A miniature hydraulic electromagnetic commutation valve

Abstract

The application discloses a micro hydraulic electromagnetic reversing valve and belongs to the technical field of electromagnetic reversing valves. The valve comprises a valve body, a valve core, an electromagnet assembly and a self-adaptive chatter control system. The electromagnet assembly drives the valve core to move, the self-adaptive chatter control system obtains corresponding coefficients through a mechanical structure, electromagnetic characteristics, fluid characteristics and an environmental state analysis module, then combines the deviation of the chatter period and amplitude, obtains a period-amplitude cooperativity coefficient through a period-amplitude cooperativity model, and finally dynamically calculates a target peak current by using a current optimization model. Through multi-parameter fusion and self-adaptive control, the application can actively maintain the micro relative movement between the valve core and the valve body, effectively prevent the mirror fitting phenomenon caused by the pressure difference, improve the working reliability, working condition adaptability and service life of the valve, and meanwhile, the compact structure and easy installation are maintained.

Description

Technical Field

[0001] This invention belongs to the field of electromagnetic directional valve technology, and particularly relates to a miniature hydraulic electromagnetic directional valve. Background Technology

[0002] With the development and progress of manufacturing technology in my country, the miniaturization of hydraulic systems has become a new technical challenge, especially in fields such as oil exploration and aerospace, where the demand for miniature hydraulic components is enormous. Currently, electromagnetic directional valves on the market are larger and more complex to install than this product. Most miniaturized electromagnetic directional valves are two-position three-way valves, which have limited application scenarios. Due to the pressure difference at the contact surface, electromagnetic valves produce a mirror-like contact effect, often requiring a large force to move the valve core.

[0003] A miniature hydraulic solenoid directional valve is proposed that can induce valve core vibration and prevent the contact surfaces from sticking together when they are relatively stationary. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a miniature hydraulic electromagnetic directional valve, which solves the aforementioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a miniature hydraulic solenoid directional valve, comprising a push rod, a valve body, and a valve core, wherein the valve core is connected to the push rod via a pin, and the valve body is provided with interfaces TA, A, P, B, and TB, and further comprising:

[0006] An electromagnet assembly, used to drive a valve core to perform linear motion and cause the valve core to vibrate relative to the valve body, includes an excitation coil, an electromagnet housing, and an iron core that slides relative to the electromagnet housing. Drive coil A and drive coil B are embedded and installed within the electromagnet housing, symmetrically distributed at both ends of the iron core. An armature connected to a push rod via a grooved ball head is threaded onto the iron core. A front cover threaded to the valve body is detachably installed on the electromagnet housing. Two springs are sleeved on the push rod, symmetrically arranged on both sides of a spring seat fixedly connected to the push rod. The spring seats slide in cooperation with a groove formed on the valve body. The excitation coil is embedded within the electromagnet housing and encapsulated within the electromagnet housing via a rear cover detachably connected to the electromagnet housing.

[0007] Based on the above technical solutions, the present invention also provides the following optional technical solutions:

[0008] Further technical solutions include an adaptive vibration control system for actively maintaining the micro-relative motion between the valve core and the valve body, including:

[0009] The mechanical structure analysis module obtains mechanical structure coefficients based on mechanical structure data and through a mechanical structure state model.

[0010] The electromagnetic property analysis module obtains electromagnetic property coefficients based on electromagnetic property data and through an electromagnetic property model.

[0011] The fluid characteristic analysis module obtains fluid characteristic coefficients based on fluid characteristic data and through a fluid characteristic model;

[0012] The environmental analysis module, based on environmental data, obtains environmental state coefficients through an environmental state model;

[0013] The period-amplitude coordination analysis module, based on mechanical structure coefficients and electromagnetic characteristic coefficients, combined with flutter period deviation and flutter amplitude deviation, obtains the period-amplitude coordination coefficient through a period-amplitude coordination model.

[0014] The current optimization module obtains the target peak current through a current optimization model based on period-amplitude synergy, fluid characteristic coefficients, environmental state coefficients, and the currently applied peak current.

[0015] A further technical solution: The current optimization model is expressed as follows:

[0016] ;

[0017] in, Indicates the target peak current. This indicates that a peak current is currently being applied. This represents the target period-amplitude coordination coefficient. This represents the period-amplitude coordination coefficient. Represents fluid characteristic coefficients. Represents the environmental state model. Indicates the maximum permissible peak current. This indicates the minimum permissible peak current.

[0018] Further technical solution: The period-amplitude collaborative analysis module is configured to perform the following steps:

[0019] Obtain the actual jitter period and the actual jitter amplitude;

[0020] The absolute difference between the actual jitter period and the preset jitter period is processed to obtain the jitter period deviation;

[0021] The absolute difference between the actual jitter amplitude and the preset jitter amplitude is processed to obtain the jitter amplitude deviation;

[0022] The jitter cycle deviation and jitter amplitude deviation are compared with the corresponding allowable deviation values ​​to obtain the jitter cycle deviation index and jitter amplitude deviation index.

[0023] The mechanical structure coefficient, electromagnetic characteristic coefficient, flutter period deviation index, and flutter amplitude deviation index are imported into the period-amplitude coordination model to obtain the period-amplitude coordination coefficient. The period-amplitude coordination model is expressed as follows:

[0024] ;

[0025] in, This represents the period-amplitude coordination coefficient. Indicates the mechanical structure coefficient. Represents the electromagnetic characteristic coefficient. This indicates the tremor cycle deviation index. The index represents the fluctuation amplitude deviation index. The higher the value, the better the tremor state.

[0026] Further technical solution: The environmental analysis module is configured to perform the following steps:

[0027] Acquire environmental data, including system hydraulic pressure and system temperature;

[0028] The pressure deviation index is obtained by comparing the absolute difference between the system hydraulic pressure and the optimal pressure value with the allowable deviation from the optimal pressure value. The pressure deviation index is greater than zero.

[0029] The absolute difference between the system temperature and the optimal temperature is compared with the allowable deviation from the optimal temperature to obtain the temperature deviation index, which is greater than zero.

[0030] The pressure deviation index and temperature deviation index are imported into the environmental state model to obtain the environmental state coefficients. The environmental state model is expressed as follows:

[0031] ;

[0032] in, Represents the environmental state model. This indicates a pressure deviation index. Indicates the temperature deviation index, the The higher the value, the better the environmental condition.

