CN109236775A - A kind of big flow ratio valve module and its control method based on high-speed switch valve guide adjusting - Google Patents
A kind of big flow ratio valve module and its control method based on high-speed switch valve guide adjusting Download PDFInfo
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- CN109236775A CN109236775A CN201811145955.0A CN201811145955A CN109236775A CN 109236775 A CN109236775 A CN 109236775A CN 201811145955 A CN201811145955 A CN 201811145955A CN 109236775 A CN109236775 A CN 109236775A
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- Prior art keywords
- valve
- speed switch
- switch valve
- dsp controller
- proportioning valve
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
- F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Servomotors (AREA)
Abstract
The present invention discloses the big flow ratio valve module adjusted based on high-speed switch valve guide and its control method, including dsp controller, proportioning valve, LVDT displacement sensor, the first high-speed switch valve, the second high-speed switch valve；The oil pressure of left and right control chamber is controlled respectively by the first high-speed switch valve, the second high-speed switch valve to be controlled with the position of main valve plug in collective effect comparative example valve, the first high-speed switch valve, the second high-speed switch valve can be automatically controlled in the form of pwm signal dsp controller simultaneously, so that control effect is more accurate and response is quicker.Meanwhile in high frequency sound big flow proportioning valve, two high-speed switch valves are used to replace conventional spout baffle mechanism to realize structure decoupling, and it is possible to prevente effectively from the power loss problem as caused by the leakage of middle position, improves the efficiency of big flow proportioning valve.
Description
Technical field:
The present invention relates to Fluid Transmission and Control big flow proportioning valve field, more particularly to one kind are first based on high-speed switch valve
Lead the big flow proportioning valve and its control method of adjusting.
Background technique:
Proportioning valve be one is by control valve core be displaced it is directly proportional to input signal, and then control oil liquid flow direction with
The hydraulic control component of uninterrupted.Proportioning valve due to its higher control precision and frequency response, be widely used in metallurgy, ship with
Engineering machinery field.And big flow proportioning valve is mainly used for high-pressure high-flow occasion (100L/min or more), generally uses second level
Or multilevel structure overcomes the hydraulic power on spool to interfere.
Currently, the main valve grade feedback form for the big flow proportioning valve applied in the market is fed back using displacement-electricity, by linear
The position of variable differential transformer (Linear Variable Differential Transformer LVDT) acquisition main valve plug
It moves, feeds back to controller, send control signal to pilot valve after operation with the pressure of two chamber of control bound core.Big flow ratio
The pilot stage of valve generally uses proportioning valve or Nozzle flapper valve, for the former, since the four throttling side couplings of ratio valve core are adjusted
Section, has that power loss is big and control freedom degree is low, for the latter, due to the inherent characteristic of nozzle flapper valve arrangement,
The problems such as there are power consumption big (middle position leakage) and high processing costs, and since both the above pilot stage is all made of analog signal control
System easily causes and controls the problems such as at high cost and signal is vulnerable to interference.
In recent years, high-speed switch valve due to the advantages such as its structure is simple, at low cost, high reliablity and energy conservation industry,
The fields such as aerospace are widely used, and can complete to control the position of main valve grade with substitute proportion valve in certain occasions
System.A kind of double spool PLC technology hydraulic valve of high-speed switch valve pilot control as disclosed in Chinese patent CN106382271A
And its method, the invention realize the position of proportional multi-way valve main valve plug using two two-bit triplet high-speed switch valves instead of proportioning valve
Control is set, but for main valve control chamber, is connected to respectively with power oil sources and fuel tank in a cycle, there are control pressure
Fluctuation is big, causes certain impact, controls the accurate of primary spool position by certain influence.
Summary of the invention:
Goal of the invention: the present invention provides a kind of big flow ratio valve module adjusted based on high-speed switch valve guide, can
The displacement of more accurate comparative example valve main valve plug is controlled, while improving the efficiency of big flow proportioning valve
Present invention simultaneously provides a kind of control methods based on the big flow ratio valve module.
