CN107269624A - It is a kind of to realize the computational methods that valve element opens the throttling rod cutting depth of rule - Google Patents

It is a kind of to realize the computational methods that valve element opens the throttling rod cutting depth of rule Download PDF

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Publication number
CN107269624A
CN107269624A CN201710373392.XA CN201710373392A CN107269624A CN 107269624 A CN107269624 A CN 107269624A CN 201710373392 A CN201710373392 A CN 201710373392A CN 107269624 A CN107269624 A CN 107269624A
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msub
mrow
accumulator
valve
cutting depth
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CN107269624B (en
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乐贵高
杜尧
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007Simulation or modelling
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B2013/008Throttling member profiles

Abstract

The computational methods that valve element opens the throttling rod cutting depth of rule are realized the invention discloses a kind of, utilize throttle effect, change the sectional area of throttling rod by designing the cutting depth of throttling rod, in piston movement, change throttle hole area with the change of throttling rod area, regulation cylinder buffer chamber resistance is reached, makes the unlatching rule that it meets valve element with reference to Newton's second law.The present invention carries out the fuel feeding of hydraulic jack oil suction chamber using gas type accumulator, based on the gas Boyle's law in the equation of gas state, calculates the change that accumulator charge oil pressure is oil-feed cavity pressure.The present invention can save design cost, shorten the R&D cycle, increase economic efficiency, and be more conducive to apply in practice in engineering.