[0033] Further technical solution: The fluid characteristic analysis module is configured to perform the following steps:

[0034] Acquire fluid property data, including liquid viscosity and liquid particle density;

[0035] The liquid viscosity and liquid particle density are subjected to maximum-min normalization to obtain the liquid viscosity factor and liquid particle density factor.

[0036] The liquid viscosity factor and liquid particle density factor are respectively taken as complements to obtain the liquid viscosity index, liquid particle density index and hydrodynamic index;

[0037] The fluid viscosity index and the fluid particle density index are imported into the fluid characteristic model to obtain the fluid characteristic coefficients. The fluid characteristic model is expressed as follows:

[0038] ;

[0039] in, Represents fluid characteristic coefficients. Indicates the viscosity index of a liquid. Indicates the density index of liquid particles. Indicates the hydrodynamic index, Represents the weight coefficient and The Furthermore, the larger the value, the better the fluid properties.

[0040] Further technical solution: The electromagnetic characteristic analysis module is configured to perform the following steps:

[0041] Acquire electromagnetic characteristic data, including the resistance of the drive coil, the inductance of the drive coil, and the remanence of the electromagnet;

[0042] The driving coil resistance, driving coil inductance, and electromagnet remanence are subjected to maximum-minimum normalization to obtain the driving coil resistance index, driving coil inductance index, and remanence index.

[0043] The resistance index, inductance index, and remanence index of the driving coil are imported into the electromagnetic characteristic model to obtain the electromagnetic characteristic coefficients. The electromagnetic characteristic model is expressed as follows:

[0044] ;

[0045] in, Represents the electromagnetic characteristic coefficient. Indicates the resistance index of the drive coil. Indicates the inductance index of the drive coil. The remanence index is represented by the following. Furthermore, the larger the value, the better the electromagnetic properties.

[0046] Further technical solution: The mechanical structure analysis module is configured to perform the following steps:

[0047] Obtain mechanical structure data, including the clearance between the valve core and the valve body, the spring stiffness, and the total mass of the valve core moving components (the sum of the masses of all components involved in the vibration, such as the valve core, push rod, iron core, and armature).

[0048] The absolute differences between the valve core and valve body fit clearance, spring stiffness, and total mass of the valve core moving components and their corresponding optimal values ​​are compared with the corresponding allowable deviation values ​​to obtain the fit clearance index, stiffness index, and moving component mass index. All of these indices are greater than zero.

[0049] The clearance index, stiffness index, and mass index of moving components are imported into the mechanical mechanism state model to obtain mechanical structure coefficients. The mechanical structure model includes:

[0050] ;

[0051] in, Indicates the mechanical structure coefficient. Indicates the clearance index, Indicates the stiffness index. The mass index of the moving component is indicated by the following: Furthermore, the higher the value, the better the mechanical condition.

[0052] This invention provides a miniature hydraulic solenoid directional valve, which has the following advantages compared with the prior art:

[0053] 1. This invention employs a dual-drive coil structure symmetrically distributed at both ends of the iron core, combined with an armature connected to the push rod via a grooved ball head. This allows the electromagnet to provide bidirectional and stable driving force, ensuring not only the accuracy and response speed of the valve core switching but also providing a stable force source for the high-frequency micro-vibration of the valve core. The symmetrically arranged spring and spring seat structure ensures the stable reset of the valve core in the middle position, creating an ideal elastic support environment for vibration. This integrated structural design allows the valve core to continuously perform anti-adhesion micro-vibration while realizing the main switching function, fundamentally solving the valve core jamming problem caused by the mirror adhesion effect in traditional solenoid valves.

[0054] 2. This invention can dynamically optimize peak current output based on the period-amplitude coordination coefficient and combined with fluid and environmental conditions, effectively avoiding static friction between the valve core and valve body, improving the reliability of operation while effectively reducing energy consumption and component wear. The system can comprehensively evaluate mechanical structure, electromagnetic characteristics, fluid conditions and system environment, realize comprehensive monitoring of the health status and working environment of the reversing valve, and provide a basis for precise control.

[0055] 3. The adaptive vibration control system proposed in this invention can automatically compensate for changes in working status caused by factors such as pressure, temperature, and oil contamination, significantly improving the stability and lifespan of the miniature electromagnetic directional valve in complex application environments.

[0056] 4. While realizing intelligent control functions, the present invention maintains a miniaturized valve body structure, with small overall size and light weight, making it easy to integrate and install, thus meeting the needs of space-constrained precision hydraulic systems. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0058] Figure 2 This is a schematic diagram of the electromagnet assembly of the present invention.

[0059] Figure label annotations: 1. Electromagnet assembly; 2. Spring; 3. Push rod; 4. Valve body; 5. Valve core; 6. Pin; 7. Spring seat; 8. Rear cover; 9. Excitation coil; 10. Electromagnet housing; 11. Drive coil A; 12. Iron core; 13. Drive coil B; 14. Armature; 15. Front cover; 16. Interface TA; 17. Interface A; 18. Interface P; 19. Interface B; 20. Interface TB. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0061] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0062] Please see Figure 1 as well as Figure 2 According to one embodiment of the present invention, a miniature hydraulic solenoid directional valve includes a push rod 3, a valve body 4, and a valve core 5. The valve core 5 is connected to the push rod 3 via a pin 6. The valve body 4 has interfaces TA16, A17, P18, B19, and TB20. It also includes:

[0063] The electromagnet assembly, used to drive the valve core 5 to perform linear movement and cause the valve core 5 to vibrate relative to the valve body 4, includes an excitation coil 9, an electromagnet housing 10, and an iron core 12 that slides relative to the electromagnet housing 10. The electromagnet housing 10 has a drive coil A11 and a drive coil B13 embedded in it, and the two are symmetrically distributed at both ends of the iron core 12. The iron core 12 is threadedly connected to an armature 14 that is connected to a push rod 3 through a grooved ball head. The electromagnet housing 10 has a front cover 15 that is threadedly connected to the valve body 4. The push rod 3 is fitted with two springs 2, which are symmetrically arranged on both sides of a spring seat 7 that is fixedly connected to the push rod 3. The spring seat 7 slides in conjunction with a sliding groove (not shown in the figure) opened on the valve body 4. The excitation coil 9 is embedded in the electromagnet housing 10 and encapsulated in the electromagnet housing 10 through a rear cover 8 that is detachably connected to the electromagnet housing 10.

