1101results about "Fluid-pressure actuator safety" patented technology

The invention provides an intelligent optimization control method for stable operation of a hydraulic system in a complex environment, which comprises the following steps of: aiming at an abnormal mode, optimizing power configuration parameters by adopting a genetic algorithm, determining a standby pump activation threshold value and a main pump switching condition, and obtaining a power redundancy scheme; according to the slow response reason, pipeline interface data are obtained, a feedback control mechanism is adopted to adjust valve group cooperation parameters, and a rapid pressure adjustment sequence is obtained; acquiring real-time feedback data according to the final optimization instruction, and processing high-temperature and high-dust influence through an iterative updating process to obtain stable operation configuration; according to the stable operation configuration, the state of the whole system is judged, and if the state meets the preset standard, a cooperative control result is output and used for maintaining continuous operation of the hydraulic system in the complex environment.

The invention discloses a paper-plastic mold positioning auxiliary system capable of monitoring hydraulic pressure in real time through an AI. The paper-plastic mold positioning auxiliary system comprises an AI control center, a hydraulic monitoring unit, an air pressure monitoring unit, a positioning auxiliary execution unit, an abnormity protection unit and a data acquisition and transmission module. The hydraulic monitoring unit is used for collecting hydraulic oil cylinder pressure, temperature, hydraulic oil viscosity and equipment operation duration data; the air pressure monitoring unit collects air pressure, flow and valve delay time data of a pipeline valve; the data acquisition and transmission module transmits data to the AI control center, and the AI control center analyzes abnormity through a model and calculates a correction amount; the positioning auxiliary execution unit coordinates the positioning of the servo motor and the hydraulic oil cylinder; and the abnormal protection unit receives the early warning and starts a protection action. The system solves the problems of hydraulic monitoring lag and the like, realizes hydraulic and air pressure cooperative monitoring and positioning compensation, ensures production coherence and equipment safety, and is adaptive to automatic production of paper-plastic molds.

The invention relates to the technical field of hydraulic valves, and discloses a buffer overflow valve which comprises a shell, a first sealing ring is arranged on the surface of the shell, a connecting block is fixedly connected to the right end of the shell, an adjusting assembly is arranged in the connecting block, and a storage assembly is fixedly connected to the side, close to the shell, of the adjusting assembly. A moving assembly is arranged in the storage assembly, a spring is arranged between the storage assembly and the moving assembly, the adjusting assembly comprises a threaded rod, the surface of the threaded rod is in threaded connection with a connecting block, and the surface of the threaded rod is in threaded connection with a locking nut. A closed cavity is formed between a connecting column and a fixing seat, a second sealing ring is used for sealing, a valve element and an oil way in the connecting column are communicated with the closed cavity, the cavity is filled with oil, and when the oil on the left side of the valve element rises, due to the existence of the oil in the closed cavity, the valve element cannot instantly leave a valve seat at the bottom of a valve block; therefore, the buffer overflow valve can be opened at low pressure, and pressure impact cannot be generated.

The invention relates to the field of hydraulic system monitoring, in particular to a leakage monitoring method and system for a hydraulic system, and the method comprises the steps: obtaining the pressure data of a valve element of a hydraulic servo system in a zero position state; constructing a local analysis window by taking each pressure data point as a center, and performing local mean decomposition processing on the pressure data to obtain a residual component, the local mean decomposition processing including using an adaptive sliding step length for the data points; calculating an average descent rate of the residual component; and generating an alarm signal in response to the fact that the average descent rate is greater than a set threshold. According to the invention, the sensitivity and the accuracy of the zero-position tiny internal leakage detection of the hydraulic valve core are improved, and false alarm and missing alarm are effectively avoided.