Technical solution: to achieve the above object, following technical side can be used in big flow ratio valve module provided by the invention
Case:
A kind of big flow ratio valve module adjusted based on high-speed switch valve guide, including dsp controller, proportioning valve, company
First power oil sources of the logical main oil inlet of proportioning valve, the first fuel tank for being connected to the main oil return opening of proportioning valve, LVDT displacement sensor, the
Two power oil sources, the first high-speed switch valve, the second high-speed switch valve, the first damping hole, the second damping hole, the second fuel tank；Second
Power oil sources is connected to the oil inlet of the oil inlet of the first damping hole, the second damping respectively；The oil outlet of first damping hole is distinguished
It is connected to the left control chamber of the oil inlet of the first high-speed switch valve, proportioning valve；The oil outlet of second damping hole is high with second respectively
The right control chamber connection of the oil inlet, proportioning valve of fast switch valve；The oil outlet of first high-speed switch valve, second high-speed switch valve
Oil outlet is connected to the second fuel tank；Oil pressure of first high-speed switch valve to control the left control chamber of proportioning valve；Second is high
Oil pressure of the fast switch valve to control the right control chamber of proportioning valve；Position of the LVDT displacement sensor to acquire proportioning valve inner spool
It moves, LVDT displacement sensor is connect with dsp controller input terminal；Dsp controller is high to control first respectively by pwm signal
Fast switch valve and the second high-speed switch valve.
The utility model has the advantages that compared with the existing technology, big flow ratio valve module passes through the first high-speed switch valve, the in the present invention
Two high-speed switch valve decibels are controlled the oil pressure of left and right control chamber and are controlled with the position of main valve plug in collective effect comparative example valve
System, while the first high-speed switch valve, the second high-speed switch valve can be automatically controlled in the form of pwm signal dsp controller,
So that control effect is more accurate and response is quicker.Meanwhile in high frequency sound big flow proportioning valve, opened using two high speeds
It closes valve and replaces conventional spout baffle mechanism to realize structure decoupling, and it is possible to prevente effectively from the power as caused by the leakage of middle position
Loss problem improves the efficiency of big flow proportioning valve.
Further, the proportioning valve work oil inlet and work oil return opening are connect with the both ends of load respectively.
Further, the dsp controller is provided with PID/feedback controller and logic controller.
In addition, following technical scheme can be used in the control method provided by the invention using aforementioned proportion valve module:
Include the following steps:
Step 1, LVDT displacement sensor acquires the spool displacement signal x of proportioning valve in real time1, and by spool displacement signal x1
It feeds back in dsp controller, dsp controller preset instructions displacement signal x0With spool displacement signal x1Displacement error is obtained as difference
Δx；That is Δ x=x0-x1；
Step 2, dsp controller is calculated using PID/feedback controller according to the size of displacement error Δ x and obtains duty
Than τ, and 0≤τ≤1；
Step 3, dsp controller is respectively obtained according to the symbol and duty ratio τ of displacement error Δ x using logic controller
The duty ratio τ of PWM1 signal1With the duty ratio τ of PWM2 signal2, duty ratio τ1、τ2Preparation method are as follows:
When Δ x=0, then τ1=τ2=0
When Δ x < 0, then τ1=1；τ2=τ；
When Δ x > 0, then τ1=τ；τ2=1；
Step 4, dsp controller drives the first high-speed switch valve and the second high-speed switch valve events, and then adjusts ratio respectively
The example left control chamber of valve and the pressure of right control chamber, make the spool displacement signal x of proportioning valve1Move closer to instruction displacement signal x0,
The spool displacement closed-loop control of completed percentage valve.
Further,
When Δ x=0, the left control chamber of proportioning valve is equal with the oil pressure of right control chamber, the first high-speed switch valve and second high
Fast switch valve is failure to actuate；
When Δ x < 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=τ, and DSP is controlled
Device processed is τ to the duty ratio of the first high-speed switch valve output pwm signal1=1, so that the pressure of the left control chamber of proportioning valve is less than the right side
The pressure of control chamber, spool moves downward until Δ x=0；
When Δ x > 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=1, and DSP is controlled
Device processed is τ to the duty ratio of the first high-speed switch valve output pwm signal1=τ makes the pressure of the left control chamber of proportioning valve be greater than the right side
The pressure of control chamber, spool moves right until Δ x=0.
In the present invention, pass through the left control chamber of the adjustable proportioning valve of duty ratio of Differential Control PWM1 and PWM2 signal
With the pressure of right control chamber, and then realize proportioning valve position-force control.