[0064] In this embodiment of the invention, the hydraulic solenoid directional valve is a three-position four-way directional valve with three working positions (left, center, and right) and five oil circuit interfaces: interface P18, interface TA16, interface TB20, interface A17, and interface B19. The entire hydraulic solenoid directional valve is fixed to a specially made valve block by threads, with each oil outlet aligned and sealed by an O-ring. The iron core 12 and armature 14 are connected by threads, the armature 14 and push rod 3 are connected by a grooved ball joint structure, and the push rod 3 and valve core 5 are connected by a pin 6. When the hydraulic solenoid directional valve is not energized, it springs... Spring 2 is in the relaxed state, and valve core 5 is in the neutral state. In the neutral state, port P18 is not connected to other oil ports. Ports TA16 and TB20 are connected to ports A17 and B19 respectively. When the drive coil A11 is energized, it generates electromagnetic force to attract the iron core 12 to move to the left and compress the spring 2 near the side of the electromagnet assembly 1. The iron core 12 drives the armature 14, and the push rod 3 and valve core 5 move to the left together. The valve core 5 and valve body 4 cooperate to connect port P18 and port A17 to form a passage. High-pressure oil enters from port P18 and flows out from port A17. Simultaneously, the oil circuits of interface B19 and interface TB20 are connected. At this time, the hydraulic directional valve is in the left position. When the drive coil A11 is de-energized, the electromagnetic force disappears, the spring force of spring 2 is released, and the iron core 12, armature 14, push rod 3, and valve core 5 return to the neutral position under the action of the spring force. The passage between interface P18 and interface A17 is closed, and the passage between interface A17 and interface TA16 is opened. At the same time, the passage between interface B19 and interface TB20 is also open. The connection between interface P18 and other oil circuits is cut off, and the high-pressure oil is sealed at interface P18. At this time, the hydraulic directional valve is in the neutral position. When the drive coil B13 is energized, it generates electromagnetic force, attracting the iron core 12 to move to the right and compressing the spring 2 away from the side of the electromagnet assembly 1. The iron core 12 drives the armature 14, push rod 3, and valve core 5 to move to the right together. The valve core 5 cooperates with the valve body 4 to connect interface P18 and interface B19 to form a passage. High-pressure oil enters from interface P18 and flows out from interface B19. Simultaneously, the oil circuits of interface A17 and interface TA16 are connected, and the hydraulic directional valve is in the right position. Drive coil B13 is de-energized, the electromagnetic force disappears, the spring force of spring 2 is released, and the iron core 12, armature 14, push rod 3, and valve core 5 return to the neutral position under the action of the spring force. The passage between interface P18 and interface B19 is closed, and the passage between interface B19 and interface TB20 is opened. At the same time, the passage between interface A17 and interface TA16 is also open. The connection between interface P18 and other oil circuits is cut off, and high-pressure oil is sealed at interface P18. At this time, the hydraulic directional valve returns to the neutral position.

[0065] When the hydraulic directional valve returns to the neutral position, drive coil A11 and drive coil B13 apply a periodic alternating current, causing the iron core 12 to drive the armature 14, and the push rod 3 and valve core 5 to produce slight vibrations, preventing the valve core 5 from engaging with the valve body 4 due to pressure difference. When the hydraulic directional valve is in the left position, drive coil A11 applies a periodic alternating current, causing the iron core 12 to drive the armature 14, and the push rod 3 and valve core 5 to produce slight vibrations, preventing the valve core 5 from engaging with the valve body 4 due to pressure difference. When the hydraulic directional valve is in the right position, drive coil B13 applies a periodic alternating current, causing the iron core 12 to drive the armature 14, and the push rod 3 and valve core 5 to produce slight vibrations, preventing the valve core 5 from engaging with the valve body 4 due to pressure difference. When the excitation coil 9 detects a discrepancy between the vibration period and the additional period, it applies a larger energy spike current through the controller, increasing the vibration to prevent the valve core 5 and valve body 4 from engaging due to pressure difference, and then resumes a smaller energy alternating period.

[0066] As one embodiment of the present invention, it further includes: an adaptive vibration control system for actively maintaining the micro-relative motion between the valve core and the valve body, comprising:

[0067] The mechanical structure analysis module obtains mechanical structure coefficients based on mechanical structure data and through a mechanical structure state model.

[0068] The electromagnetic property analysis module obtains electromagnetic property coefficients based on electromagnetic property data and through an electromagnetic property model.

[0069] The fluid characteristic analysis module obtains fluid characteristic coefficients based on fluid characteristic data and through a fluid characteristic model;

[0070] The environmental analysis module, based on environmental data, obtains environmental state coefficients through an environmental state model;

[0071] The period-amplitude coordination analysis module, based on mechanical structure coefficients and electromagnetic characteristic coefficients, combined with flutter period deviation and flutter amplitude deviation, obtains the period-amplitude coordination coefficient through a period-amplitude coordination model.

[0072] The current optimization module obtains the target peak current through a current optimization model based on period-amplitude synergy, fluid characteristic coefficients, environmental state coefficients, and the currently applied peak current.

[0073] Through the above technical solution, the present invention can dynamically optimize the peak current output based on the period-amplitude coordination coefficient and combined with the fluid and environmental conditions, effectively avoiding static friction adhesion between the valve core and the valve body, improving the reliability of operation while effectively reducing energy consumption and component wear. The system can comprehensively evaluate the mechanical structure, electromagnetic characteristics, fluid conditions and system environment, realize comprehensive monitoring of the health status and working environment of the directional valve, provide a basis for precise control, and thus significantly improve the operational reliability and adaptability of the micro hydraulic electromagnetic directional valve in the full range of working conditions.

[0074] Preferably, the mechanical structure analysis module is configured to perform the following steps:

[0075] Obtain mechanical structure data, including the clearance between the valve core and the valve body, the spring stiffness, and the total mass of the valve core moving components (the sum of the masses of all components involved in the vibration, such as valve core 5, push rod 3, iron core 12, armature 14, etc.).

[0076] The absolute differences between the valve core and valve body fit clearance, spring stiffness, and total mass of the valve core moving components and their corresponding optimal values ​​are compared with the corresponding allowable deviation values ​​to obtain the fit clearance index, stiffness index, and moving component mass index. All of these indices are greater than zero.

