-
()
2003 10
: ()
: ()
:
-
- 2 -
( : 2001. 9.
1~2003. 8. 31) .
2003. 10. 31.
: () () ()
: () () ()
: () ()
:
:
:
:
:
:
:
:
:
-
- 3 -
A14-01-01
, , , , FEM
1,
2.
- (,)
- (, / )
- FEM
- / ,
-
-
- ,
- /
-
-
: 10((1), (1), (1),
(1), (5), (1))
3. ( )
- (, , )
-
- Power Source
- (21,000) (250)
- (20/04) (10/04)
-
4.
-
- 4 -
1
1
2
2
1
2
3
4
3
1
2 Rexroth()
4
1
2
3
4
5
1
2
3
4
5
-
- 5 -
6
1
2
7
1
2
3
-
- 6 -
1
1
( : )
.
,
, 1950
. 2
, 1950 W.C. Moog Jr.
. 1970
,
.
( -- , )
,
.
1.
, REXROTH(), BOSCH()
Thomas Magnet(), Magnet Schultz()
,
.
1941(H. C. Roters) : "Electromagnetic Devices"
1960(Ishihara) : " "
1961(Tada) : " "
1981(Lu) :
, ,
1984(Tanaka) : FEM
1987(Tanaka) :
-
- 7 -
1988(Memmingenm) :
1991(Nakada) : " "
1992(Bausch) : ( )
1996(Tanaka) :
2.
.
,
, ,
AC (On/Off Solenoid), DC (Proportional Solenoid),
. Push , Pull
, , , ,
, . ,
2 Way 3Way , 2 Way
.
.
1) (Normally Closed Construction)
.
2) (Normally Open Construction)
.
3) Way (
) .
.
, , .
.
-
- 8 -
1.1 -
.
,
. 1.1 ,
.
1.1
-
- 9 -
3.
()
On/Off
,
. 1.2
,
() ,
.
1.2
1.3
, ,
.
.
,
,
.
1.3
-
- 10 -
,
. (Pilot operated)
(Direct operated) . 1.4
. 1.5
.
B .
1.4 1.5
4.
.
() (), ()
,
, , , , ,
, , /
.
,
.
,
.
()
,
.
-
- 11 -
.
Rexroth, Bosch( ), UCD, Yuken( ), Parker, Vickers( )
, Mechanism Hysteresis , ,
.
,
. Bosch
.
2
3 .
Navier-Stokes equation, ,
, (), (:FDM),
(:FEM), (:BEM)
.
, , ,
.
,
, ,
,
.
,
.
2
1.
,
.
- : 315[bar]
- : 300[lpm]
- : 24[DCV]
- : 800[mA]
-
- 12 -
1
. ,
, , ,
.
2
, 1 ,
Maxwell 2D
.
1.2
-
- 13 -
2.
,
.
, 2 Stage Poppet
, 100 Force Motor ,
Winding , Plunger
, , . ,
,
.
,
,
, /
.
,
.
-
- 14 -
2
1
1. _1
2. _2
3. _3
-
- 15 -
4. _4
2
1. _1
2. _2
-
- 16 -
3. _3
3
1. _1
-
- 17 -
2. _2
3. _3
-
- 18 -
4 _4
-
- 19 -
4
1. _1
2.1
-
- 20 -
2.2
2.3
2. _2
-
- 21 -
2.4 _1 2.5 _2
2.6
2.7 2.8 2
-
- 22 -
3. _3
2.9 2.10
2.11 2.12
-
- 23 -
3
1
, ,
. 3.1
.
, 200~350[bar]
, 120~600[lpm] . 2%
, 6% , 1%-6%
. 315[bar]
300[lpm]
.
.
3.1
1. Yuken
3.1 Yuken .
400[lpm], 250[bar], 10[],
3%, 1% .
-
- 24 -
2. Bosch
3.2
,
.
3.1 Yuken
3.7A, 2.5.
(Seal) .
40[Hz] , (Force Motor,
Torque Motor )
.
3.2 Bosch
3. Rexroth
3.3 Rexroth 5 , ,
,
, .
350(bar), 600(lprn), 24VDC, 800(mA),
1.5%, 2%,
3.5% .
-
- 25 -
4. Vickers
3.4
350(bar) 400(lpm), 24VDC, 10V, 7-pin
plug, (DC24V40W), 2lpm,
-
- 26 -
3.5 Parker
2 Rexroth()
1.
