2D valve axial error reset method and device based on axial magnetic compensation and servo screw mechanism parameter matching

Abstract

The application discloses a 2D valve axial error reset method and device based on axial magnetic compensation and servo screw mechanism parameter matching, and the method comprises the following steps: S1, constructing an axial magnetic compensation force and verifying a circumferential restoring torque; S2, adjusting key parameters of a servo screw mechanism to reduce reset resistance; S3, performing machine fluid coupling simulation and multi-target optimization; S4, establishing a mechanical balance reset criterion; and S5, implementing a cooperative reset process, wherein the valve core is first driven to circumferentially reset by the circumferential restoring torque, and when the system enters an axial error retention area, the axial magnetic compensation force determined by the step S3 overcomes residual hydraulic feedback force, and forcibly drives the valve core to return to an axial mechanical zero position. Through the geometric parameter configuration of an electromagnetic actuator and the structural integration of a hydraulic servo screw mechanism, bidirectional movement and reset are realized, hydraulic feedback force is overcome, axial residual deviation is eliminated, and high-precision absolute zero return of the valve core is realized.

Description

Technical Field

[0001] This invention belongs to the field of 2D electro-hydraulic valve technology, specifically relating to a 2D valve axial error reset method and device based on axial magnetic compensation and servo screw mechanism parameter matching. Background Technology

[0002] In 2D electro-hydraulic valves, the axial displacement of the valve core is typically converted by a hydraulic servo helical mechanism based on a circumferential rotation angle command. This mechanism achieves precise mechanical-hydraulic closed-loop displacement feedback by constructing a helical pair (such as a combination of a helical groove and a high-pressure orifice) on the valve core surface: when the torque motor drives the valve core to rotate circumferentially to generate an initial opening, the pressure difference generated in the control chamber drives the valve core to generate an axial displacement; the resulting axial displacement, through the geometric action of the helical pair, reduces the opening in real time until the axial displacement and the circumferential rotation angle satisfy a preset geometric relationship, and the system reaches equilibrium.

[0003] To achieve higher power density, a more compact structure, and eliminate the fatigue failure and hysteresis risks associated with mechanical springs, high-performance 2D electro-hydraulic valves have adopted a springless reset design. This eliminates the traditional mechanical reset spring and replaces it with a claw-pole torque motor that provides magnetic reset torque for circumferential reset. However, by eliminating rigid mechanical constraints, the system's reset relies entirely on the dynamic balance between the magnetic reset torque and complex resistances. This presents a more severe challenge to the system's ability to suppress disturbances and steady-state errors.

[0004] During the actual reset process, the mechanism faces the following technical bottlenecks: ① Error propagation and amplification: Due to the influence of surface friction and hydraulic clamping force under oil immersion conditions, a slight angular deviation often exists during the circumferential reset process. Because of the high-sensitivity switching action of the hydraulic servo screw mechanism, this slight angular deviation is synchronously converted and amplified into an axial displacement error.

[0005] ② The hindering effect of hydraulic feedback force: Under the aforementioned feedback mechanism, the axial displacement is strictly locked at the "pseudo-equilibrium point" defined by the circumferential deviation. If an attempt is made to reset and correct the axial error, the displacement feedback function will immediately generate a hydraulic feedback force designed to maintain the current geometric constraint relationship. This feedback force hinders the valve core from returning to the absolute mechanical zero position, causing the axial error to remain in a steady state near the zero position, thus limiting the static zeroing accuracy and repeatability of the 2D valve. Summary of the Invention

[0006] To address the technical problem of axial error steady-state retention in existing 2D valves without return springs due to the displacement feedback function of the hydraulic servo screw mechanism, this invention provides a 2D valve axial error reset method and device based on axial magnetic compensation and parameter matching of the servo screw mechanism. The device of this invention adopts a springless reset design, and achieves bidirectional motion and reset by configuring the geometric parameters of the electromagnetic actuator and integrating it with the structure of the hydraulic servo screw mechanism. It aims to overcome hydraulic feedback force, eliminate axial residual deviation, and achieve high-precision absolute zeroing of the valve core.

[0007] The technical solution adopted in this invention is: The first aspect of this invention relates to a 2D valve axial error reset method based on axial magnetic compensation and servo screw mechanism parameter matching, characterized by comprising the following steps: S1: Constructing axial magnetic compensation force And jointly verify the circumferential restoring torque ; A three-dimensional finite element model was established based on Maxwell electromagnetic simulation software, and the axial magnetic compensation force was calculated simultaneously. With circumferential restoring torque ; S2: Adjust key parameters of the servo screw mechanism to reduce reset resistance; S3: Perform mechanical-hydraulic coupling simulation and multi-objective optimization; Build an AMESim physics model with helix angle β and initial occlusion h Using 0 as the optimization variable, construct the optimization variable. A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, while satisfying the helix angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion. S4: Verification of mechanical equilibrium reset criterion; Combine the optimization parameters obtained in step S3 β and h 0 Substitute the hydraulic feedback force model into the calculation of the hydraulic feedback force under rated operating conditions and axial error retention conditions. F h and the axial magnetic compensation force constructed in step S1F a Perform a mechanical equilibrium check to ensure the system satisfies: (1) In the formula, For hydraulic feedback force, For load pressure difference, For a slight circumferential angular deviation, The system's overall motion resistance is represented by y, which is the equivalent effective axial length of the claw pole, t is the one-sided difference between the equivalent permanent magnet and the equivalent effective axial length of the claw pole, and s is the radial separation depth of the equivalent permanent magnet. If the above relationship holds true, it is determined that the axial magnetic compensation force can overcome the residual hydraulic feedback force and comprehensive motion resistance in the axial error retention area, and the system meets the axial zero-reset condition; if the above relationship does not hold true, return to step S3 to readjust the helix angle. β and initial occlusion h The candidate parameter combinations of 0 are used until the mechanical equilibrium reset criterion is met; S5: Implement the collaborative reset process; During the reset phase, the valve core is first driven to perform a circumferential reset by the circumferential restoring torque; when the system enters the axial error retention zone, the axial magnetic compensation force determined by step S3 is used. Overcoming residual hydraulic feedback force This forces the valve core to return to its axial mechanical zero position.