[0077] The clearance index, stiffness index, and mass index of moving components are imported into the mechanical mechanism state model to obtain mechanical structure coefficients. The mechanical structure model includes:

[0078] ;

[0079] in, Indicates the mechanical structure coefficient. Indicates the clearance index, Indicates the stiffness index. The mass index of the moving component is indicated by the following: Furthermore, the higher the value, the better the mechanical condition.

[0080] Among them, the valve core-valve body mating clearance refers to the dynamic clearance value between valve core 5 and valve body 4, which can be measured using a non-contact displacement sensor or a vibration signal analysis method, with the aim of capturing clearance changes caused by wear in real time; spring stiffness refers to the elastic coefficient of spring 2, which can be determined by measuring the relationship between spring deformation and applied force, with the aim of quantifying the degree of spring performance attenuation; the total mass of the valve core moving assembly refers to the sum of the masses of all components involved in the vibration, such as valve core 5, push rod 3, iron core 12, armature 14, etc., which can be obtained through mass calibration or sensors, with the aim of reflecting the motion. The system's inertial characteristics; ratio processing refers to the operation of dividing the absolute difference between the actual value and the optimal value of a parameter by the allowable deviation value. This can be achieved by the data processing unit performing arithmetic operations, and its purpose is to transform the original parameters into dimensionless exponents; the clearance exponent, stiffness exponent, and moving component mass exponent are standardized exponents obtained after ratio processing, and their purpose is to provide comparable quantitative indicators of mechanical state; the mechanical structure model is a mathematical model that expresses the relationship between mechanical structure coefficients and various exponents. This can be achieved by the control chip through the execution of preset algorithms, and its purpose is to comprehensively evaluate the overall level of mechanical state.

[0081] Specifically, the solution in this application acquires mechanical structure data such as the valve core-valve body clearance, spring stiffness, and total mass of the valve core moving components in real time. The absolute differences between these data and the optimal values ​​are then compared with allowable deviations to generate clearance, stiffness, and moving component mass indices. These indices are imported into the mechanical structure model and processed using formulas... Calculate the mechanical structure coefficients. These coefficients comprehensively reflect the overall level of mechanical condition; when any index increases (indicating a deterioration in condition), The value decays rapidly, thus characterizing the degree of mechanical deterioration in real time. This mechanical structure coefficient is fed back to the current optimization module of the adaptive vibration control system to dynamically adjust the target peak current, ensuring that the system can provide just the right amount of vibration energy when mechanical wear or assembly errors change, preventing valve core 5 from sticking and avoiding excessive vibration.

[0082] As a specific implementation method, the solution of this application is implemented as follows: the clearance between the valve core and the valve body is monitored in real time by an eddy current displacement sensor installed on the valve body 4; the spring stiffness is calculated by measuring the deformation of the spring 2 using a strain gauge integrated on the spring seat 7 and combining it with Hooke's law; the total mass of the valve core moving assembly is determined based on the design parameters of the valve core 5, push rod 3, iron core 12, and armature 14, and the wear compensation model. The data acquisition system transmits this information to the microcontroller, which executes a ratio processing algorithm to generate three indices and calls a pre-stored mechanical structure model to calculate... This value is sent to the current optimization module via the communication interface to optimize the flutter control strategy.

[0083] Through the above scheme, the system can dynamically sense the impact of mechanical wear or assembly errors on the vibration effect, and adaptively adjust the vibration energy when the working conditions fluctuate. This effectively prevents valve core jamming caused by insufficient vibration energy, while avoiding energy loss and component wear caused by excessive vibration, significantly improving the reliability and service life of the miniature hydraulic solenoid directional valve under complex working conditions.

[0084] Preferably, the electromagnetic characteristic analysis module is configured to perform the following steps:

[0085] Acquire electromagnetic characteristic data, including the driving coil resistance, driving coil inductance, and electromagnet remanence (the magnetic flux density remaining in the core / armature after the driving current drops to zero).

[0086] The driving coil resistance, driving coil inductance, and electromagnet remanence are subjected to maximum-minimum normalization to obtain the driving coil resistance index, driving coil inductance index, and remanence index.

[0087] The resistance index, inductance index, and remanence index of the driving coil are imported into the electromagnetic characteristic model to obtain the electromagnetic characteristic coefficients. The electromagnetic characteristic model is expressed as follows:

[0088] ;

[0089] in, Represents the electromagnetic characteristic coefficient. Indicates the resistance index of the drive coil. Indicates the inductance index of the drive coil. The remanence index is represented by the following. Furthermore, the larger the value, the better the electromagnetic properties.

[0090] Among them, the driving coil resistance refers to the resistance value of driving coil A11 or driving coil B13, which can be realized by a real-time resistance monitoring circuit, with the purpose of reflecting the coil thermal effect and energy loss status; the driving coil inductance refers to the inductance value of driving coil A11 or driving coil B13, which can be realized by an inductance measurement module, with the purpose of indicating the current response speed and dynamic performance changes; the electromagnet remanence refers to the magnetic flux density remaining in the iron core 12 and armature 14 after the driving current drops to zero, which can be realized by a Hall effect sensor, with the purpose of evaluating the reset capability of valve core 5; the maximum-minimum normalization process refers to mapping the original data to a dimensionless exponent in the interval [0,1], which can be realized by a software algorithm based on historical data extreme values, with the purpose of eliminating the dimensional differences of resistance, inductance and remanence, and ensuring fair comparison of each parameter in the comprehensive model; the electromagnetic characteristic model refers to a nonlinear comprehensive function, which can be realized by a mathematical operation unit in a microcontroller, with the purpose of combining multiple exponents into a single coefficient, sensitively capturing subtle changes when electromagnetic characteristics deteriorate.

[0091] Specifically, the solution in this application first acquires the resistance and inductance data of drive coils A11 and B13, as well as the remanence data of the iron core 12 and armature 14 in real time. These parameters directly characterize the working state of the electromagnet. Then, the raw data undergoes max-min normalization to convert different physical quantities into uniform-scale indices for drive coil resistance, drive coil inductance, and remanence, eliminating magnitude differences. Next, the normalized indices are input into the electromagnetic characteristic model to calculate the electromagnetic characteristic coefficients, which are strictly limited to the range [0,1). This coefficient decreases non-linearly as the exponent increases; a larger value indicates better electromagnetic properties. Ultimately, The data is transmitted to the current optimization module to participate in the dynamic calculation of the target peak current, thereby adjusting the chattering parameters in real time according to changes in the electromagnetic state to ensure that the valve core 5 maintains the optimal chattering state.

