processes

Article
A Numerical Research on Vortex Street Flow
Oscillation in the Double Flapper Nozzle Servo Valve
Liang Lu 1, *, Shirang Long 1 and Kangwu Zhu 2,3
1 School of Mechanical Engineering, Tongji University, Shanghai 200092, China; 1930201@tongji.edu.cn
2 Shanghai Institute of Aerospace Control Technology, Shanghai 201109, China; zjuzkw@zju.edu.cn
3 Shanghai Servo System Engineering Technology Research Center, Shanghai 201109, China
* Correspondence: luliang829@tongji.edu.cn




Received: 27 August 2019; Accepted: 8 October 2019; Published: 11 October 2019


Abstract: The oscillating flow field of the double nozzle flapper servo valve pre-stage is numerically
analyzed through Large Eddy Simulation (LES) turbulent modeling with the previous grid
independence verification. The vortex street flow phenomenon can be observed when the flow passes
through the nozzle flapper channel, the vortex alternating in each side produces the periodical flow
oscillation. The structural and flow parameter effects on the oscillating flow are emphasized, and it
could be determined that the pressure on the flapper is nearly proportional to the flow velocity and
inversely proportional to the actual distance between the flapper and the nozzle. On the other hand,
the main frequency of oscillation decreases with the velocity and increases with the distance between
the nozzle flapper. The main stage movement is further considered with a User Defined Function
(UDF), and it could be determined that the influences of the structural and flow parameters on the
flow oscillation are rarely changed, but the main frequencies drop, generally.

Keywords: double flapper nozzle servo valve; Karman vortex; self-sustained flow oscillation;
computational fluid dynamics

1. Introduction
As the core component of hydraulic control systems, the electro-hydraulic servo valve has certain
advantages of high performance and high reliability. Its first appearance was to the application in
fighter planes during World War II, but the single-stage open-loop structure made it difficult to meet
the control requirements at that time [1]. It was not until Massachusetts institute of technology (MIT)
replaced the solenoid with a high-frequency permanent magnet torque motor that the servo valve
ushered in its golden period of development. In 1953, the single nozzle flapper valve was firstly
invented by Moog [2]. After four years, the single nozzle structure was further improved to have
double nozzles by Howard [3]. In 1962, Atchley [4] invented the jet tube servo valve. Thanks to the
development of electronic technology, Vanderlaan et al. [5] made the servo motors directly drive the
spool movement in 1987. In 1993, Laux [6] improved and invented the rotary direct drive servo valve.
However, the direct drive servo valves are still limited by insufficient motor power, leading to the
frequency response not being quick enough. With the advantages of a high power density ratio and a
high frequency response, jet servo valves are still popularly applied in crucial industrial applications,
including aerospace, ship engineering, high-end robots, etc. At present, research on jet servo valves
are still in progress.
There are many related aspects of servo valve research. For example, on the control algorithm,
Samakwong et al. [7] found that a genetic algorithm (GA) could better optimize the parameters of the
PID controller and control the performance of the servo valve than the Ziegler–Nichols adjustment
method. With respect to mathematical modeling, Brito et al. [8] established a Hammerstein model

Processes 2019, 7, 721; doi:10.3390/pr7100721 www.mdpi.com/journal/processes

Processes 2019, 7, 721 2 of 21

for aerospace servo valves, the results showing that the identified model can represent the general
non-linear behavior of servo valves. With respect to hydraulic power, Zohreh et al. [9] simulated the
valve core pressure under unsteady conditions. It was found that in the two-stage flapper nozzle
electro-hydraulic valve the external acceleration would change the fluid pressure leaving the nozzle
and produce the same effect as the external force. Ye et al. [10] established the dynamic model of the
plunger pump, simulated it by Computational Fluid Dynamics (CFD), and verified it experimentally.
The results show that the vibration speed of the plunger pump on the XF axis is higher than that on
the YF axis. The excitation moment MCY and MPY on the YF axis contribute greatly to the vibration
of the plunger pump. On the flow field characteristic, many scholars adopted CFD approaches to
obtain the complex valve flow detail. Brito et al. [8] also carried out experimental and numerical
studies to determine the mechanism of cavitation in the fluid region between the flapper and nozzle
by using 3D models and CFD grids. Li et al. [11] observed the cavitation phenomena in the flow
field from Reynolds numbers 630–2500 with the comparison of CFD simulation. They found that the
computational results were in good agreement with the experimental observations and came to the
conclusion that the position of the cavitation source is shown at the tip of the nozzle inner wall, the tip
of the nozzle outer wall, and the front of the flapper. Chen et al. [12] revealed the effect of oil viscosity
on the transient distribution of cavitation and small-size vortices, indicating the noise accompanied by
the flow resonance in the nozzle. When the pressure fluctuation near the flowmeter is large enough in
the two-stage servo valve, flow acoustic resonance and screaming may occur. Qian et al. [13] researched
the forward and reverse flow of Al2 O3 -water nanofluids in micro T45-R Tesla valves at different flow
rates, temperatures, and nanoparticle volume fractions by CFD on the basis of the verified numerical
model, finding that the main flow percentage was proportional to the above three factors and the flow
rate has the greatest influence on the polarity of the valve. Chao et al. [14] found that the inward
inclined design of cylinder ports could effectively decrease the gaseous cavitation and increase the
effective output flow of cylinder by using centrifugal effects of rotating fluid, which provided a new
way to optimize the performance of (Electro-Hydrostatic Actuator) EHA. Qian et al. [15] used CFD
to simulate the valve core diameter, single hole/porous diameter, hole diameter, and its arrangement
at the bottom of the valve core steadily and instantaneously, and found that the pressure difference
between the two sides increases with the increase of the diameter of the valve core and the decrease of
the aperture. Meanwhile, the opening time of the main valve also increases with the increase of the
diameter of the valve core. Zhang et al. [16] proposed a damping sleeve with a throttle hole. Through
experiments and numerical calculation, it was found that the designed damper sleeve had a significant
effect on the pressure distribution and jet direction on the surface of the cone, which can significantly
reduce the flow force and the opening time of the valve.
Recently, with the improvement of working requirements, the jet flow velocity comes to a higher
level with a larger Mach number. The flow compressible effect is more and more obvious. The
authors acknowledge there are rarely any studies that have paid enough attention to the high-speed
compressible flow oscillations in the jet servo valves. For the present paper content organization, the
CFD approach is employed with a (Large Eddy Simulation) LES turbulent model to obtain the vortex
flow oscillation conditions. After determining the independence of the grid, the flow field of the fluid
in the servo valve with double nozzles and flappers is analyzed under the condition of changing the
inlet oil flow rate and the deflection displacement of the flappers, while the force acting on the servo
valve flappers under the coupling of the main valve is also discussed.

2. Flow Structure and Grid Independence Analysis

2.1. Operation Principle and Structural Parameters

The two-stage double nozzle flapper force feedback electro-hydraulic servo valve is taken as the
research object. As shown in Figure 1a, when the servo valve is in the initial position, the coil is not
electrified, the flapper is located in the middle of the nozzle without deflecting, the flow force acting on
Processes 2019, 7, 721 3 of 21
Processes 2018, 6, x FOR PEER REVIEW 3 of 22