[0008] Furthermore, in step S1, the radial separation depth of the stator claw poles relative to the permanent magnet is set. To enhance the axial magnetic field gradient, thereby improving the axial magnetic compensation force. Simultaneously adjust the effective axial length of the equivalent claw pole. Difference between one side To optimize the magnetic force distribution.

[0009] Furthermore, the specific process for adjusting the key parameters of the servo screw mechanism in step S2 to reduce the reset resistance is as follows: Matching helix angle By limiting the helix angle The range of values ​​is reduced to decrease the transfer gain of the circumferential reset deviation to axial displacement, thereby reducing the axial retention and corresponding axial force caused by the circumferential error. Optimize initial coverage Reduce the initial overlap area between the spiral sensing groove and the pilot valve orifice when they are at the zero position, i.e., the initial coverage amount. This reduces the pressure gain gradient near the zero point, weakening the sensitivity of hydraulic feedback force to displacement deviation. By combining the above two methods, the axial magnetic compensation force is reduced. The axial resistance threshold that needs to be overcome.

[0010] Furthermore, in step S3, the optimization variables are... As shown below: (2) A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, as shown below: (3) in: (4) (5) (6)

[0011] In the formula, J 1 represents the axial reset error target. J 2 represents the target rise time of the step response. J 3 represents the target for displacement gain linearity error. J 4 represents the displacement resolution target. This refers to the axial displacement at the moment of reset and stabilization. For axial mechanical zero position, The rise time of the step response. For the first i Simulated output displacement under each input condition To correspond to the linear fitting displacement, This represents the smallest resolvable axial displacement increment of the system; Based on the above multi-objective optimization model, while satisfying the spiral angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion.

[0012] Furthermore, in the multi-objective optimization process, the spiral angle β The following parameter range constraints must be met: (7) Initial coverage h The range of values ​​for 0 is determined based on the allowable leakage at zero point, machining and assembly errors, wear margin, thermal deformation margin, pressure gain near zero point, and dynamic response requirements, and must satisfy the following: (8) in, Determined based on machining error, assembly error, wear allowance, and thermal deformation allowance; The requirements are determined based on the pressure build-up capability near zero, the rise time of the step response, and the displacement resolution.

[0013] Furthermore, in step S5, the circumferential displacement experiences a slight deviation near zero due to friction. , Hydraulic feedback force is generated through a servo screw mechanism. This causes the valve core to axially displace and become stuck in a steady state, utilizing the axial magnetic compensation force constructed in step S1. Overcoming hydraulic feedback force It forces the valve core to return to the axial mechanical zero position, achieving precise reset in two dimensions.

[0014] The second aspect of the present invention relates to a 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching, comprising a housing (200) and a 2D valve body located within the housing (200). The direction of the 2D valve body toward the displacement sensor assembly is defined as forward, and the central axis of the housing (200) is defined as the axis line. The direction along the axis line is called the axial direction. A valve core (1000) and a valve sleeve (900) are installed in the 2D valve body. The valve core (1000) is installed in the valve sleeve (900). The front part of the valve core (1000) is fitted with an iron core (600) and a coil assembly (400) from the inside to the outside. Both the iron core (600) and the coil assembly (400) are rotating bodies, and their central axes are both on their respective axis lines. Permanent magnets (500) are distributed around the circumference of the iron core (600). The device is characterized in that... The coil assembly (400) is provided with a front claw pole (300) and a rear claw pole (700) at its front and rear ends, respectively, which together form the stator claw poles. The permanent magnet (500) is aligned with the front claw pole teeth (310) of the front claw pole (300) and the rear claw pole teeth (710) of the rear claw pole (700). The left and right claw pole teeth (310, 710) are separated by a radial depth s relative to the permanent magnet (500). When the valve core (1000) drives the permanent magnet (500) to deviate from the axial center position, an axial magnetic compensation force is generated between the stator and rotor that always points to the axial mechanical zero position. ; A front sensing chamber (1300) is provided between the front end of the valve core (1000) and the displacement sensor assembly, and a rear sensing chamber (1400) is provided between the rear end of the valve core (1000) and the valve sleeve end cap (1100); the front and rear ends of the valve core (1000) are respectively provided with independent front communication oil passages (1050) and rear communication oil passages (1060), the front communication oil passage (1050) is connected to the front sensing chamber (1300), and the rear communication oil passage (1060) is connected to the rear sensing chamber (1400); Four sets of hydraulic servo screw mechanisms are provided between the valve core (1000) and the valve sleeve (900). The two adjacent sets of hydraulic servo screw mechanisms are set differentially.