[0092] As a preferred embodiment, the solution of this application is implemented as follows: The electromagnetic characteristic analysis module is implemented by an STM32F4 series microcontroller. This microcontroller periodically samples the terminal voltage and current signals of drive coil A11 and drive coil B13 through an integrated analog-to-digital converter to calculate the resistance and inductance values; simultaneously, it uses a Hall sensor embedded inside the electromagnet shell 10 to measure the remanence of the iron core 12; normalization processing is performed in the microcontroller firmware, using the maximum and minimum values ​​of stored historical data for real-time calculation; the electromagnetic characteristic model is directly solved by the microcontroller's floating-point arithmetic unit and outputs... The value is used for parameter adjustment in the current optimization module.

[0093] Through the above scheme, this application can accurately adjust the chattering parameters according to the dynamic characteristics of the resistance change, inductance fluctuation and residual magnetism intensity of the drive coil A11 and drive coil B13, effectively preventing the valve core 5 from sticking due to resistance drift or residual magnetism accumulation caused by temperature rise, while avoiding energy waste caused by excessive chattering, and ensuring that the micro hydraulic solenoid directional valve maintains reliable anti-sticking capability when the electromagnetic characteristics of the system change.

[0094] Preferably, the fluid characteristic analysis module is configured to perform the following steps:

[0095] Acquire fluid characteristic data, including liquid viscosity (monitored in real time by installing an online viscosity sensor on the oil line of the solenoid directional valve at interface P18 (pressure port), interface TA16, and interface TB20 (return port). If it cannot be directly installed at the valve port, it can also be installed on the system's total pressure oil line or the return oil line of the oil tank to ensure that the measured oil is participating in the system circulation) and liquid particle density (install an online particle counter on the main return oil line (upstream of the filter).

[0096] The liquid viscosity and liquid particle density are subjected to maximum-min normalization to obtain the liquid viscosity factor and liquid particle density factor.

[0097] The liquid viscosity factor and liquid particle density factor are respectively taken as complements to obtain the liquid viscosity index, liquid particle density index and hydrodynamic index;

[0098] The fluid viscosity index and the fluid particle density index are imported into the fluid characteristic model to obtain the fluid characteristic coefficients. The fluid characteristic model is expressed as follows:

[0099] ;

[0100] in, Represents fluid characteristic coefficients. Indicates the viscosity index of a liquid. Indicates the density index of liquid particles. Represents the weight coefficient and The Furthermore, the larger the value, the better the fluid properties.

[0101] Among them, liquid viscosity monitoring refers to the real-time quantification process of hydraulic oil flow resistance, which can be achieved using a vibration viscosity sensor or a differential pressure viscometer. The purpose is to accurately capture the fluid flow state to assess the movement resistance of valve core 5. Liquid particle density monitoring can be understood as the detection of the concentration of solid contaminants in the oil. Specifically, it can be achieved using a photoresist particle counter or a laser diffraction particle counter. The purpose is to identify the degree of contamination to prevent movement stagnation caused by particle accumulation. Max-min normalization refers to the process of converting different physical quantities into a unified dimensionless scale. Specifically, it can be achieved using a linear transformation method. The purpose is to eliminate dimensional differences to facilitate subsequent comprehensive evaluation. Complementary factor operation refers to converting the original factors into an index positively correlated with system requirements. Specifically, it can be achieved through a mathematical transformation of 1-x. The purpose is to make the larger the index value, the more beneficial the characteristic is to the stable movement of valve core 5. Fluid characteristic model refers to a comprehensive evaluation mechanism based on weighted sum. It can be achieved using a linear combination method with configurable weights. The purpose is to quantify the overall impact of fluid characteristics on flutter control.

[0102] Specifically, the solution in this application forms a complete dynamic quantification chain by sequentially acquiring fluid characteristic data, normalizing it, converting it into exponents, and performing model calculations. First, it monitors liquid viscosity and particle density in real time to ensure the data reflects the current working fluid state. Second, normalization eliminates dimensional differences between different physical quantities, making viscosity and particle density comparable. Then, it uses complements to convert the effects of harmful factors (such as high viscosity or high particle density) into positive indicators, unifying the evaluation benchmark. Finally, it uses a weighted model to synthesize various exponents to generate fluid characteristic coefficients, providing quantifiable dynamic input to the current optimization module. This design enables the system to adaptively adjust the vibration parameters according to real-time changes in fluid characteristics, effectively maintaining the microscopic relative motion between valve core 5 and valve body 4, and avoiding control failures caused by abnormal fluid characteristics.

[0103] As a preferred embodiment, the solution of this application is implemented as follows: A vibration-type viscosity sensor is installed on the main pressure oil line of the system for liquid viscosity monitoring; a photoresist particle counter is installed upstream of the main return oil line filter for liquid particle density monitoring; normalization processing uses the minimum and maximum values ​​of historical operating data as the benchmark range, and after taking the complement, each index is obtained; the weighting coefficient is preset to a fixed proportion according to the operating conditions (determined by expert experience or through the analytic hierarchy process); fluid characteristic data is calculated based on this and input into the current optimization module in real time to adjust the peak current parameters.

[0104] Through the above solution, this application can respond in real time to changes in oil viscosity, particulate contamination level and transient hydraulic fluctuations at the valve port, effectively avoiding the risk of valve core jamming caused by high viscosity, motion stagnation caused by particulate accumulation and tremor instability caused by sudden changes in hydraulic force, thereby ensuring that the micro hydraulic solenoid directional valve maintains reliable micro-relative motion under operating conditions such as system pressure fluctuations, oil temperature changes or oil contamination, and improving the overall system's adaptability to operating conditions and operational stability.

[0105] Preferably, the environmental analysis module is configured to perform the following steps:

[0106] Acquire environmental data, including system hydraulic pressure (pressure at interface P18 (pressure port) of the solenoid directional valve) and system temperature (temperature of valve body 4 of the solenoid directional valve).

[0107] The pressure deviation index is obtained by comparing the absolute difference between the system hydraulic pressure and the optimal pressure value with the allowable deviation from the optimal pressure value. The pressure deviation index is greater than zero.

[0108] The absolute difference between the system temperature and the optimal temperature is compared with the allowable deviation from the optimal temperature to obtain the temperature deviation index, which is greater than zero.

