Low power consumption flow adaptive hydraulic position closed loop control system and method

Abstract

The present application relates to the field of molten steel smelting and forming, and particularly relates to a low-power consumption flow self-adaptive hydraulic position closed-loop control system and method, which controls the position of a stopper rod hydraulic cylinder by reducing the pressure of an energy storage filtering unit, an emergency shutdown unit, a hydraulic closed-loop control unit and an actuator unit, and replacing the existing servo valve (proportional valve) with four groups of pilot high-frequency response flow self-adaptive control units in the hydraulic closed-loop control unit, so as to overcome the shortcomings of poor anti-pollution ability, high failure rate, high power consumption and high price of the traditional servo valve (proportional valve). Meanwhile, the pilot high-frequency response flow self-adaptive control unit can realize stepless speed regulation of the stopper rod hydraulic cylinder at low speed and high speed, and can accurately control the position of the stopper rod hydraulic cylinder. The present application has the advantages of high reliability, simple structure, large flow regulation range, low power consumption and low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of molten steel smelting and forming, in particular to a low-power consumption flow adaptive hydraulic position closed-loop control system and method. BACKGROUND

[0002] The position closed-loop control of the hydraulic cylinder of the stopper in the field of molten steel smelting and forming adopts a servo valve (proportional valve) control type, and the mechanism thereof is to detect the position of the hydraulic cylinder in real time by a displacement sensor and feed back to the control system so as to adjust the servo valve (proportional valve) to realize precise position control.

[0003] Since the servo valve (proportional valve) has a large flow regulation range and a fast response, but has poor anti-pollution ability, a high failure rate and large power consumption; for example, the hydraulic position closed-loop control system of the structure of Chinese patent application No. 201310417622X, the position closed-loop control thereof is controlled by a servo valve, and the position accurate control at low speed and high speed can be realized, but this position closed-loop control adopts a servo valve form, and has the shortcomings of poor anti-pollution ability, complex control, high failure rate and high price, and therefore is not suitable for occasions with higher reliability, simpler structure, more convenient operation and maintenance and lower cost. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art, and provides a low-power consumption flow adaptive hydraulic position closed-loop control system and method, which has the characteristics of lower failure rate, simpler structure, larger flow regulation range and lower power consumption.

[0005] The technical problems solved by the present application can be realized by the following technical solutions:

[0006] A low-power consumption flow adaptive hydraulic position closed-loop control system, comprising a pressure-reducing energy-storing filtering unit, an emergency shutdown unit, a hydraulic closed-loop control unit and an actuator unit, one end of the pressure-reducing energy-storing filtering unit is communicated with a hydraulic station through an oil pipeline, one end of the emergency shutdown unit and the hydraulic closed-loop control unit are connected in parallel on the other end oil pipeline of the pressure-reducing energy-storing filtering unit, and the other end of the emergency shutdown unit and the hydraulic closed-loop control unit are communicated with the actuator unit through oil pipelines.

[0007] The oil inlet P1 and the oil return port T1 are arranged at one end of the pressure reducing energy storage filter unit, the oil port P and the oil port T are arranged at the other end of the pressure reducing energy storage filter unit, the oil port P and the oil port T are arranged at one end of the emergency shutdown unit, the oil port A and the oil port B and the oil port A1 and the oil port B1 are arranged at the other end of the emergency shutdown unit, the oil port P and the oil port T are arranged at one end of the hydraulic closed-loop control unit, the oil port A and the oil port B are arranged at the other end of the hydraulic closed-loop control unit, the oil port A and the oil port B are arranged at one end of the actuator unit, the hydraulic station pressure oil port P' and the hydraulic station oil return port T' are arranged at the hydraulic station, the oil inlet P1 of the pressure reducing energy storage filter unit is communicated with the hydraulic station pressure oil port P' through an oil pipeline, the oil return port T1 of the pressure reducing energy storage filter unit is communicated with the hydraulic station oil return port T' through an oil pipeline, the oil port P of the pressure reducing energy storage filter unit is communicated with the oil port P of the emergency shutdown unit and the oil port P of the hydraulic closed-loop control unit through oil pipelines respectively, the oil port T of the pressure reducing energy storage filter unit is communicated with the oil port T of the emergency shutdown unit and the oil port T of the hydraulic closed-loop control unit through oil pipelines respectively, the oil port A of the emergency shutdown unit is communicated with the oil port A of the actuator unit through an oil pipeline, the oil port B of the emergency shutdown unit is communicated with the oil port B of the actuator unit through an oil pipeline, the oil port A of the hydraulic closed-loop control unit is communicated with the oil port A1 of the emergency shutdown unit through an oil pipeline, and the oil port B of the hydraulic closed-loop control unit is communicated with the oil port B1 of the emergency shutdown unit through an oil pipeline.

[0008] The pressure reducing energy storage filter unit comprises a three-way pressure reducing valve, a filter, a check valve, a first ball valve, a second ball valve, an accumulator and a first overflow valve, one end of the three-way pressure reducing valve is communicated with the hydraulic station pressure oil port P' and the hydraulic station oil return port T' through oil pipelines, the other end of the three-way pressure reducing valve is communicated with one end of the filter through an oil pipeline, the other end of the filter is communicated with one end of the check valve through an oil pipeline, the other end of the check valve is communicated with one end of the first ball valve through an oil pipeline, the other end of the first ball valve is communicated with one end of the second ball valve and one end of the first overflow valve through oil pipelines respectively, the accumulator is connected to the oil pipeline communicated with the other end of the first ball valve, the second ball valve and the first overflow valve, the other end of the second ball valve and the first overflow valve is communicated with the oil port T of the pressure reducing energy storage filter unit through an oil pipeline, and the oil pipeline communicated with the first ball valve and the check valve is further communicated with the oil port P of the pressure reducing energy storage filter unit through an oil pipeline.

[0009] The three-way pressure reducing valve includes oil port P, oil port T and oil port A, the one-way valve includes oil port A and oil port B, the first ball valve, the second ball valve and the first overflow valve include oil port P and oil port T respectively, the oil port P of the three-way pressure reducing valve is communicated with the pressure oil port P' of the hydraulic station through an oil pipeline, the oil port T of the three-way pressure reducing valve is communicated with the back oil port T' of the hydraulic station through an oil pipeline, the oil port A of the three-way pressure reducing valve is communicated with one end of the filter through an oil pipeline, the oil port A of the one-way valve is communicated with the other end of the filter through an oil pipeline, the oil port B of the one-way valve is communicated with the oil port P of the first ball valve through an oil pipeline, the oil port T of the first ball valve is communicated with the oil port P of the second ball valve and the oil port P of the first overflow valve through oil pipelines respectively, the accumulator is connected to the oil pipeline at the oil port T of the first ball valve, the oil port T of the second ball valve and the oil port T of the first overflow valve are communicated with the oil port T of the pressure reducing accumulator filtering unit through an oil pipeline.

[0010] The emergency shutdown unit includes a first electromagnetic reversing valve, a second one-way valve, a third one-way valve, a second electromagnetic reversing valve, a second overflow valve, a first hydraulic control one-way valve, a second hydraulic control one-way valve, a first pressure sensor and a second pressure sensor, one end of the first electromagnetic reversing valve is communicated with the oil port P and the oil port T of the pressure reducing accumulator filtering unit through oil pipelines respectively, the other end of the first electromagnetic reversing valve is communicated with one end of the second one-way valve and one end of the third one-way valve through oil pipelines respectively, the other end of the second one-way valve is communicated with the oil port A of the emergency shutdown unit and the oil port A1 of the emergency shutdown unit through an oil pipeline respectively, the first pressure sensor is connected to the oil pipeline through which the other end of the second one-way valve is communicated with the oil port A of the emergency shutdown unit, the other end of the third one-way valve is communicated with the second pressure sensor, the oil port B of the emergency shutdown unit and the oil port B1 of the emergency shutdown unit through an oil pipeline respectively, one end of the second electromagnetic reversing valve and one end of the second overflow valve are connected to the oil pipeline through which the second pressure sensor is communicated with the oil port A of the emergency shutdown unit through oil pipelines respectively, the other end of the second electromagnetic reversing valve and the other end of the second overflow valve are connected to the oil pipeline through which the other end of the third one-way valve is communicated with the second pressure sensor through oil pipelines respectively, the second electromagnetic reversing valve and the second overflow valve are further communicated through an oil pipeline, the first hydraulic control one-way valve is connected to the oil pipeline through which the other end of the second one-way valve is communicated with the oil port A1 of the emergency shutdown unit, the second hydraulic control one-way valve is connected to the oil pipeline through which the other end of the third one-way valve is communicated with the oil port B1 of the emergency shutdown unit, one end of the first hydraulic control one-way valve and one end of the second hydraulic control one-way valve are further communicated with the oil port T of the pressure reducing accumulator filtering unit, the oil port T of the emergency shutdown unit and the oil port T of the hydraulic closed-loop control unit through an oil pipeline respectively, the other end of the first hydraulic control one-way valve and the other end of the second hydraulic control one-way valve are further communicated with the oil pipeline through which the other end of the first electromagnetic reversing valve and one end of the third one-way valve are communicated through an oil pipeline.