3.6
.
1. , 2. , 3. , 4. , 5. , 6.
, 7. , 8. 9. , 10.
, 11. , 12.
(8)
. 3.6 a)
,
. 3.6
b) ,
.
1mm
,
4
.
-
- 27 -
3.6
2. 1
3.6 b)
. 3.7
, 3.8
, 3.9 .
3.2 .
,
,
. ,
.
-
- 28 -
3.7
3.8
3.9
-
- 29 -
3.2
.
-
- 30 -
-
- 31 -
3.3
3.12
-
- 32 -
3.13 ()
.
3.14
, ,
.
,
2 .
3.14
-
- 33 -
4
1
.
,
,
. Watten, Yun
.
,
. AMESim
. ,
.
2
4.1 . 4.1
,
.
-
- 34 -
4.1 Analysis model of pilot operated pressure valve
, ,
, ,
, ,
.
-
- 35 -
, , ,
,
.
3
4.2
, A MESim .
-
- 36 -
,
,
4.1 . , 2/2way
valve
, (
) 2/2way valve
.
4.1 Dimension of simulation data
4.2 Simulation model
4.3 4.4
,
4.2 .
-
- 37 -
4.3 Hydraulic circuit for valve test
4.4 Valve test equipment
-
- 38 -
4.5 4.6
68[kgf/]
. 4.5 4.6
, 1.3%
.
4.5 Theoretical result of pilot stage valve
4.6 Experimental result of pilot stage valve
-
- 39 -
4.7, 4.8, 4.9 4.2 ,
( )
, ,
315[kgf/] .
4.7 Pressure characteristics by pilot valve step input
4.8 Displacement characteristics by step input
-
- 40 -
4.9 Flow characteristics by step input
4.10 4.2
2/2way
4.7 , .
1 ,
.
4.10 Pressure characteristics by 2/2way valve step input
-
- 41 -
4.11
, .
4.11 Pressure characteristics by main poppet diameter
variation
4.12 Hole
4.11 .
(:2.2m),
.
-
- 42 -
4.12 Pressure characteristics by pilot poppet hole diameter
variation
-
- 43 -
4
1.
4.13
-
- 44 -
2.
4.14
3.
.
1)
)
. : 315[bar]
. : 350[bar]
. : 300[lpm]
)
. ()
)
.
)
.
-
- 45 -
)
. ()
)
. ( )
2)
.
. 300[lpm] 315[kgf/]
.
lpm sec kgf kg seccm dmm cm kg kg mm , .
.
,
, ()
-
- 46 -
. ()
1)
)
. : 315[bar]
. : 350[bar]
. : 3[lpm]
)
. ( )
)
.
)
. Stacking
)
.
)
. ( )
2)
.
. 3[lpm] 315[kgf/]
.
lpm sec kgf kg seccm dmm cm kg kg mm , .
-
- 47 -
4.
4.15
4.16
4.17
-
- 48 -
5
1
.
:
, : , : [m], : [Turns]
: [A], : [W/]
: [Space Factor], : [m]
, : [N], : [H/m]
: [], : [Turns], : [A]
: [m], : , :
: [T], : [m]
: [A/m], : [m]
: 1 [m], : [], : [m]
2
FEM
m
.
-
- 49 -
.
(5.6)
, , (5.2)
. , (5.3)
.
. (5.5)
.
. ,
.
( ) . (5.3) . (5.4)
, .
, . ,
.
- ,
. 3
.
3
1.
5.1 a) ,
b) . 5.1 a) b)
,
.
-
- 50 -
(5.9) (58.) ,
(5.11) (5.10) .
(5.12) ,
, .
.
,
5.1
-
- 51 -
2.
.
(5.15)
.
0
. ,
. ,
2
.
3.
5.2
.
2[mm] ,
90[N] , 2[mm]
.
, FEM .
-
- 52 -
5.2 1
5.3 2
-
- 53 -
4
1.
Maxwell
.
(5.16) (5.17) (5.18)
(5.20) A
.
Dirichlet Neumann S1 S2
,
. Tensor
,
, . (5.19)
.
-
- 54 -
y, z
.
2 z , (5.24), (5.25),
(5.26) , z
Poisson . 2 .
(5.19) (5.20) (5.21) .
2.
(5.27) (5.28) .
( 2 ) ,
3 , .
3 .
.
-
- 55 -
.
,
A
.