[0109] The pressure deviation index and temperature deviation index are imported into the environmental state model to obtain the environmental state coefficients. The environmental state model is expressed as follows:

[0110] ;

[0111] in, Represents the environmental state model. This indicates a pressure deviation index. Indicates the temperature deviation index, the The higher the value, the better the environmental condition.

[0112] Among them, the system hydraulic pressure refers to the hydrostatic pressure of the fluid at interface P18, which can be monitored in real time using a piezoresistive pressure sensor or a resonant pressure sensor, specifically installed in the pressure measuring hole of interface P18. Its purpose is to directly obtain the key fluid dynamic parameters affecting the vibration of valve core 5. The system temperature refers to the thermodynamic state of valve body 4, which can be measured using a thin-film platinum resistance thermometer or an integrated digital temperature sensor, specifically embedded in a temperature measuring blind hole opened on valve body 4. Its purpose is to monitor the comprehensive influence of temperature on oil viscosity and mechanical fit clearance. The pressure deviation index is a normalized measure of the deviation of the system hydraulic pressure from the optimal pressure value. Its purpose is to convert the absolute pressure deviation into a dimensionless index to eliminate the difference in system pressure levels. The temperature deviation index is a normalized measure of the deviation of the system temperature from the optimal temperature value. Its purpose is to quantify the degree of influence of temperature fluctuation on vibration stability. The environmental state model refers to the mathematical relationship characterizing the interaction effect of pressure and temperature. Its purpose is to comprehensively evaluate the constraint of environmental state on vibration control through nonlinear functions.

[0113] Specifically, the proposed solution establishes a dynamic correlation mechanism between environmental parameters and vibration control through an environmental analysis module: First, the system hydraulic pressure is directly acquired at interface P18, avoiding the lag of indirect measurement and ensuring that the pressure data is synchronized with the fluid state in the working area of ​​valve core 5; second, the system temperature is monitored in real time at valve body 4, directly reflecting the thermal environment of the valve core moving components; subsequently, the pressure deviation index is obtained by dividing the absolute difference between the system hydraulic pressure and the optimal pressure value by the allowable deviation from the optimal pressure value, and the temperature deviation index is obtained by dividing the absolute difference between the system temperature and the optimal temperature by the allowable deviation from the optimal temperature value; finally, the environmental state model uses the product of the pressure deviation index and the temperature deviation index as the increment term in the denominator. When either index increases, the product term significantly amplifies the degree of environmental degradation, making the environmental state coefficient... The nonlinear descent accurately characterizes the combined impact of environmental conditions on flutter control. This mechanism quantifies the effect through the coupling of pressure and temperature, ensuring that the environmental state coefficients are dynamically integrated into the current optimization process, providing an accurate basis for adaptive flutter control.

[0114] As a specific implementation method, the environmental analysis module of this application is implemented as follows: a miniature piezoresistive pressure sensor is installed in the pressure measuring hole of interface P18, and its sensitive element directly contacts the pressurized oil; a thin-film platinum resistance temperature sensor is embedded in the radial blind hole of valve body 4, and its sensing surface is tightly attached to the metal substrate of valve body; the pressure sensor output signal is conditioned by an instrumentation amplifier and then sent to the analog-to-digital conversion channel of the microcontroller; the temperature sensor signal is excited by a constant current source and then processed by a differential amplifier circuit; the microcontroller calculates the pressure deviation index and temperature deviation index in real time based on the preset optimal pressure value of 15MPa, the allowable deviation from the optimal pressure value of ±2MPa, the optimal temperature value of 50℃, and the allowable deviation from the optimal temperature value of ±5℃; the environmental state coefficient is completed by the floating-point arithmetic unit in the firmware program executed by the microcontroller, and its calculation result is directly transmitted to the current optimization module.

[0115] Through the above technical solution, this application achieves accurate quantification of environmental state coefficients, enabling the adaptive vibration control system to dynamically adjust control parameters based on the system hydraulic pressure at interface P18 and the system temperature at valve body 4. This effectively avoids vibration control failure caused by inaccurate monitoring of environmental parameters and significantly improves the anti-jamming capability and operational reliability of the micro hydraulic electromagnetic directional valve under pressure fluctuation and temperature change conditions.

[0116] Preferably, the period-amplitude co-analysis module is configured to perform the following steps:

[0117] Obtain the actual jitter period and the actual jitter amplitude;

[0118] The absolute difference between the actual jitter period and the preset jitter period is processed to obtain the jitter period deviation;

[0119] The absolute difference between the actual jitter amplitude and the preset jitter amplitude is processed to obtain the jitter amplitude deviation;

[0120] The jitter cycle deviation and jitter amplitude deviation are compared with the corresponding allowable deviation values ​​to obtain the jitter cycle deviation index and jitter amplitude deviation index.

[0121] The mechanical structure coefficient, electromagnetic characteristic coefficient, flutter period deviation index, and flutter amplitude deviation index are imported into the period-amplitude coordination model to obtain the period-amplitude coordination coefficient. The period-amplitude coordination model is expressed as follows:

[0122] ;

[0123] in, This represents the period-amplitude coordination coefficient. Indicates the mechanical structure coefficient. Represents the electromagnetic characteristic coefficient. This indicates the tremor cycle deviation index. The index represents the fluctuation amplitude deviation index. The higher the value, the better the tremor state.

[0124] Specifically, the actual vibration period refers to the actual vibration period generated by the valve core 5 under the drive of the electromagnet assembly. It can be monitored in real time using a non-contact displacement sensor or accelerometer (or detected via the excitation coil 9) and acquired through a signal processing circuit. The purpose is to perceive the dynamic behavior of the valve core 5 in real time. The actual vibration amplitude refers to the actual vibration amplitude of the valve core 5 during the vibration process. It can be measured using strain gauges or optical sensors to measure the displacement amplitude of the valve core 5, aiming to quantify the vibration intensity. The vibration period deviation refers to the absolute difference between the actual vibration period and the preset vibration period. It is obtained by performing difference calculations through a digital signal processor, aiming to reflect the degree of deviation between the current vibration and the ideal state. The vibration amplitude deviation refers to the actual vibration period... The absolute difference between the dynamic amplitude and the preset jitter amplitude is obtained by performing difference calculations through a digital signal processor, with the aim of quantifying the amplitude deviation. The jitter period deviation index is the ratio of the jitter period deviation to the allowable deviation value, which is obtained through a normalization algorithm, with the aim of eliminating the dimensional differences of the absolute value of the deviation under different operating conditions. The jitter amplitude deviation index is the ratio of the jitter amplitude deviation to the allowable deviation value, which is obtained through a normalization algorithm, with the aim of making the index comparable under various operating conditions. The period-amplitude coordination model is a mathematical model used to calculate the period-amplitude coordination coefficient, which is implemented by executing an exponential decay function through an embedded microcontroller, with the aim of integrating the comprehensive influence of mechanical structure coefficients, electromagnetic characteristic coefficients, and deviation indices.