[0011] The first electromagnetic reversing valve and the second electromagnetic reversing valve respectively comprise oil port P, oil port T, oil port A and oil port B, the second check valve and the third check valve respectively comprise oil port A and oil port B, the second overflow valve comprises oil port P and oil port T, the first hydraulic control check valve and the second hydraulic control check valve respectively comprise oil port A, oil port B, oil port X and oil port Y, the oil port P of the first electromagnetic reversing valve is communicated with the oil port P of the emergency shutdown unit through an oil pipeline, the oil port T of the first electromagnetic reversing valve is communicated with the oil port T of the emergency shutdown unit through an oil pipeline, the oil port A of the first electromagnetic reversing valve is communicated with the oil port A of the second check valve through an oil pipeline, the oil port B of the first electromagnetic reversing valve is communicated with the oil port B of the third check valve through an oil pipeline, the oil port B of the second check valve is communicated with the oil port A of the emergency shutdown unit and the oil port B of the first hydraulic control check valve through an oil pipeline, the oil port A of the first hydraulic control check valve is communicated with the oil port A1 of the emergency shutdown unit through an oil pipeline, the oil port A of the third check valve is communicated with the second pressure sensor, the oil port B of the emergency shutdown unit and the oil port B of the second hydraulic control check valve through an oil pipeline, the oil port A of the second hydraulic control check valve is communicated with B1 of the emergency shutdown unit through an oil pipeline, the oil port X of the first hydraulic control check valve and the oil port X of the second hydraulic control check valve are communicated with the oil pipeline, which is communicated with the other end of the first electromagnetic reversing valve and one end of the third check valve, through a pipeline, the oil port Y of the first hydraulic control check valve and the oil port Y of the second hydraulic control check valve are respectively communicated with the oil port T of the pressure reducing energy storage filtering unit, the oil port T of the emergency shutdown unit and the oil port T of the hydraulic closed loop control unit through an oil pipeline, the oil port P of the second electromagnetic reversing valve and the oil port P of the second overflow valve are respectively communicated with the oil pipeline, which is communicated with the second pressure sensor and the oil port A of the emergency shutdown unit through a pipeline, the oil port T of the second electromagnetic reversing valve and the oil port T of the second overflow valve are respectively communicated with the oil pipeline, which is communicated with the other end of the oil port A of the third check valve and the second pressure sensor and the oil port B of the emergency shutdown unit through a pipeline, the oil port A of the second electromagnetic reversing valve and the oil port P of the second overflow valve are communicated through a pipeline, and the oil port B of the second electromagnetic reversing valve and the oil port T of the second overflow valve are communicated through a pipeline.

[0012] The hydraulic closed-loop control unit comprises four functionally identical first pilot high-frequency response flow self-adapting control units, second pilot high-frequency response flow self-adapting control units, third pilot high-frequency response flow self-adapting control units and fourth pilot high-frequency response flow self-adapting control units, the first pilot high-frequency response flow self-adapting control units, second pilot high-frequency response flow self-adapting control units, third pilot high-frequency response flow self-adapting control units and fourth pilot high-frequency response flow self-adapting control units all contain oil port A and oil port P, the oil port A of the first pilot high-frequency response flow self-adapting control units is communicated with the oil port A of the hydraulic closed-loop control unit through the oil pipeline, the oil port P of the first pilot high-frequency response flow self-adapting control units is communicated with the oil port P of the hydraulic closed-loop control unit through the oil pipeline, the oil port P of the second pilot high-frequency response flow self-adapting control units is communicated with the oil port B of the hydraulic closed-loop control unit through the oil pipeline, the oil port A of the second pilot high-frequency response flow self-adapting control units is communicated with the oil port T of the hydraulic closed-loop control unit through the oil pipeline, the oil port A of the third pilot high-frequency response flow self-adapting control units is communicated with the oil port B of the hydraulic closed-loop control unit through the oil pipeline, the oil port P of the third pilot high-frequency response flow self-adapting control units is communicated with the oil port P of the hydraulic closed-loop control unit through the oil pipeline, the oil port P of the fourth pilot high-frequency response flow self-adapting control units is communicated with the oil port A of the hydraulic closed-loop control unit through the oil pipeline, and the oil port A of the fourth pilot high-frequency response flow self-adapting control units is communicated with the oil port T of the hydraulic closed-loop control unit through the oil pipeline.

[0013] The first pilot high-frequency response flow adaptive control unit comprises a first quick valve, a first restrictor and a first hydraulic control on-off valve, the second pilot high-frequency response flow adaptive control unit comprises a second quick valve, a second restrictor and a second hydraulic control on-off valve, the third pilot high-frequency response flow adaptive control unit comprises a third quick valve, a third restrictor and a third hydraulic control on-off valve, and the fourth pilot high-frequency response flow adaptive control unit comprises a fourth quick valve, a fourth restrictor and a fourth hydraulic control on-off valve. The first quick valve, the second quick valve, the third quick valve and the fourth quick valve each comprise an oil port A and an oil port P. The first restrictor, the second restrictor, the third restrictor and the fourth restrictor each comprise an oil port A and an oil port B. The first hydraulic control on-off valve, the second hydraulic control on-off valve, the third hydraulic control on-off valve and the fourth hydraulic control on-off valve each comprise an oil port A, an oil port B, an oil port X and an oil port Y. The oil port A of the first quick valve and the oil port B of the first hydraulic control on-off valve are communicated with the oil port A of the first pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port P of the first quick valve and the oil port Y of the first hydraulic control on-off valve are communicated with the oil port B of the first restrictor through an oil pipeline. The oil port A of the first restrictor and the oil port A of the first hydraulic control on-off valve are communicated with the oil port P of the first pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port X of the first hydraulic control on-off valve is further communicated with the oil port A of the first hydraulic control on-off valve through an oil pipeline. The oil port A of the second quick valve and the oil port B of the second hydraulic control on-off valve are communicated with the oil port A of the second pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port P of the second quick valve and the oil port Y of the second hydraulic control on-off valve are communicated with the oil port B of the second restrictor through an oil pipeline. The oil port A of the second restrictor and the oil port A of the second hydraulic control on-off valve are communicated with the oil port P of the second pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port X of the second hydraulic control on-off valve is further communicated with the oil port A of the second hydraulic control on-off valve through an oil pipeline. The oil port A of the third quick valve and the oil port B of the third hydraulic control on-off valve are communicated with the oil port A of the third pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port P of the third quick valve and the oil port Y of the third hydraulic control on-off valve are communicated with the oil port B of the third restrictor through an oil pipeline. The oil port A of the third restrictor and the oil port A of the third hydraulic control on-off valve are communicated with the oil port P of the third pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port X of the third hydraulic control on-off valve is further communicated with the oil port A of the second hydraulic control on-off valve through an oil pipeline. The oil port A of the fourth quick valve and the oil port B of the third hydraulic control on-off valve are communicated with the oil port A of the fourth pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port P of the third quick valve and the oil port Y of the third hydraulic control on-off valve are communicated with the oil port B of the third restrictor through an oil pipeline. The oil port A of the third restrictor and the oil port A of the third hydraulic control on-off valve are communicated with the oil port P of the fourth pilot high-frequency response flow adaptive control unit through an oil pipeline. The oil port X of the third hydraulic control on-off valve is further communicated with the oil port A of the second hydraulic control on-off valve through an oil pipeline.

[0014] The actuator unit comprises a plug rod hydraulic cylinder and a displacement sensor, one end of the plug rod hydraulic cylinder is communicated with the oil port A and the oil port B of the actuator unit through oil pipelines, the displacement sensor is connected to the other end of the plug rod hydraulic cylinder, the oil pipeline through which the oil port A of the actuator unit is communicated with the oil port A of the emergency shutdown unit is further connected with a second high-pressure rubber pipe, and the oil pipeline through which the oil port B of the actuator unit is communicated with the oil port B of the emergency shutdown unit is further connected with a first high-pressure rubber pipe.

[0015] A low-power consumption flow adaptive hydraulic position closed-loop control method comprises a low-power consumption flow adaptive hydraulic position closed-loop control system according to any one of the preceding claims, and comprises the following steps

[0016] S001: In normal operation, the first electromagnetic reversing valve is powered on, the first hydraulic control check valve and the second hydraulic control check valve are opened, and the second electromagnetic reversing valve is powered off;

[0017] When the execution unit needs to realize the closing function, the first fast valve and the second fast valve are powered on, the third fast valve and the fourth fast valve are powered off, and the plug rod hydraulic cylinder of the execution unit realizes the closing function;

[0018] When the execution unit needs to realize the opening function, the third fast valve and the fourth fast valve are powered on, the first fast valve and the second fast valve are powered off, and the plug rod hydraulic cylinder of the execution unit realizes the opening function;

[0019] When the entire system needs to realize closed-loop control, the position of the plug rod hydraulic cylinder is set according to the electrical control system, and the value of the displacement sensor on the execution unit is detected, the electrical control system automatically controls the hydraulic closed-loop control unit in real time, realizes high-precision position control of the plug rod hydraulic cylinder according to the closing and opening functions of the execution unit, thereby ensuring the plug rod hydraulic cylinder position value required by the process, and when the value of the displacement sensor is within the range value required by the process, the first fast valve, the second fast valve, the third fast valve and the fourth fast valve, as well as the first hydraulic control on-off valve, the second hydraulic control on-off valve, the third hydraulic control on-off valve and the fourth hydraulic control on-off valve are all leak-free stop hydraulic valves, the position of the plug rod hydraulic cylinder is locked at the position value when the first fast valve, the second fast valve, the third fast valve and the fourth fast valve are powered off, until the value of the displacement sensor is greater than (or less than) the range value required by the process due to internal leakage of the plug rod hydraulic cylinder or other hydraulic elements after the system works for a long time, the closing (or opening) action is triggered again, the position of the plug rod hydraulic cylinder is precisely and automatically controlled, thereby achieving the function of reducing energy consumption;

[0020] S002: In manual work, the first electromagnetic reversing valve is powered on, the second electromagnetic reversing valve is powered on, the first quick valve is powered off, the second quick valve is powered off, the third quick valve is powered off, and the fourth quick valve is powered off, so that the upper and lower cavities of the plug hydraulic cylinder in the execution unit are communicated, at this time the plug hydraulic cylinder is decompressed, so that the position of the plug hydraulic cylinder can be easily operated manually to control the liquid level height of the crystallizer.

