Tribological modeling and erosion wear compensation in valve-controlled hydraulic motor systems

Valve-controlled hydraulic motor systems are widely used in hydraulic servo systems but are prone to erosion wear caused by contamination particles, which degrade valve port performance and reduce system precision. In this study, based on the traditional E/CRC erosion wear model, a prediction model for the orifice throttling coefficient in liquid-solid flow is established. The main parameters of the model include particle concentration, spool opening, and differential pressure, which are easy to obtain in engineering applications, effectively addressing the challenges in applying the E/CRC erosion wear model in engineering. Additionally, an adaptive robust controller is designed, incorporating a feed-forward compensation term derived from the predictive model to address valve erosion wear. The effectiveness of the proposed compensation control method is verified through erosion wear experiments and torque control tests on hydraulic motors. Experimental results show a maximum relative error of 6.24 % between predicted and measured throttling coefficients, while the feed-forward compensation control method improves torque tracking performance by reducing the average error by more than 30 %.