[0125] Specifically, the proposed solution first uses the actual vibration cycle and amplitude as initial inputs to sense the dynamic behavior of valve core 5 in real time, avoiding the problem of insufficient adaptability to operating conditions caused by relying on fixed parameters. Next, the absolute difference between the actual and preset values ​​is processed to obtain the vibration cycle deviation and vibration amplitude deviation, directly reflecting the degree of deviation between the current vibration and the ideal state, providing an objective deviation benchmark for subsequent analysis. Then, the deviation is compared with the allowable deviation value to generate the vibration cycle deviation index and vibration amplitude deviation index, achieving deviation normalization, eliminating dimensional differences under different operating conditions, and ensuring that the index can standardize the characterization of the severity of the deviation. Finally, these indices, along with mechanical structure coefficients and electromagnetic characteristic coefficients, are imported into the period-amplitude synergy model. The period-amplitude synergy coefficient F is calculated through an exponential decay function. This coefficient dynamically characterizes the quality of the vibration state, providing a reliable basis for current optimization. This process, by weighting the deviation index with the reciprocals of the mechanical structure coefficients and electromagnetic characteristic coefficients, highlights the constraint effect of the system's inherent characteristics on vibration, ensuring that the F value accurately reflects the real-time changes in the vibration state.

[0126] As a specific implementation method, the solution of this application is implemented as follows: A Hall effect displacement sensor is installed on the valve body 4 to collect the displacement data of the valve core 5 in real time; the microcontroller calculates the actual vibration period and the actual vibration amplitude based on the displacement data; the calculation results are compared with preset values ​​to obtain the vibration period deviation and vibration amplitude deviation; the deviations are divided by the corresponding allowable deviation values ​​to obtain the vibration period deviation index and vibration amplitude deviation index; combined with the mechanical structure coefficients and electromagnetic characteristic coefficients obtained from the mechanical structure analysis module and the electromagnetic characteristic analysis module, the microcontroller applies the period-amplitude coordination model to calculate the F value.

[0127] The above technical solution enables accurate evaluation of the valve core 5's vibration performance, allowing the adaptive vibration control system to precisely adjust the peak current according to changes in operating conditions, effectively preventing valve core 5 from jamming and reducing excessive energy loss.

[0128] Preferably, the current optimization model is expressed as:

[0129] ;

[0130] in, Indicates the target peak current. This indicates that a peak current is currently being applied. This represents the target period-amplitude coordination coefficient. This represents the period-amplitude coordination coefficient. Represents fluid characteristic coefficients. Represents the environmental state model. Indicates the maximum permissible peak current. This indicates the minimum permissible peak current.

[0131] Among them, the hyperbolic tangent function tanh refers to an sigmoid nonlinear activation function, the purpose of which is to reduce the period-amplitude symmetry deviation. Smooth mapping to the (-1,1) interval avoids abrupt changes during current adjustment; the combination of min and max functions refers to a boundary constraint mechanism, which can be implemented based on a preset threshold through conditional judgment logic. Its purpose is to ensure that the target peak current is always within the safe operating range of the system, preventing anti-adhesion failure due to excessively low current or instability of the electromagnetic system due to excessively high current; fluid characteristic coefficients. With environmental state coefficient The product term refers to a dynamic compensation factor, which can be calculated based on the real-time collected oil state and system environmental parameters. Its purpose is to automatically adjust the current gain amplitude according to changes in operating conditions, reflecting the ability to coordinate responses to multi-dimensional parameters.

[0132] Specifically, the scheme in this application uses a hyperbolic tangent function to perform a nonlinear mapping of the period-amplitude coordination deviation, when the actual coordination... Below the target value When the deviation is positive, an increase in the tanh value increases the gain coefficient, thereby specifically enhancing the chattering energy to prevent valve core jamming; when Higher than When the deviation is negative, the decrease in tanh value reduces the gain coefficient, avoiding energy waste caused by excessive jitter; simultaneously, a fluid characteristic coefficient is introduced. With environmental state coefficient The product term dynamically adjusts the current amplitude based on real-time conditions such as oil viscosity, particle density, and system pressure and temperature, automatically suppressing current growth when fluid contamination or environmental conditions deteriorate. Finally, the calculation results are dually limited using the min and max functions, based on the minimum allowable current. and maximum allowable current By setting safety boundaries and forming a closed-loop optimization mechanism from state perception to current output, the vibration control can be adaptively adjusted according to changes in operating conditions.

[0133] As a specific implementation method, the current optimization model of this application can be implemented by an embedded microcontroller, which periodically acquires the period-amplitude coordination coefficient. Fluid characteristic coefficients and environmental state coefficient The target peak current is calculated using a built-in algorithm. The result is sent to the drive circuit, where the microcontroller can be an ARM Cortex-M series processor, which integrates a floating-point unit to efficiently execute hyperbolic tangent function calculations. The drive circuit can adjust the current output of the drive coil based on the PWM signal.

[0134] Through the above technical solution, the miniature hydraulic solenoid directional valve can adjust the vibration energy in real time according to dynamic working conditions such as system pressure fluctuations, oil temperature changes or oil contamination. During the cooperation between the valve core 5 and the valve body 4, it effectively prevents the jamming phenomenon caused by insufficient vibration energy, and avoids fatigue damage to the spring 2 and energy loss of the electromagnet assembly caused by excessive vibration, which significantly improves the reliability and energy efficiency balance of the valve core anti-sticking control.

