针对水压机器人关键控制元件,提出了一种音圈电机直接驱动式水压高速开关阀,并对其结构工作原理进行了介绍,运用AMESim仿真软件建立了水压高速开关阀数学模型,利用AMESim批处理方法分析了阀芯直径、阀孔直径和阀芯半锥角等关键结构单参数对高速开关阀动态性能的影响,并基于遗传算法对开关阀的动态特性进行了多参数影响变化研究,最终确定了开关阀的最优结构参数,为其动态性能的提高提供了理论依据.最后在仿真模拟的基础上研制了水压高速开关阀样机,并对其进行了动态性能试验研究,其开启响应时间为7 ms,关闭响应时间为9 ms,通过理论和试验的对比分析,验证了所研制的水压高速开关阀动态性能满足预期技术要求.%A water hydraulic direct-driven high-speed on-off valve was introduced for the water hydraulic robots. And a physical model was established by AMESim simulation software, and the dynamic performance was simulated. On this basis, the effect of such structure parameters as the valve core diameter, valve hole diameter and half cone angle of valve core for the water hydraulic high-speed on-off valve was analyzed by using AMESim batch method, and based on the genetic algorithm, the dynamic characteristics of the water hydraulic on-off valve were analyzed when the multi-parameters chandged. Then, the optimal structural parameters of the on-off valve were achieved, and a theoretical basis for the the improvement of dynamic performance was provided. Finally, a prototype of water hydraulic high-speed on-off valve was developed, and the experimental study on the dynamic performance was carried out. The opening response time was 7 ms, closing response time was 9 ms. Through the comparison of theory and experiment, it verifies that the dynamic performance of the developed model can meet the expected technical requirements.
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