Compared with prior art, the present invention has the advantage that in high frequency sound big flow proportioning valve, using two high speeds
Switch valve replaces conventional spout baffle mechanism to realize structure decoupling, and it is possible to prevente effectively from the function as caused by the leakage of middle position
Rate loses problem, improves the efficiency of big flow proportioning valve.
Detailed description of the invention:
Fig. 1 is structure principle chart provided in an embodiment of the present invention；
Fig. 2 is control system block diagram provided in an embodiment of the present invention；
Drawing reference numeral: 1- proportioning valve, 2-LVDT displacement sensor, the first power of 3.1- oil sources, the second power of 3.2- oil sources,
The first fuel tank of 4.1-, the second fuel tank of 4.2-, 5- load, the first damping hole of 6.1-, the second damping hole of 6.2-, the first high speed of 7.1- are opened
Close valve, the second high-speed switch valve of 7.2-, 8-DSP controller.
Specific embodiment:
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, device of the present invention mainly includes proportioning valve 1, LVDT displacement sensor 2, the first power oil sources
3.1, the second power oil sources 3.2, the first fuel tank 4.1, the second fuel tank 4.2, load the 5, first damping hole 6.1, the second damping hole
6.2, the first high-speed switch valve 7.1, the second high-speed switch valve 7.2, dsp controller 8；The wherein P mouth (main oil inlet) of proportioning valve 1
It is connect with the first power oil sources 3.1, T mouthfuls (main oil return opening) connect with the first fuel tank 4.1, A mouthfuls (work oil inlets) and B mouthfuls of (works
Make oil return opening) it is connect respectively with the both ends of load 5；Second power oil sources 3.2 respectively with the oil inlet of the first damping hole 6.1,
The oil inlet of two damping holes 6.2 connects；The oil inlet with the first high-speed switch valve 7.1 respectively of the oil outlet of first damping hole 6.1
The left control chamber connection of mouth, proportioning valve 1；The oil inlet with the second high-speed switch valve 7.2 respectively of the oil outlet of second damping hole 6.2
The right control chamber connection of mouth, proportioning valve 1；The oil outlet of first high-speed switch valve 7.1 and the second high-speed switch valve 7.2 is respectively with
Two fuel tanks 4.2 are connected.；Oil pressure of first high-speed switch valve to control the left control chamber of proportioning valve；Second high-speed switch valve
To control the oil pressure of the right control chamber of proportioning valve；Displacement of the LVDT displacement sensor to acquire proportioning valve inner spool, LVDT
Displacement sensor is connect with dsp controller input terminal.
It is combined shown in Fig. 1 and Fig. 2, and the control method provided by the invention using aforementioned proportion valve module can be used following
Technical solution:
Include the following steps:
Step 1, LVDT displacement sensor acquires the spool displacement signal x of proportioning valve in real time1, and by spool displacement signal x1
It feeds back in dsp controller, dsp controller preset instructions displacement signal x0With spool displacement signal x1Displacement error is obtained as difference
Δx；That is Δ x=x0-x1；
Step 2, dsp controller is calculated using PID/feedback controller according to the size of displacement error Δ x and obtains duty
Than τ, and 0≤τ≤1；
Step 3, dsp controller is respectively obtained according to the symbol and duty ratio τ of displacement error Δ x using logic controller
The duty ratio τ of PWM1 signal1With the duty ratio τ of PWM2 signal2, duty ratio τ1、τ2Preparation method are as follows:
When Δ x=0, then τ1=τ2=0
When Δ x < 0, then τ1=1；τ2=τ；
When Δ x > 0, then τ1=τ；τ2=1；
Step 4, dsp controller driving the first high-speed switch valve (high-speed switch valve I) and the second high-speed switch valve (are opened at a high speed
Close valve II) movement, and then the left control chamber of proportioning valve and the pressure of right control chamber are adjusted respectively, believe the spool displacement of proportioning valve
Number x1Move closer to instruction displacement signal x0, the spool displacement closed-loop control of completed percentage valve.