pressureisat
the flapper botheach
offset endsother,of thethe main valve core
pressure is the same,
loss caused by the and the main
variable valvehole
throttle coreisisthenotsame,
moving.the
When theatcorresponding
pressure both ends of the electric
main valvesignalcore
is input,
is thethe
same,coiland
generates
the main a magnetic
valve corefield, which
is not moving.makes Whenthe
torque
the motor produce
corresponding electric a magnetic
signal is input,moment, andgenerates
the coil drives the flapper tofield,
a magnetic produce
whichthe corresponding
makes the torque
deflection
motor angle,
produce thus promoting
a magnetic moment, theandmovement
drives the of the maintovalve
flapper producecore.the
Ascorresponding
shown in Figure 1b, the
deflection
simplified
angle, thusstructure
promoting of the
the movement
jet location,ofwhen the mainthe current
valve core. flowing through
As shown the left1b,
in Figure andthe right coils is
simplified
different, of
structure forthe
example
jet location,of i1 >wheni2, thetheelectromagnetic
current flowing moment
throughproduced
the left andby right
the left coilisisdifferent,
coils larger than for
that of the
example i1 > icoil,
ofright 2 , the which makes
electromagnetic the coil
momentrotate clockwise,
produced by and
themakes
left the
coil is flapper
larger shift
than to
that the
of left,
the
thus making
right coil, which the makes
distance thebetween
coil rotate theclockwise,
flapper of and the jet flapper
makes valve and
the flapper thetotwo
shift the nozzles
left, thusdifferent,
making
left side between
the distance smaller and the rightofside
the flapper large.
the jet The valve
flapper flow resistance
and the two of nozzles
the holedifferent,
changes, the making the
left side
pressureand
smaller losstheonright
the left side side
large.small,Thethe pressure
flow large,
resistance ofthe
thepressure loss on
hole changes, the right
making theside large loss
pressure and
thethe
on pressure
left side small,
small, sothe that the oil large,
pressure hydraulic pressureloss
the pressure at the
on thetworight
endssideof thelarge main
and valve core is
the pressure
different,
small, driving
so that the the main valvepressure
oil hydraulic core to move
at theto theends
two right,ofgenerating
the main valveload flow
core and driving the
is different, load
driving
operation.
the main valve At thecoresame time,to
to move thethearmature rotates, driving
right, generating load flow the and
feedback
driving rodthefixed
loadon the armature
operation. At theto
shift to
same the left.
time, Deformation
the armature results
rotates, in counter-clockwise
driving the feedback rod feedback
fixed onmoment.
the armatureThe motionto shiftoftothe thevalve
left.
core makes the
Deformation feedback
results rod more deformed
in counter-clockwise feedback andmoment.
the feedback moment
The motion of thecorrespondingly
valve core makes larger.
the
When the feedback moments generated by the two are superimposed
feedback rod more deformed and the feedback moment correspondingly larger. When the feedback on the flapper and balanced
with the electromagnetic
moments generated by the moments generated byon
two are superimposed the
thetorque
flappermotor, the spool
and balanced with is in
theaelectromagnetic
predetermined
position, and
moments the flapper
generated by theistorquein a balanced
motor, the state. Atisthis
spool in atime, the required
predetermined load flow
position, andand the pressure
flapper isare in
agenerated, and the
balanced state. At this servo time,valve is in a predetermined
the required load flow and pressure workingarestate. When and
generated, the the
load changes
servo valve oris
external
in disturbance
a predetermined causes state.
working the spoolWhen to the
deviate from theorbalanced
load changes external position,
disturbance thecauses
feedback the moment
spool to
changes,from
deviate which themakes
balanced the position,
flapper deviate from the
the feedback balanced
moment position,
changes, whichandmakes
the flow theresistance of the
flapper deviate
variable
from throttle hole
the balanced changes
position, andaccordingly.
the flow resistanceThe pressure difference
of the variable between
throttle hole the two sides
changes of the
accordingly.
spool
The is generated
pressure differenceagain, so that
between thethe
twoflapper
sides of moves
the spoolin the direction of
is generated reducing
again, so thatthe thedeviation
flapper moves until
the spool reaches the balanced state [17].
in the direction of reducing the deviation until the spool reaches the balanced state [17].

Figure 1. Principle
Figure 1. Principle diagram of jet
jet flapper
flapper valve.
valve. (a) Structure schematic
schematic diagram of servo
servo valve.
valve. (b)
Pre-stage
Pre-stage flow
flow field
field and
and boundary
boundary conditions.
conditions.

The
The structural
structural parameters
parameters of
of the
the nozzle
nozzle flapper
flapper chamber
chamber andand the
the set
set working
working oil
oil parameters
parameters are
are
both as shown in Table 1. According to the working conditions, the maximum
both as shown in Table 1. According to the working conditions, the maximum working working pressure of the
pressure of
servo valvevalve
the servo is lessisthan
less 31 MPa,
than and the
31 MPa, rated
and the flow
ratedrate is 0.48–6.9
flow L/min. The
rate is 0.48–6.9 inletThe
L/min. pressure is selected
inlet pressure is
according to the inlet speed. The outlet pressure is set atmospheric pressure.
selected according to the inlet speed. The outlet pressure is set atmospheric pressure.

Table 1. Nozzle parameters of the flapper nozzle valve.

Parameter Numerical Value

Reference pressure/MPa 0.1
Density/kg·m−3 889
Dynamic Viscosity/Pa∙s 0.04
Modulus of elasticity/MPa 1000
Nozzle Internal diameter/d 0.5
Processes 2019, 7, 721 4 of 21

Table 1. Nozzle parameters of the flapper nozzle valve.

Parameter Numerical Value

Reference pressure/MPa 0.1
Density/kg·m−3 889
Dynamic Viscosity/Pa·s 0.04
Modulus of elasticity/MPa 1000
Internal diameter/d 0.5
External diameter/D 1
Nozzle Spacing/L1 0.2
Length/L 1.0
Angle/α 30
Diameter/D1 2.0
Flapper
Thickness/L2 1.5

The pre-stage valve in this study is perpendicular to the nozzle and is mainly affected by the force
in the x-axis, i.e., the horizontal direction. While the force in the y-axis, i.e., the direction perpendicular
to the paper surface, counteracts each other, and has little influence on the servo valve, it can be
simulated by two-dimensional flow chart, which saves on computational resources. Moreover, it is
convenient to observe the flow field changes in the channel, and it has no effect on the final simulation
results. The following grid and simulation are based on the 2D model shown in Figure 1b.

2.2. Boundary Conditions and Simulation Settings

As shown in Figure 1b, there are three boundary conditions in the two-dimensional model of the
flow channel, inlet, outlet, and wall. Among them, the inlet boundary is where the oil enters, Since the
intensity of the change of oil flow field at the nozzle is most directly affected by the flow velocity, the
inlet oil flow velocity is set as the inlet boundary condition. The outlet oil tank is set as the pressure
outlet. The other surface is set as the wall. As shown in Figure 1b, Vin represents the velocity inlet, pout
represents the pressure outlet, and the unspecified surfaces are all wall surfaces.
Fluent 19.0 (ANSYS 19.0, ANSYS, Inc., Canonsburg, PA, USA, 2018) is used for present numerical
solution. Since there are vertical pipes in the channel model, the gravity factor should be taken
into account and the gravity acceleration is 9.81 m/s2 . As mentioned above, flow oscillation is a
wave–vorticity coupled flow phenomenon. Therefore, when setting the fluid as a turbulent flow,
compressibility must be considered, fluid state as a transient state, and the LES model is suitable
for solving model. The pressure–velocity coupling term is selected as the Semi-Implicit Method
for Pressure-Linked Equations Consistent (SIMPLEC) algorithm, which is improved by the SIMPLE
algorithm. The correction term in the velocity equation is not neglected in each iteration. Therefore,
the pressure correction value obtained is generally appropriate, and an under-relaxation coefficient
less than 1 can be selected according to the situation to accelerate the convergence of the solution in the
iteration process [18]. When factors such as cavitation are not considered, the oil is a single-phase flow.
Since the LES model belongs to direct numerical simulation to some extent, the discrete scheme of
momentum and size terms are chosen as the second-order upwind scheme with second-order accuracy.
Since most of the flow field grids are quadrilateral grids and mainly focus on wave–eddy coupling, it
is necessary to observe the eddy effect in turbulence, so in order to avoid errors in the difference value
and the eddy effect in turbulence, the discrete scheme is adopted as the second-order upwind scheme
with second-order accuracy. The pressure gradient hypothesis on the boundary is advantageous to
the flexible calculation, and the pressure term is chosen as PRESTO. In order to ensure continuity, the
convergence condition is defined as the third-order residuals of each parameter, and the transient
equation is a second-order implicit equation. The time step is 0.0001 s, as shown in Table 2.
Processes 2018, 6, x FOR PEER REVIEW 5 of 22

Processes 2019, 7, 721 5 of 21

Table 2. Solution strategy.

Emulation Items Emulation Settings

Table 2. Solution strategy.
Fluid state Single-phase turbulent transient
Emulation Items Emulation Settings
Pressure algorithm SIMPLEC
Fluid state Single-phase turbulent transient
Discrete scheme Second-order upwind
Pressure algorithm SIMPLEC
Pressure correction
Discrete scheme algorithm PRESTO! upwind
Second-order
Pressure correction algorithm PRESTO!
Transient equation Second-order implicit equation
Transient equation Second-order implicit equation
Simulationstep
Simulation stepsize
size 0.0001s
0.0001s

2.3.
2.3. Grid
Grid Generation
Generation and
and Independence
Independence Analysis
Analysis
The runner belongs
The runner belongstotothe
theregular
regular geometric
geometric model,
model, so the
so the gridgrid module
module of ANSYS
of ANSYS software,
software, mesh
(ANSYS 19.0, ANSYS, Inc., Canonsburg, PA, USA, 2018) is selected to divide the runner withwith
mesh (ANSYS 19.0, ANSYS, inc, Canonsburg, PA, USA, 2018) is selected to divide the runner the
the Quadrilateral
Quadrilateral Dominant
Dominant method.
method. SinceSince
therethere
are a are
fewatrapezoidal
few trapezoidal areas
areas in the in the runner,
runner, the type the
of type
grid
of grid division
division is Quad/Tri.
is Quad/Tri. At the
At the same same
time, time, the
the nozzle nozzle
part of thepart of the key
key research research
area area has
has a larger gridadensity
larger
grid density in order to capture as many transient details as possible. The partitioned grid
in order to capture as many transient details as possible. The partitioned grid is shown in Figure 2, and is shown
in
theFigure 2, and the grid
grid parameters parameters
are shown are3.shown in Table 3.
in Table