The invention provides an impact rotary drilling hydraulic control system of a dinting machine, which belongs to the technical field of hydraulic control systems and comprises a variable pump, a pilot oil source control valve group, a proportional multi-way valve, a shuttle valve I, a one-way pressure reducing valve, a shuttle valve II, a drilling machine pilot handle group, an impact rotary drilling machine, a bidirectional hydraulic lock and a drilling machine feeding oil cylinder. According to the hydraulic control system for percussive rotary drilling of the dinting machine, the percussive rotary drilling machine can perform stepless speed regulation between two speeds, high-frequency percussive or low-frequency percussive operation can be flexibly used according to rock stratum and geological working conditions, the application range of equipment is greatly widened, and the hydraulic control system can be used for rock stratums with high hardness, weathered rock stratums and hard and brittle geology. And during low-frequency impact operation, one-key linkage operation can be realized, namely, the functions of feeding, rotating and impacting of the drilling machine can be completed by operating the impact pilot handle.

The utility model discloses a hydraulic logic control system for a sidesway distance adjusting fork. Comprising an oil pump, a safety valve, a first reversing valve plate, a logic control valve block, a first hydraulic control one-way valve, a first three-way pipe, a right pallet fork distance adjusting oil cylinder, a left pallet fork distance adjusting oil cylinder, a first overload valve, a second hydraulic control one-way valve, a second three-way pipe, a third three-way pipe, a third hydraulic control one-way valve, a throttling valve, a second reversing valve plate and a second overload valve. The logic control valve block comprises a second hydraulic control one-way valve, a third hydraulic control one-way valve, a throttling valve and a second overload valve, and the second hydraulic control one-way valve, the third hydraulic control one-way valve, the throttling valve and the second overload valve are communicated through pipelines. And the first reversing valve plate is communicated with the second reversing valve plate. According to the hydraulic logic control system for the laterally-moving distance adjusting fork, the purpose of hydraulic oil way regulation and control is achieved through the arrangement of the structure.

The invention relates to a servo hydraulic multi-working-condition parameter self-adaptive switching and correcting method. The method comprises the steps that system real-time data flow including real-time hydraulic pressure, executing mechanism speed and control response deviation is monitored and collected; identifying the current working condition based on the real-time data and indexing the reference control parameters; running a parallel response evaluation program to generate a dynamic stability indicator and determine an expected performance threshold; the dynamic stability index is compared with an expected performance threshold value, and when parameter mismatch is confirmed, a temporary compensation coefficient is generated to correct the reference control parameter in real time; and monitoring the correction offset, and updating the working condition-parameter mapping database when the aging judgment condition is met. The method has the advantages that manual parameter adjustment can be replaced, automatic switching of millisecond-level working conditions is achieved, the problem of parameter mismatching caused by equipment aging is effectively solved through a model self-evolution mechanism, and the control precision and stability of the servo hydraulic system in the whole life cycle are ensured.

The invention discloses an electrical control device for high-pressure protection in a hydraulic control system, which relates to the technical field of hydraulic control and comprises a high-pressure detection module for monitoring pressure data of the hydraulic system in real time and transmitting the pressure data to a control processing core through an analog quantity input module. Two-channel independent control logic is adopted through the redundancy protection unit, even if a single loop breaks down, the other loop can still independently execute a safety instruction, the risk of single-point failure is eradicated, meanwhile, the intelligent control unit achieves advanced and accurate pressure adjustment and trend suppression through a high-frequency-response electro-hydraulic servo valve and a proportional valve and depending on bus communication, and the safety performance of the system is improved. The high-voltage risk is eliminated in the bud, the leap from passive response to active protection is achieved, high system integration and intelligent management are achieved through the intelligent valve terminal, remote monitoring and diagnosis are supported while wiring is simplified, and maintainability is enhanced.

A hydraulic circuit includes a first oil path, a second oil path, a hydraulic control circuit, a third oil path, a check valve, and a relief valve. The first oil path links to a discharge port of a first oil pump. The second oil path links to a discharge port of a second oil pump. In the hydraulic control circuit, a first regulator valve is disposed downstream of a confluence point of the first oil path and the second oil path. The third oil path connects a suction port of the first oil pump and a strainer. The check valve is provided in the third oil path and restricts a movement of oil toward the strainer side. The relief valve is provided in the third oil path and discharges oil in the third oil path to an outside when a pressure in the third oil path exceeds a reference pressure.