[0021] S003: In the accident state, the first electromagnetic reversing valve is powered off, the second electromagnetic reversing valve is powered off, the first quick valve is powered off, the second quick valve is powered off, the third quick valve is powered off, and the fourth quick valve is powered off, the high-pressure oil stored in the accumulator enters the oil port P through the oil port T of the first high-pressure ball valve, enters the lower cavity of the plug hydraulic cylinder through the second one-way valve, the second rubber tube, and the second electromagnetic reversing valve oil port A, so that the plug hydraulic cylinder is urgently closed, so that the plug hydraulic cylinder will not be out of control and cause a major safety accident.

[0022] The beneficial effects of the present application are:

[0023] Compared with the prior art, the present application overcomes the shortcomings of poor anti-pollution ability, high failure rate, high power consumption and high price of the traditional servo valve (proportional valve) by using a pressure reduction energy storage filtering unit, an emergency shutdown unit, a hydraulic closed-loop control unit and an actuator unit, and replacing the existing servo valve (proportional valve) with four groups of pilot high-frequency response flow adaptive control units in the hydraulic closed-loop control unit to control the position of the plug hydraulic cylinder. At the same time, the pilot high-frequency response flow adaptive control unit can realize stepless speed regulation of the plug hydraulic cylinder at low speed and high speed, and accurately control the position of the plug hydraulic cylinder. The present application has the advantages of high reliability, simple structure, large flow regulation range, low power consumption and low cost. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described below in conjunction with the drawings and examples.

[0025] Figure 1 is a structural principle schematic diagram of the low-power flow adaptive hydraulic position closed-loop control system of the present application.

[0026] Figure 2 is a structural principle schematic diagram of the pressure reduction energy storage filtering unit of the present application.

[0027] Figure 3 is a structural principle schematic diagram of the emergency shutdown unit of the present application.

[0028] Figure 4 is a structural principle schematic diagram of the hydraulic closed-loop control unit of the present application.

[0029] In the figure: 101-first quick valve, 102-second quick valve, 103-third quick valve, 104-fourth quick valve, 201-first restrictor, 202-second restrictor, 203-third restrictor, 204-fourth restrictor, 301-first hydraulic control on-off valve, 302-second hydraulic control on-off valve, 303-third hydraulic control on-off valve, 304-fourth hydraulic control on-off valve, 401-first check valve, 402-second check valve, 403-third check valve, 501-first high-pressure ball valve, 502-second high-pressure ball valve, 601-first overflow valve, 602-second overflow valve, 701-first hydraulic control check valve, 702-second hydraulic control check valve, 801-first pressure sensor, 802-second pressure sensor, 901-first high-pressure rubber tube, 902-second high-pressure rubber tube, 10-three-way pressure reducing valve, 11-filter, 12-accumulator, 1301-first electromagnetic reversing valve, 1302-second electromagnetic reversing valve, 14-stem rubber hydraulic cylinder, 15-displacement sensor, 16-pressure reducing accumulator filtering unit, 17-emergency shutdown unit, 18-hydraulic closed-loop control unit, 19-actuator unit, 2001-first pilot high-frequency response flow adaptive control unit, 2002-second pilot high-frequency response flow adaptive control unit, 2003-third pilot high-frequency response flow adaptive control unit, 2004-fourth pilot high-frequency response flow adaptive control unit. DETAILED DESCRIPTION

[0030] Embodiment 1

[0031] Reference Figure 1 It is a low-power flow adaptive hydraulic position closed-loop control system, and its characteristics are: comprising a pressure reducing accumulator filtering unit 16, an emergency shutdown unit 17, a hydraulic closed-loop control unit 18, and an actuator unit 19. One end of the pressure reducing accumulator filtering unit 16 is communicated with the hydraulic station through the oil pipeline. The emergency shutdown unit 17 and the hydraulic closed-loop control unit 18 are connected in parallel at the other end of the oil pipeline of the pressure reducing accumulator filtering unit 16. The other end of the emergency shutdown unit 17 and the hydraulic closed-loop control unit 18 is communicated with the actuator unit 19 through the oil pipeline.

[0032] Further pressure reducing energy storage filter unit 16 is used for hydraulic pressure oil pressure reduction, filtering and energy storage filter unit 16 in the accident state of pressure oil supply, meet the use pressure size, oil cleanliness grade and hydraulic system accident state of accident oil source supply; Emergency shutdown unit 17 is used for opening the oil circuit controlled by hydraulic closed-loop control unit 18 in normal work, closing the oil circuit controlled by hydraulic closed-loop control unit 18 in accident state and rapid emergency shutdown of actuator unit 19, and also can realize the manual operation function of actuator unit 19, prevent the occurrence of equipment burning and personnel casualty and other major safety production accidents, through the cooperation between the above units, the speed stepless regulation of the stopper hydraulic cylinder at low speed and high speed is realized, and the position of the stopper hydraulic cylinder can be accurately controlled, the application has the advantages of high reliability, simple structure, large flow regulation range, low power consumption and low cost.

[0033] Example 2:

[0034] Compared with example 1, the difference of the embodiment is that: the pressure reducing energy storage filter unit 16 is provided with an oil inlet P1 and an oil return port T1 at one end, the pressure reducing energy storage filter unit 16 is provided with an oil port P and an oil port T at the other end, the emergency shutdown unit 17 is provided with an oil port P and an oil port T at one end, the emergency shutdown unit 17 is provided with an oil port A and an oil port B and an oil port A1 and an oil port B1 at the other end, the hydraulic closed-loop control unit 18 is provided with an oil port P and an oil port T at one end, the hydraulic closed-loop control unit 18 is provided with an oil port A and an oil port B at the other end, the actuator unit 19 is provided with an oil port A and an oil port B at one end, the hydraulic station is provided with a hydraulic station pressure oil port P' and a hydraulic station oil return port T', the oil inlet P1 of the pressure reducing energy storage filter unit 16 is communicated with the hydraulic station pressure oil port P' through the oil pipeline, the oil return port T1 of the pressure reducing energy storage filter unit 16 is communicated with the hydraulic station oil return port T' through the oil pipeline, the oil port P of the pressure reducing energy storage filter unit 16 is communicated with the oil port P of the emergency shutdown unit 17 and the oil port P of the hydraulic closed-loop control unit 18 through the oil pipeline respectively, the oil port T of the pressure reducing energy storage filter unit 16 is communicated with the oil port T of the emergency shutdown unit 17 and the oil port T of the hydraulic closed-loop control unit 18 through the oil pipeline respectively, the oil port A of the emergency shutdown unit 17 is communicated with the oil port A of the actuator unit 19 through the oil pipeline, the oil port B of the emergency shutdown unit 17 is communicated with the oil port B of the actuator unit 19 through the oil pipeline, the oil port A of the hydraulic closed-loop control unit 18 is communicated with the oil port A1 of the emergency shutdown unit 17 through the oil pipeline, and the oil port B of the hydraulic closed-loop control unit 18 is communicated with the oil port B1 of the emergency shutdown unit 17 through the oil pipeline.

[0035] Example 3:

[0036] Reference Figure 2Compared with example 2, the difference of the present example is that the pressure reducing energy storage filter unit 16 comprises a three-way pressure reducing valve 10, a filter 11, a check valve 401, a first ball valve 501, a second ball valve 502, an energy accumulator 12 and a first overflow valve 601, one end of the three-way pressure reducing valve 10 is communicated with the pressure oil port P' and the return oil port T' of the hydraulic station through an oil pipeline, the other end of the three-way pressure reducing valve 10 is communicated with one end of the filter 11 through an oil pipeline, the other end of the filter 11 is communicated with one end of the check valve 401 through an oil pipeline, the other end of the check valve 401 is communicated with one end of the first ball valve 501 through an oil pipeline, the other end of the first ball valve 501 is communicated with one end of the second ball valve 502 and the first overflow valve 601 through an oil pipeline respectively, the energy accumulator 12 is connected on the oil pipeline communicated with the other end of the first ball valve 501, the second ball valve 502 and the first overflow valve 601, the other end of the second ball valve 502 and the first overflow valve 601 is communicated with the oil port T of the pressure reducing energy storage filter unit 16 through an oil pipeline, the oil pipeline communicated with the first ball valve 501 of the check valve 401 is also communicated with the oil port P of the pressure reducing energy storage filter unit 16 through an oil pipeline.

[0037] The further three-way pressure reducing valve 10 sets the pressure according to the designed working pressure, so that the stopper rod mechanism can work reliably, and meanwhile prevents the stopper rod from being damaged due to excessive emergency closing pressure, causing a safety accident; the filter 11 is used for filtering high-pressure oil, preventing the hydraulic components from being unable to work normally due to oil pollution, and improving the reliability of the system; the energy accumulator 12 is used for providing emergency oil source for the closing of the stopper rod in the accident state of the hydraulic station, so that the system can still reliably close the stopper rod when the hydraulic station is powered off or the pipeline is leaked, preventing accidents; the first high-pressure ball valve 501 and the second high-pressure ball valve 502 are used for closing and discharging high-pressure oil in the energy accumulator 12 when the system is overhauled; the first overflow valve 601 is used for setting the highest working pressure of the system, preventing accidents; the second overflow valve 602 is used for limiting the highest pressure of the lower cavity of the stopper rod, preventing the stopper rod from being damaged and causing a safety accident.

