Design And Research Of The Torque Motor And Its Controller For The Interpolating 2D Servo Valve

Threaded cartridge valve have become an important development trend of hydraulic control technology With the advantages of small size,zero leakage,high integration level and easy assembly.The 2D servo valve has many advantages such assimple structure,high precision,strong anti-pollution ability and fast response,which has become one of the highlight technologies in the current electro-hydraulic control field.The interpolating 2D servo valve is used as a combination of threaded cartridge valve and 2D servo valve,it has the advantage of both valves,and has an extremely wide application prospect in aerospace and military field.The torque motor designed in this paper will be used as the electro-mechanical converter for the interpolating 2D servo valve,The output shaft of torque motor and the valve core is fixed together,and the torque motor directly drives the valve core to realize the double degree freedom of rotation and direct motion,thus achieving precise control of the flow.The specific research contents and research results of this thesis are as follows:(1)The structural design of the interpolating 2D servo valve.the interpolating 2D servo valve is mainly composed of 2D valve core,electric-mechanical converter(torque motor)and LVDT sensor.2D valve body can be calculated to obtain relevant size;The mechanical part of the LVDT sensor is designed based on the overall structure of the torque motor and the basic principle of the sensor.The structural design of the torque motor is the core part of this thesis·.(2)Mathematical modeling of torque motor and optimization of parameters.The mathematical modeling of the torque motor is established,and the magnetic circuit simulation is carried out by MAXWELL to determine the relationship between the parameters of the yoke iron ring thickness,the magnetic air gap and the width of the side width of the magnetic steel and the output torque.(3)Simulation and calculation of two-dimensional spring.The parametric model of the two-dimensional spring is established and the mechanical simulation is carried out,to Get the deformation of different structural parameters of two-dimensional spring under the force(or torque),combined with the design requirements of torque motor,determine the specific parameters of two-dimensional spring,and then verified by theoretical calculation.(4)Design of torque motor digital controller.The STM32F405 digital signal processor is the main control chip,through DRV8844 motor driver chip driving torque motor.The torque motor is controlled by the double closed-loop PID control method in the program design.;In order to reduce the attenuation of the amplitude of high frequency,the phase compensation link is increased,and the frequency response and stability of the torque motor are greatly improved.(5)Experimental study on the performance of torque motor.Set up torque of the motor and its controller test platform,the new design to study the characteristics of the torque motor,get the frequency response of the torque motor and input/output characteristics such as dynamic and static performance,check the design result of torque motor.