, A . ,
. (5.31) (5.32) (5.30) . ,
H A .
(519) ,
, (5.19) .
-
- 56 -
, 3
. 3
.
, .
. (5.31), (5.32), (5.37) (5.36)
3 .
,
.
(5.33)
(5.39) (5.40) .
1 ,
-
- 57 -
.
(e) . .
. (5.33) (5.42)
.
(5.45) z ,
r
. (5.45)
.
(5.41)
.
-
- 58 -
, (5.47)
. (5.43) (5.48)
, .
(5.49) .
, .
(39) { }
,
-
- 59 -
. (5.52) .
(5.52) 3 .
(5.53), (5.56) (5.57) (5.52) .
2
, 3 (5.53)
.
5
1.
5.4 , 5.5 a)
.
1/2 . 5.5
b) .
1419 [turns], 20.5
[], 2.755[kgf/mm].
,
. 0.2 [A] 1.2[A] .
3.5[mm] .
-
- 60 -
5.4
5.5
5.1 . 5.6
.
.
.
.
-
- 61 -
,
.
.
.
5.1
5.6
-
- 62 -
(magnetic force)
.
,
, .
.
5.7 08[A] 1.2[A]
.
5.7
-
- 63 -
2.
,
On/Off
.
. 5.8
.
,
.
Maxwell 2D 5.8 c)
.
5.9 . , ,
. 5.2
. 0.8 [A]
.
5.8
-
- 64 -
5.9
5.2
-
- 65 -
. ()
5.10 ,
- .
,
.
. ,
. ,
.
5.10 ()
-
- 66 -
. ()
3.5mm, 2.5mm
5.11 .
,
.
,
.
.
.
.
5.11 ()
-
- 67 -
. ()
Type 3 4
. ,
.
.
.
,
.
5.12. (D)
-
- 68 -
3.
DC 24V
. 5.13
. (eddy current)
.
.
, , , 5.14
.
5.15 .
5.13
-
- 69 -
5.14
5.15 -
-
- 70 -
6
1
3 2
. KS B 6507 JIS B
8651 ,
. 6.1 KS
JIS 6 .
6.1
-
- 71 -
1.
, ,
.
2.
6.1 a) ,
b) .
6.1
,
- (20) .
- Multimeter .
- Multimeter .
- 5 .
6.2 26.6 20.5
.
6.2
-
- 72 -
3.
6.2 a) b)
.
6.2
,
- .
- .
- 20 .
- potentiometer , 10V .
- Temperature Sensor , ,
,
.
- .
-
: ()
: ()
: ()
: ()
: ()
, Dither ( 70Hz) ,
2 , 6.3 .
, 40
.
-
- 73 -
6.3
4.
6.3
a) , b) .
Dither
,
.
6.3
. Dither
6.3 Dither .
- Function Generator 10V 10mHz
.
- Laser .
- .
- x , y .
- .
- (%) : max/100 6.4 Amp. (Rexroth VF 3006 RS)
-
- 74 -
x 1 : 10V/8 = 1.25V
y 1 : 2.5mm/8 = 0.3125mm
max : , max ,
max
(%) maxmax
6.4 (Amp. 3006RS)
4.28% , Amp
,
.
Amp. VT-VSPA1-1
Dither
.
6.5 Dither 100Hz
, 3.54% .
x 1 : 10V/8 = 1.25V
y 1 : 1.5mm/8 = 01875mm
(%) maxmax
-
- 75 -
6.5
(Amp:VT-VSPA1-1, Dither: 100Hz, Function generator frequency :
10mHZ,
)
6.6 Dither 200Hz
7.11% .
x 1 : 10V/8 = 1.25V
y 1 : 1.5mm/8 = 0.1875mm
(%) maxmax
6.6
(Amp : VT-VSPA1-1, Dither : 200Hz, Function generator frequency
: 10mHZ,
)
-
- 76 -
6.7 Dither 300Hz ,
, 8.79% .
x 1 : 10V/8 = 1.25V
y 1 : 1.5mm/8 = 0.1875mm
(%) maxmax
6.7
(Amp : VT-VSPA1-l, Dither : 300Hz, Function generator frequency
: 10mHZ,
)
. Dither
Dither Function Generator
, Function Generator
, 6.8 3.5V
,
, 38.46% , Dither
.
x 1 : 10V/8 = 1.25V
y 1 : 2.5mm/8 = 0.3125mm
max : 0.15625mm
(%) maxmax
-
- 77 -
6.8
(Amp : , Function generator frequency : 10mHZ, )
5.