Figure 2. Grid model with a grid size of 0.012 and the flapper at the zero position when L1 = 0.02.
Figure 2. Grid model with a grid size of 0.012 and the flapper at the zero position when L1 = 0.02.
Table 3. Grid parameters.
For a servo valve, flow and pressure are the ultimate indicators, so pressure and flow can be
Orthogonal
used toGrid
determineNodes
whetherElements
the grid size is appropriate.
Element
Skewness
TheSkewness
outlet flow and average
Orthogonal pressure on
Quality
Size/mm Quality
flapper at different grid sizes are shown in Figure 3. (max) Quality
(min)
0.010 26,090 25,411 0.835 0.078 0.643 0.982 0.544
0.012 22,795 22,150 Table
0.8393. Grid parameters.
0.068 0.609 0.985 0.544
0.015 20,048 19,440 0.839 0.066 0.759 0.985 0.312
0.020 17,815 17,243 0.841 0.066 0.788 0.985 Orthogonal
0.272
Grid Element Skewness Orthogonal
Nodes Elements Skewness Quality
Size/mm Quality (max) Quality
For a servo valve, flow and pressure are the ultimate indicators, so pressure and flow(min)
can be used
to determine whether the grid size is appropriate. The outlet flow and average pressure on flapper at
0.010 26,090 25,411 0.835 0.078 0.643 0.982 0.544
different grid sizes are shown in Figure 3.
0.012 22,795 22,150 0.839 0.068 0.609 0.985 0.544
0.015 20,048 19,440 0.839 0.066 0.759 0.985 0.312
0.020 17,815 17,243 0.841 0.066 0.788 0.985 0.272
Processes 2019, 7, 721 6 of 21
Processes 2018, 6, x FOR PEER REVIEW 6 of 22

9.15 640000

Average pressure of baffle /Pa

620000
Outlet mass flow/kg∙𝑠^(−1) 9.1
600000
9.05 580000
Outlet mass flow
9 560000
Average pressure of baffle
540000
8.95
520000

8.9 500000
0.01 0.012 0.015 0.02
Grid scale/mm
Figure 3. Flow
Figure 3. Flow and
and pressure
pressure at
at different
different grid
grid sizes.
sizes.

It
It can
canbe beseen
seenthat
thatwhen
when thethe
gridgrid
sizesize
is 0.010/0.012 and 0.015,
is 0.010/0.012 the average
and 0.015, pressure
the average of the flapper
pressure of the
is
flapper is not much different, only within 0.005 MPa, while the mass flow of the outlet is almost the
not much different, only within 0.005 MPa, while the mass flow of the outlet is almost the same, the
difference being onlybeing
same, the difference 0.000048
onlykg/s. Therefore,
0.000048 when the when
kg/s. Therefore, grid size
theisgrid
in the
sizerange of 0.010–0.015,
is in the range of 0.010–the
grid
0.015,quality hasquality
the grid no effect onno
has theeffect
simulation
on the results.
simulationTheresults.
medianThe value of range
median of 0.012
value is taken
of range as the
of 0.012 is
grid size when grid is independent.
taken as the grid size when grid is independent.
After
After finding
finding the
the optimal
optimal grid
grid size,
size, the
the channel
channel model
model with
with different
different flappers
flappers are aremeshed.
meshed. Since
Since
the
the distance between the flapper and the two nozzles is 0.2 mm when the flapper is located atzero
distance between the flapper and the two nozzles is 0.2 mm when the flapper is located at the the
position, the number
zero position, and quality
the number parameters
and quality of the grid
parameters at different
of the positionspositions
grid at different are obtained are as shown in
obtained as
Table
shown 4. in
The displacement
Table of the flapper
4. The displacement is in
of the the right
flapper is indirection,
the righti.e., the X direction
direction, i.e., the Xshown in Figure
direction shown 1
is
inin the positive
Figure direction.
1 is in the positive direction.

4. Grid
Table 4.
Table Grid model
model parameters
parameters of
of different
different spacing
spacing between
between nozzle
nozzle and
and flapper.
flapper.
Flapper
Flapper Displacement Nodes Element Skewness
Skewness Orthogonal
Orthogonal
Displacement Nodes Elements
Elements Skewness
Skewness
x/mm Quality
Quality (max)
(max) Quality
Quality
x/mm
x =x 0.00
= 0.00 22,795
22,795 22,150 0.839 0.068 0.609
0.609 0.985
0.985
x = 0.05 20,922 20,291 0.899 0.071 0.669 0.986
x = 0.05 20,922 20,291 0.899 0.071 0.669 0.986
x = 0.10 22,953 22,292 0.836 0.069 0.747 0.983
x =x 0.15
= 0.10 22,953
20,967 22,292
20,321 0.836
0.909 0.069
0.061 0.747
0.676 0.983
0.989
x = 0.15 20,967 20,321 0.909 0.061 0.676 0.989
3. Results and Discussion
3. Results and Discussion
3.1. Flow Field Characteristics with Constant Velocity and Flapper Displacement
3.1. Flow
The Field
nozzleCharacteristics with as
area is selected Constant Velocity and
the observation Flapper
object, Displacement
and the observation points on the flow
channel model are shown in Figure 4a, while Figure 4b shows
The nozzle area is selected as the observation object, and the that theobservation
wall Y pluspoints
number onalong the
the flow
wall position.
channel modelTheare results
shown show that4a,
in Figure nearly allFigure
while the wall
4b Y plus number
shows is less
that the wall Y than
plus 1number
as suggested by
along the
Fluent user's guide, except for the leftmost and rightmost boundaries; however, the Y
wall position. The results show that nearly all the wall Y plus number is less than 1 as suggested byplus numbers
are still user's
Fluent less than 2. Analogously,
guide, except for thethe simulation
leftmost and obtained
rightmostYboundaries;
plus numbers in 5 m/s,the
however, 25 Y
m/s,
plusand 50 m/s
numbers
conditions are also less than 1, mostly, including the wall areas near points 1–6, in which
are still less than 2. Analogously, the simulation obtained Y plus numbers in 5 m/s, 25 m/s, and 50 the research is
much concerned.
m/s conditions are also less than 1, mostly, including the wall areas near points 1–6, in which the
research is much concerned.
 Processes 2019, 7, 721 7 of 21
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Y plus

wall position

Y plus
(a) (b)
Figure
Figure 4. Nozzle
4. Nozzle structure
structure withwith observation
observation points
points andand
the the Y plus
Y plus distribution.
distribution. (a) Nozzle
(a) Nozzle structure
structure
with
with observation
observation points.
points. (b) (b)
TheThe Y plus
Y plus distribution
distribution when
when velocity
velocity of inlet
of inlet is m/s.
is 10 10 m/s.
wall position