[0038] Example 4:

[0039] The difference between the present embodiment and the embodiment 3 is that the three-way pressure reducing valve 10 comprises an oil port P, an oil port T and an oil port A, the one-way valve 401 comprises the oil port A and an oil port B, the first ball valve 501, the second ball valve 502 and the first overflow valve 601 comprise the oil port P and the oil port T respectively, the oil port P of the three-way pressure reducing valve 10 communicates with the hydraulic station pressure oil port P' through an oil pipeline, the oil port T of the three-way pressure reducing valve 10 communicates with the hydraulic station return oil port T' through an oil pipeline, the oil port A of the three-way pressure reducing valve 10 communicates with one end of the filter 11 through an oil pipeline, the oil port A of the one-way valve 401 communicates with the other end of the filter 11 through an oil pipeline, the oil port B of the one-way valve 401 communicates with the oil port P of the first ball valve 501 through an oil pipeline, the oil port T of the first ball valve 501 communicates with the oil port P of the second ball valve 502 and the oil port P of the first overflow valve 601 through oil pipelines respectively, the accumulator 12 is connected to the oil pipeline at the oil port T of the first ball valve 501, and the oil port T of the second ball valve 502 and the oil port T of the first overflow valve 601 communicate with the oil port T of the pressure reducing accumulator filtering unit 16 through an oil pipeline.

[0040] Embodiment 5:

[0041] With reference to Figure 3The difference between the embodiment and example 2 is that the emergency shutdown unit 17 comprises a first electromagnetic reversing valve 1301, a second check valve 402, a third check valve 403, a second electromagnetic reversing valve 1302, a second overflow valve 602, a first hydraulic control check valve 701, a second hydraulic control check valve 702, a first pressure sensor 801 and a second pressure sensor 802. One end of the first electromagnetic reversing valve 1301 is communicated with the oil port P and the oil port T of the pressure reducing energy storage and filtering unit 16 through oil pipelines respectively. The other end of the first electromagnetic reversing valve 1301 is communicated with one end of the second check valve 402 and one end of the third check valve 403 through oil pipelines respectively. The other end of the second check valve 402 is communicated with the oil port A of the emergency shutdown unit 17 and the oil port A1 of the emergency shutdown unit 17 through oil pipelines respectively. The first pressure sensor 801 is connected on the oil pipeline communicated with the other end of the second check valve 402 and the oil port A of the emergency shutdown unit 17. The other end of the third check valve 403 is communicated with the second pressure sensor 802, the oil port B of the emergency shutdown unit 17 and the oil port B1 of the emergency shutdown unit 17 through oil pipelines respectively. One end of the second electromagnetic reversing valve 1302 and one end of the second overflow valve 602 are connected on the oil pipeline communicated with the second pressure sensor 802 and the oil port A of the emergency shutdown unit 17 through oil pipelines respectively. The other end of the second electromagnetic reversing valve 1302 and the other end of the second overflow valve 602 are connected on the oil pipeline communicated with the other end of the third check valve 403 and the second pressure sensor 802 through oil pipelines respectively. The second electromagnetic reversing valve 1302 and the second overflow valve 602 are further communicated through an oil pipeline. The first hydraulic control check valve 701 is connected on the oil pipeline communicated with the other end of the second check valve 402 and the oil port A1 of the emergency shutdown unit 17. The second hydraulic control check valve 702 is connected on the oil pipeline communicated with the other end of the third check valve 403 and the oil port B1 of the emergency shutdown unit 17. One end of the first hydraulic control check valve 701 and one end of the second hydraulic control check valve 702 are further communicated with the oil port T of the pressure reducing energy storage and filtering unit 16, the oil port T of the emergency shutdown unit 17 and the oil port T of the hydraulic closed-loop control unit 18 through oil pipelines respectively. The other end of the first hydraulic control check valve 701 and the other end of the second hydraulic control check valve 702 are further communicated with the oil pipeline communicated with the other end of the first electromagnetic reversing valve 1301 and one end of the third check valve 403 through oil pipelines.

[0042] The first pressure sensor 801 and the second pressure sensor 802 are further used for detecting the pressure of the upper and lower cavities of the plug rod hydraulic cylinder, realizing reliable control and improving the reliability of the system. The second electromagnetic reversing valve 1302 is used for communicating the upper and lower cavities of the plug rod hydraulic cylinder 14, so that the plug rod hydraulic cylinder 14 can be manually operated.

[0043] Example 6:

[0044] Compared with embodiment 5, the difference of the present embodiment is that the first electromagnetic directional valve 1301 and the second electromagnetic directional valve 1302 respectively comprise an oil port P, an oil port T, an oil port A and an oil port B, the second one-way valve 402 and the third one-way valve 403 respectively comprise an oil port A and an oil port B, the second overflow valve 602 comprises an oil port P and an oil port T, the first hydraulic control one-way valve 701 and the second hydraulic control one-way valve 702 respectively comprise an oil port A, an oil port B, an oil port X and an oil port Y, the oil port P of the first electromagnetic directional valve 1301 communicates with the oil port P of the emergency shutdown unit 17 through an oil pipeline, the oil port T of the first electromagnetic directional valve 1301 communicates with the oil port T of the emergency shutdown unit 17 through an oil pipeline, the oil port A of the first electromagnetic directional valve 1301 communicates with the oil port A of the second one-way valve 402 through an oil pipeline, the oil port B of the first electromagnetic directional valve 1301 communicates with the oil port B of the third one-way valve 403 through an oil pipeline, the oil port B of the second one-way valve 402 respectively communicates with the oil port A of the emergency shutdown unit 17 and the oil port B of the first hydraulic control one-way valve 701 through an oil pipeline, the oil port A of the first hydraulic control one-way valve 701 communicates with the oil port A1 of the emergency shutdown unit 17 through an oil pipeline, the oil port A of the third one-way valve 403 respectively communicates with the second pressure sensor 802, the oil port B of the emergency shutdown unit 17 and the oil port B of the second hydraulic control one-way valve 702 through an oil pipeline, the oil port A of the second hydraulic control one-way valve 702 communicates with B1 of the emergency shutdown unit 17 through an oil pipeline, the oil port X of the first hydraulic control one-way valve 701 and the oil port X of the second hydraulic control one-way valve 702 communicate with the oil pipeline which communicates with the other end of the first electromagnetic directional valve 1301 and one end of the third one-way valve 403 through a pipeline, the oil port Y of the first hydraulic control one-way valve 701 and the oil port Y of the second hydraulic control one-way valve 702 respectively communicate with the oil port T of the pressure reducing energy storage and filtering unit 16, the oil port T of the emergency shutdown unit 17 and the oil port T of the hydraulic closed-loop control unit 18 through an oil pipeline, the oil port P of the second electromagnetic directional valve 1302 and the oil port P of the second overflow valve 602 respectively communicate with the oil pipeline which communicates with the second pressure sensor 802 and the oil port A of the emergency shutdown unit 17 through a pipeline, the oil port T of the second electromagnetic directional valve 1302 and the oil port T of the second overflow valve 602 respectively communicate with the oil pipeline which communicates with the other end of the oil port A of the third one-way valve 403 and the oil port B of the second pressure sensor 802 and the emergency shutdown unit 17 through a pipeline, the oil port A of the second electromagnetic directional valve 1302 and the oil port P of the second overflow valve 602 communicate through a pipeline, the oil port B of the second electromagnetic directional valve 1302 and the oil port T of the second overflow valve 602 communicate through a pipeline.

[0045] Embodiment 7:

[0046] With reference to Figure 4The difference between the present embodiment and the embodiment 2 is that the hydraulic closed-loop control unit 18 comprises four functionally identical first pilot high-frequency response flow self-adapting control unit 2001, second pilot high-frequency response flow self-adapting control unit 2002, third pilot high-frequency response flow self-adapting control unit 2003 and fourth pilot high-frequency response flow self-adapting control unit 2004, which all contain oil port A and oil port P, the oil port A of the first pilot high-frequency response flow self-adapting control unit 2001 communicates with the oil port A of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port P of the first pilot high-frequency response flow self-adapting control unit 2001 communicates with the oil port P of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port P of the second pilot high-frequency response flow self-adapting control unit 2002 communicates with the oil port B of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port A of the second pilot high-frequency response flow self-adapting control unit 2002 communicates with the oil port T of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port A of the third pilot high-frequency response flow self-adapting control unit 2003 communicates with the oil port B of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port P of the third pilot high-frequency response flow self-adapting control unit 2003 communicates with the oil port P of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port P of the fourth pilot high-frequency response flow self-adapting control unit 2004 communicates with the oil port A of the hydraulic closed-loop control unit 18 through oil pipeline, the oil port A of the fourth pilot high-frequency response flow self-adapting control unit 2004 communicates with the oil port T of the hydraulic closed-loop control unit 18 through oil pipeline.

[0047] Further, by respectively adjusting the duty cycle (PWM) of the first pilot high-frequency response flow self-adapting control unit 2001, second pilot high-frequency response flow self-adapting control unit 2002, third pilot high-frequency response flow self-adapting control unit 2003 and fourth pilot high-frequency response flow self-adapting control unit 2004, the hydraulic closed-loop control unit 18 can realize self-adapting control of flow, ensuring that the stopper hydraulic cylinder 14 can realize slow-fast stepless speed regulation function under the electrical self-control.