[0135] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0136] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A miniature hydraulic solenoid directional valve, comprising a push rod, a valve body, and a valve core, wherein the valve core is connected to the push rod via a pin, and the valve body is provided with interface TA, interface A, interface P, interface B, and interface TB, characterized in that, Also includes: An electromagnet assembly, used to drive a valve core to perform linear motion and cause the valve core to vibrate relative to the valve body, includes an excitation coil, an electromagnet housing, and an iron core that slides relative to the electromagnet housing. Drive coil A and drive coil B are embedded and installed within the electromagnet housing, symmetrically distributed at both ends of the iron core. An armature connected to a push rod via a grooved ball head is threaded onto the iron core. A front cover threaded to the valve body is detachably installed on the electromagnet housing. Two springs are sleeved on the push rod, symmetrically arranged on both sides of a spring seat fixedly connected to the push rod. The spring seats slide in a groove on the valve body. The excitation coil is embedded within the electromagnet housing and encapsulated within the electromagnet housing via a rear cover detachably connected to the electromagnet housing. It also includes an adaptive vibration control system for actively maintaining the micro-relative motion between the valve spool and the valve body, including: The mechanical structure analysis module obtains mechanical structure coefficients based on mechanical structure data and through a mechanical structure state model. The electromagnetic property analysis module obtains electromagnetic property coefficients based on electromagnetic property data and through an electromagnetic property model. The fluid characteristic analysis module obtains fluid characteristic coefficients based on fluid characteristic data and through a fluid characteristic model; The environmental analysis module, based on environmental data, obtains environmental state coefficients through an environmental state model; The period-amplitude coordination analysis module, based on mechanical structure coefficients and electromagnetic characteristic coefficients, combined with flutter period deviation and flutter amplitude deviation, obtains the period-amplitude coordination coefficient through a period-amplitude coordination model. The current optimization module obtains the target peak current through a current optimization model based on period-amplitude synergy, fluid characteristic coefficients, environmental state coefficients, and the currently applied peak current.

2. The miniature hydraulic solenoid directional valve according to claim 1, characterized in that, The current optimization model is expressed as follows: ； in, Indicates the target peak current. This indicates that a peak current is currently being applied. This represents the target period-amplitude coordination coefficient. This represents the period-amplitude coordination coefficient. Represents fluid characteristic coefficients. Represents the environmental state model. Indicates the maximum permissible peak current. This indicates the minimum permissible peak current.

3. The miniature hydraulic solenoid directional valve according to claim 2, characterized in that, The period-amplitude co-analysis module is configured to perform the following steps: Obtain the actual jitter period and the actual jitter amplitude; The absolute difference between the actual jitter period and the preset jitter period is processed to obtain the jitter period deviation; The absolute difference between the actual jitter amplitude and the preset jitter amplitude is processed to obtain the jitter amplitude deviation; The jitter cycle deviation and jitter amplitude deviation are compared with the corresponding allowable deviation values ​​to obtain the jitter cycle deviation index and jitter amplitude deviation index. The mechanical structure coefficient, electromagnetic characteristic coefficient, flutter period deviation index, and flutter amplitude deviation index are imported into the period-amplitude coordination model to obtain the period-amplitude coordination coefficient. The period-amplitude coordination model is expressed as follows: ； in, This represents the period-amplitude coordination coefficient. Indicates the mechanical structure coefficient. Represents the electromagnetic characteristic coefficient. This indicates the tremor cycle deviation index. The index represents the fluctuation amplitude deviation index. The higher the value, the better the tremor state.

4. The miniature hydraulic solenoid directional valve according to claim 2, characterized in that, The environmental analysis module is configured to perform the following steps: Acquire environmental data, including system hydraulic pressure and system temperature; The pressure deviation index is obtained by comparing the absolute difference between the system hydraulic pressure and the optimal pressure value with the allowable deviation from the optimal pressure value. The pressure deviation index is greater than zero. The absolute difference between the system temperature and the optimal temperature is compared with the allowable deviation from the optimal temperature to obtain the temperature deviation index, which is greater than zero. The pressure deviation index and temperature deviation index are imported into the environmental state model to obtain the environmental state coefficients. The environmental state model is expressed as follows: ； in, Represents the environmental state model. This indicates a pressure deviation index. Indicates the temperature deviation index, the The higher the value, the better the environmental condition.

5. The miniature hydraulic solenoid directional valve according to claim 2, characterized in that, The fluid characteristic analysis module is configured to perform the following steps: Acquire fluid property data, including liquid viscosity and liquid particle density; The liquid viscosity and liquid particle density are subjected to maximum-min normalization to obtain the liquid viscosity factor and liquid particle density factor. The liquid viscosity factor and liquid particle density factor are respectively taken as complements to obtain the liquid viscosity index, liquid particle density index and hydrodynamic index; The fluid viscosity index and the fluid particle density index are imported into the fluid characteristic model to obtain the fluid characteristic coefficients. The fluid characteristic model is expressed as follows: ； in, Represents fluid characteristic coefficients. Indicates the viscosity index of a liquid. Indicates the density index of liquid particles. Indicates the hydrodynamic index, Represents the weight coefficient and The Furthermore, the larger the value, the better the fluid properties.

6. The miniature hydraulic solenoid directional valve according to claim 3, characterized in that, The electromagnetic property analysis module is configured to perform the following steps: Acquire electromagnetic characteristic data, including the resistance of the drive coil, the inductance of the drive coil, and the remanence of the electromagnet; The driving coil resistance, driving coil inductance, and electromagnet remanence are subjected to maximum-minimum normalization to obtain the driving coil resistance index, driving coil inductance index, and remanence index. The resistance index, inductance index, and remanence index of the driving coil are imported into the electromagnetic characteristic model to obtain the electromagnetic characteristic coefficients. The electromagnetic characteristic model is expressed as follows: ； in, Represents the electromagnetic characteristic coefficient. Indicates the resistance index of the drive coil. Indicates the inductance index of the drive coil. The remanence index is represented by the following. Furthermore, the larger the value, the better the electromagnetic properties.

7. The miniature hydraulic solenoid directional valve according to claim 3, characterized in that, The mechanical structure analysis module is configured to perform the following steps: Obtain mechanical structure data, including the clearance between the valve core and valve body, spring stiffness, and the total mass of the valve core moving components; The absolute differences between the valve core and valve body fit clearance, spring stiffness, and total mass of the valve core moving components and their corresponding optimal values ​​are compared with the corresponding allowable deviation values ​​to obtain the fit clearance index, stiffness index, and moving component mass index. All of these indices are greater than zero. The clearance index, stiffness index, and mass index of moving components are imported into the mechanical mechanism state model to obtain mechanical structure coefficients. The mechanical structure model includes: ； in, Indicates the mechanical structure coefficient. Indicates the clearance index, Indicates the stiffness index. The mass index of the moving component is indicated by the following: Furthermore, the higher the value, the better the mechanical condition.

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