A positioner for a pneumatic actuator for actuating a control instrument, such as a control valve, of a process plant, may include an electropneumatic converter, such as a current-pressure converter; a circuit board which carries supply electronics for the electropneumatic converter a casing which comprises at least one electronics compartment in which at least one electronic component of the positioner, in particular the supply electronics, is accommodated, and a converter compartment, in which the electropneumatic converter is accommodated. The electronics compartment and the converter compartment may be spatially separated from one another. The converter compartment may be delimited at least partially by the circuit board.

A vacuum system comprises at least a pneumatic positioning device comprising a mount configured to hold an effecting element and a pneumatic actuator connected to the mount. A control valve is connected to the pneumatic actuator and to a fluid supply. A fluid sensor measures the pressure of the pneumatic actuator. A method includes applying a controlling signal to the control valve to vary the pressure of the pneumatic actuator and move the mount from a starting position to an end position, monitoring the pressure of the pneumatic actuator by the fluid sensor, determining when the mount arrives at the end position, and deriving the controlling parameters based on processing a set of observed parameters, wherein the set of observed parameters comprises at least the controlling signal, the varying pressure, and arrival information of the mount at the end position.

The utility model relates to the technical field of pneumatic control systems, in particular to a single-action pneumatic PST system, which comprises a pneumatic actuating mechanism, a cam valve and an explosion-proof junction box, a valve position transponder is arranged at the front end of the pneumatic actuating mechanism, one end of the cam valve is communicated with a filtering pressure reducing valve, one end of the filtering pressure reducing valve is communicated with a safety valve, and the other end of the filtering pressure reducing valve is communicated with an explosion-proof junction box. And one end of the explosion-proof junction box is connected with a first electromagnetic valve and a second electromagnetic valve respectively. According to the improved single-action pneumatic PST system, the first electromagnetic valve, the hand-operated direction valve and the second electromagnetic valve are adopted, and when the single-action pneumatic PST system is used, flexible control can be conducted when the single-action pneumatic PST system faces complex working conditions and different operation requirements; the explosion-proof junction box and the energy accumulator are adopted, when the single-action pneumatic PST system is used, the electrical safety of the system in a dangerous environment can be guaranteed, meanwhile, the pressure of the system can be kept within a relatively stable range, and the stability of the system during use is improved.

A hauling vehicle includes a steering circuit having a steering cylinder steered by pressure oil from a hydraulic source, a steering valve that controls the flow of pressure oil to the steering cylinder, and an accumulator that stores pressure oil from the hydraulic source and can supply it to the steering cylinder via the steering valve. The steering circuit is connected to the hydraulic source and the hydraulic fluid tank via a composite control valve. The composite control valve has a first position for communication between the steering circuit and the hydraulic source and blocking communication between the steering circuit and the hydraulic fluid tank, and a second position for communication between the steering circuit and the hydraulic source and communication between the steering circuit and the hydraulic fluid tank. The composite control valve has a throttle in the oil passage that connects the steering circuit in the second position with the hydraulic fluid tank.

The invention provides a coal mill oil way plate and a reversing control device thereof, and relates to the technical field of coal mill oil way plates, the coal mill oil way plate comprises a valve block body, a proportional overflow valve, a duplex electromagnetic reversing valve group, a working oil way group, two hydraulic control one-way valve groups, two energy accumulators, a safety overflow valve, an online particle counter and a spiral cooling flow channel. The redundancy design of the duplex electromagnetic directional valve group improves the reliability of the system, so that the system can still be operated when a single valve fails, the hydraulic control one-way valve group realizes mechanical locking of an oil cylinder and can prevent a grinding roller from falling off during power failure, and the energy accumulator is connected with a working oil duct through a connector to absorb pressure impact and compensate leakage, so that the stability of loading pressure is maintained, and the reliability of the system is improved. The on-line particle counter gives an early warning of oil pollution in real time, hydraulic faults can be reduced, the spiral cooling flow channel is matched with the semiconductor temperature control piece to adjust the oil temperature, and the problem of pressure drift caused by oil viscosity fluctuation under high and low temperature working conditions is solved.