[0015] Furthermore, the servo spiral mechanism includes a first servo spiral mechanism, a second servo spiral mechanism, a third servo spiral mechanism, and a fourth servo spiral mechanism. The valve core (1000) has a first spiral sensitive groove (1010a), a second spiral sensitive groove (1040a), a third spiral sensitive groove (1010b), and a fourth spiral sensitive groove (1040b). The valve sleeve (900) has a first high-pressure hole 910a, a first low-pressure hole 930a, a second high-pressure hole 910b, and a second low-pressure hole 930b, wherein: The first servo screw mechanism consists of a first high-pressure port (910a), a first low-pressure port (930a), and a first screw sensitive groove (1010a). The third servo screw mechanism consists of a second high-pressure port (910b), a second low-pressure port (930b), and a third screw sensitive groove (1010b). High-pressure oil flows into the first and third servo screw mechanisms through the first and second high-pressure inlets (920a, 920b) on the valve sleeve. After throttling, the pressure becomes the control pressure. The oil flows into the front sensing chamber (1300) through the front communication oil passage (1050) inside the valve core. The second servo screw mechanism consists of a first high-pressure port (910a), a first low-pressure port (930a), and a second spiral sensitive groove (1040a); the fourth servo screw mechanism consists of a second high-pressure port (910b), a second low-pressure port (930b), and a fourth spiral sensitive groove (1040b); high-pressure oil flows into the second and fourth servo screw mechanisms through the first and second high-pressure inlets (920a, 920b) on the valve sleeve, and the pressure becomes the control pressure after throttling. The oil flows into the rear sensing chamber (1400) through the rear communication oil passage (1060) inside the valve core.

[0016] Furthermore, the first high-pressure oil inlet (920a) is connected to the first high-pressure oil passage (960a), and the first high-pressure oil passage (960a) is connected to the first high-pressure hole (910a). The first high-pressure oil inlet (920a), the first high-pressure oil passage (960a), and the first high-pressure hole (910a) together form the first high-pressure oil supply path. The high-pressure oil enters the first high-pressure hole (910a) through the first high-pressure oil inlet (920a) and the first high-pressure oil passage (960a), and acts on the control window where the first spiral sensitive groove (1010a) and the second spiral sensitive groove (1040a) are located. The second high-pressure oil inlet (920b) is connected to the second high-pressure oil passage (960b), and the second high-pressure oil passage (960b) is further connected to the second high-pressure hole (910b). The second high-pressure oil inlet (910b), the second high-pressure oil passage (960b), and the second high-pressure hole (910b) form the second high-pressure oil supply passage. The high-pressure oil enters the second high-pressure hole (910b) through the second high-pressure oil inlet (920b) and the second high-pressure oil passage (960b), and acts on the control window where the third spiral sensitive groove (1010b) and the fourth spiral sensitive groove (1040b) are located.

[0017] Furthermore, the valve sleeve (900) is provided with a left low-pressure oil outlet (940), which includes a left first low-pressure oil outlet (940a) and a left second low-pressure oil outlet (940b). The left first low-pressure oil outlet (940a) is connected to the first low-pressure hole (930a) and is used to discharge the low-pressure oil at the first low-pressure hole (930a). The left second low-pressure oil outlet (940b) is connected to the second low-pressure hole (930b) through the first low-pressure oil passage (970a) and is used to discharge the low-pressure oil at the second low-pressure hole (930b). The valve sleeve (900) is provided with a right low-pressure oil outlet (950), which includes a right first low-pressure oil outlet (950a) and a right second low-pressure oil outlet (950b). The right first low-pressure oil outlet (950a) is connected to the first low-pressure hole (930a) through the first low-pressure oil passage (970a) and is used to discharge the low-pressure oil corresponding to the first low-pressure hole (930a). The right second low-pressure oil outlet (950b) is connected to the second low-pressure hole (930b) through the second low-pressure oil passage (970b) and is used to discharge the low-pressure oil corresponding to the second low-pressure hole (930b).

[0018] The first low-pressure port (930a), together with the left first low-pressure oil outlet (940a), the right first low-pressure oil outlet (950a) and the first low-pressure oil passage (970a), form a first low-pressure oil return passage; the second low-pressure port (930b), together with the left second low-pressure oil outlet (940b), the right second low-pressure oil outlet (950b) and the second low-pressure oil passage (970b), form a second low-pressure oil return passage.

[0019] The technical concept of this invention is: By configuring the geometric parameters of the electromagnetic actuator and integrating it with the structure of the hydraulic servo screw mechanism, bidirectional motion and resetting can be achieved. By radial separation depth and axial parameters , The scientific allocation of energy ensures that while generating sufficient axial reset capability, it also effectively takes into account the output strength of circumferential restoring torque, thus ensuring the overall stability of the springless actuator.

[0020] By using helix angle matching to reduce the geometric gain of circumferential error transmission to the axial direction, and by optimizing the initial coverage amount to reduce the pressure gain, the two together reduce the mechanical interference of the displacement feedback mechanism on the reset process, enabling the axial magnetic compensation unit to achieve high-precision reset with a more compact structure.

[0021] Compared with the prior art, the beneficial effects of the present invention are reflected in: Achieving bidirectional synergistic optimization of magnetic dynamics: through radial separation depth and axial parameters , The scientific allocation of energy ensures that while generating sufficient axial reset capability, it also effectively takes into account the output strength of circumferential restoring torque, thus ensuring the overall stability of the springless actuator.

[0022] Achieving parameter-coordinated threshold reduction and error suppression: The geometric gain of circumferential error propagation to the axial direction is reduced by using helix angle matching, and the pressure gain is reduced by optimizing the initial coverage amount. Together, these measures reduce the mechanical interference of the displacement feedback mechanism on the reset process, enabling the axial magnetic compensation unit to achieve high-precision reset with a more compact structure.