[0048] Embodiment 8:

[0049] The difference between the embodiment and example 7 is that the first pilot high-frequency responsive flow adaptive control unit 2001 comprises a first quick valve 101, a first restrictor 201 and a first hydraulic control on-off valve 301, the second pilot high-frequency responsive flow adaptive control unit 2002 comprises a second quick valve 102, a second restrictor 202 and a second hydraulic control on-off valve 302, the third pilot high-frequency responsive flow adaptive control unit 2003 comprises a third quick valve 103, a third restrictor 203 and a third hydraulic control on-off valve 303, the fourth pilot high-frequency responsive flow adaptive control unit 2004 comprises a fourth quick valve 104, a fourth restrictor 204 and a fourth hydraulic control on-off valve 304, the first quick valve 101, the second quick valve 102, the third quick valve 103 and the fourth quick valve 104 all comprise an oil port A and an oil port P, the first restrictor 201, the second restrictor 202, the third restrictor 203 and the fourth restrictor 204 all comprise an oil port A and an oil port B, the first hydraulic control on-off valve 301, the second hydraulic control on-off valve 302, the third hydraulic control on-off valve 303 and the fourth hydraulic control on-off valve 304 all comprise an oil port A, an oil port B, an oil port X and an oil port Y, the oil port A of the first quick valve 101 and the oil port B of the first hydraulic control on-off valve 301 are communicated with the oil port A of the first pilot high-frequency responsive flow adaptive control unit 2001 through oil pipelines, the oil port P of the first quick valve 101 and the oil port Y of the first hydraulic control on-off valve 301 are communicated with the oil port B of the first restrictor 201 through oil pipelines, the oil port A of the first restrictor 201 and the oil port A of the first hydraulic control on-off valve 301 are communicated with the oil port P of the first pilot high-frequency responsive flow adaptive control unit 2001 through oil pipelines, the oil port X of the first hydraulic control on-off valve 301 is further communicated with the oil port A of the first hydraulic control on-off valve 301 through an oil pipeline, the oil port A of the second quick valve 102 and the oil port B of the second hydraulic control on-off valve 302 are communicated with the oil port A of the second pilot high-frequency responsive flow adaptive control unit 2002 through oil pipelines, the oil port P of the second quick valve 102 and the oil port Y of the second hydraulic control on-off valve 302 are communicated with the oil port B of the second restrictor 202 through oil pipelines, the oil port A of the second restrictor 202 and the oil port A of the second hydraulic control on-off valve 302 are communicated with the oil port P of the second pilot high-frequency responsive flow adaptive control unit 2002 through oil pipelines, the oil port X of the second hydraulic control on-off valve 302 is further communicated with the oil port A of the second hydraulic control on-off valve 302 through an oil pipeline, the oil port A of the third quick valve 103 and the oil port B of the third hydraulic control on-off valve 303 are communicated with the oil port A of the third pilot high-frequency responsive flow adaptive control unit 2003 through oil pipelines, the oil port P of the third quick valve 103 and the oil port Y of the third hydraulic control on-off valve 303 are communicated with the oil port B of the third restrictor 203 through oil pipelines, the oil port A of the third restrictor 203 and the oil port A of the third hydraulic control on-off valve 303 are communicated with the oil port P of the third pilot high-frequency responsive flow adaptive control unit 2003 through oil pipelines,The oil port X of the third hydraulic control on-off valve 303 also communicates with the oil port A of the second hydraulic control on-off valve 303 through an oil pipeline, the oil port A of the fourth quick valve 104 and the oil port B of the third hydraulic control on-off valve 304 both communicate with the oil port A of the fourth pilot high-frequency response flow self-adaptive control unit 2004 through an oil pipeline, the oil port P of the third quick valve 104 and the oil port Y of the third hydraulic control on-off valve 304 both communicate with the oil port B of the third throttler 204 through an oil pipeline, the oil port A of the third throttler 204 and the oil port A of the third hydraulic control on-off valve 304 both communicate with the oil port P of the fourth pilot high-frequency response flow self-adaptive control unit 2004 through an oil pipeline, and the oil port X of the third hydraulic control on-off valve 304 also communicates with the oil port A of the second hydraulic control on-off valve 304 through an oil pipeline.

[0050] The plug hydraulic cylinder 14 of the further execution unit 19 can realize the function of stepless speed regulation, and the principle is realized by adjusting the duty cycle (PWM) of the first quick valve 101, the second quick valve 102, the third quick valve 103 and the fourth quick valve 104. The duty cycle of the first quick valve 101 is continuously increased (decreased), so that the oil flow through the first quick valve 101 is continuously increased (decreased), and the pressure drop through the first throttler 201 will be continuously increased (decreased), which causes the pressure difference acting on the oil port X side and the oil port Y side of the first hydraulic control on-off valve 301 to change, thereby overcoming the spring on the oil port Y side of the first hydraulic control on-off valve 301 to make the first hydraulic control on-off valve 301 open (close) in proportion to the duty cycle (PWM) of the first quick valve 101. The above action realizes the flow self-adaptive regulation of the first pilot high-frequency response flow self-adaptive control unit 2001, so that by adjusting the duty cycle (PWM) of the first pilot high-frequency response flow self-adaptive control unit 2001, the second pilot high-frequency response flow self-adaptive control unit 2002, the third pilot high-frequency response flow self-adaptive control unit 2003 and the fourth pilot high-frequency response flow self-adaptive control unit 2004 respectively, the hydraulic closed-loop control unit 18 can realize the self-adaptive control of the flow, and ensure that the plug hydraulic cylinder 14 can realize the function of stepless speed regulation from slow to fast under the electrical self-control.

[0051] Embodiment 9:

[0052] Compared with embodiment 2, the difference of the embodiment is that the execution unit 19 includes the plug hydraulic cylinder 14 and the displacement sensor 15, one end of the plug hydraulic cylinder 14 respectively communicates with the oil port A and the oil port B of the execution unit 19 through an oil pipeline, and the displacement sensor 15 is connected to the other end of the plug hydraulic cylinder 14. The oil pipeline through which the oil port A of the execution unit 19 communicates with the oil port A of the emergency shutdown unit 17 is further connected with the second high-pressure rubber pipe 902, and the oil pipeline through which the oil port B of the execution unit 19 communicates with the oil port B of the emergency shutdown unit 17 is further connected with the first high-pressure rubber pipe 901.

[0053] Further displacement sensor 15 is used to collect and transmit the position information of the plug hydraulic cylinder 14.

[0054] Embodiment 10:

[0055] A low-power flow adaptive hydraulic position closed-loop control method comprises a low-power flow adaptive hydraulic position closed-loop control system according to any one of embodiments 1-9, and comprises the following steps

[0056] S001: In normal operation, the first electromagnetic reversing valve 1301 is powered on, the first hydraulic control check valve 701 and the second hydraulic control check valve 702 are opened, and the second electromagnetic reversing valve 1302 is powered off;

[0057] When the execution unit 19 needs to realize the closing function, the first fast valve 101 and the second fast valve 102 are powered on, the third fast valve 103 and the fourth fast valve 104 are powered off, and the plug hydraulic cylinder 14 of the execution unit 19 realizes the closing function;

[0058] When the execution unit 19 needs to realize the opening function, the third fast valve 103 and the fourth fast valve 104 are powered on, the first fast valve 101 and the second fast valve 102 are powered off, and the plug hydraulic cylinder 14 of the execution unit 19 realizes the opening function;

[0059] When the entire system needs to realize closed-loop control, according to the position of the plug hydraulic cylinder 14 set by the electrical control system, and the value of the displacement sensor 15 on the execution unit 19, the electrical control system automatically controls the hydraulic closed-loop control unit 18 in real time, according to the closing and opening functions of the execution unit 19, to realize high-precision position control of the plug hydraulic cylinder 14, thereby ensuring the position value of the plug hydraulic cylinder 14 required by the process, and when the value of the displacement sensor 15 is within the range value required by the process, the first fast valve 101, the second fast valve 102, the third fast valve 103, and the fourth fast valve 104, as well as the first hydraulic control on-off valve 301, the second hydraulic control on-off valve 302, the third hydraulic control on-off valve 303, and the fourth hydraulic control on-off valve 304, are all leak-free stop hydraulic valves, and the position of the plug hydraulic cylinder 14 is locked at the position value when the first fast valve 101, the second fast valve 102, the third fast valve 103, and the fourth fast valve 104 are powered off, until the value of the displacement sensor 15 is greater than (or less than) the range value required by the process due to internal leakage of the plug hydraulic cylinder 14 or other hydraulic elements after the system works for a long time, and the above-mentioned closing (or opening) action is triggered again to realize precise automatic control of the position of the plug hydraulic cylinder 14, thereby achieving the function of reducing energy consumption;

[0060] S002: In manual work, the first electromagnetic reversing valve 1301 is energized, the second electromagnetic reversing valve 1302 is energized, the first quick valve 101 is de-energized, the second quick valve 102 is de-energized, the third quick valve 103 is de-energized, the fourth quick valve 104 is de-energized, so that the upper and lower oil ports of the plug hydraulic cylinder 14 in the execution unit 19 are communicated, at this time the plug hydraulic cylinder 14 is decompressed, so that the position of the plug hydraulic cylinder 14 can be easily operated manually, and the position of the plug hydraulic cylinder 14 is manually controlled to control the liquid level of the crystallizer;

[0061] S003: In the accident state, the first electromagnetic reversing valve 1301 is de-energized, the second electromagnetic reversing valve 1302 is de-energized, the first quick valve 101 is de-energized, the second quick valve 102 is de-energized, the third quick valve 103 is de-energized, the fourth quick valve 104 is de-energized, the high-pressure oil stored in the accumulator 12 enters the oil port P through the oil port T of the first high-pressure ball valve 501, enters the lower cavity of the plug hydraulic cylinder 14 through the oil port A of the first electromagnetic reversing valve 1301, the second one-way valve 402 and the second rubber tube 902, so that the plug hydraulic cylinder 14 is urgently closed, so that the plug hydraulic cylinder 14 will not be out of control and cause a major safety accident.