Further,
When Δ x=0, the left control chamber of proportioning valve is equal with the oil pressure of right control chamber, the first high-speed switch valve and second high
Fast switch valve is failure to actuate；
When Δ x < 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=τ, and DSP is controlled
Device processed is τ to the duty ratio of the first high-speed switch valve output pwm signal1=1, so that the pressure of the left control chamber of proportioning valve is less than the right side
The pressure of control chamber, spool moves downward until Δ x=0；
When Δ x > 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=1, and DSP is controlled
Device processed is τ to the duty ratio of the first high-speed switch valve output pwm signal1=τ makes the pressure of the left control chamber of proportioning valve be greater than the right side
The pressure of control chamber, spool moves right until Δ x=0.
In the present invention, pass through the left control chamber of the adjustable proportioning valve of duty ratio of Differential Control PWM1 and PWM2 signal
With the pressure of right control chamber, and then realize proportioning valve position-force control.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.
This, the scope of protection of the present invention is defined by those of the claims.
Claims (5)
1. it is a kind of based on high-speed switch valve guide adjust big flow ratio valve module, which is characterized in that including dsp controller,
Proportioning valve, the first power oil sources for being connected to the main oil inlet of proportioning valve, the first fuel tank for being connected to the main oil return opening of proportioning valve, LVDT displacement
Sensor, the second power oil sources, the first high-speed switch valve, the second high-speed switch valve, the first damping hole, the second damping hole, second
Fuel tank；Second power oil sources is connected to the oil inlet of the oil inlet of the first damping hole, the second damping respectively；
The oil outlet of first damping hole is connected to the left control chamber of the oil inlet of the first high-speed switch valve, proportioning valve respectively；Second
The oil outlet of damping hole is connected to the right control chamber of the oil inlet of the second high-speed switch valve, proportioning valve respectively；First high-speed switch
The oil outlet of valve, the second high-speed switch valve oil outlet be connected to the second fuel tank；First high-speed switch valve is to control
The oil pressure of the left control chamber of proportioning valve；Oil pressure of second high-speed switch valve to control the right control chamber of proportioning valve；
Displacement of the LVDT displacement sensor to acquire proportioning valve inner spool, LVDT displacement sensor and dsp controller input terminal
Connection；Dsp controller to control the first high-speed switch valve and the second high-speed switch valve by pwm signal respectively.
2. ratio valve module according to claim 1, it is characterised in that: the proportioning valve work oil inlet and work oil return
Mouth is connect with the both ends of load respectively.
3. ratio valve module according to claim 1, it is characterised in that: the dsp controller is provided with PID/feedback control
Device and logic controller.
4. a kind of control method using ratio valve module as claimed any one in claims 1 to 3, includes the following steps:
Step 1, LVDT displacement sensor acquires the spool displacement signal x of proportioning valve in real time1, and by spool displacement signal x1Feedback
Into dsp controller, dsp controller preset instructions displacement signal x0With spool displacement signal x1Displacement error Δ x is obtained as difference；
That is Δ x=x0-x1；
Step 2, dsp controller calculates using PID/feedback controller and obtains duty ratio τ according to the size of displacement error Δ x,
And 0≤τ≤1；
Step 3, dsp controller respectively obtains PWM1 using logic controller according to the symbol and duty ratio τ of displacement error Δ x
The duty ratio τ of signal1With the duty ratio τ of PWM2 signal2, duty ratio τ1、τ2Preparation method are as follows:
When Δ x=0, then τ1=τ2=0
When Δ x < 0, then τ1=1；τ2=τ；
When Δ x > 0, then τ1=τ；τ2=1；
Step 4, dsp controller drives the first high-speed switch valve and the second high-speed switch valve events, and then adjusts proportioning valve respectively
Left control chamber and right control chamber pressure, make the spool displacement signal x of proportioning valve1Move closer to instruction displacement signal x0, complete
The spool displacement closed-loop control of proportioning valve.
