In many precise pneumatic control systems, nozzle-flapper type servo valves are widely used as proportional elements neglecting the torque motor dynamics and flow force on the flapper inside the servo valve. In this study, a nonlinear dynamic model for a 4-port servo valve with dual fixed orifices and dual nozzles is derived. This includes the dynamics of the torque motor, the flow rate characteristics of the fixed orifices and variable nozzle-flappers, and the flow force on the flapper. In order to validate the derived model, we establish a simulation system using Matlab/Simulink software. It is confirmed that the static and dynamic responses of both the simulated and experimental results shows good agreement. a practical linear model is derived from the complete nonlinear model. It is showed that the applicable range of the linear model is about ±30% of the rate input current.
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