Description

It is a kind of to realize the computational methods that valve element opens the throttling rod cutting depth of rule
Technical field
The invention belongs to field of hydraulic control, and in particular to a kind of to realize that valve element opens the throttling rod cutting depth of rule Computational methods.
Background technology
Compared with machine driving, Electrified Transmission, hydraulic drive has that lightweight, small volume, motional inertia be small, reaction speed The advantages of hurry up, manipulate easy to control.Hydraulic drive typically uses mineral oil for working media, relative motion face can lubricating by oneself, Service life is long.It is widely used in the control of numerous key areas, such as machine tool feed, Hydraulic aerial cage, rolling mill System processed etc..The realization of rule is opened for valve element, frequently with servo-drive system, but servo system structure is complicated, machining accuracy High, a large amount of to use sensor and public machine, it is necessary to which special technical staff is designed, difficulty is high, and the cost of control system is extremely Less more than 100,000 yuan, general medium-sized and small enterprises are difficult to bear.The hydraulic control component (such as electrohydraulic servo valve) of servo-drive system resists Pollution capacity is poor, and the requirement to the fluid that works is high, and element depot repair is caused when impurity occurs in fluid, and this kind of precision element Foreign vendor is substantially purchased from, causes maintenance cycle long, high cost.There is many model uncertainties in servo-drive system, including Structural uncertainty (such as with environment and the parameter uncertainty of operating mode change etc.) and unstructured uncertainty be not (as modeled Friction, Unmarried pregnancy, outer interference etc.), these uncertain factors may the desired control performance of severe exacerbation, generation pole Limit ring oscillation even makes the controller based on the nominal model design of system unstable.
Open theory based on throttle effect control valve is simple, and unlatching response is fast, open rule can obtain Reliable guarantee, Its low cost.Depend on empirical value more the cutting depth of traditional design throttling rod, carry out substantial amounts of experiment and collect unlatching rule Data, are then contrasted, then change with target rule.The production program cost of such a throttling rod is high, and the cycle is long, opens target Rule somewhat changes, and work before will fall short of success for lack of final effort.Be not suitable for that present product releases the shortening cycle, the product that reduces cost is pushed away Go out requirement.
The content of the invention
The computational methods that valve element opens the throttling rod cutting depth of rule are realized it is an object of the invention to provide a kind of, with Existing throttling rod design is solved by experience processing, test of many times causes the problem of cost is high, the cycle is long.
The technical solution for realizing the object of the invention is:It is a kind of to realize the cutting depth that valve element opens the throttling rod of rule Computational methods, comprise the following steps that:
Step 1: setting up the mathematical modeling of spool position, displacement and the data point of time are opened according to valve element, utilized Polyfit functions in MATLAB softwares are fitted to 5 rank multinomials:
Y=a0+a1t+a2t2+a3t3+a4t4+a5t5 (1)
Formula (1) is unlatching displacement and the relation of time of the valve element of fitting, and wherein y is spool displacement;T is the time; a0、a1、a2、a3、a4、a5It is multinomial coefficient.
Step 2: according to Newton's second law, the equation of motion of spool position is:
M is inertia mass in formula (2);For valve core movement acceleration;p2For hydraulic cylinder oil-feed cavity pressure;A1For oil-feed The area of thrust surface of chamber piston;p3For hydraulic cylinder buffer cavity pressure;A2For cushion chamber effective active area, F is the opening force of valve element; Rf frictional resistance;Wherein C=0;
Now the opening process of valve element is reduced to:
Step 3: flowing into the flow Q of oil sources by throttle orifice2, obtain:
Q in formula (4)2To flow into the flow of oil sources by throttle orifice;For valve core movement speed;CdFor discharge coefficient;Ad It is that throttling rod and oil back chamber circular hole cooperatively form throttle hole area;p3For hydraulic cylinder buffer cavity pressure;p4It is air for oil supply pressure Pressure;ρ is hydraulic oil density.
Step 4: be nitrogen in accumulator air bag, accumulator is pre- according to the original state of accumulator and when meeting fuel feeding Pressurising power, based on the equation of gas state, calculates the Preliminary pressure-filled lower gasbag cavity volume that should be met in accumulator, accumulator Deflation time is less than 1min, it is believed that be adiabatci condition:
p0v0 k=p1v1 k (5)
P in formula (5)0For accumulator original state intracapsular pressure;v0For the volume of accumulator original state air bag;p1 For accumulator work intracapsular pressure when work;v1For the volume of accumulator air bag when work;K is gas constant.
Step 5: according to the equation of gas state, calculating pressure, 1 shape when accumulator is from whne work in the accumulator course of work State is into the course of work during 2 state, and the increment of its pressure is:
Δ p=p2-p1=p1v1 kv2 -k-p1 (6)
Then the state equation of accumulator air cavity pressure is:
In formula (7)For the derivative of oil-feed cavity pressure;For the rate of change of accumulator airbag chamber volume.
Step 6: calculating cutting depth and throttle hole area relation according to geometrical relationship:
Ad=2 (π r2π -1/2* (r-c) r*sin (θ) * 2 of * 2 θ/2)=2 (r2θ-(r-c)rsin(θ)) (9)
In formula (8), θ is the corresponding central angle of throttle orifice arc length half;R is unhewn throttling rod radius;C is Cutting depth.