TheTheflow flowfieldfield
modelmodel with withan an inlet
inlet velocity
velocity of 25 of m/s
25 m/sandand thethe flapper
flapper at the
at the zero zero position
position is used
is used
for for overall
overall analysis.
analysis. SinceSincethe the flapper
flapper is inis the
in thezero zero position,
position, thethe distance
distance between
between thethe nozzles
nozzles on on
both sides and the flapper is equal, making the flow resistance
both sides and the flapper is equal, making the flow resistance the same. According to the theoretical the same. According to the theoretical
calculation,
calculation, thethe pressure
pressure losslossof theof the nozzles
nozzles on onboth both sides
sides is the
is the same,same,andand thethe
flow flow velocity
velocity through
through
thethe nozzles
nozzles should
should be equal.
be equal. In addition,
In addition, because
because thetheflow flow
statestate of the
of the oil oil injection
injection to the
to the twotwo sidessides
of of
the flapper is exactly the same, without considering the wear
the flapper is exactly the same, without considering the wear of the nozzles, the pressure fluctuation of the nozzles, the pressure fluctuation
curves
curves generated
generated by bythethe flappers
flappers on on
both both
sides sides should
should alsoalso
be bethethe
same.same.By By observing
observing Figure
Figure 5, it5,isit is
found that the oil velocity on both sides of the nozzle is
found that the oil velocity on both sides of the nozzle is the same, which is in accordance with the same, which is in accordance withthethe
theory. However, in the wake region, the oil continuously
theory. However, in the wake region, the oil continuously makes periodic whirlpool motions, which makes periodic whirlpool motions, which
makes
makes thethe flapper
flapper subject
subject totoperiodic
periodicpressure
pressureoscillations
oscillations through
through the the disturbance
disturbance of ofthe
theoil oilcycle,
cycle,and
and in order to observe the pressure oscillation on the left and right sides of the flapper, point 1 point
in order to observe the pressure oscillation on the left and right sides of the flapper, point 1 and and 2
point 2 of Figure 4 are selected as the comparison, and the pressure situation at the two points is as
of Figure 4 are selected as the comparison, and the pressure situation at the two points is measured
shown in
measured asFigure
shown6a–d. Pressure
in Figure 6a–d. oscillation
Pressurephenomena have been observed
oscillation phenomena have been at both points.atItboth
observed can be
points. It can be seen that there exists a fluid self-excitation oscillation between the nozzle andthe
seen that there exists a fluid self-excitation oscillation between the nozzle and flapper. Moreover,
pressure
flapper. oscillation
Moreover, thecurves
pressure at both points curves
oscillation are approximately
at both points the are
same, the average pressure
approximately the same,is the about
average pressure is about 0.57 MPa, and the oscillation amplitude is 0.12 MPa. Observing the powerthat
0.57 MPa, and the oscillation amplitude is 0.12 MPa. Observing the power spectrum, it is found
the pressure
spectrum, fluctuation
it is found that the is mainly
pressure high frequency,
fluctuation and thehigh
is mainly peakfrequency,
frequency and appears at 3000
the peak Hz.
frequency
appearsItatis3000 known Hz.from the foregoing that when the flapper of the jet flapper valve is located at the zero
position,
It is knownaverage
the from the pressure,
foregoing velocity
that when and pressure
the flapper fluctuation
of the jetofflapper
the flapper
valveon is both
located sides of the
at the
zeroflapper
position,are thealmost the same,
average pressure,so invelocity
order toand observe the pressure
pressure fluctuation situation
of the at different
flapper positions
on both sidesof ofthe
theflapper,
flapper according
are almosttothe Figure
same,4,so only pointsto1,observe
in order 3, and 5the onpressure
the rightsituation
side are selected
at differentas the observation
positions of
objects. The pressure fluctuation curves are shown in Figure
the flapper, according to Figure 4, only points 1, 3, and 5 on the right side are selected as the 6a,b,e–h respectively. From the graph
analysis, it
observation can beThe
objects. seen that thefluctuation
pressure pressure pulsation
curves are at shown
point 1in and point6a,b,e–h
Figure 3 oscillates around 0.57
respectively. From MPa
and has positive pressure, while point 5 oscillates near −0.045
the graph analysis, it can be seen that the pressure pulsation at point 1 and point 3 oscillates around MPa and the pressure is negative. This
0.57 MPa and has positive pressure, while point 5 oscillates near −0.045 MPa and the pressure isthe
is because point 1 is located in the central region of the oil injection, so its pressure corresponds to
highest,This
negative. while is point
because 5 ispoint
located 1 isinlocated
the wake inregion,
the centralso theregion
pressure is low;
of the besides point
oil injection, so its 1, point
pressure 3, and
corresponds to the highest, while point 5 is located in the wake region, so the pressure is low; to
point 5, the main frequency is low. The performance is not obvious because point 1 is the main area
be impacted
besides point 1,by the jet,
point so the
3, and pointpressure
5, theoscillation
main frequency here is is also theThe
low. most significant. is
performance Atnotthe obvious
same time,
the pressure
because point 1fluctuations
is the main in thetothree
area locationsby
be impacted arethemainly
jet, sohigh
the frequency, generally here
pressure oscillation over is 3000
alsoHz, theand
the maximum power size appears at 3000 Hz, which indicates
most significant. At the same time, the pressure fluctuations in the three locations are mainly high that the main frequency of pressure
oscillation
frequency, is 3000 Hz.
generally overIn addition,
3000 Hz, the and pressure amplitudes
the maximum powerof thesize
three locations
appears at are
3000very Hz,stable
which in the
indicates that the main frequency of pressure oscillation is 3000 Hz. In addition, the pressureIt is
time domain, and there is no sudden change point, which indicates that pressure oscillation exists.
not caused
amplitudes of by
theaccidental
three locations factors, arebut
veryby stable
the high-speed
in the time impact
domain, of oilandonthere
the flapper.
is no sudden change
point, which indicates that pressure oscillation exists. It is not caused by accidental factors, but by
the high-speed impact of oil on the flapper.
Processes 2018, 6, x FOR PEER REVIEW 8 of 22

Processes 2018, 6, x FOR PEER REVIEW 8 of 22

Processes 2019, 7, 721 8 of 21

(a) t=0.0001s (b) t=0.0002s (c) t=0.0003s (d) t=0.0004s

Figure 5. Velocity nephogram in one oscillating period.
Figure 5. Velocity nephogram in one oscillating period.
Figure 5. Velocity nephogram in one oscillating period.

Power Spectral Density

Pressure

Pa2/Hz
Pa

(a) (b)
Power Spectral Density
Pressure

Pa2/Hz
Pa

(c) (d)
Power Spectral Density
Pressure

Pa2/Hz
Pa

(e) (f)
Power Spectral Density
Pressure

Pa2/Hz
Pa

Figure 6. Pressure oscillation(g) curves at different points on flappers. (a) Point 1 in the time domain.
Figure 6. Pressure oscillation curves at different points on flappers. (a) Point (h) 1 in the time domain. (b)
(b) Point 1 in the frequency domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.
Point 1 in the frequency domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.
(e) Point 3 in the time domain. (f) Point 3 in the frequency domain. (g) Point 5 in the time domain.
Figure 6. 3Pressure
(e) Point oscillation
in the time domain.curves at different
(f) Point points on flappers.
3 in the frequency (a) Point
domain. (g) Point 51 in
in the
the time
time domain.
domain. (b)
(h)
(h) Point 5 in the frequency domain.
Point
Point 51 in
in the
the frequency
frequency domain.
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.
(e) Point 3 in the time domain. (f) Point 3 in the frequency domain. (g) Point 5 in the time domain. (h)
The simulation time step is 0.0001 s, and each step is saved automatically. As a result, a flow cycle
Point 5 in the frequency domain.
is obtained as shown in Figure 5. It can be found that the fluid disturbance is very intense when it
Processes 7, 7216, x FOR PEER REVIEW
2019, 2018,
Processes 9 of 229 of 21

The simulation time step is 0.0001 s, and each step is saved automatically. As a result, a flow
enterscycle
the is
nozzle flapper
obtained area.inInFigure
as shown Figure5.5a, after
It can be the fluid
found isthe
that injected into the nozzle
fluid disturbance flapper,
is very intenseitwhen
intersects
at theit bottom of nozzle
enters the the flapper,
flapper and theInphenomenon
area. Figure 5a, after of the
reflux
fluidis isintensified in the
injected into Figure 5b.flapper,
nozzle Then a itsmall
eddyintersects
current is at initially
the bottom of the flapper,
formed in Figureand5c,thewhich
phenomenon of reflux
is generated inisFigure
intensified
5d and in Figure 5b. Then
completes a cycle
a small
in 0.0003 s. eddy
Figurecurrent is initially
6b shows thatformed
the main in Figure 5c, which
frequency is generated
is about 2850 Hz in Figure
and the 5dcalculated
and completes a is
period
aboutcycle in 0.0003
0.00035 s. Figure
s, which are in6b good
showsagreement
that the main frequency
with is about
each other, 2850 Hzthat
indicating and the
the calculated
intercepted period
period is
is about 0.00035 s, which are in good agreement with each other, indicating that the intercepted
correct. This is because the oil continuously forms eddy currents on the flapper, producing repetitive
period is correct. This is because the oil continuously forms eddy currents on the flapper, producing
pulses on the flapper, and thus forming a pressure oscillation on the flapper.
repetitive pulses on the flapper, and thus forming a pressure oscillation on the flapper.
3.2. Variation of Main Frequency and Amplitude of Oscillation at Different Velocities
3.2. Variation of Main Frequency and Amplitude of Oscillation at Different Velocities
It canItbe seen
can fromfrom
be seen the above section
the above that that
section the pressure oscillation
the pressure at point
oscillation 1 and
at point point
1 and 2 of2the
point nozzles
of the
are the most obvious. Since the flapper is in the zero position and the pressure on
nozzles are the most obvious. Since the flapper is in the zero position and the pressure on both sides both sides of the flapper
is theofsame when the
the flapper velocity
is the of investigation
same when the velocityisof affected, point is
investigation 1 is chosenpoint
affected, as the1 research
is chosenobject.
as the The
results are shown
research object.inThe
Figures
results7–10, whereinthe
are shown figures
Figures of 20
7–10, times
where l g “power
theoffigures spectrum
of 20 times of l g density”
“power are
spectrum
displayed, whichdensity”
showare thedisplayed,
“−5/3” slopewhich show
of the the “−5/3”much
frequency, slopeaccorded
of the frequency,
with themuch accorded
k41 theory spectra
with the k41 theory spectra distribution characteristic, which insures the simualtion
distribution characteristic, which insures the simualtion results are turbulent, not numerical errors. After results are
turbulent,
comparison, not be
it can numerical
found that errors. After comparison,
the pressure fluctuationitincreases
can be found thatincrease
with the the pressure fluctuation
of velocity, and there
increases with the increase of velocity, and there is a positive correlation between them. However,
is a positive correlation between them. However, with the increase in velocity, the relative oscillation
with the increase in velocity, the relative oscillation amplitude of the pressure does not follow the
amplitude of the pressure does not follow the positive correlation, but decreases with the increase of
positive correlation, but decreases with the increase of velocity. Thus, the higher the velocity of the
velocity. Thus, the higher the velocity of the nozzle, the pressure oscillation phase oscillation will occur.
nozzle, the pressure oscillation phase oscillation will occur. The lower the amplitude, it can be
The lower thethat
inferred amplitude,
when theitvelocity
can be inferred that when
is high enough, the the velocity
pressure is high of
oscillation enough,
the flapperthe pressure oscillation
will gradually
of thedisappear,
flapper will gradually disappear, and its oscillation will only occur in a
and its oscillation will only occur in a certain velocity range. In addition, combined with certain velocity range.
In addition, combined with the power spectrum, it can be determined
the power spectrum, it can be determined that the peak frequency of the pressure decreases that the peak frequency of the
gradually
pressure with gradually
decreases the increasewith
of velocity. This isofbecause,
the increase with
velocity. Thistheisincrease
because, of with
velocity,
the the stronger
increase the
of velocity,
ability ofthe
the stronger theability
oil to maintain
of the oilits
tooriginal
maintain motion state before
its original motion injecting the nozzle
state before into the
injecting theflapper,
nozzle the
into the
smaller the tendency to develop into turbulence, and the smaller the flow field
flapper, the smaller the tendency to develop into turbulence, and the smaller the flow field dissipation, dissipation, and the
smaller
and the the the
smaller oscillation frequency
oscillation generated
frequency alongalong
generated with it. Theit.
with relationship betweenbetween
The relationship pressurepressure
and the and
main frequency and velocity is shown in Figure 11.
the main frequency and velocity is shown in Figure 11.