The utility model discloses a hydraulic system with a protection function. The hydraulic system comprises an oil tank, an oil cylinder, a driving loop and an energy accumulator. The oil cylinder stretches out and contracts to control the entertainment equipment to descend and ascend respectively; a rod cavity of the oil cylinder is connected with the oil tank through the driving loop, the energy accumulator is connected to a rodless cavity of the oil cylinder, and the driving loop is further connected with the energy accumulator. The driving loop is suitable for supplying oil to a rod cavity of the oil cylinder and further suitable for supplementing oil to the energy accumulator. The energy accumulator is suitable for supplying oil to a rodless cavity of the oil cylinder and storing energy through oil in the rodless cavity when the oil cylinder is contracted. The oil cylinder has the beneficial effects that compared with a traditional mode, the energy accumulator is adopted in the rodless cavity of the oil cylinder for closed oil supply, and self-suction difficulty caused by conventional direct oil suction from an oil tank can be avoided; meanwhile, the energy accumulator can supplement oil in a self-adaptive mode to compensate leakage of the oil cylinder, and therefore working safety of the oil cylinder is guaranteed.

The invention discloses a decoupling type fluid self-sealing overflow valve, and relates to the technical field of overflow valves, the decoupling type fluid self-sealing overflow valve comprises a valve body, a first cavity and a second cavity, the first cavity and the second cavity are arranged in the valve body, and the first cavity is communicated with a pressure relief channel on the valve body; a flow channel is formed in the sealing seat; the sealing module comprises a valve rod arranged in the first cavity in a sliding mode, a pressure cavity is formed in the first end of the valve rod, a first elastic piece is arranged in the pressure cavity, and a valve element coaxial with the flow channel is arranged at one end of the first elastic piece; the pressure regulating module comprises a second elastic piece arranged in the second cavity, and one end of the second elastic piece abuts against the second end of the valve rod. The decoupling type fluid self-sealing overflow valve solves the technical problems that an existing overflow valve has the defects that sealing is loosened under high pressure, inner leakage is increased, the valve element opening resistance is large, overflow response lags behind, an overflow pressure set value drifts, and control precision is reduced.

The invention belongs to the technical field of hydraulic system oil way purification, and discloses an oil way self-exhaust anti-overflow device which comprises a barrel-shaped separation cavity, the left side and the right side of the barrel-shaped separation cavity are communicated with an oil inlet pipe and an oil return tank pipe respectively, and an exhaust pipe is arranged at the top of the barrel-shaped separation cavity; a pair of flow guide hole plates which are symmetrically arranged are arranged in the middle of the barrel-shaped separation cavity in the left-right direction, inclined holes are formed in the flow guide hole plates, and the axes of the two inclined holes which are symmetrical in the left-right direction of the two flow guide hole plates intersect in a V shape. According to the oil way self-exhaust anti-overflow device, efficient bubble gathering is achieved through expansion speed reduction and inclined hole flow guide, oil liquid is prevented from overflowing, the problem of oil-gas mixed emission of a traditional exhaust device is solved, and the system stability is improved.

The invention discloses a hydraulic control optimization system and method based on differential pressure direction change pattern recognition, and the method comprises the steps: carrying out the phase-space topology reconstruction and singular spectrum analysis according to the pressure signals of an oil inlet cavity and an oil return cavity of a hydraulic cylinder, and determining the topology mapping characteristics of a differential pressure direction; based on the topological mapping features, spatial features are extracted through a multi-scale convolutional network, and mode reference features are determined in combination with an attention mechanism; carrying out real-time differential pressure load mode identification by utilizing a manifold mapping space; constructing a mode comparison learning mechanism based on a historical load mode, predicting a mode trend and determining hydraulic control target parameters; and analyzing errors between displacement feedback of the piston rod of the hydraulic cylinder and control target parameters through the disturbance observer, and dynamically updating mode reference characteristics. Accurate real-time recognition and dynamic optimization control of the differential pressure fluctuation mode of the hydraulic system are achieved, and the operation stability and control precision of the system are remarkably improved.