Step 7: the cutting depth c solved is a function on t, spool displacement y is also time t function, foundation Mathematical method can eliminate intermediate variable t, obtain cutting depth c and spool displacement y function, so as to realize that throttling rod cutting is deep The calculating of degree.
The present invention compared with prior art, its remarkable advantage:
(1) test number (TN) can be reduced, cost is reduced.
(2) R&D cycle is reduced, the economic benefit of enterprise is improved.
Brief description of the drawings
Fig. 1 realizes that valve element opens the flow chart of the computational methods of the throttling rod cutting depth of rule for the present invention.
Fig. 2 realizes that valve element opens the computational methods valve element open theory signal of the throttling rod cutting depth of rule for the present invention Figure.
Certain instantaneous orifice size schematic diagram that Fig. 3 cooperatively forms for the throttling rod of the present invention with oil back chamber circular hole.
Fig. 4 is cutting depth of the invention and orifice size relation geometrical relationship schematic diagram.
Fig. 5 is that the embodiment of the present invention calculates schematic diagram of the cutting depth with bar position.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
It is a kind of to realize the computational methods that valve element opens the throttling rod cutting depth of rule, specific steps with reference to Fig. 1 and Fig. 2 It is as follows:
Step one:The mathematical modeling of spool position is set up, displacement and the data point of time are opened according to valve element, is utilized Polyfit functions in MATLAB softwares are fitted to 5 rank multinomials:
Y=a0+a1t+a2t2+a3t3+a4t4+a5t5 (1)
Formula (1) is unlatching displacement and the relation of time of the valve element of fitting, and wherein y is spool displacement;T is the time; a0、a1、a2、a3、a4、a5It is multinomial coefficient.
Step 2:According to Newton's second law, the equation of motion of spool position is:
M is inertia mass (including throttling rod, piston, piston rod, valve element and related connection parts) in formula (2);For valve Core acceleration of motion;p2For hydraulic cylinder oil-feed cavity pressure;A1For the area of thrust surface of oil suction chamber piston;p3For hydraulic cylinder cushion chamber pressure Power;A2For cushion chamber effective active area, F is the opening force of valve element;C is equivalent viscous damping coefficient;RfFor frictional resistance.By The viscous damping power being subject in hydraulic cylinder piston in motion process, which is acted on, make it that hydraulic cylinder force is complex, and stickiness hinders Buddhist nun's force value is typically small, and the effect for ignoring viscous damping power does not result in too big influence on theory analysis, therefore C=0.Now valve element Opening process can be reduced to:
Step 3:The flow Q of oil sources is flowed into by throttle orifice2In engineering fluid mechanics works, to thin-walled aperture and thickness The discharge characteristic formula of pit aperture, through pushing over and analysis is obtained:
Q in formula (4)2To flow into the flow of oil sources by throttle orifice;For valve core movement speed;CdFor discharge coefficient;Ad It is that throttling rod and oil back chamber circular hole cooperatively form throttle hole area;p3For hydraulic cylinder buffer cavity pressure;p4It is air for oil supply pressure Pressure;ρ is hydraulic oil density.
Step 4:It is nitrogen in accumulator air bag, accumulator is pre- according to the original state of accumulator and when meeting fuel feeding Pressurising power.Based on the equation of gas state, the Preliminary pressure-filled lower gasbag cavity volume that should be met in accumulator is calculated, accumulator Deflation time is less than 1min, it is believed that be adiabatci condition:
p0v0 k=p1v1 k (5)
P in formula (5)0For accumulator original state intracapsular pressure;v0For the volume of accumulator original state air bag;p1 For accumulator work intracapsular pressure when work;v1For the volume of accumulator air bag when work;K is gas constant.
Step 5:According to the equation of gas state, pressure, 1 shape when accumulator is from whne work in the accumulator course of work are calculated State is into the course of work during 2 state, and the increment of its pressure is:
Δ p=p2-p1=p1v1 kv2 -k-p1 (6)
Then the state equation of accumulator air cavity pressure is:
In formula (7)For the derivative of oil-feed cavity pressure;For the rate of change of accumulator airbag chamber volume.
Step 6:Throttling rod stretches into cushion chamber circular hole, is divided into as shown in Figure 3 two symmetrical throttle orifice, root Cutting depth and throttle hole area relation are calculated according to geometrical relationship:
Ad=2 (π r2π -1/2* (r-c) r*sin (θ) * 2 of * 2 θ/2)=2 (r2θ-(r-c)rsin(θ)) (9)
In formula (8), θ is the corresponding central angle of throttle orifice arc length half as shown in Figure 4;R is unhewn throttling Bar radius;C is cutting depth (as shown in Figure 4).
In summary, for the calculating of throttling rod cutting depth to meet unlatching rule, have (1), (3), (4), (5), (7), (8), (9) seven equations should have y, p relatively2、p3、v1、Ad, seven unknown numbers of θ, c, can solve completely.
Step 7:The cutting depth c of solution is a function on t, and spool displacement y is also time t function, foundation Mathematical method can eliminate intermediate variable t, obtain cutting depth c and spool displacement y function, so as to realize that throttling rod cutting is deep The calculating of degree.
Embodiment 1:
Throttling rod control valve opens hydraulic system parameters:Inertia mass m=10kg;The area of thrust surface A of oil suction chamber piston1 =6260mm2;Cushion chamber effective active area A2=7670mm2, the opening force F=10000N of valve element;Rf=100N;Flow system Number Cd=0.62;Hydraulic oil density ρ=800kg/m3.Accumulator original state intracapsular pressure p0=10MPa;Accumulator is initial The volume v of state air bag0=0.025m3;Accumulator work air bag internal pressure p when work1=31MPa;p4=0.101MPa;Gas Body constant k=1.4;Unhewn throttling rod radius r=7.5mm.
Throttling rod cutting depth c with position result of calculation such as Fig. 5.