6.9 a) ,
b) .
6.9
-
- 78 -
. Dither
Dither ,
- DC Power Supply 24V , Current 0 800mA
50mA .
- DC Power Supply .
- , 0.2mm 1.4mm
, Force .
6.4 . 6.4 -Force
-Force 6.10 6.11 .
6.4
-
- 79 -
6.10 -Force
6.11 -Force
6.12
Dither .
-
- 80 -
6.12
6. SSR
6.13 SSR
.
6.13 SSR
Power Supply DC 5V SSR
.
- Function Generator SSR 5V .
- SSR , ,
.
-
- 81 -
6.14 Dither SSR
, 6.15 x 1ms
. , SSR ,
,
.
, SSR 0.1ms , 0ms
.
6.14 SSR
6.15 SSR (Step )
-
- 82 -
7.
6.16 Force
. 6.16 a) ,
b) .
6.16
. Dither
Dither 5. Power Supply
DC 24V 800rnA SSR
.
- Function Generator SSR 5V .
- Indicator Function Generator
.
6.17 Dither
, 6.5 .
-
- 83 -
6.17 Step
(Input Frequency : 0.2 Hz, SSR Voltage : 0~5V, Solenoid
:24V)
6.5 6.17
-
- 84 -
6.18 1Hz
, 6.17 .
6.18 Step
(Input Frequency : 1 Hz, SSR Voltage : 0~5V, Solenoid :24V)
6.6 6.18
-
- 85 -
6.19
, 5Hz
.
6.19
(Input Frequency : 5 Hz, SSR Voltage : 0~5V, Solenoid : 24V)
. Dither
Amp(VT-VSPA1-1)
, Amp Ramp .
6.20 Ramp on
, 6.21 6.22 Ramp off
6.20 6.21 6.22
. 6.23 Amp Dither 200Hz
, 6.24 Dither 100Hz
.
-
- 86 -
6.20
(Ramp : on, Amp : 0~10V,
Dither : 300Hz)
6.7 6.20
6.21
(Ramp : off(=0), Amp :
0~10V, Dither : 300Hz)
6.8 6.21
-
- 87 -
6.22
(Ramp : off(), Amp :
0~10V, Dither : 300Hz)
6.9 6.22
6.23
(Ramp : off(=0), Amp :
0~10V, Dither : 100Hz)
6.10 6.23
-
- 88 -
6.24
(Ramp : off(=0), Amp :
70~10V, Dither : 200Hz)
6.11 6.24
-
- 89 -
2
1.
6.25
. 6.26 .
6.25
6.26
-
- 90 -
.
- 300bar .
- .
- 0~10V ,
.
- ,
, , .
6.27 6.12 .
6.27
6.12
2.
6.25 6.26 ,
.
- 10V 300bar
.
-
- 91 -
- 0V
50% , (V1) . 10
,
(V2) .
. 50%
0.1V/s, 85% 0.15V/s .
- A/D , D/A output .
- (300bar) 85% ,
.
-
.
50% 6.28, 80%
6.29 . 0.1%
.
6.28 ( 50% )
6.29 ( 85% )
-
- 92 -
3.
6.25
6.26 , .
- 10V 300bar
.
- D/A 10V, 200mHz Input Signal .
- Stop Valve .
- , A/D .
6.30 , 6.31
.
6.30 ()
-
- 93 -
6.31 ()
4.
6.25 6.26 ,
.
- 300bar .
- .
- (300bar, 10V) 50% (150bar, 3.8V)
.
50%
.
- 50% (150bar, 3.8V) 0%
(0bar, 0V) .
- .
- , .
7bar, .
6.32
-
- 94 -
5.
6.25 6.26 , .
- 10V 300bar
.
- D/A 10V, 200mHz Input Signal .
- 1
(0~1).
- , A/D
.
6.33 . 40
,
.
6.33
6.
6.25 ,
, .
- 10V 300bar
.
- 70%(210bar)
.
- 1 ,
.
3.6 lpm .
-
- 95 -
7.
6.25 ,
, , .
- 10V 300bar
.
- .
- .
- (10V) .
- 5 .
.
8.
6.25 6.26 ,
.
- 10V 300bar
.