The invention relates to the technical field of servo valve testing, and particularly discloses an electro-hydraulic servo valve test bench and a test method thereof, and the test bench comprises a calibration basis obtaining module which constructs each correction basis; the static performance test module performs static performance synchronous test and signal compensation on the tested electro-hydraulic servo valve based on the channel delay compensation table to obtain a static performance index; the dynamic performance test module performs dynamic frequency sweeping test and distortion correction on the tested electro-hydraulic servo valve based on the channel delay compensation table and the frequency-amplitude compensation coefficient mapping table to obtain a dynamic performance index; the internal leakage performance test module is used for performing internal leakage test and leakage amount compensation on the tested electro-hydraulic servo valve based on a temperature-viscosity-internal leakage amount three-dimensional correction model of the hydraulic oil source to obtain an internal leakage performance index; the test result summarization module obtains a test result based on the indexes; the integrated precise test of the static and dynamic performance and the internal leakage performance of the servo valve is realized.

A hydraulic retarder pneumatic control system based on an electromagnetic valve comprises an air source and an oil pool shell, the air source is sequentially connected with a pilot valve and a first inlet of a pneumatic valve in series, and the air source is further communicated with a second inlet of the pneumatic valve; an outlet of the pneumatic valve is connected in series with at least two parallel solenoid valves, outlets of the solenoid valves are connected in series with a quick discharge valve, and a first outlet of the quick discharge valve is communicated with the oil pool shell. Through reasonable arrangement of component structures and design of a pilot valve, no back pressure resistance exists during starting, the reversing resistance is small, and the system response time is greatly prolonged; and meanwhile, the electromagnetic valve is located behind the pneumatic valve, so that the starting backpressure is small, the starting power is small, quick response of work of the retarder is integrally achieved, the work response time is shortened, the cost is reduced, the overall stability of the system is improved, and the service life is prolonged.

The invention discloses a boom safety control system and high-altitude operation equipment, and the system comprises a boom multi-way valve which comprises a pressure oil port, an oil return port, a load sensing signal port and a plurality of single valve blocks connected with a plurality of execution elements in a one-to-one correspondence manner, and the single valve blocks are used for controlling the execution elements to act in a first direction or a second direction; each single valve block comprises a first-direction working port, a second-direction working port, a first-direction pressure relief port and a second-direction pressure relief port; the logic valve comprises a plurality of one-way valves, and oil inlets of the one-way valves are connected with the first-direction pressure relief ports and / or the second-direction pressure relief ports corresponding to the action directions, needing to be limited, of the execution elements; an inlet of the safety control valve block module is connected with oil outlets of the multiple one-way valves, and an outlet of the safety control valve block module is connected with the oil return tank. The operation safety of the cantilever crane can be improved.

The utility model relates to the technical field of hydraulic systems, in particular to an oil return compensation multi-way output hydraulic system for a tractor and the tractor, the input end of a main pump is communicated with a hydraulic oil tank, the output end of the main pump is connected with a port P of a multi-way output valve through a pipeline, and a plurality of valve assemblies are arranged in the multi-way output valve; the valve assembly is connected with a pressure feedback channel of the multi-way output valve through a shuttle valve, an oil return opening of the valve assembly is connected with an oil inlet of the pressure compensation valve through a pipeline, an oil return opening of the pressure compensation valve is communicated with the hydraulic oil tank through an oil return pipe, and an oil outlet of the shuttle valve conveys screened load pressure to a non-spring side control cavity of the pressure compensation valve. A load sensitive oil port of the valve assembly is connected with a spring side control cavity of the pressure compensation valve through a load feedback oil way. According to the utility model, multiple loads can work at the same time, and the opening of the pressure compensation valve is reduced through the screening of the shuttle valve, so that the balance of each load is obtained, and the adaptability, comfort and safety of the tractor and an executive component are higher.