[0023] Taking into account the overall valve control performance: Through a multi-objective optimization method, the coupling contradiction between the reset parameter adjustment and the valve's static and dynamic characteristics is resolved, ensuring that while eliminating reset errors, the valve's step response, resolution, and gain characteristics are all within the optimal range.

[0024] Compact structure and no additional accessories required: Axial reset is achieved by coupling the mechanism's own magnetic circuit and geometric parameters, maintaining the high power density advantage of springless 2D valves and reducing manufacturing and maintenance costs. Attached Figure Description

[0025] Figure 1 This is a schematic cross-sectional view of the springless 2D valve of the present invention; Figure 2 This is a schematic diagram of the permanent magnet actuator assembly of the present invention; Figure 3 This is a schematic diagram of the stator claw pole assembly of the present invention; Figure 4 is a schematic diagram of the geometric relationship between the permanent magnet mover and stator claw poles of the present invention; Figure 5 This is a schematic diagram of the permanent magnet mover-stator claw pole parameters of the present invention; Figure 6a This is a front view of the valve core of the present invention; Figure 6b This is the present invention. Figure 6a BB-direction sectional view; Figure 7a This is a front view of the valve sleeve of the present invention; Figure 7b This is the present invention. Figure 7a CC-direction sectional view; Figure 7c This is a top view of the valve sleeve of the present invention; Figure 7d This is the present invention. Figure 7c DD section view; Figure 8 This is a schematic diagram of the geometric relationship between the valve core and valve sleeve of the present invention; Figure 9 This is a schematic diagram of the parameters of the hydraulic servo screw mechanism of the present invention.

[0026] Explanation of reference numerals in the attached figures: 100 is the displacement sensor assembly, 200 is the housing, 300 is the left claw pole, 400 is the coil assembly, 500 is the permanent magnet, 600 is the iron core, 700 is the right claw pole, 800 is the base, 900 is the valve sleeve, 1000 is the valve core, 1100 is the valve sleeve end cap, 1200 is the valve core plug, 1300 is the left sensing chamber, 1400 is the right sensing chamber, 310 is the left claw pole tooth, 710 is the right claw pole tooth, 910 is the high-pressure port, 910a is the first high-pressure port, 910b is the second high-pressure port, 920 is the high-pressure oil inlet, 920a is the first high-pressure oil inlet, 920b is the second high-pressure oil inlet, 930 is the low-pressure port, 930a is the first low-pressure port, 930b is the second low-pressure port, 9 40 is the left low-pressure oil outlet, 940a is the first left low-pressure oil outlet, 940b is the second left low-pressure oil outlet, 950 is the right low-pressure oil outlet, 950a is the first right low-pressure oil outlet, 950b is the second right low-pressure oil outlet, 960a is the first high-pressure oil passage, 960b is the second high-pressure oil passage, 970a is the first low-pressure oil passage, 970b is the second low-pressure oil passage, 1010 is the spiral sensitive groove, 1010a is the first spiral sensitive groove, 1010b is the third spiral sensitive groove, 1020 is the first communication hole, 1030 is the second communication hole, 1040a is the second spiral sensitive groove, 1040b is the fourth spiral sensitive groove, 1050 is the left communication oil passage, and 1060 is the right communication oil passage.

[0027] β is the helix angle of the hydraulic servo screw mechanism, h0 is the initial coverage of the hydraulic servo screw mechanism, y is the effective axial length of the equivalent claw pole, t is the one-sided difference between the effective axial length of the equivalent permanent magnet and the equivalent claw pole, and s is the radial separation depth of the equivalent permanent magnet. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0030] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0031] Example 1

[0032] The present invention provides a 2D valve axial error reset method based on axial magnetic compensation and servo screw mechanism parameter matching, comprising the following steps: S1: Constructing axial magnetic compensation force And jointly verify the circumferential restoring torque

[0033] A three-dimensional finite element model was established based on Maxwell electromagnetic simulation software, and the axial magnetic compensation force was calculated simultaneously. With circumferential restoring torque ; S2: Adjust key parameters of the servo screw mechanism to reduce reset resistance; S3: Performing mechanical-hydraulic coupling simulation and multi-objective optimization Build an AMESim physics model with helix angle β and initial occlusion h Using 0 as the optimization variable, construct the optimization variable. A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, while satisfying the helix angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion. S4: Criterion for Verifying Mechanical Equilibrium Reset Combine the optimization parameters obtained in step S3 β and h 0 Substitute the hydraulic feedback force model into the calculation of the hydraulic feedback force under rated operating conditions and axial error retention conditions. F h and the axial magnetic compensation force constructed in step S1 F a Perform a mechanical equilibrium check to ensure the system satisfies: (1) In the formula, For hydraulic feedback force, For load pressure difference, For a slight circumferential angular deviation, The system's overall motion resistance is represented by y, which is the equivalent effective axial length of the claw pole, t is the one-sided difference between the equivalent permanent magnet and the equivalent effective axial length of the claw pole, and s is the radial separation depth of the equivalent permanent magnet. If the above relationship holds true, it is determined that the axial magnetic compensation force can overcome the residual hydraulic feedback force and comprehensive motion resistance in the axial error retention area, and the system meets the axial zero-reset condition; if the above relationship does not hold true, return to step S3 to readjust the helix angle. β and initial occlusion hThe candidate parameter combinations of 0 are used until the mechanical equilibrium reset criterion is met; S5: Implement the collaborative reset procedure During the reset phase, the valve core is first driven to perform a circumferential reset by the circumferential restoring torque; when the system enters the axial error retention zone, the axial magnetic compensation force determined by step S3 is used. Overcoming residual hydraulic feedback force This forces the valve core to return to its axial mechanical zero position.

