Technical Briefs

Mechatronic Model and Experimental Validation of a Pneumatic Servo-Solenoid Valve

[+] Author and Article Information
Massimo Sorli

Department of Mechanics, Polytechnic of Turin, Corso Duca degli Abruzzi, 10129 Torino, Italymassimo.sorli@polito.it

Giorgio Figliolini

DiMSAT, University of Cassino, Via G. Di Biasio 43, 03043 Cassino, Italyfigliolini@unicas.it

Andrea Almondo

Department of Mechanics, Polytechnic of Turin, Corso Duca degli Abruzzi, 10129 Torino, Italyandrea.almondo@polito.it

J. Dyn. Sys., Meas., Control 132(5), 054503 (Aug 16, 2010) (10 pages) doi:10.1115/1.4002065 History: Received February 02, 2006; Revised May 25, 2010; Published August 16, 2010; Online August 16, 2010

This paper deals with a method for static and dynamic modeling of a three-way pneumatic proportional valve actuated by means of a proportional solenoid, which can be applied in robust design, condition monitoring, and development of advanced control strategies. Test-beds for the experimental identification of the main physical parameters of the valve are described along with the proposed experimental methods. A mechatronic dynamic model of the valve is then presented, which considers the servo-solenoid as the electromagnetic subsystem, the moving parts of the valve as the mechanical subsystem, and the fluid parts for flow-rate control as the pneumatic subsystem. Finally, the proposed mechatronic dynamic model is validated by comparing the experimental and simulated diagrams for adsorbed current, spool position, and instantaneous flow-rate.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

Three-dimensional section through the three-way pneumatic servosolenoid valve

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Figure 2

Detail of spool-bushing coupling for the three valve operating conditions: (a) fully open connection between ports A and R (x=0 mm, at spool rest position), (b) outlet port fully closed (x=1.60 mm, at central spool position), and (c) fully open connection between ports P and A (x=3.20 mm, at maximum spool stroke)

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Figure 3

Functional schematics and subsystems of the servosolenoid valve mechatronic model

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Figure 4

Lay-out of test-beds constructed to determine characteristics: (a) Vref/Fm and (b) Vref/x

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Figure 5

Static characteristics of servo-solenoid and spring between forces Fm and FS versus spool displacement x

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Figure 6

Section through servosolenoid: (a) left end-stroke and (b) right end-stroke

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Figure 7

Proportional servo-solenoid and experimental tests: (a) Vref=2.14 V(i=0.4 A) and (b) Vref=4.25 V(i=0.8 A)

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Figure 8

Static characteristic of spool displacement x versus Vref

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Figure 9

Experimental valve step response

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Figure 10

Experimental Bode diagrams for valve

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Figure 11

Conductance in supply and discharge versus spool displacement x

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Figure 12

Solenoid finite element meshing and magnetic flux lines

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Figure 13

Soft magnetic material characteristic

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Figure 14

Diagrams from FEM analysis: (a) flux linkage, (b) speedance, (c) differential inductance, and (d) magnetic force

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Figure 15

Comparison between experimental magnetic force (continuous line) and predicted force (dotted line)

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Figure 16

MATLAB/SIMULINK model of the proportional servo-solenoid

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Figure 17

Mechanical equilibrium of the spool

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Figure 18

Validation of the proposed model for Vref=1.04 V

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Figure 19

Validation of the proposed model for Vref=3.78 V

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Figure 20

Validation of the proposed model for Vref=4.25 V

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Figure 21

Comparison between experimental (continuous line) and simulated (circles) flow-rate values for different values of Vref and outlet pressure PA




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