The application provides a hydraulic valve positioning control method and control system based on a sensorless stepping motor, and the method comprises the following steps: controlling the sensorless stepping motor to drive the spool of the hydraulic valve to move for system initialization, and determining the absolute zero point position and coordinate establishment by detecting the locked-rotor of the stepping motor; in the position control process, the total micro-step number is calculated according to the target position and the absolute zero point position, and the planned micro-step increment of each control period is determined according to the motor speed; before the execution of each control period, it is judged whether the planned micro-step increment will exceed the remaining micro-step number after execution, and the actual execution micro-step number is corrected; the cumulative execution micro-step number and the remaining micro-step number are updated according to the actual execution micro-step number, and the target position is reached until the remaining micro-step number is 0 in a certain control period. The application does not depend on any physical position sensor, realizes high-reliability locked-rotor detection and zero-point self-calibration through a magnetic field orientation control algorithm, and then realizes accurate and reliable positioning of the spool.

The invention relates to the technical field of hydraulic pressure of robots, and discloses a hydraulic system of a flood drainage robot and a hydraulic regulation and control method.The hydraulic system comprises a hydraulic driving module, a hydraulic power module and a control system module, and the hydraulic power module comprises a hydraulic motor, a hydraulic connector and a hydraulic water pump; the hydraulic power module comprises a hydraulic integrated assembly, and the hydraulic integrated assembly is configured to adjust the output flow direction of hydraulic oil; the control system module comprises a sensor assembly, a controller assembly and a pressurizing assembly. The sensor assembly is used for monitoring hydraulic parameters and pressure parameters at a water inlet and a water outlet of the hydraulic water pump. The controller assembly is electrically connected with the sensor assembly and the pressurizing assembly, and the controller assembly is configured to obtain data of the sensor assembly so as to control parameters of hydraulic oil output by the hydraulic power assembly by controlling the pressurizing assembly; the working state of the hydraulic water pump can be rapidly adjusted, and the hydraulic water pump can more rapidly adapt to and meet different water pumping requirements.

The invention belongs to the technical field of fluid braking equipment, and particularly relates to a safety limiting device for a pull rope oil cylinder, which comprises a fixed frame, a sliding base and a hydraulic oil cylinder, the device further comprises a stable transmission mechanism. On one hand, in the stretching and retracting process of the hydraulic oil cylinder, the sliding base is driven to move in the mode that the fixed pulley pushes the transmission steel cable, and in the moving process, due to the fact that the fixed pulley and the transmission steel cable are symmetrically distributed on the upper side and the lower side of the hydraulic oil cylinder, tension of the transmission steel cable on a connecting piece is more balanced; on the other hand, due to the arrangement of the fixed pulley and the sliding base, under the condition that the stroke of the sliding base is fixed, the stroke of the hydraulic oil cylinder is halved, the requirement for the rigidity of the hydraulic oil cylinder is lowered, and the bending probability of the hydraulic oil cylinder is lowered; the stability of the hydraulic oil cylinder for driving the sliding base to move is further enhanced.

The utility model belongs to extrusion pin four loop hydraulic technology field, and disclose a kind of extrusion pin four loop hydraulic device, including hydraulic machine spare, the upper surface of hydraulic machine spare is equipped with motor pump group, the surface of hydraulic machine spare is equipped with energy accumulator, the output of motor pump group is equipped with valve group, and the valve group is connected with the hydraulic machine spare, the surface of hydraulic machine spare is equipped with cooling pump group, the valve group with the energy accumulator is connected by pipeline intercommunication, the valve group with the hydraulic machine spare is connected by pipeline intercommunication, the side surface of hydraulic machine spare is equipped with water cooler, the cooling pump group with the water cooler is connected by pipeline intercommunication, the front side of hydraulic machine spare is equipped with liquid level meter, the utility model has can realize four loop processing, avoid unstable pressure and slow response speed and other problems, greatly improve the stability of device when using, the advantages that extrusion pin acting force is uniform.