5. control method as claimed in claim 4, it is characterised in that:
When Δ x=0, the left control chamber of proportioning valve is equal with the oil pressure of right control chamber, and the first high-speed switch valve and the second high speed are opened
Valve is closed to be failure to actuate；
When Δ x < 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=τ, and dsp controller
Duty ratio to the first high-speed switch valve output pwm signal is τ1=1, so that the pressure of the left control chamber of proportioning valve is less than right control
The pressure of chamber, spool moves downward until Δ x=0；
When Δ x > 0, then dsp controller is τ to the duty ratio of the second high-speed switch valve output pwm signal2=1, and dsp controller
Duty ratio to the first high-speed switch valve output pwm signal is τ1=τ makes the pressure of the left control chamber of proportioning valve be greater than right control
The pressure of chamber, spool moves right until Δ x=0.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145955.0A CN109236775A (en) | 2018-09-29 | 2018-09-29 | A kind of big flow ratio valve module and its control method based on high-speed switch valve guide adjusting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145955.0A CN109236775A (en) | 2018-09-29 | 2018-09-29 | A kind of big flow ratio valve module and its control method based on high-speed switch valve guide adjusting |
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| CN109236775A true CN109236775A (en) | 2019-01-18 |
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| CN201811145955.0A Pending CN109236775A (en) | 2018-09-29 | 2018-09-29 | A kind of big flow ratio valve module and its control method based on high-speed switch valve guide adjusting |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110185664A (en) * | 2019-05-21 | 2019-08-30 | 北京理工大学 | A kind of pilot stage digital electric hydraulic servo that area gradient is variable |
| CN110762065A (en) * | 2019-10-30 | 2020-02-07 | 燕山大学 | Digital hydraulic actuator system for closed pump valve composite speed regulation and control method thereof |
| CN110925257A (en) * | 2019-12-24 | 2020-03-27 | 成都阀智宝数字液压设备有限公司 | High-speed switch valve pilot control proportional valve with position closed loop |
| CN111255944A (en) * | 2020-04-30 | 2020-06-09 | 星宇电子(宁波)有限公司 | Pilot-operated proportional flow valve with position and flow composite feedback function |
| CN111997964A (en) * | 2020-07-16 | 2020-11-27 | 浙江工业大学 | High-frequency-response high-precision direction displacement hydraulic system and load control method thereof |
| CN112196852A (en) * | 2020-07-16 | 2021-01-08 | 浙江工业大学 | Digital fluid pilot-driven double-spool programmable control hydraulic valve and control method thereof |
| CN113202840A (en) * | 2021-04-30 | 2021-08-03 | 江苏科迈液压控制系统有限公司 | Judgment method and compensation method for high-frequency-response large-flow hydraulic valve main valve core cavity backlash oscillation |
| CN114165489A (en) * | 2021-12-31 | 2022-03-11 | 长沙远大魔方科技有限公司 | Quantitative pump hydraulic system and engineering machinery |
| CN115355211A (en) * | 2022-07-11 | 2022-11-18 | 上海诺玛液压系统有限公司 | Intelligent control digital multi-way valve oil inlet connector for quantitative pump system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110185664A (en) * | 2019-05-21 | 2019-08-30 | 北京理工大学 | A kind of pilot stage digital electric hydraulic servo that area gradient is variable |
| CN110185664B (en) * | 2019-05-21 | 2021-02-12 | 北京理工大学 | Area gradient variable pilot-stage digital electro-hydraulic servo valve |
| CN110762065A (en) * | 2019-10-30 | 2020-02-07 | 燕山大学 | Digital hydraulic actuator system for closed pump valve composite speed regulation and control method thereof |
| CN110925257A (en) * | 2019-12-24 | 2020-03-27 | 成都阀智宝数字液压设备有限公司 | High-speed switch valve pilot control proportional valve with position closed loop |
| CN111255944A (en) * | 2020-04-30 | 2020-06-09 | 星宇电子(宁波)有限公司 | Pilot-operated proportional flow valve with position and flow composite feedback function |
| CN111997964A (en) * | 2020-07-16 | 2020-11-27 | 浙江工业大学 | High-frequency-response high-precision direction displacement hydraulic system and load control method thereof |
| CN112196852A (en) * | 2020-07-16 | 2021-01-08 | 浙江工业大学 | Digital fluid pilot-driven double-spool programmable control hydraulic valve and control method thereof |
| CN113202840A (en) * | 2021-04-30 | 2021-08-03 | 江苏科迈液压控制系统有限公司 | Judgment method and compensation method for high-frequency-response large-flow hydraulic valve main valve core cavity backlash oscillation |
| CN113202840B (en) * | 2021-04-30 | 2022-06-10 | 江苏科迈液压控制系统有限公司 | High-frequency-response large-flow hydraulic valve main valve core cavity clearance oscillation compensation method |
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Application publication date: 20190118 |