- (300bar, 10V) 50% (150bar, 3.8V)
, 50%(300bar, 10V), 10%(180bar, 4.5V), 10%(120bar, 3.8V)
.
50%
.
- .
- , , .
6.34 , 6.13 .
50-100% Overshoot ,
Overshoot ,
. , dead time
, .
-
- 96 -
6.34
-
- 97 -
6.13 6.34
9.
6.25 6.26 ,
.
- 10V 300bar
.
- (300bar, 10V) 50% (150bar, 3.8V)
, 10%(120~180bar, 3.0~4.5V), 25%(225bar, 3.8V)
.
50%
.
- .
- .
, Gain () log
,
Output 1 ,
. ,
.
, . Peak
(t1-t2).
40~60% 6.35 6.14,
Board Diagram 6.36 , 25~75%
6.37 6.15, Board Diagram 6.38
.
-
- 98 -
6.35 (40~60%)
6.14 (40~60%)
-
- 99 -
6.36 Board Diagram (P40%~P60%)
-
- 100 -
6.37 (25~75%)
6.15 (25~50%)
6.38 (25~75%)
-
- 101 -
10.
6.39 Hydraulic power unit
2
.
6.40
.
6.39 Hydraulic power unit
6.40
-
- 102 -
6.41
, controller ,
, .
6.41
-
- 103 -
10.
6.39 Hydraulic power unit
2
.
6.40
.
6.39 Hydraulic power unit
6.40
-
- 104 -
6.41
, controller ,
, , .
6.41
-
- 105 -
7
1 6
. ,
,
.
1
1. 1
1
,
, , ,
. , 2
.
2. 2
2
,
.
3. 3
3
Yuken, Bosch. Rexroth, Vickers, Parker
, (315[bar]/300[lpm])
. R
,
.
4. 4
4 ,
, AMESim .
,
.
-
- 106 -
5. 5
5 4
. FEM
,
Control conedl .
, Control cone
.
6. 6
6
, , .
, ,
.
2
.
7.1
7.2
-
- 107 -
7.3
7.4
7.5
7.6
7.7
-
- 108 -
7.8
7.9
3
1.
, 1 2 7.10
7.11 .
-
- 109 -
7.10 1
7.11 2
-
- 110 -
2.
-
-
- ,
- .
- 2004
-
-
-
- 111 -
1.
1. Mannesmann rexroth, Rexorth Inc., "Total catalogue", pp
925-931
2. Yuken, Sewon E & T Corp, "Oil hydraulic Equipment
Catalog", pp.503
~511, 1998
3. Bosch, (), "Engineering Data", pp.345~3494. Dukin-Besko,
Dukin Industries.Co.Ltd, , pp.c-17~c-22
5. Vickers, "Hydraulic Plus Electronics", pp.H-61-H-74
6. Nachi, Daesung-Nachi Co.Ltd., , pp.PV-6~PV-9
7. Hydac, Hydac International "Catalog", pp.1~7
8. Paker, "Catalog HY 14-2550VS Technical information",
pp.B5~B15,
B22~B26
9. Tokimec, Tokimec Inc., "EPCG2-01-Proportional Relief
Valve",
http://www.tokirnec. co.jp /hyd/e/psval_10htm
2.
1. R.Inoue, "The Simulation of Pilot-Operated Relief Valves",
The BFPR
Journal, pp.225~228, 1980.3.13
2. R.T.Burton & G.J. Schoenau & P.R. Ukrainetz, Spring
Relief
Valve-Feasiblity Study pp.53~60
3. S.K.R Iyengar & R.F. Sharp, "What can be expected of a
"Good" relief
valve" Fulid Power Research Conference, pp.37-1~37-9
3.
1. , - , pp.91~166
2. , Hydraulic Component Design & Selction, , pp.172~213
3. , , , pp.237~364
4. , , , pp.111~126, 1982
5. , -, , pp.134~167, 2001
6. , , pp.193~205, 1999
7. , , , pp.164~170
-
- 112 -
4.
1. 5, , PCT/EP2000/00717, 2000.01.29,
2. 2, , PCT/JP1998 /01290, 1998.03.23,
3. , , 1994-0024277, 1994.09.27,
4. Tanaami, Masayuki, . W09105195,
5. Broucedy Clark, Solenoid , J6058607, 1985.8,
6. , , 10-1997-0052974, 1997.10.16,
7. , ,
10-2000-0020694,
-
- 113 -
1.
.
2.
.
-
- 114 -