The invention provides an energy regulation and control method and device of a battery and capacitor composite energy storage pump control system, and relates to the technical field of energy regulation and control of electric engineering machinery, the energy regulation and control device comprises a storage battery, a super capacitor, a direct current converter, a rectification inverter, a permanent magnet synchronous motor, an electric proportional pump motor, an overflow valve, a hydraulic control one-way valve, an energy accumulator and a hydraulic cylinder, a storage battery and a super capacitor form a composite power supply through a direct-current converter, the composite power supply drives a permanent magnet synchronous motor through a rectification inverter and drives an electric proportional pump motor to control a hydraulic cylinder, and by optimizing an energy regulation and control distribution strategy of the composite power supply and combining an energy accumulator, the energy of the hydraulic cylinder is regulated and controlled under the working conditions of starting, braking and high-power fluctuation of engineering machinery. Instantaneous high peak power is preferentially provided or absorbed by the super capacitor, and energy is supplied by the storage battery in a stable working condition. The advantages of high energy density of the battery and high power density of the super capacitor are combined, complex working conditions are effectively handled, stable operation of the system is guaranteed, the service life of the battery is remarkably prolonged, and economical efficiency is improved.

The invention discloses a control method of an energy accumulator oil supply hydraulic servo system of a shipborne helicopter mooring device, which belongs to the field of mechanical hydraulic control and comprises the following steps: establishing a mathematical model of the energy accumulator oil supply hydraulic servo system; based on the position of a helicopter probe rod, the speed track in the capturing process of a mechanical claw is planned; a smooth speed feedback signal is obtained through a tracking differentiator; generating a feed-forward control quantity by a feed-forward controller; designing an error active disturbance rejection controller comprising a feedback compensator and an extended state observer based on the mathematical model, and generating an error adjustment signal; and the feedforward control quantity and the error adjusting signal are synthesized, the parameters of the error active disturbance rejection controller are adjusted, a final control instruction is formed to drive a hydraulic servo system, and the mechanical claw tracks the planned speed track. The problem of flow-pressure nonlinearity in the oil supply process of the energy accumulator is effectively solved, the capturing speed tracking precision of the mechanical claw is improved, capturing impact is reduced, and the quick mooring device is suitable for helicopters of different tonnages.

This invention provides a hydraulic control system for a concrete placing boom, comprising a hydraulic oil tank, an oil supply pump unit, a main hydraulic pressure pipeline, a main return hydraulic pipeline, and at least one hydraulic actuator unit. The oil supply pump unit is located on the main hydraulic pressure pipeline. Each hydraulic actuator unit includes a hydraulic cylinder and a control valve assembly. The control valve assembly is located close to the hydraulic cylinder, or integrated onto the hydraulic cylinder. The control valve assembly includes a main directional valve, a standby directional valve, and a balance valve assembly. The inlet ports of the main directional valve and the standby directional valve are respectively connected to the main hydraulic pressure pipeline. The return ports of the main directional valve and the standby directional valve are respectively connected to the main return hydraulic pipeline. The outlet ports of the main directional valve and the standby directional valve are respectively connected to the hydraulic cylinder via the balance valve assembly. This invention also provides a control method for the hydraulic control system of the concrete placing boom and a concrete placing boom device.

A dual-redundancy electro-hydrostatic actuator comprises a first motor pump and a second motor pump which are energy assemblies of the electro-hydrostatic actuator; the first motor pump and the second motor pump are respectively provided with a first electromagnetic isolating valve and a second electromagnetic isolating valve which are used for controlling connection and disconnection between the first motor pump and the hydraulic cylinder and between the second motor pump and the hydraulic cylinder; the energy accumulator is an oil supplementing assembly of the electro-hydrostatic actuator, provides stable pressure when the motor pump works at a high speed, and prevents the electro-hydrostatic actuator from sucking air; the one-way valve is located between the energy accumulator and the hydraulic cylinder, the energy accumulator supplies oil to the hydraulic cylinder through the one-way valve, and oil is prevented from reversely flowing back to the energy accumulator; the safety valve plays a role in limiting the maximum pressure of the electro-hydrostatic actuator, and the electro-hydrostatic actuator is prevented from being damaged due to the fact that the pressure exceeds the limit; the sensor is used for judging the working states of the first motor pump and the second motor pump of the electro-hydrostatic actuator, and after signals of the sensor are sent to the controller, the controller achieves fault diagnosis of the motor pumps and triggers updating of system state identifiers.