(c)

Figure 7. Pressure curves in time and frequency domains when the inlet velocity is 5 m/s. (a) Time
domain. (b) Frequency domain. (c) 20logE frequency domain.
Processes 2018, 6, x FOR PEER REVIEW 10 of 22
Processes 2018, 6, x FOR PEER REVIEW 10 of 22
Figure 7. Pressure curves in time and frequency domains when the inlet velocity is 5 m/s. (a) Time
Figure
domain.7.(b) Pressure curves
Frequency in time
domain. (c)and frequency
20logE domains
frequency when the inlet velocity is 5 m/s. (a) Time
domain.
Processes 2019, 7,(b)
domain. 721Frequency domain. (c) 20logE frequency domain. 10 of 21

(c)
(c)
Figure 8. Pressure curves in time and frequency domains when the inlet velocity is 10 m/s. (a) Time
Figure
domain.8.(b)
8. Pressure curves
Frequency in time(c)
domain. and frequency
20logE domains
frequency when the inlet velocity is 10 m/s. (a) Time
domain.
domain. (b) Frequency domain. (c) 20logE frequency domain.

(c)
(c)
Figure 9. Pressure curves in time and frequency domains when the inlet velocity is 25 m/s. (a) Time
domain. (b) Frequency domain. (c) 20logE frequency domain.
Processes 2018, 6, x FOR PEER REVIEW 11 of 22
Processes 2018, 6, x FOR PEER REVIEW 11 of 22

Figure 9. Pressure curves in time and frequency domains when the inlet velocity is 25 m/s. (a) Time
Figure 9. Pressure curves in time and frequency domains when the inlet velocity is 25 m/s. (a) Time
domain.
Processes (b)
2019, 7,(b) Frequency domain. (c) 20logE frequency domain.
721Frequency 11 of 21
domain. domain. (c) 20logE frequency domain.

(c)
(c)
Figure 10. Pressure curves in time and frequency domains when the inlet velocity is 50 m/s. (a) Time
Figure
Figure 10.
10. Pressure
Pressure curves
curves in
in time
time and
and frequency
frequency domains
domains when
when the
the inlet
inlet velocity
velocity is
is 50
50 m/s.
m/s. (a)
(a)Time
Time
domain. (b) Frequency domain. (c) 20logE frequency domain.
domain.
domain. (b)
(b)Frequency
Frequencydomain.
domain. (c)(c)20logE
20logEfrequency
frequencydomain.
domain.

20 6000
20 6000
/MPa
Pressure/MPa

frequency/Hz

5000
Mainfrequency/Hz

15 5000
15 4000
AveragePressure

4000
Average Pressure
10 3000 Average Pressure
10 3000
Main frequency
2000 Main frequency
5 2000
Average

Main

5 1000
1000
0 0
0 0Velocity/m∙s-1
5 10 25 50 Velocity/m∙s-1
5 10 25 50
Figure11.
Figure Pressureoscillation
11. Pressure oscillationand
andmain
mainfrequency
frequency of
of the
the flappers
flappers at
at different
different velocities.
Figure 11. Pressure oscillation and main frequency of the flappers at different velocities.
3.3. Variation of Main Frequency and Amplitude of Oscillation under Different Displacements
3.3. Variation
3.3. Variation of of Main
Main Frequency
Frequency and and Amplitude
Amplitude of of Oscillation
Oscillation under
under Different
Different Displacements
Displacements
Under different working conditions, the deflection angle of the flapper of the jet flapper servo
Under different
different working conditions,
conditions, the the deflection
deflection angle
angle of of the
the flapper
flapper of of the
the jet
jet flapper
flapper servo
servo
valveUnder
is different, andworking the pressure on both sides of the flapper will also be different. Therefore, this
valve
valve is different,
is studies
different, and the pressure on both sides of the flapper will also be different. Therefore, this
section theand the pressure
pressure on of
oscillation both
thesides of the
flappers flapper
under will also
different be different.
displacements Therefore,
while keepingthis the
section studies
section studies the pressure
pressure oscillation of of the
the flappers
flappers under
under different
different displacements
displacements while while keeping
keeping
inlet oil velocitythe unchanged. oscillation
When the flapper is at the zero position, the distance between the flapper
the inlet
the inlet oil
oil velocity
velocity unchanged.
unchanged. When When the the flapper is is at the
the zero
zero position,
position, the the distance
distance between
between the the
and the nozzles on both sides is 0.2 mm. Theflapper
deflectionat displacement of each flapper is 0.05 mm, and it
flapper
flapper and the nozzles on both sides is 0.2 mm. The deflection displacement of each flapper is 0.05
is in theand
rightthe nozzles Since
direction. on both
thesides is 0.2
distance mm. The
between thedeflection
two sides of displacement
the flapper is ofdifferent,
each flapper is 0.05
the oil flow
mm, and
mm, and it it is
is in
in the right
right direction.
direction. Since
Since the the distance
distance between
between the the two
two sides
sides ofof the
the flapper
flapper is is
field on both sidesthe is no longer the same, so in order to compare the pressure difference between the
different,
different, the oil flow field on both sides is no longer the same, so in order to compare the pressure
two sides,the oil flow
point 1 andfieldpointon2 both sides4isare
in Figure noused
longer the same,Since
to observe. so intheorder to compare
flapper the pressure
at zero point 1 is the
difference between
difference between the the twotwo sides,
sides, point
point 11 and
and point
point 22 inin Figure
Figure 44 areare used
used to to observe.
observe. SinceSince thethe
same as point 2, only point 1 is selected, as shown in Figure 12, and its pressure oscillates near 0.57 MPa
flapper at
flapper at zero
zero point
point 11 is is the
the same
same as point
point 2, 2, only
only point
point 11 isis selected,
selected, as as shown
shown in in Figure
Figure 12, 12, and its its
with the main pulsation frequencyasabove 3000 Hz. In Figures 13–15, point 1 is closer to the and
nozzle
pressure
pressure oscillates
oscillates near 0.57 MPa with the main pulsation frequency above 3000 Hz. In Figures 13–
than point 2, so its near
overall 0.57 MPa with
pressure the main
relative to pointpulsation frequency
2 is higher, and asabove
can be3000seenHz.
fromInthe Figures
spectrum13–
15,
15, point 1
point 1the is closer
is closer to the
to the nozzle than point 2, so its overall pressure relative to point 2 is higher, and
diagram, pressure of nozzle
point 1than point
is also 2, so The
higher. its overall
frequencypressure relative to
distribution of point 2 is higher,
the force pulsation and is
as can
as can be
be seen
seen fromfrom thethe spectrum
spectrum diagram,
diagram, the the pressure
pressure of of point
point 11 isis also
also higher.
higher. The
The frequency
frequency
relatively average, but there is a tendency to shift to low, while the pressure of point 2 is mainly high
distribution of
distribution of the
the force
force pulsation
pulsation isis relatively
relatively average,
average, butbut there
there is
is aa tendency
tendency to shiftshift toto low,
low, while
while
frequency, mainly over 2500 Hz. By analyzing the pressure oscillation curves, theto relationship between
the
the pressure of point 2 is mainly high frequency, mainly over 2500 Hz. By analyzing the pressure
the pressure
force acting of point
on the2 flapper
is mainlyand high
the frequency,
main frequency mainly andover
the2500 Hz. Bydistance
deflection analyzing the flapper
of the pressure is
obtained as shown in Figure 16. It can be seen that the smaller the distance between the nozzle and
Processes 2018, 6, x FOR PEER REVIEW 12 of 22

