branches. The second branches are used to connect to the corresponding through holes.

12. A servo valve according to claim 11, characterized in that: The cross-sectional area of the main branch is greater than or equal to the sum of the cross-sectional areas of the corresponding first branches, and the cross-sectional area of the first branch is greater than or equal to the sum of the cross-sectional areas of the corresponding second branches.

13. A servo valve according to claim 12, characterized in that: Assume that the valve sleeve is axially arranged with X groups of through holes, and each group of through holes includes Y pairs of slots distributed radially along the valve sleeve; wherein X ranges from 3 to 20, and Y ranges from 1 to 15.

14. A servo valve according to claim 13, characterized in that: Assuming the cross-sectional area of the main branch is S, then S≥K1*h*b*Y; wherein K1 is a multiple and ranges from 2 to 16, h is the moving distance of the valve core, and b is the width of the slot; Assuming that the difference in cross-sectional area between the annular sleeve and the valve core is ΔS, then ΔS≥K2*h*b*Y; wherein K2 is a multiple, and K2 is 2-10.

15. A servo valve according to claim 13, characterized in that: Assume that when the crankshaft rotates forward and drives the valve core to slide to the left limit position inside the valve sleeve, the through holes of group A can be opened, and when the crankshaft rotates backward and drives the valve core to slide to the right limit position inside the valve sleeve, the through holes of group B can be opened; wherein the ranges of A and B are both 2~(X-1).

16. A servo valve according to claim 13, characterized in that: The shape of the slot is at least one of waist-shaped, circular, polygonal, star-shaped or irregular.

17. A servo valve according to claim 6 or 11, characterized in that: A accommodating cavity for accommodating the valve sleeve is provided in the nested antler channel, and a mounting port communicating with the accommodating cavity is provided on one side of the nested antler channel, and a sealing cover is detachably connected to the mounting port.

18. A servo valve according to claim 17, characterized in that: The matching clearance between the valve sleeve and the accommodating cavity is -20 to 20 μm.

19. A servo valve according to claim 6 or 11, characterized in that: The solid part of the nested antler channel is a lattice structure.

20. A servo valve according to claim 19, characterized in that: The lattice structure is any one of a rod-shaped lattice, a plate-shaped lattice or a continuous curved surface lattice.

21. A servo valve according to claim 6, characterized in that: An electric motor for driving the rotary valve stem to rotate is disposed in the outer shell. The electric motor is electrically connected to a circuit board, and an angular displacement sensor is disposed on the circuit board.

22. A servo valve according to claim 21, characterized in that: A radiator is provided above the circuit board and is located at the top of the outer shell. The top of the outer shell is provided with heat dissipation holes.

23. A servo valve according to claim 22, characterized in that: The radiator includes at least one of thermal grease, a cooling fan or a semiconductor refrigerator.

24. A servo valve according to claim 6, characterized in that: The eccentricity of the crankshaft relative to the rotary valve stem is 0.1 to 20 mm.

25. A servo valve according to claim 6, characterized in that: A limit baffle is provided on the inner wall of the outer shell, and a limit block cooperating with the limit baffle is provided on the rotary valve stem to limit the rotation angle of the rotary valve stem.

26. A servo valve according to claim 6, characterized in that: The inner wall of the housing is provided with at least one heat dissipation layer, and the material of the heat dissipation layer is any one of thermal conductive gel, pure copper, copper alloy, pure aluminum, aluminum alloy, pure silver or silver alloy.

27. A servo valve according to claim 26, characterized in that: The thickness of a single layer of the heat dissipation layer is 0.001 mm to 10 mm.

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