[0034] In this embodiment, in step S1, the radial separation depth of the stator claw poles relative to the permanent magnet is set. To enhance the axial magnetic field gradient, thereby improving the axial magnetic compensation force. Simultaneously adjust the effective axial length of the equivalent claw pole. Difference between one side To optimize the magnetic force distribution.

[0035] In this embodiment, the specific process of adjusting the key parameters of the servo screw mechanism in step S2 to reduce the reset resistance is as follows: Matching helix angle By limiting the helix angle The range of values ​​is reduced to decrease the transfer gain of the circumferential reset deviation to axial displacement, thereby reducing the axial retention and corresponding axial force caused by the circumferential error. Optimize initial coverage Reduce the initial overlap area between the spiral sensing groove and the pilot valve orifice when they are at the zero position, i.e., the initial coverage amount. This reduces the pressure gain gradient near the zero point, weakening the sensitivity of hydraulic feedback force to displacement deviation. By combining the above two methods, the axial magnetic compensation force is reduced. The axial resistance threshold that needs to be overcome.

[0036] In this embodiment, in step S3, the optimization variables are... As shown below: (2) A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, as shown below: (3) in: (4) (5) (6)

[0037] In the formula, J 1 represents the axial reset error target. J 2 represents the target rise time for the step response. J 3 represents the target for displacement gain linearity error. J 4 represents the displacement resolution target. This refers to the axial displacement at the moment of reset and stabilization. For axial mechanical zero position, The rise time of the step response. For the first i Simulated output displacement under each input condition To correspond to the linear fitting displacement, This represents the smallest resolvable axial displacement increment of the system; Based on the above multi-objective optimization model, while satisfying the spiral angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion.

[0038] In this embodiment, during the multi-objective optimization process, the helix angle β The following parameter range constraints must be met: (7) Initial coverage h The range of values ​​for 0 is determined based on the allowable leakage at zero point, machining and assembly errors, wear margin, thermal deformation margin, pressure gain near zero point, and dynamic response requirements, and must satisfy the following: (8) in, Determined based on machining error, assembly error, wear allowance, and thermal deformation allowance; The requirements are determined based on the pressure build-up capability near zero, the rise time of the step response, and the displacement resolution.

[0039] In this embodiment, in step S5, the circumferential displacement experiences a slight deviation when approaching zero due to friction. , Hydraulic feedback force is generated through a servo screw mechanism. This causes the valve core to axially displace and become stuck in a steady state, utilizing the axial magnetic compensation force constructed in step S1. Overcoming hydraulic feedback force It forces the valve core to return to the axial mechanical zero position, achieving precise reset in two dimensions.

[0040] Example 2

[0041] refer to Figures 1 to 9 The present invention discloses a 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching, comprising a housing 200 and a 2D valve body located inside the housing 200. The direction of the 2D valve body toward the displacement sensor assembly is defined as forward, the central axis of the housing 200 is defined as the axis line, and the direction along the axis line is called the axial direction. A valve core 1000 and a valve sleeve 900 are installed inside the 2D valve body. The valve core 1000 is installed in the valve sleeve 900. The front part of the valve core 1000 is fitted with an iron core 600 and a coil assembly 400 from the inside to the outside. The iron core 600 and the coil assembly 400 are both rotating bodies, and their central axes are both on their respective axis lines. Permanent magnets 500 are distributed around the circumference of the iron core 600. The coil assembly 400 has a front claw pole 300 and a rear claw pole 700 at its front and rear ends, respectively, which together form the stator claw poles. The permanent magnet 500 is directly opposite the front claw pole teeth 310 of the front claw pole 300 and the rear claw pole teeth 710 of the rear claw pole 700. The left and right claw pole teeth 310 and 710 are separated by a radial depth s relative to the permanent magnet 500. When the valve core 1000 drives the permanent magnet 500 to deviate from the axial center position, an axial magnetic compensation force is generated between the stator and rotor, which always points to the axial mechanical zero position. ; A front sensing chamber 1300 is provided between the front end of the valve core 1000 and the displacement sensor assembly, and a rear sensing chamber 1400 is provided between the rear end of the valve core 1000 and the valve sleeve end cap 1100; the front and rear ends of the valve core 1000 are respectively provided with independent front communication oil passages (1050) and rear communication oil passages 1060, the front communication oil passage 1050 is connected to the front sensing chamber 1300, and the rear communication oil passage 1060 is connected to the rear sensing chamber 1400; Four sets of hydraulic servo screw mechanisms are provided between the valve core 1000 and the valve sleeve 900. The two adjacent sets of hydraulic servo screw mechanisms are set differentially.

[0042] Furthermore, the servo spiral mechanism includes a first servo spiral mechanism, a second servo spiral mechanism, a third servo spiral mechanism, and a fourth servo spiral mechanism. The valve core (1000) has a first spiral sensitive groove 1010a, a second spiral sensitive groove 1040a, a third spiral sensitive groove 1010b, and a fourth spiral sensitive groove 1040b. The valve sleeve 900 has a first high-pressure hole 910a, a first low-pressure hole 930a, a second high-pressure hole 910b, and a second low-pressure hole 930b. Wherein: The first servo screw mechanism consists of a first high-pressure port 910a, a first low-pressure port 930a, and a first screw sensing groove 1010a. The third servo screw mechanism consists of a second high-pressure port 910b, a second low-pressure port 930b, and a third screw sensing groove 1010b. High-pressure oil flows into the first and third servo screw mechanisms through the first and second high-pressure inlets 920a and 920b on the valve sleeve. After throttling, the pressure becomes the control pressure. The oil flows into the front sensing chamber 1300 through the front communication oil passage 1050 inside the valve core; The second servo screw mechanism consists of a first high-pressure port 910a, a first low-pressure port 930a, and a second screw sensing groove 1040a; the fourth servo screw mechanism consists of a second high-pressure port 910b, a second low-pressure port 930b, and a fourth screw sensing groove 1040b; high-pressure oil flows into the second and fourth servo screw mechanisms through the first and second high-pressure inlets (920a, 920b) on the valve sleeve, and after throttling, the pressure becomes the control pressure. The oil flows into the rear sensing chamber 1400 through the rear communication oil passage 1060 inside the valve core.

