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A multi-domain nonlinear dynamic model of a proportional solenoid valve was presented.The electro-magnetic,mechanical and fluid subsystems of the valve were investigated,including their interactions.Goving equations of the valve were derived in the form of nonlinear state equations.By comparing the simulated and measured data,the simulation model is validated with a deviation less than 15％,which can be used for the structural design and control algorithm optimization of proportional solenoid valves.