Processes 2018, 6, x FOR PEER REVIEW 12 of 22

oscillation curves, the relationship between the force acting on the flapper and the main frequency
and the deflection distance of the flapper is obtained as shown in Figure 16. It can be seen that the
oscillation curves, the relationship between the force acting on the flapper and the main frequency
smaller the 7,distance
Processes 721 between the nozzle and the flapper, the stronger the pressure fluctuation, 12 ofbut
21
and the2019,
deflection distance of the flapper is obtained as shown in Figure 16. It can be seen that the
the relative pressure fluctuation amplitude is positively correlated with the distance as a whole; the
smaller the distance between the nozzle and the flapper, the stronger the pressure fluctuation, but
main frequency is also related to the distance: the larger the distance is, the greater the main
the
the relative
flapper,of pressure
the fluctuation amplitude is positively correlated with the fluctuation
distance as amplitude
a whole; the
frequency thestronger
pressurethe pressure
oscillation fluctuation,
will be. This isbut the
becauserelative
as thepressure
distance between the nozzle and is
main frequency
positively is
correlated also
with related
the to the
distance distance:
as a whole; the
the larger
main the distance
frequency is is,
also the greater
related to thethe main
distance:
the baffle decreases, the fluid resistance of the variable throttle hole increases, the kinetic energy of
frequency
the larger ofthethe pressure
distance is, oscillation
the greater will
the be.
main This is because
frequency as
thethe
of hydraulicdistance
pressure between will
oscillation the nozzle
be. This and is
oil converts into pressure energy increases, and the more pressure is generated on the
the baffle
because asdecreases,
the distancethe fluid
between resistance
the nozzleof the
and variable
the baffle throttle
decreases,hole increases,
the fluid the
resistancekinetic
of energy
the variable of
baffle; furthermore, as the distance increases, the greater the turbulence degree of the oil flowing
oil converts into
throttle pressure energy energy
increases, and the more hydraulic pressure is generated onmore
the
throughholethe increases,
nozzle, the thegreater
kinetic of oil
the pressure converts
oscillation into pressure
effect of theenergy
fluid.increases,
This is why and the
the main
baffle;
hydraulicfurthermore, as the distance increases, the greater the turbulence degree of the oil flowing
frequency pressure
increases.is generated on the baffle; furthermore, as the distance increases, the greater the
through
turbulence thedegree
nozzle, the oil
of the greater thethrough
flowing pressure theoscillation
nozzle, theeffect
greater ofthe
thepressure
fluid. This is whyeffect
oscillation the of main
the
frequency increases.
fluid. This is why the main frequency increases.

Figure 12. Pressure oscillation curve of the flapper when the displacement of the flapper is x = 0.00
mm. (a)12.
Figure Point 1 in the
Pressure time domain.
oscillation curve(b)
of Point 1 in the
the flapper frequency
when domain.
the displacement of the flapper is x = 0.00
Figure 12. Pressure oscillation curve of the flapper when the displacement of the flapper is x = 0.00
mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency domain.
mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency domain.
Density
Density
Pressure

Pa2/Hz
Spectral
Pa Pa
Pressure

Pa2/Hz
Spectral
Power
Power

(a) (b)

(a) (b)
Density
Density
Pressure

Pa2/Hz
Spectral
Pa Pa
Pressure

Pa2/Hz
Spectral
PowerPower

(c) (d)

Figure 13. Pressure oscillation (c) curve of the flapper when the displacement of(d) the flapper is x = 0.05
Figure
mm. (a)13. Pressure
Point 1 in theoscillation
time domain.curve
(b)ofPoint
the flapper
1 in the when the displacement
frequency of the
domain. (c) Point 2 inflapper
the timeis domain.
x = 0.05
mm. (a)
(d) Point Point 1 in the time domain. (b) Point 1 in the frequency domain. (c) Point 2 in the time
Figure 13.2 Pressure
in the frequency domain.
oscillation curve of the flapper when the displacement of the flapper is x = 0.05
domain. (d) Point 2 in the frequency domain.
mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency domain. (c) Point 2 in the time
domain. (d) Point 2 in the frequency domain.
Processes 2018, 6, x FOR PEER REVIEW 13 of 22

Processes 2019,
2018, 7,
6, 721
x FOR PEER REVIEW 13 of
13 of 21
22

(a) (b)

(a) (b)

(c) (d)

(c) (d)
Figure 14. Pressure oscillation curve of the flapper when the displacement of the flapper is x = 0.10
Figure
mm. (a) Pressure
14.Point 1 in oscillation curve of the
the time domain. (b) flapper
Point 1when thefrequency
in the displacement of the(c)
domain. flapper = 0.10
Pointis2x in mm.
the time
Figure
(a) 14.1 in
Point Pressure
the timeoscillation
domain. curve
(b) of the
Point 1 flapper
in the when thedomain.
frequency displacement
(c) of the
Point 2 inflapper
the time is domain.
x = 0.10
domain. (d) Point 2 in the frequency domain.
mm.
(d) (a) Point
Point 2 in the1 frequency
in the timedomain.
domain. (b) Point 1 in the frequency domain. (c) Point 2 in the time
domain. (d) Point 2 in the frequency domain.

(a) (b)

(a) (b)

(c) (d)

Figure 15. Pressure oscillation (c)curve of the flapper when the displacement of the(d)
flapper is x = 0.15 mm.
(a) Point 1 in the time domain. (b) Point 1 in the frequency domain. (c) Point the
Figure 15. Pressure oscillation curve of the flapper when the displacement of 2 inflapper
the timeisdomain.
x = 0.15
mm.
(d) (a)
Point Point 1 in the time domain. (b) Point 1 in the frequency domain. (c) Point 2 in the time
Figure 15.2 in the frequency
Pressure domain.
oscillation curve of the flapper when the displacement of the flapper is x = 0.15
domain. (d) Point 2 in the frequency domain.
mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency domain. (c) Point 2 in the time
domain. (d) Point 2 in the frequency domain.
Processes 2019, 7, 721 14 of 21
Processes 2018, 6, x FOR PEER REVIEW 14 of 22
Processes 2018, 6, x FOR PEER REVIEW 14 of 22

Figure Average
16.16.
Figure Averagepressure
pressure and mainfrequency
and main frequency ofof
thethe flapper
flapper at different
at different actual
actual distances
distances between
between
Figureand
thethe
nozzle 16. Average
flapper. pressure and main frequency of the flapper at different actual distances between
nozzle and flapper.
the nozzle and flapper.
3.4.3.4.
Oscillation Characteristics
Oscillation Characteristics Considering MotionCoupling
Considering Motion Coupling of the
of the Main
Main Valve
Valve
3.4. Oscillation Characteristics Considering Motion Coupling of the Main Valve
In this section,
In this section,the theinfluence
influence ofof the
themain
mainvalve
valve
onon
thethe flow
flow field
field willwill be considered
be considered to establish
to establish a a
In this section, the influence of the main valve on the flow field will be considered to establish a
more realistic
more flow
realistic flowfield
fieldininthe
the servo valve.Similarly,
servo valve. Similarly,
thethe two-dimensional
two-dimensional modelmodel
is stillisused
stillinused
this in this
more realistic flow field in the servo valve. Similarly, the two-dimensional model is still used in this
chapter.
chapter. TheThe flow
flow fieldofofthe
field thewhole
whole valve
valveisisshown
showninin
Figure
Figure17.17.
chapter. The flow field of the whole valve is shown in Figure 17.