[0043] Furthermore, the first high-pressure oil inlet 920a is connected to the first high-pressure oil passage 960a, and the first high-pressure oil passage 960a is connected to the first high-pressure hole 910a. The first high-pressure oil inlet 920a, the first high-pressure oil passage 960a, and the first high-pressure hole 910a form the first high-pressure oil supply passage. The high-pressure oil enters the first high-pressure hole 910a through the first high-pressure oil inlet 920a and the first high-pressure oil passage 960a, and acts on the control window where the first spiral sensitive groove 1010a and the second spiral sensitive groove 1040a are located. The second high-pressure oil inlet 920b is connected to the second high-pressure oil passage 960b, which is further connected to the second high-pressure hole 910b. The second high-pressure oil inlet 910b, the second high-pressure oil passage 960b, and the second high-pressure hole 910b form a second high-pressure oil supply passage. The high-pressure oil enters the second high-pressure hole 910b through the second high-pressure oil inlet 920b and the second high-pressure oil passage 960b, and acts on the control window where the third spiral sensitive groove 1010b and the fourth spiral sensitive groove 1040b are located.

[0044] Furthermore, the valve sleeve 900 is provided with a left low-pressure oil outlet 940, which includes a left first low-pressure oil outlet 940a and a left second low-pressure oil outlet 940b. The left first low-pressure oil outlet 940a is connected to the first low-pressure hole 930a and is used to discharge the low-pressure oil at the first low-pressure hole 930a. The left second low-pressure oil outlet 940b is connected to the second low-pressure hole 930b through the first low-pressure oil passage 970a and is used to discharge the low-pressure oil at the second low-pressure hole 930b. The valve sleeve 900 is provided with a right low-pressure oil outlet 950, which includes a right first low-pressure oil outlet 950a and a right second low-pressure oil outlet 950b. The right first low-pressure oil outlet 950a is connected to the first low-pressure hole 930a through the first low-pressure oil passage 970a and is used to discharge the low-pressure oil corresponding to the first low-pressure hole 930a. The right second low-pressure oil outlet 950b is connected to the second low-pressure hole 930b through the second low-pressure oil passage 970b and is used to discharge the low-pressure oil corresponding to the second low-pressure hole 930b.

[0045] The first low-pressure port 930a, together with the left first low-pressure oil outlet 940a, the right first low-pressure oil outlet 950a and the first low-pressure oil passage 970a, forms the first low-pressure oil return passage; the second low-pressure port 930b, together with the left second low-pressure oil outlet 940b, the right second low-pressure oil outlet 950b and the second low-pressure oil passage 970b, forms the second low-pressure oil return passage.

[0046] The valve core 1000 is provided with a first communication hole 1020 and a second communication hole 1030, which are connected to the front communication oil passage 1050 and the rear communication channel 1060, respectively.

[0047] In this structure, when the valve core 1000 drives the permanent magnet 500 to deviate from the axial center position, due to the change in the magnetic field gradient caused by the radial separation depth s, an axial magnetic compensation force is generated between the stator and rotor that always points to the axial mechanical zero position. This force utilizes the non-contact spatial distribution characteristics of the magnetic field to achieve axial reset, replacing the traditional mechanical spring. Simultaneously, this magnetic circuit structure provides a restoring torque in the circumferential direction for performing circumferential reset.

[0048] Drive and reset principle: During operation, the electromagnetic unit drives the valve core 1000 to rotate, changing the opening of the control windows of the four sets of servo screw mechanisms, creating a pressure difference between the front and rear sensitive chambers 1300 and 1400, which drives the valve core 1000 to move axially. The axial displacement is adjusted in real time by the reverse geometric compensation effect of the servo screw mechanism to regulate the window opening.