Claims (1)

1. a kind of realize the computational methods that valve element opens the cutting depth of the throttling rod of rule, it is characterised in that specific steps are such as Under:
Step 1: setting up the mathematical modeling of spool position, displacement and the data point of time are opened according to valve element, it is soft using MATLAB Polyfit functions in part are fitted to 5 rank multinomials:
Y=a0+a1t+a2t2+a3t3+a4t4+a5t5 (1)
Formula (1) is unlatching displacement and the relation of time of the valve element of fitting, and wherein y is spool displacement;T is the time;a0、a1、 a2、a3、a4、a5It is multinomial coefficient;
Step 2: according to Newton's second law, the equation of motion of spool position is:
<mrow> <mi>m</mi> <mover> <mi>y</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>p</mi> <mn>2</mn> </msub> <msub> <mi>A</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mn>3</mn> </msub> <msub> <mi>A</mi> <mn>2</mn> </msub> <mo>-</mo> <mi>F</mi> <mo>-</mo> <mi>C</mi> <mo>-</mo> <msub> <mi>R</mi> <mi>f</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
M is inertia mass in formula (2);For valve core movement acceleration;p2For hydraulic cylinder oil-feed cavity pressure;A1For oil suction chamber piston Area of thrust surface;p3For hydraulic cylinder buffer cavity pressure;A2For cushion chamber effective active area, F is the opening force of valve element;Rf rubs Resistance;Wherein C=0;
Now the opening process of valve element is reduced to:
<mrow> <mi>m</mi> <mover> <mi>y</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>p</mi> <mn>2</mn> </msub> <msub> <mi>A</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mn>3</mn> </msub> <msub> <mi>A</mi> <mn>2</mn> </msub> <mo>-</mo> <mi>F</mi> <mo>-</mo> <mi>R</mi> <mi>f</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
Step 3: flowing into the flow Q of oil sources by throttle orifice2, obtain:
<mrow> <msub> <mi>Q</mi> <mn>2</mn> </msub> <mo>=</mo> <msub> <mi>A</mi> <mn>2</mn> </msub> <mover> <mi>y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>C</mi> <mi>d</mi> </msub> <msub> <mi>A</mi> <mi>d</mi> </msub> <msqrt> <mfrac> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> </mrow> <mi>&amp;rho;</mi> </mfrac> </msqrt> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
Q in formula (4)2To flow into the flow of oil sources by throttle orifice;For valve core movement speed;CdFor discharge coefficient;AdFor section Flow post cooperatively forms throttle hole area with oil back chamber circular hole;p3For hydraulic cylinder buffer cavity pressure;p4It is atmospheric pressure for oil supply pressure;ρ For hydraulic oil density;
Step 4: be nitrogen in accumulator air bag, original state and the preacceleration inflation of accumulator when meeting fuel feeding according to accumulator Power, based on the equation of gas state, calculates the Preliminary pressure-filled lower gasbag cavity volume that should be met in accumulator, the deflation of accumulator Time is less than 1min, it is believed that be adiabatci condition:
p0v0 k=p1v1 k (5)
P in formula (5)0For accumulator original state intracapsular pressure;v0For the volume of accumulator original state air bag;p1To store Can device work intracapsular pressure when work;v1For the volume of accumulator air bag when work;K is gas constant;
Step 5: according to the equation of gas state, calculate pressure in the accumulator course of work, when accumulator is from whne work 1 state to In the course of work during 2 state, the increment of its pressure is:
Δ p=p2-p1=p1v1 kv2 -k-p1 (6)
Then the state equation of accumulator air cavity pressure is:
<mrow> <mover> <msub> <mi>p</mi> <mn>2</mn> </msub> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mi>p</mi> </mrow> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mfrac> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <msub> <mi>kp</mi> <mn>1</mn> </msub> <msup> <msub> <mi>v</mi> <mn>1</mn> </msub> <mi>k</mi> </msup> </mrow> <mrow> <msup> <msub> <mi>v</mi> <mn>2</mn> </msub> <mrow> <mi>k</mi> <mo>+</mo> <mn>1</mn> </mrow> </msup> </mrow> </mfrac> <mover> <msub> <mi>v</mi> <mn>2</mn> </msub> <mo>&amp;CenterDot;</mo> </mover> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
In formula (7)For the derivative of oil-feed cavity pressure;For the rate of change of accumulator airbag chamber volume;
Step 6: calculating cutting depth and throttle hole area relation according to geometrical relationship:
<mrow> <mi>&amp;theta;</mi> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi> </mi> <mi>cos</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mi>r</mi> <mo>-</mo> <mi>c</mi> </mrow> <mi>r</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow> 1
Ad=2 (π r2π -1/2* (r-c) r*sin (θ) * 2 of * 2 θ/2)=2 (r2θ-(r-c)rsin(θ)) (9)
In formula (8), θ is the corresponding central angle of throttle orifice arc length half;R is unhewn throttling rod radius;C is cutting Depth;
Step 7: the cutting depth c solved is a function on t, spool displacement y is also time t function, according to mathematics Method can eliminate intermediate variable t, obtain cutting depth c and spool displacement y function, so as to realize throttling rod cutting depth Calculate.
CN201710373392.XA 2017-05-24 2017-05-24 A kind of computational methods realized spool and open the throttling rod cutting depth of rule Expired - Fee Related CN107269624B (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101737538A (en) * 2008-11-10 2010-06-16 北京航空航天大学 Flow control valve device and design method for flow control type hole
US20110240128A1 (en) * 2010-04-02 2011-10-06 Tyco Valves & Controls Lp Method and apparatus for monitoring operation of a pilot-controlled pressure relief valve
CN202056129U (en) * 2011-05-04 2011-11-30 四川佰瑞隆机械设备有限公司 Ultrahigh pressure relief valve
CN203374243U (en) * 2013-07-29 2014-01-01 苏州道森钻采设备股份有限公司 Outer cage throttle valve
CN103511378A (en) * 2013-09-18 2014-01-15 燕山大学 Method for designing all-around rectangular throttling orifice of sliding cone valve
CN103514306A (en) * 2012-06-18 2014-01-15 中国航空工业集团公司西安飞机设计研究所 Design method for multi-throttling-piece hydraulic throttling valve
CN103591325A (en) * 2013-10-24 2014-02-19 燕山大学 Designing method of U-shaped valve port of non-circular-opening slide groove
CN105320789A (en) * 2014-07-28 2016-02-10 中国石油化工股份有限公司 Design method of throttle valve with flow coefficient linearly varied with opening degree

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101737538A (en) * 2008-11-10 2010-06-16 北京航空航天大学 Flow control valve device and design method for flow control type hole
US20110240128A1 (en) * 2010-04-02 2011-10-06 Tyco Valves & Controls Lp Method and apparatus for monitoring operation of a pilot-controlled pressure relief valve
CN202056129U (en) * 2011-05-04 2011-11-30 四川佰瑞隆机械设备有限公司 Ultrahigh pressure relief valve
CN103514306A (en) * 2012-06-18 2014-01-15 中国航空工业集团公司西安飞机设计研究所 Design method for multi-throttling-piece hydraulic throttling valve
CN203374243U (en) * 2013-07-29 2014-01-01 苏州道森钻采设备股份有限公司 Outer cage throttle valve
CN103511378A (en) * 2013-09-18 2014-01-15 燕山大学 Method for designing all-around rectangular throttling orifice of sliding cone valve
CN103591325A (en) * 2013-10-24 2014-02-19 燕山大学 Designing method of U-shaped valve port of non-circular-opening slide groove
CN105320789A (en) * 2014-07-28 2016-02-10 中国石油化工股份有限公司 Design method of throttle valve with flow coefficient linearly varied with opening degree

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