Figure 17. Watershed model of the servo valve considering the effect of the main valve.
Figure
Figure 17. Watershed
17. Watershed modelofofthe
model theservo
servo valve
valve considering
consideringthe effect
the of of
effect thethe
main valve.
main valve.
3.4.1. UDF Implementation Logic
3.4.1. 3.4.1.
UDFUDFImplementation Logic
Implementation Logic
During the deflection of the flapper, the displacement of the main valve core will occur with the
DuringDuring
the the deflection
deflection of of
thethe flapper, thedisplacement
flapper, displacement of the main valve core willwill
occur withwiththe the
offset of the flapper. The interface betweenthe the valve core andofthe theoilmain
is thevalve
moving coresurface,occur
and the
offsetoffset of the
of thedistance flapper.
flapper. The interface
The interface between
between the valve core
the valve core and the oil is the moving surface, and the
moving should be linear with the displacement of theand the oil
flapper. Theismoving
the movingsurfacesurface,
is shownand the
moving distance should be linear with the displacement of the flapper. The moving surface is shown
moving distance
in Figure 18. In should
order tobe linear
realize thewith
abovethe displacement
moving of the
process, the flapper. The
mathematical model moving surface
of the main is shown
spool
in Figure 18. In order to realize the above moving process, the mathematical model of the main spool
motion18.
in Figure should be written
In order first. the above moving process, the mathematical model of the main spool
to realize
motion should be written first.
motion Theshouldmain bevalve
writtenmainly
first.plays the role of a power amplifier. The main working process is to
The main valve mainly plays the role of a power amplifier. The main working process is to
move
The to the
main side
valve with weak
mainly pressure
plays theunder
role thea pressure
of difference Thebetween
mainthe two sides of the pilot
move to the side with weak pressure under thepower amplifier.
pressure difference between working
the two sidesprocess
of theispilot
to move
valve, so as to realize the opening and closing of the working oil port and realize the function of
to thevalve,
side with
so as to realize the opening and closing of the working oil port and realize the function ofvalve,
weak pressure under the pressure difference between the two sides of the pilot
promoting load movement. In the whole movement process, the main valve is an inlet throttle,
so as promoting
to realize the loadopening
movement.and In closing of themovement
the whole working process,
oil port and realize
the main the is
valve function
an inletofthrottle,
promoting
which is mainly affected by the steady-state hydrodynamic force, transient hydrodynamic force of
which is mainly
loadopening
movement. In affected
the whole bymovement
the steady-state hydrodynamic
process, the main force, is
valve transient
an inlethydrodynamic
throttle, which force of
is mainly
and closing the working oil outlet, and oil resistance and pressure on both sides of the valve
opening
affected by theand closing the hydrodynamic
steady-state working oil outlet, and transient
force, oil resistance and pressure force
hydrodynamic on bothof sides of theand
opening valve
closing
core. Therefore, there is a feedback rod, so there is a feedback force acted by the feedback rod. Its
core. Therefore,
the formula
working there
andisoil
a feedback rod, so pressure
there is aonfeedback forceofacted by thecore.
feedback rod. Itsthere
isoil outlet,
as follows: resistance and both sides the valve Therefore,
formula is as follows:
is a feedback rod, so 𝑑there
𝑥(𝑡) is a 𝑑𝑥(𝑡)
feedback force acted by the feedback rod. Its formula is as follows:
𝑚 +𝐶
𝑑 𝑥(𝑡) + 𝐹 − 𝐹 + 𝐹 = A(𝑝 − 𝑝 ) = A∆𝑝(𝑡)
𝑑𝑥(𝑡) (1)
𝑚𝑑𝑡 2 + 𝐶 𝑑𝑡 + 𝐹 − 𝐹 + 𝐹 = A(𝑝 − 𝑝 ) = A∆𝑝(𝑡) (1)
d𝑑𝑡x(t) 𝑑𝑡dx(t)
m + Cf + FRt − FRs + F f = A(p1 − p2 ) = A∆p(t) (1)
dt2 dt

where FRt is a transient hydrodynamic force, FRs is a steady hydrodynamic force, and Ff is a feedback
force exerted by the feedback rod. Its expressions are shown below and Table 5 shows the meaning
and value of each parameter.
Processes 2019, 7, 721 15 of 21

p dx
FRt = Cq1 wL3 2ρpv (2)
dt
FRs = −2Cq1 Cv wpv x cos θ (3)

F f = (r + b)k f x (4)

Table 5. Parameters for mathematical modeling of servo valves.

Parameter Value Parameter Value

Spool mass m/kg 0.01 Import and Export Center Distance of Load L3 /m 1.34 × 10−2
Pressure difference between inlet and outlet of main
Spool displacement x/m 5
valve pv /MPa
Coefficient of viscous resistance Cf /kg·s−1 17.4 Oil Flow Velocity Coefficient of Main Valve Cv 0.99
Spool end area 3.14 × 10−6 Directional angle of jet-flow θ/◦ 69
Distance between nozzle hole axis and armature
Pressure at both ends of spool p1 , p2 2.0 × 10−3
Center r/m
Density of hydraulic oil ρ/kg·m−3 889 Axis pitch from core center to nozzle hole b/m 3.0 × 10−3
The Flow coefficient of the main valve Cq1 0.8 Stiffness of Feedback Bar kf /N·m−1 3.4 × 103
Area gradient of the throttle hole w/m2 1.256 × 10−2 Inlet flow Q/m3 ·s−1 8.3 × 10−5

By substituting the above formulas and the values of each parameter into Equation (1), the
following results are obtained:

d2 x(t) dx(t)
2
+ 3010 + 3, 566, 600x(t) = 3.14 × 10−4 ∆p(t) (5)
dt dt

Let u = dx/dt, after Laplacian transformation, obtaining:

U (s)
U (s)s + 3010U (s) + 3, 566, 600 = 3.14 × 10−4 ∆P(s) (6)
s

U (s) 3.14 × 10−4 s

= 2 (7)
∆P(s) s + 3010s + 35, 666, 000
So the velocity curve of the spool in the time domain is:

u(t) = 3.14 × 10−4 e−1505t sin(5779t + 1.32)∆p(t) (8)

Then,Processes
the UDF logic block diagram is written as follows in Figure 18:
2018, 6, x FOR PEER REVIEW 16 of 22

Execution
Figure 18. Figure logic block
18. Execution diagram
logic block ofofUDF
diagram UDFprogram (the
program (the symbol
symbol T means
T means time,
time, and and the value
the value
0.012 is the0.012
timeis of
thethe
timemoving grid grid
of the moving motion).
motion).

3.4.2. Dynamic Grid Design and Simplification for Flapper Deflection

In Section 2.3 we found and validated the reliability of the optimal grid size. Although the flow
field of the main valve has been added to this chapter, the final goal of this chapter is to divide the
grid model of the whole valve on the basis of the optimal grid size found in the above chapter
because the force of the flapper in the nozzle pilot valve area is still the ultimate goal. It has 80,431
Processes 2019, 7, 721 16 of 21

3.4.2. Dynamic Grid Design and Simplification for Flapper Deflection

In Section 2.3 we found and validated the reliability of the optimal grid size. Although the flow
field of the main valve has been added to this chapter, the final goal of this chapter is to divide the grid
model of the whole valve on the basis of the optimal grid size found in the above chapter because the
force of the flapper in the nozzle pilot valve area is still the ultimate goal. It has 80,431 grid nodes
and 78,741 grid elements. Its element quality, skewness and orthogonal quality are 0.927, 0.032 and
0.994, respectively, which meet the requirements of grid generation. In addition, in order to realize
the motion characteristics of the main valve, a moving grid is needed. In this paper, Fluent is used
to provide three dynamic grid models: smoothing, layering and regridding. The smoothing model
chooses the spring method to smooth the transition; the layering model chooses the height base to set
the split factor and collapse factor as default values; and the regridding model chooses the local cell
regridding mode, with the maximum surface skewness set to 0.7, and the rest to remain as default.

3.4.3. Principal Frequency and Amplitude Change Rule in the Coupling of Main Valve
(1) Variation of flow field of servo valve with the change of inlet velocity

From Figures 19–22, it can be seen that the pressure trend of the flapper is the same as that of the
previous one. Figure 23 shows that, with the increase of velocity, the average pressure of the flapper
increases and the main frequency decreases, which is the same with the previous one. Unlike the
previous one, the relative pressure amplitude does not increase linearly with the speed, but decreases
linearly. Moreover, the comparison shows that the peak frequency is also reduced by adding the
motion characteristics of the main valve. This is mainly due to the large inertia of the main valve,
Processes 2018, 6, x FOR PEER REVIEW 17 of 22
resulting in its low response frequency. Due to the existence of the feedback rod, this effect is reflected
Processes 2018, 6, x FOR PEER REVIEW 17 of 22
in the flapper, so that the flapper pressure frequency generated by fluid impact is reduced.

Figure 19. Pressure oscillation curve of the flapper considering the impression of the main valve and
Figure
velocity of Pressure
19.
Figure 19. 5 m/s. (a)oscillation
Pressure
curve(b)
Time domain.
oscillation
of the flapperdomain.
curve ofFrequency
considering the impression of the main valve and
the flapper considering the impression of the main valve and
velocity of 5 m/s. (a) Time domain. (b) Frequency domain.
velocity of 5 m/s. (a) Time domain. (b) Frequency domain.

Figure 20. Pressure oscillation curve of the flapper considering the impression of the main valve and
Figure 20. Pressure oscillation curve of the flapper considering the impression of the main valve and
velocity of 10 m/s. (a) Time domain. (b) Frequency domain.
velocity of Pressure
Figure 20. 10 m/s. (a) Time domain.
oscillation curve(b) Frequency
of the flapper domain.
considering the impression of the main valve and
velocity of 10 m/s. (a) Time domain. (b) Frequency domain.
 Figure 20. Pressure oscillation curve of the flapper considering the impression of the main valve and
Figure 20. Pressure oscillation curve (b)
of the flapper considering the impression of the main valve and
Processes 2019, 7,of721
velocity 10 m/s. (a) Time domain. Frequency domain. 17 of 21
velocity of 10 m/s. (a) Time domain. (b) Frequency domain.

Figure 21.
Figure 21. Pressure
Pressure oscillation
oscillation curve
curve of
of the
the flapper considering the
flapper considering the impression of the
impression of the main
main valve
valve and
and
Figure
velocity21.
of Pressure
25 m/s. oscillation
(a) Time curve (b)
domain. of the flapper considering
Frequency domain. the impression of the main valve and
velocity of 25 m/s. (a) Time domain. (b) Frequency domain.
velocity of 25 m/s. (a) Time domain. (b) Frequency domain.