[0049] During reset, the electromagnetic unit generates a restoring torque to drive the valve core 1000 to rotate in the opposite direction, which in turn changes the opening of the servo screw mechanism, creating a reverse pressure difference between the front and rear sensitive chambers 1300 and 1400, thus driving the valve core 1000 to reset axially. Due to frictional resistance, the slight deviation in circumferential reset is amplified by the mechanism and generates an axial deviation, which in turn generates a hydraulic feedback force that hinders reset due to the displacement feedback mechanism. At this time, the axial magnetic compensation force preset in the above structure is used to overcome this force, forcibly driving the valve core through the retention area and returning to the axial zero position.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0055] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A 2D valve axial error reset method based on axial magnetic compensation and servo screw mechanism parameter matching, characterized in that, Includes the following steps: S1: Constructing axial magnetic compensation force And jointly verify the circumferential restoring torque ; A three-dimensional finite element model was established based on Maxwell electromagnetic simulation software, and the axial magnetic compensation force was calculated simultaneously. With circumferential restoring torque ; S2: Adjust key parameters of the servo screw mechanism to reduce reset resistance; S3: Perform mechanical-hydraulic coupling simulation and multi-objective optimization; Build an AMESim physics model with helix angle β and initial occlusion h 0 is used as the optimization variable to construct the optimization variable. A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, while satisfying the helix angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion. S4: Verification of mechanical equilibrium reset criterion; Combine the optimization parameters obtained in step S3 β and h 0 Substitute the hydraulic feedback force model into the calculation of the hydraulic feedback force under rated operating conditions and axial error retention conditions. F h and the axial magnetic compensation force constructed in step S1 F a Perform a mechanical equilibrium check to ensure the system satisfies: （1） In the formula, For hydraulic feedback force, For load pressure difference, For a slight circumferential angular deviation, The system's overall motion resistance is represented by y, which is the equivalent effective axial length of the claw pole, t is the one-sided difference between the equivalent permanent magnet and the equivalent effective axial length of the claw pole, and s is the radial separation depth of the equivalent permanent magnet. If the above relationship holds true, it is determined that the axial magnetic compensation force can overcome the residual hydraulic feedback force and comprehensive motion resistance in the axial error retention area, and the system meets the axial zero-reset condition; if the above relationship does not hold true, return to step S3 to readjust the helix angle. β and initial occlusion h The candidate parameter combinations of 0 are used until the mechanical equilibrium reset criterion is met; S5: Implement the collaborative reset process; During the reset phase, the valve core is first driven to perform a circumferential reset by the circumferential restoring torque; when the system enters the axial error retention zone, the axial magnetic compensation force determined by step S3 is used. Overcoming residual hydraulic feedback force This forces the valve core to return to its axial mechanical zero position.

2. The axial error reset method for a 2D valve based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 1, characterized in that, In step S1, the radial separation depth of the stator claw poles relative to the permanent magnet is set. To enhance the axial magnetic field gradient, thereby improving the axial magnetic compensation force. Simultaneously adjust the effective axial length of the equivalent claw pole. Difference between one side To optimize the magnetic force distribution.

3. The axial error reset method for a 2D valve based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 1, characterized in that, The specific process for adjusting the key parameters of the servo screw mechanism in step S2 to reduce the reset resistance is as follows: Matching helix angle By limiting the helix angle The range of values ​​is reduced to decrease the transfer gain of the circumferential reset deviation to axial displacement, thereby reducing the axial retention and corresponding axial force caused by the circumferential error. Optimize initial coverage Reduce the initial overlap area between the spiral sensing groove and the pilot valve orifice when they are at the zero position, i.e., the initial coverage amount. This reduces the pressure gain gradient near the zero point, weakening the sensitivity of hydraulic feedback force to displacement deviation. By combining the above two methods, the axial magnetic compensation force is reduced. The axial resistance threshold that needs to be overcome.

4. The axial error reset method for a 2D valve based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 1, characterized in that, In step S3, optimize the variables As shown below: （2） A multi-objective optimization model is established with axial reset error, step response rise time, displacement gain linearity error, and displacement resolution as objective functions, as shown below: （3） in: （4） （5） （6） In the formula, J 1 represents the axial reset error target. J 2 represents the target rise time for the step response. J 3 represents the target for displacement gain linearity error. J 4 represents the displacement resolution target. This refers to the axial displacement at the moment of reset and stabilization. For axial mechanical zero position, The rise time of the step response. For the first i Simulated output displacement under each input condition To correspond to the linear fitting displacement, This represents the smallest resolvable axial displacement increment of the system; Based on the above multi-objective optimization model, while satisfying the spiral angle... β and initial occlusion h Among the candidate parameter combinations with zero-value constraints, a non-inferior parameter combination that simultaneously considers axial reset error, step response rise time, displacement gain linearity error, and displacement resolution is selected to determine the optimized helix angle. β and initial occlusion h 0 This is used for subsequent verification of the mechanical equilibrium reset criterion.

5. The axial error reset method for a 2D valve based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 4, characterized in that, In multi-objective optimization, the spiral angle β The following parameter range constraints must be met: （7） Initial coverage h The range of values ​​for 0 is determined based on the allowable leakage at zero point, machining and assembly errors, wear margin, thermal deformation margin, pressure gain near zero point, and dynamic response requirements, and must satisfy the following: （8） in, Determined based on machining error, assembly error, wear allowance, and thermal deformation allowance; The requirements are determined based on the pressure build-up capability near zero, the rise time of the step response, and the displacement resolution.

6. The axial error reset method for a 2D valve based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 1, characterized in that, In step S5, the circumferential displacement experiences a slight deviation near zero due to friction. , Hydraulic feedback force is generated through a servo screw mechanism. This causes the valve core to axially displace and become stuck in a steady state, utilizing the axial magnetic compensation force constructed in step S1. Overcoming hydraulic feedback force It forces the valve core to return to the axial mechanical zero position, achieving precise reset in two dimensions.

7. A 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching, comprising a housing (200) and a 2D valve body located inside the housing (200), wherein the direction of the 2D valve body toward the displacement sensor assembly is defined as forward, the central axis of the housing (200) is defined as the axis, and the direction along the axis is called axial, a valve core (1000) and a valve sleeve (900) are installed inside the 2D valve body, the valve core (1000) is installed in the valve sleeve (900), and an iron core (600) and a coil assembly (400) are sequentially sleeved from the inside to the outside of the front part of the valve core (1000), both the iron core (600) and the coil assembly (400) are rotating bodies, and their central axes are both on their respective axes, and permanent magnets (500) are distributed in the circumference of the iron core (600); characterized in that, The coil assembly (400) is provided with a front claw pole (300) and a rear claw pole (700) at its front and rear ends, respectively, which together form the stator claw poles. The permanent magnet (500) is aligned with the front claw pole teeth (310) of the front claw pole (300) and the rear claw pole teeth (710) of the rear claw pole (700). The left and right claw pole teeth (310, 710) are separated by a radial depth s relative to the permanent magnet (500). When the valve core (1000) drives the permanent magnet (500) to deviate from the axial center position, an axial magnetic compensation force is generated between the stator and rotor that always points to the axial mechanical zero position. ; A front sensing chamber (1300) is provided between the front end of the valve core (1000) and the displacement sensor assembly, and a rear sensing chamber (1400) is provided between the rear end of the valve core (1000) and the valve sleeve end cap (1100); the front and rear ends of the valve core (1000) are respectively provided with independent front communication oil passages (1050) and rear communication oil passages (1060), the front communication oil passage (1050) is connected to the front sensing chamber (1300), and the rear communication oil passage (1060) is connected to the rear sensing chamber (1400); Four sets of hydraulic servo screw mechanisms are provided between the valve core (1000) and the valve sleeve (900). The two adjacent sets of hydraulic servo screw mechanisms are set differentially.

8. A 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 7, characterized in that, The servo spiral mechanism includes a first servo spiral mechanism, a second servo spiral mechanism, a third servo spiral mechanism, and a fourth servo spiral mechanism. The valve core (1000) has a first spiral sensitive groove (1010a), a second spiral sensitive groove (1040a), a third spiral sensitive groove (1010b), and a fourth spiral sensitive groove (1040b). The valve sleeve (900) has a first high-pressure port (910a), a first low-pressure port (930a), a second high-pressure port (910b), and a second low-pressure port (930b). The first servo screw mechanism consists of a first high-pressure port (910a), a first low-pressure port (930a), and a first screw sensitive groove (1010a). The third servo screw mechanism consists of a second high-pressure port (910b), a second low-pressure port (930b), and a third screw sensitive groove (1010b). High-pressure oil flows into the first and third servo screw mechanisms through the first and second high-pressure inlets (920a, 920b) on the valve sleeve. After throttling, the pressure becomes the control pressure. The oil flows into the front sensing chamber (1300) through the front communication oil passage (1050) inside the valve core. The second servo screw mechanism consists of a first high-pressure port (910a), a first low-pressure port (930a), and a second spiral sensitive groove (1040a); the fourth servo screw mechanism consists of a second high-pressure port (910b), a second low-pressure port (930b), and a fourth spiral sensitive groove (1040b); high-pressure oil flows into the second and fourth servo screw mechanisms through the first and second high-pressure inlets (920a, 920b) on the valve sleeve, and the pressure becomes the control pressure after throttling. The oil flows into the rear sensing chamber (1400) through the rear communication oil passage (1060) inside the valve core.

9. A 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 7, characterized in that, The first high-pressure oil inlet (920a) is connected to the first high-pressure oil passage (960a), and the first high-pressure oil passage (960a) is connected to the first high-pressure hole (910a). The first high-pressure oil inlet (920a), the first high-pressure oil passage (960a), and the first high-pressure hole (910a) together form the first high-pressure oil supply passage. The high-pressure oil enters the first high-pressure hole (910a) through the first high-pressure oil inlet (920a) and the first high-pressure oil passage (960a), and acts on the control window where the first spiral sensitive groove (1010a) and the second spiral sensitive groove (1040a) are located. The second high-pressure oil inlet (920b) is connected to the second high-pressure oil passage (960b), and the second high-pressure oil passage (960b) is further connected to the second high-pressure hole (910b). The second high-pressure oil inlet (910b), the second high-pressure oil passage (960b), and the second high-pressure hole (910b) form the second high-pressure oil supply passage. The high-pressure oil enters the second high-pressure hole (910b) through the second high-pressure oil inlet (920b) and the second high-pressure oil passage (960b), and acts on the control window where the third spiral sensitive groove (1010b) and the fourth spiral sensitive groove (1040b) are located.

10. A 2D valve axial error reset device based on axial magnetic compensation and servo screw mechanism parameter matching according to claim 9, characterized in that, The valve sleeve (900) is provided with a left low-pressure oil outlet (940), which includes a left first low-pressure oil outlet (940a) and a left second low-pressure oil outlet (940b). The left first low-pressure oil outlet (940a) is connected to the first low-pressure hole (930a) and is used to discharge the low-pressure oil at the first low-pressure hole (930a). The left second low-pressure oil outlet (940b) is connected to the second low-pressure hole (930b) through the first low-pressure oil passage (970a) and is used to discharge the low-pressure oil at the second low-pressure hole (930b). The valve sleeve (900) is provided with a right low-pressure oil outlet (950), which includes a right first low-pressure oil outlet (950a) and a right second low-pressure oil outlet (950b). The right first low-pressure oil outlet (950a) is connected to the first low-pressure hole (930a) through the first low-pressure oil passage (970a) and is used to discharge the low-pressure oil corresponding to the first low-pressure hole (930a). The right second low-pressure oil outlet (950b) is connected to the second low-pressure hole (930b) through the second low-pressure oil passage (970b) and is used to discharge the low-pressure oil corresponding to the second low-pressure hole (930b). The first low-pressure port (930a), together with the left first low-pressure oil outlet (940a), the right first low-pressure oil outlet (950a), and the first low-pressure oil passage (970a), form the first low-pressure oil return passage; The second low-pressure port (930b), together with the left second low-pressure oil outlet (940b), the right second low-pressure oil outlet (950b), and the second low-pressure oil passage (970b), form the second low-pressure oil return passage.

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