Figure 22. Pressure oscillation curve of the flapper considering the impression of the main valve and
Figure 22. Pressure oscillation curve of the flapper considering the impression of the main valve and
Processes 2018, 6,of
x FOR PEER REVIEW 18 of 22
velocity
Figure 22. 50 m/s.
Pressure(a) Time domain.
oscillation curve (b) Frequency
of the flapper domain.
considering the impression of the main valve and
velocity of 50 m/s. (a) Time domain. (b) Frequency domain.
velocity of 50 m/s. (a) Time domain. (b) Frequency domain.

Figure23.
Figure Pressureand
23.Pressure andmain
mainfrequency
frequencyofofthe
theservo
servovalve
valveflapper
flapperatatdifferent
differentspeeds.
speeds.

(2) Variation
(2) Variationofofflow
flowfield
fieldof
ofthe
theservo
servovalve
valvewith
withthe
thechange
changeof
ofthe
theflapper
flapperdisplacement
displacement
Points 1 and 2 are taken as monitoring points. When the flapper deflects, the pressure curve of
Points 1 and 2 are taken as monitoring points. When the flapper deflects, the pressure curve of the
the pilot valve under the influence of the main valve is obtained, as shown in Figures 24–27. The
pilot valve under the influence of the main valve is obtained, as shown in Figures 24–27. The pressure
pressure under displacement is summarized in Figure 28. The analysis shows that when the distance
under displacement is summarized in Figure 28. The analysis shows that when the distance between
between the flapper and the nozzle increases, the pressure on the flapper decreases, the relative
the flapper and the nozzle increases, the pressure on the flapper decreases, the relative amplitude
amplitude increases, and the main frequency increases. The overall trend is consistent with the
increases, and the main frequency increases. The overall trend is consistent with the previous one.
previous one. It can be seen that the motion characteristics of the main valve do not affect the
It can be seen that the motion characteristics of the main valve do not affect the deflection characteristics
deflection characteristics of the flapper. At the same time, it can be seen that, whether the main valve
of the flapper. At the same time, it can be seen that, whether the main valve exists or not, the pressure
exists or not, the pressure level of the pilot valve flapper is not affected at different distances, but the
level of the pilot valve flapper is not affected at different distances, but the frequency of pressure
frequency of pressure oscillation is significantly reduced.
oscillation is significantly reduced.
Power Spectral Density
Pressure

Pa2/Hz
Pa

(a) (b)
between the flapper and the nozzle increases, the pressure on the flapper decreases, the relative
amplitude increases, and the main frequency increases. The overall trend is consistent with the
previous one. It can be seen that the motion characteristics of the main valve do not affect the
deflection characteristics of the flapper. At the same time, it can be seen that, whether the main valve
exists or not, the pressure level of the pilot valve flapper is not affected at different distances, but the
Processes 2019, 7, 721 18 of 21
frequency of pressure oscillation is significantly reduced.

Power Spectral Density

Pressure

Pa2/Hz
Pa

(a) (b)

Figure 24. Pressure oscillation curve of the flapper under the influence of the main valve when
Figure 24. Pressure oscillation curve of the flapper under the influence of the main valve when the
the2018,
Processes displacement of the
6, x FOR PEER flapper is x = 0.00 mm. (a) Point 1 in the time domain. (b) Point 1 in the
REVIEW 19 of 22
displacement of the flapper is x = 0.00 mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency
frequency domain.
domain.

(a) (b)

(c) (d)

Figure 25. Pressure oscillation curve of the flapper under the influence of the main valve when the
Figure 25. Pressure
displacement oscillation
of the flapper is x curve
= 0.05 of
mm.the(a)
flapper
Point under
1 in thethe influence
time domain.of(b)
thePoint
main1 in
valve when the
the frequency
displacement of the flapper is x = 0.05 mm. (a) Point 1 in the time domain.
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain. (b) Point 1 in the frequency
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.

(a) (b)

(c) (d)
 (c) (d)

Figure 25. Pressure oscillation curve of the flapper under the influence of the main valve when the
displacement of the flapper is x = 0.05 mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency
Processes 2019, 7,(c)
domain. 721Point 2 in the time domain. (d) Point 2 in the frequency domain. 19 of 21

(a) (b)

(c) (d)

Figure 26. Pressure oscillation curve of the flapper under the influence of the main valve when the
Figure 26. Pressure
displacement ofPEER oscillation
the flapper is x curve
= 0.10of the(a)
mm. flapper
Point under
1 in thethe influence
time domain.of(b)
thePoint
main1 in
valve
the when the
frequency
Processes 2018, 6, x FOR REVIEW 20 of 22
displacement
domain. (c) Pointof the flapper
2 in is x domain.
the time = 0.10 mm.
(d)(a) Point
Point 1 in
2 in thethe time domain.
frequency (b) Point 1 in the frequency
domain.
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.

(a) (b)

(c) (d)

Figure 27. Pressure oscillation curve of the flapper under the influence of the main valve when the
Figure 27. Pressure
displacement oscillation
of the flapper is x curve
= 0.15 of
mm.the(a)
flapper
Point under
1 in thethe influence
time domain.of(b)
thePoint
main1 in
valve when the
the frequency
displacement of the
domain. (c) Point flapper
2 in is xdomain.
the time = 0.15 mm.(d)(a) Point
Point 1 in
2 in thethe time domain.
frequency (b) Point 1 in the frequency
domain.
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.
 (c) (d)

Figure 27. Pressure oscillation curve of the flapper under the influence of the main valve when the
displacement of the flapper is x = 0.15 mm. (a) Point 1 in the time domain. (b) Point 1 in the frequency
Processes 2019, 7, 721 20 of 21
domain. (c) Point 2 in the time domain. (d) Point 2 in the frequency domain.

28. Pressure and main frequency of the flapper when the actual distance between the flapper
Figure 28.
and nozzle changes.

4. Conclusions
4. Conclusions
In
In this
this paper,
paper, the
the CFDCFD approach
approach withwith LES
LES turbulent
turbulent modeling
modeling is is utilized
utilized forfor the
the double
double flapper
flapper
nozzle servo valve
nozzle servo valve oscillating
oscillatingflow flownumerical
numericalanalysis.
analysis.TheThe vortex
vortex street
street flow
flow phenomenon
phenomenon could
could be
be observed when the flow passes the nozzle flapper channel, the vortex
observed when the flow passes the nozzle flapper channel, the vortex alternating in both sides alternating in both sides
producing
producing the the periodical
periodical flow flow oscillation.
oscillation. With
With detailed
detailed discussion,
discussion, itit could
could be be determined
determinedthat:that:
(1) Without the influence of the main valve, the greater the inlet velocity
(1) Without the influence of the main valve, the greater the inlet velocity is, the greater is, the greater the averagethe
pressure on the flapper is, and the lower the main frequency of pressure
average pressure on the flapper is, and the lower the main frequency of pressure oscillation is.oscillation is.
(2)
(2) Without
Withoutthe theinfluence
influenceofofthe themain
mainvalve,
valve,thethe
larger thethe
larger actual distance
actual distancebetween the nozzle
between and
the nozzle
the
andflapper is, the is,
the flapper smaller the average
the smaller pressurepressure
the average on the flapper
on the is, flapper
and the is,larger
andthe themain frequency
larger the main of
pressure oscillation is.
frequency of pressure oscillation is.
(3)
(3) When
Whenconsidering
consideringthe theinfluence
influenceofofthethemain
main valve, thethe
valve, change
change trend of hydraulic
trend of hydraulic power andand
power the
main frequency of the servo valve flapper are rarely changed, but the main
the main frequency of the servo valve flapper are rarely changed, but the main frequency of the frequency of the pressure
oscillation is significantly
pressure oscillation lower than
is significantly that than
lower without
thatconsidering the main valve.
without considering the main valve.
Author Contributions: Investigation S.L. and L.L; Simulation and Analysis S.L.; Methodology L.L.; Software S.L.;
Writing and Editing S.L., K.Z. and L.L.; Validation L.L. and K.Z.
Funding: The authors are grateful to the National Natural Science Foundation of China (no. 51605333 and no.
51805317) for financial support.
Conflicts of Interest: The authors declare no conflict of interest.

Nomenclature
d Internal diameter D External diameter
L1 Spacing α Angle
L Length D1 Diameter
L2 Thickness L3 Import and Export Center Distance of Load
m Spool mass pv Pressure difference between inlet and outlet of main valve
x Spool displacement Cv Oil Flow Velocity Coefficient of Main Valve
Cf Coefficient of viscous resistance θ Directional angle of jet-flow
A Spool end area r Distance between nozzle hole axis and armature Center
p1 , p2 Pressure at both ends of spool b Axis pitch from core center to nozzle hole
ρ Density of hydraulic oil Kf Stiffness of Feedback Bar
Cq1 The Flow Coefficient of Main Valve Q Inlet flow
w Area Gradient of Throttle Hole
Processes 2019, 7, 721 21 of 21

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