[0062] Further, the plug hydraulic cylinder 14 of the execution unit 19 can realize the function of stepless speed regulation, the principle of which is realized by adjusting the duty cycle (PWM) of the first fast valve 101, the second fast valve 102, the third fast valve 103 and the fourth fast valve 104; here, the first pilot high-frequency response flow self-adaptive control unit 2001 is taken as an example for illustration: the hydraulic high-pressure oil enters the oil port P of the first pilot high-frequency response flow self-adaptive control unit 2001, then enters the oil port A of the first restrictor 201, and then enters the oil port P of the first fast valve 101, and then enters the oil port A of the first pilot high-frequency response flow self-adaptive control unit 2001; when the duty cycle of the first fast valve 101 is continuously increased, the high-pressure oil flow through the first fast valve 101 is continuously increased, causing the pressure drop through the first restrictor 201 to continuously increase, which leads to the decrease of the pressure acting on the oil port Y side of the first hydraulic control on-off valve 301, so that the pressure difference acting on the oil port X and the oil port Y of the first hydraulic control on-off valve 301 is increased and overcomes the spring on the oil port Y side of the first hydraulic control on-off valve 301 to move the valve core of the first hydraulic control on-off valve 301 to the oil port Y side, and the hydraulic high-pressure oil continuously increases through the oil port P of the first pilot high-frequency response flow self-adaptive control unit 2001, the oil port A of the first hydraulic control on-off valve 301 and the oil port B of the first pilot high-frequency response flow self-adaptive control unit 2001, so as to realize the proportional increase of the high-pressure oil flow through the first hydraulic control on-off valve 301 and the duty cycle of the first fast valve 101. Conversely, when the duty cycle of the first fast valve 101 is continuously decreased, the high-pressure oil flow through the first fast valve 101 is continuously decreased, causing the pressure drop through the first restrictor 201 to continuously decrease, which leads to the increase of the pressure acting on the oil port Y side of the first hydraulic control on-off valve 301, so that the spring on the oil port Y side of the first hydraulic control on-off valve 301 overcomes the pressure difference acting on the oil port X and the oil port Y of the first hydraulic control on-off valve 301 and moves the valve core of the first hydraulic control on-off valve 301 to the oil port X side, and the hydraulic high-pressure oil continuously decreases through the oil port P of the first pilot high-frequency response flow self-adaptive control unit 2001, the oil port A of the first hydraulic control on-off valve 301 and the oil port B of the first pilot high-frequency response flow self-adaptive control unit 2001, so as to realize the proportional increase of the high-pressure oil flow through the first hydraulic control on-off valve 301 and the duty cycle of the first fast valve 101. In summary, the above self-adaptive control action makes the first hydraulic control on-off valve 301 and the duty cycle (PWM) of the first fast valve 101 open or close in proportion, realizing the flow self-adaptive regulation of the first pilot high-frequency response flow self-adaptive control unit 2001, and the actions of the second pilot high-frequency response flow self-adaptive control unit 2002, the third pilot high-frequency response flow self-adaptive control unit 2003 and the fourth pilot high-frequency response flow self-adaptive control unit 2004 are the same as those of the first pilot high-frequency response flow self-adaptive control unit 2001

[0063] The hydraulic high pressure oil enters the first restrictor 201 oil port A from the first pilot high frequency response flow self-adapting control unit 2001 oil port P, and then enters the first quick valve 101 oil port P from oil port B, and then enters the first pilot high frequency response flow self-adapting control unit 2001 oil port A from oil port A. When the duty cycle of the first quick valve 101 is continuously increased, the high pressure oil flow through the first quick valve 101 is continuously increased, which causes the pressure drop through the first restrictor 201 to be continuously increased, which leads to the pressure acting on the oil port Y side of the first hydraulic control on-off valve 301 to be reduced, thereby the pressure difference acting on the oil port X and the oil port Y of the first hydraulic control on-off valve 301 is increased and overcomes the spring on the oil port Y side of the first hydraulic control on-off valve 301 to move the valve core of the first hydraulic control on-off valve 301 to the oil port Y side. The hydraulic high pressure oil enters the first pilot high frequency response flow self-adapting control unit 2001 oil port A from the first hydraulic control on-off valve 301 oil port A through the first pilot high frequency response flow self-adapting control unit 2001 oil port P, and then enters the first hydraulic control on-off valve 301 oil port A from oil port B, and continuously increases, thereby realizing that the high pressure oil flow through the first hydraulic control on-off valve 301 is proportional to the duty cycle of the first quick valve 101. Conversely, when the duty cycle of the first quick valve 101 is continuously reduced, the high pressure oil flow through the first quick valve 101 is continuously reduced, which causes the pressure drop through the first restrictor 201 to be continuously reduced, which leads to the pressure acting on the oil port Y side of the first hydraulic control on-off valve 301 to be increased, thereby the spring on the oil port Y side of the first hydraulic control on-off valve 301 overcomes the pressure difference acting on the oil port X and the oil port Y of the first hydraulic control on-off valve 301 and moves the valve core of the first hydraulic control on-off valve 301 to the oil port X side. The hydraulic high pressure oil enters the first pilot high frequency response flow self-adapting control unit 2001 oil port A from the first hydraulic control on-off valve 301 oil port A through the first pilot high frequency response flow self-adapting control unit 2001 oil port P, and then enters the first hydraulic control on-off valve 301 oil port A from oil port B, and continuously reduces, thereby realizing that the high pressure oil flow through the first hydraulic control on-off valve 301 is proportional to the duty cycle of the first quick valve 101.In summary, the adaptive control action makes the first hydraulic control on-off valve 301 open or close in proportion to the duty cycle (PWM) of the first quick valve 101, realizing adaptive regulation of the flow of the first pilot high-frequency response flow adaptive control unit 2001, and the actions of the 2002-second pilot high-frequency response flow adaptive control unit, the 2003-third pilot high-frequency response flow adaptive control unit, and the 2004-fourth pilot high-frequency response flow adaptive control unit are the same as those of the first pilot high-frequency response flow adaptive control unit 2001. Therefore, by adjusting the duty cycle (PWM) of the first pilot high-frequency response flow adaptive control unit 2001, the second pilot high-frequency response flow adaptive control unit 2002, the third pilot high-frequency response flow adaptive control unit 2003, and the fourth pilot high-frequency response flow adaptive control unit 2004, respectively, the hydraulic closed-loop control unit 18 can realize adaptive control of the flow, ensuring that the stopper hydraulic cylinder 14 can realize slow-fast stepless speed regulation function under the control of the electrical control.

[0064] By the above method, four groups of pilot high-frequency response flow adaptive control units with the same structure and function are used to replace the servo valve (proportional valve) to control the position of the stopper hydraulic cylinder, overcoming the shortcomings of poor anti-pollution ability, high failure rate, high power consumption, and high price of traditional servo valves (proportional valves). At the same time, the use of pilot high-frequency response flow adaptive control units can realize stepless speed regulation of the stopper hydraulic cylinder at low and high speeds, and can accurately control the position of the stopper hydraulic cylinder. The present application has the advantages of high reliability, simple structure, large flow regulation range, low power consumption, and low cost.

[0065] The embodiments of the present application have been described in detail above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application, and all such changes are within the scope of protection of the present application.

[0066] The technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled persons in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

Claims

1. A low power flow-adaptive hydraulic position closed-loop control system, characterized by: The emergency shutdown unit (17) and the hydraulic closed-loop control unit (18) are connected in parallel on the other end of the oil pipeline of the pressure reduction energy storage filter unit (16), and the other ends of the emergency shutdown unit (17) and the hydraulic closed-loop control unit (18) are connected with the actuator unit (19) through oil pipelines; The pressure reduction energy storage filter unit (16) includes a three-way pressure reduction valve (10), a filter (11), a one-way valve (401), a first high-pressure ball valve (501), a second ball valve (502), an energy accumulator (12), and a first overflow valve (601), wherein the pressure reduction energy storage filter unit (16) is used for pressure reduction, filtration, and energy storage of the pressure oil in the pressure reduction energy storage filter unit (16) under accident conditions. The emergency shutdown unit (17) includes a first electromagnetic reversing valve (1301), a second one-way valve (402), a third one-way valve (403), a second electromagnetic reversing valve (1302), a second overflow valve (602), a first hydraulic control one-way valve (701), a second hydraulic control one-way valve (702), a first pressure sensor (801), and a second pressure sensor (802), and the emergency shutdown unit (17) is used for opening the oil circuit controlled by the hydraulic closed-loop control unit (18) under normal working conditions, closing the oil circuit controlled by the hydraulic closed-loop control unit (18) under accident conditions, and rapidly and urgently shutting down the actuator unit (19). The hydraulic closed-loop control unit (18) includes four first pilot high-frequency response flow self-adaptive control units (2001), a second pilot high-frequency response flow self-adaptive control unit (2002), a third pilot high-frequency response flow self-adaptive control unit (2003), and a fourth pilot high-frequency response flow self-adaptive control unit (2004), and the hydraulic closed-loop control unit (18) is used for realizing adaptive control of flow and ensuring that the stopper hydraulic cylinder (14) can realize slow-to-fast stepless speed regulation under the electrical self-control. The actuator unit (19) includes a stopper hydraulic cylinder (14) and a displacement sensor (15), and the actuator unit (19) is used for realizing stepless speed regulation.

2. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 1, characterized in that: The pressure reducing energy storage filter unit (16) is provided with an oil inlet P1 and an oil return T1 at one end, and an oil port P and an oil port T at the other end; one end of the emergency shutdown unit (17) is provided with an oil port P and an oil port T, and the other end of the emergency shutdown unit (17) is provided with an oil port A and an oil port B, and an oil port A1 and an oil port B1; one end of the hydraulic closed-loop control unit (18) is provided with an oil port P and an oil port T, and the other end of the hydraulic closed-loop control unit (18) is provided with an oil port A and an oil port B; one end of the actuator unit (19) is provided with an oil port A and an oil port B; the hydraulic station is provided with a hydraulic station pressure oil port P' and a hydraulic station oil return port T'; the oil inlet P1 of the pressure reducing energy storage filter unit (16) is communicated with the hydraulic station pressure oil port P' through an oil pipeline; the oil return T1 of the pressure reducing energy storage filter unit (16) is communicated with the hydraulic station oil return port T' through an oil pipeline; the oil port P of the pressure reducing energy storage filter unit (16) is communicated with the oil port P of the emergency shutdown unit (17) and the oil port P of the hydraulic closed-loop control unit (18) through oil pipelines respectively; the oil port T of the pressure reducing energy storage filter unit (16) is communicated with the oil port T of the emergency shutdown unit (17) and the oil port T of the hydraulic closed-loop control unit (18) through oil pipelines respectively; the oil port A of the emergency shutdown unit (17) is communicated with the oil port A of the actuator unit (19) through an oil pipeline; the oil port B of the emergency shutdown unit (17) is communicated with the oil port B of the actuator unit (19) through an oil pipeline; the oil port A of the hydraulic closed-loop control unit (18) is communicated with the oil port A1 of the emergency shutdown unit (17) through an oil pipeline; and the oil port B of the hydraulic closed-loop control unit (18) is communicated with the oil port B1 of the emergency shutdown unit (17) through an oil pipeline.

3. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 2, characterized in that: One end of the three-way pressure reducing valve (10) is communicated with the hydraulic station pressure oil port P' and the hydraulic station oil return port T' through an oil pipeline; the other end of the three-way pressure reducing valve (10) is communicated with one end of the filter (11) through an oil pipeline; the other end of the filter (11) is communicated with one end of the one-way valve (401) through an oil pipeline; the other end of the one-way valve (401) is communicated with one end of the first high-pressure ball valve (501) through an oil pipeline; the other end of the first high-pressure ball valve (501) is communicated with one end of the second ball valve (502) and the first overflow valve (601) through oil pipelines respectively; the accumulator (12) is connected to the oil pipeline communicated with the other end of the first high-pressure ball valve (501), the second ball valve (502) and the first overflow valve (601); the other ends of the second ball valve (502) and the first overflow valve (601) are communicated with the oil port T of the pressure reducing energy storage filter unit (16) through an oil pipeline; and the oil pipeline communicated with the one-way valve (401) and the first high-pressure ball valve (501) is further communicated with the oil port P of the pressure reducing energy storage filter unit (16) through an oil pipeline.

4. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 3, characterized in that: The three-way pressure reducing valve (10) includes oil port P, oil port T and oil port A, the one-way valve (401) includes oil port A and oil port B, the first high-pressure ball valve (501), the second ball valve (502) and the first overflow valve (601) include oil port P and oil port T respectively, the oil port P of the three-way pressure reducing valve (10) is communicated with the hydraulic station pressure oil port P' through an oil pipeline, the oil port T of the three-way pressure reducing valve (10) is communicated with the hydraulic station return oil port T' through an oil pipeline, the oil port A of the three-way pressure reducing valve (10) is communicated with one end of the filter (11) through an oil pipeline, the oil port A of the one-way valve (401) is communicated with the other end of the filter (11) through an oil pipeline, the oil port B of the one-way valve (401) is communicated with the oil port P of the first high-pressure ball valve (501) through an oil pipeline, the oil port T of the first high-pressure ball valve (501) is communicated with the oil port P of the second ball valve (502) and the oil port P of the first overflow valve (601) through oil pipelines respectively, the accumulator (12) is connected to the oil pipeline at the oil port T of the first high-pressure ball valve (501), and the oil port T of the second ball valve (502) and the oil port T of the first overflow valve (601) are communicated with the oil port T of the pressure reducing accumulator filtering unit (16) through an oil pipeline.

5. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 2, characterized in that: The first electromagnetic reversing valve (1301) is communicated with the oil port P and the oil port T of the pressure reducing energy storage filtering unit (16) through oil pipelines at one end, respectively, and is communicated with one end of the second check valve (402) and one end of the third check valve (403) through oil pipelines at the other end, respectively, the other end of the second check valve (402) is communicated with the oil port A of the emergency shutdown unit (17) and the oil port A1 of the emergency shutdown unit (17) through oil pipelines, respectively, the first pressure sensor (801) is connected on the oil pipeline communicated with the other end of the second check valve (402) and the oil port A of the emergency shutdown unit (17), the other end of the third check valve (403) is communicated with the second pressure sensor (802), the oil port B of the emergency shutdown unit (17) and the oil port B1 of the emergency shutdown unit (17) through oil pipelines, respectively, one end of the second electromagnetic reversing valve (1302) and one end of the second overflow valve (602) are connected on the oil pipeline communicated with the second pressure sensor (802) and the oil port A of the emergency shutdown unit (17) through oil pipelines, respectively, the other end of the second electromagnetic reversing valve (1302) and the other end of the second overflow valve (602) are connected on the oil pipeline communicated with the other end of the third check valve (403) and the second pressure sensor (802) through oil pipelines, respectively, the second electromagnetic reversing valve (1302) and the second overflow valve (602) are further communicated through an oil pipeline, the first hydraulic control check valve (701) is connected on the oil pipeline communicated with the other end of the second check valve (402) and the oil port A1 of the emergency shutdown unit (17), the second hydraulic control check valve (702) is connected on the oil pipeline communicated with the other end of the third check valve (403) and the oil port B1 of the emergency shutdown unit (17), one end of the first hydraulic control check valve (701) and one end of the second hydraulic control check valve (702) are further communicated with the oil port T of the pressure reducing energy storage filtering unit (16), the oil port T of the emergency shutdown unit (17) and the oil port T of the hydraulic closed loop control unit (18) through oil pipelines, respectively, the other end of the first hydraulic control check valve (701) and the other end of the second hydraulic control check valve (702) are further communicated with the oil pipeline communicated with the other end of the first electromagnetic reversing valve (1301) and one end of the third check valve (403) through oil pipelines.

6. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 5, characterized in that: The first electromagnetic reversing valve (1301) and the second electromagnetic reversing valve (1302) respectively include oil port P, oil port T, oil port A and oil port B, the second check valve (402) and the third check valve (403) respectively include oil port A and oil port B, the second overflow valve (602) includes oil port P and oil port T, the first hydraulic control check valve (701) and the second hydraulic control check valve (702) respectively include oil port A, oil port B, oil port X and oil port Y, the oil port P of the first electromagnetic reversing valve (1301) is communicated with the oil port P of the emergency shutdown unit (17) through an oil pipeline, the oil port T of the first electromagnetic reversing valve (1301) is communicated with the oil port T of the emergency shutdown unit (17) through an oil pipeline, the oil port A of the first electromagnetic reversing valve (1301) is communicated with the oil port A of the second check valve (402) through an oil pipeline, the oil port B of the first electromagnetic reversing valve (1301) is communicated with the oil port B of the third check valve (403) through an oil pipeline, the oil port B of the second check valve (402) is communicated with the oil port A of the emergency shutdown unit (17) and the oil port B of the first hydraulic control check valve (701) through an oil pipeline, the oil port A of the first hydraulic control check valve (701) is communicated with the oil port A1 of the emergency shutdown unit (17) through an oil pipeline, the oil port A of the third check valve (403) is communicated with the second pressure sensor (802), the oil port B of the emergency shutdown unit (17) and the oil port B of the second hydraulic control check valve (702) through an oil pipeline, the oil port A of the second hydraulic control check valve (702) is communicated with B1 of the emergency shutdown unit (17) through an oil pipeline, the oil port X of the first hydraulic control check valve (701) and the oil port X of the second hydraulic control check valve (702) are communicated with the oil pipeline communicated with the other end of the first electromagnetic reversing valve (1301) and one end of the third check valve (403) through a pipeline, the oil port Y of the first hydraulic control check valve (701) and the oil port Y of the second hydraulic control check valve (702) are communicated with the oil port T of the pressure reducing energy storage filter unit (16), the oil port T of the emergency shutdown unit (17) and the oil port T of the hydraulic closed loop control unit (18) through an oil pipeline, the oil port P of the second electromagnetic reversing valve (1302) and the oil port P of the second overflow valve (602) are communicated with the oil pipeline communicated with the second pressure sensor (802) and the oil port A of the emergency shutdown unit (17) through a pipeline, the oil port T of the second electromagnetic reversing valve (1302) and the oil port T of the second overflow valve (602) are communicated with the oil pipeline communicated with the other end of the oil port A of the third check valve (403) and the oil port B of the emergency shutdown unit (17) through a pipeline, the oil port A of the second electromagnetic reversing valve (1302) and the oil port P of the second overflow valve (602) are communicated through a pipeline, and the oil port B of the second electromagnetic reversing valve (1302) and the oil port T of the second overflow valve (602) are communicated through a pipeline.

7. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 2, characterized by: The first pilot high-frequency response flow adaptive control unit (2001), the second pilot high-frequency response flow adaptive control unit (2002), the third pilot high-frequency response flow adaptive control unit (2003) and the fourth pilot high-frequency response flow adaptive control unit (2004) all comprise an oil port A and an oil port P, the oil port A of the first pilot high-frequency response flow adaptive control unit (2001) is communicated with the oil port A of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port P of the first pilot high-frequency response flow adaptive control unit (2001) is communicated with the oil port P of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port P of the second pilot high-frequency response flow adaptive control unit (2002) is communicated with the oil port B of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port A of the second pilot high-frequency response flow adaptive control unit (2002) is communicated with the oil port T of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port A of the third pilot high-frequency response flow adaptive control unit (2003) is communicated with the oil port B of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port P of the third pilot high-frequency response flow adaptive control unit (2003) is communicated with the oil port P of the hydraulic closed-loop control unit (18) through an oil pipeline, the oil port P of the fourth pilot high-frequency response flow adaptive control unit (2004) is communicated with the oil port A of the hydraulic closed-loop control unit (18) through an oil pipeline, and the oil port A of the fourth pilot high-frequency response flow adaptive control unit (2004) is communicated with the oil port T of the hydraulic closed-loop control unit (18) through an oil pipeline.

8. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 7, characterized by: The first pilot high-frequency response flow adaptive control unit (2001) includes a first quick valve (101), a first restrictor (201) and a first hydraulic control on-off valve (301), the second pilot high-frequency response flow adaptive control unit (2002) includes a second quick valve (102), a second restrictor (202) and a second hydraulic control on-off valve (302), the third pilot high-frequency response flow adaptive control unit (2003) includes a third quick valve (103), a third restrictor (203) and a third hydraulic control on-off valve (303), the fourth pilot high-frequency response flow adaptive control unit (2004) includes a fourth quick valve (104), a fourth restrictor (204) and a fourth hydraulic control on-off valve (304), the first quick valve (101), the second quick valve (102), the third quick valve (103) and the fourth quick valve (104) all include an oil port A and an oil port P, the first restrictor (201), the second restrictor (202), the third restrictor (203) and the fourth restrictor (204) all include an oil port A and an oil port B, the first hydraulic control on-off valve (301), the second hydraulic control on-off valve (302), the third hydraulic control on-off valve (303) and the fourth hydraulic control on-off valve (304) all include an oil port A, an oil port B, an oil port X and an oil port Y, the oil port A of the first quick valve (101) and the oil port B of the first hydraulic control on-off valve (301) are communicated with the oil port A of the first pilot high-frequency response flow adaptive control unit (2001) through an oil pipeline, the oil port P of the first quick valve (101) and the oil port Y of the first hydraulic control on-off valve (301) are communicated with the oil port B of the first restrictor (201) through an oil pipeline, the oil port A of the first restrictor (201) and the oil port A of the first hydraulic control on-off valve (301) are communicated with the oil port P of the first pilot high-frequency response flow adaptive control unit (2001) through an oil pipeline, the oil port X of the first hydraulic control on-off valve (301) is also communicated with the oil port A of the first hydraulic control on-off valve (301) through an oil pipeline, the oil port A of the second quick valve (102) and the oil port B of the second hydraulic control on-off valve (302) are communicated with the oil port A of the second pilot high-frequency response flow adaptive control unit (2002) through an oil pipeline, the oil port P of the second quick valve (102) and the oil port Y of the second hydraulic control on-off valve (302) are communicated with the oil port B of the second restrictor (202) through an oil pipeline, the oil port A of the second restrictor (202) and the oil port A of the second hydraulic control on-off valve (302) are communicated with the oil port P of the second pilot high-frequency response flow adaptive control unit (2002) through an oil pipeline, the oil port X of the second hydraulic control on-off valve (302) is also communicated with the oil port A of the second hydraulic control on-off valve (302) through an oil pipeline, the oil port A of the third quick valve (103) and the oil port B of the third hydraulic control on-off valve (303) are communicated with the oil port A of the third pilot high-frequency response flow adaptive control unit (2003) through an oil pipeline,The oil port P of the third quick valve (103) and the oil port Y of the third hydraulic control on-off valve (303) are communicated with the oil port B of the third restrictor (203) through the oil pipeline, the oil port A of the third restrictor (203) and the oil port A of the third hydraulic control on-off valve (303) are communicated with the oil port P of the third pilot type high frequency response flow self-adaptive control unit (2003) through the oil pipeline, the oil port X of the third hydraulic control on-off valve (303) is also communicated with the oil port A of the third hydraulic control on-off valve (303) through the oil pipeline, the oil port A of the fourth quick valve (104) and the oil port B of the fourth hydraulic control on-off valve (304) are communicated with the oil port A of the fourth pilot type high frequency response flow self-adaptive control unit (2004) through the oil pipeline, the oil port P of the fourth quick valve (104) and the oil port Y of the fourth hydraulic control on-off valve (304) are communicated with the oil port B of the fourth restrictor (204) through the oil pipeline, the oil port A of the fourth restrictor (204) and the oil port A of the fourth hydraulic control on-off valve (304) are communicated with the oil port P of the fourth pilot type high frequency response flow self-adaptive control unit (2004) through the oil pipeline, and the oil port X of the fourth hydraulic control on-off valve (304) is also communicated with the oil port A of the fourth hydraulic control on-off valve (304) through the oil pipeline.

9. A low power consumption flow-adaptive hydraulic position closed loop control system according to claim 2, characterized by: One end of the stopper hydraulic cylinder (14) is communicated with the oil port A and the oil port B of the actuator unit (19) through oil pipelines, and the displacement sensor (15) is connected to the other end of the stopper hydraulic cylinder (14), and the oil pipeline, in which the oil port A of the actuator unit (19) is communicated with the oil port A of the emergency shutdown unit (17), is further connected with the second high-pressure rubber pipe (902), and the oil pipeline, in which the oil port B of the actuator unit (19) is communicated with the oil port B of the emergency shutdown unit (17), is further connected with the first high-pressure rubber pipe (901).

10. A low power consumption flow adaptive hydraulic position closed loop control method comprising a low power consumption flow adaptive hydraulic position closed loop control system according to any one of claims 1-9, characterized in that: The method comprises the following steps S001: in normal operation, the first electromagnetic reversing valve (1301) is energized, the first hydraulic control check valve (701) and the second hydraulic control check valve (702) are opened, and the second electromagnetic reversing valve (1302) is de-energized; When the actuator unit (19) needs to realize the closing function, the first fast valve (101) and the second fast valve (102) are energized, the third fast valve (103) and the fourth fast valve (104) are de-energized, and the stopper hydraulic cylinder (14) of the actuator unit (19) realizes the closing function; When the actuator unit (19) needs to realize the opening function, the third fast valve (103) and the fourth fast valve (104) are energized, the first fast valve (101) and the second fast valve (102) are de-energized, and the stopper hydraulic cylinder (14) of the actuator unit (19) realizes the opening function; When the whole system needs to realize closed-loop control, according to the position of the stopper hydraulic cylinder (14) set by the electrical control system, and the value of the displacement sensor (15) on the actuator unit (19), the electrical control system automatically controls the hydraulic closed-loop control unit (18) in real time, realizes high-precision position control of the stopper hydraulic cylinder (14) according to the closing and opening functions of the actuator unit (19), so as to ensure the position value of the stopper hydraulic cylinder (14) required by the process, and when the value of the displacement sensor (15) is within the range value required by the process, the first quick valve (101), the second quick valve (102), the third quick valve (103) and the fourth quick valve (104), as well as the first hydraulic control on-off valve (301), the second hydraulic control on-off valve (302), the third hydraulic control on-off valve (303) and the fourth hydraulic control on-off valve (304) are all leak-free cut-off hydraulic valves, and the position of the stopper hydraulic cylinder (14) is locked at the position value when the first quick valve (101), the second quick valve (102), the third quick valve (103) and the fourth quick valve (104) are powered off, until the system works for a long time and the value of the displacement sensor (15) is greater than (or less than) the range value required by the process due to the internal leakage of the stopper hydraulic cylinder (14) or other hydraulic elements, the above closing (or opening) action is triggered again, realizing precise automatic control of the position of the stopper hydraulic cylinder (14), so as to achieve the function of reducing energy consumption; S002: When working manually, the first electromagnetic reversing valve (1301) is powered on, the second electromagnetic reversing valve (1302) is powered on, the first quick valve (101) is powered off, the second quick valve (102) is powered off, the third quick valve (103) is powered off, and the fourth quick valve (104) is powered off, so that the upper and lower cavity oil ports of the stopper hydraulic cylinder (14) in the actuator unit (19) are communicated, at this time the stopper hydraulic cylinder (14) is decompressed, so that the position of the stopper hydraulic cylinder (14) can be easily manually operated, realizing manual operation of the position of the stopper hydraulic cylinder (14) to control the mold level; S003: In the event of an accident, the first electromagnetic reversing valve (1301) is powered off, the second electromagnetic reversing valve (1302) is powered off, the first quick valve (101) is powered off, the second quick valve (102) is powered off, the third quick valve (103) is powered off, and the fourth quick valve (104) is powered off, the high-pressure oil stored in the accumulator (12) enters the oil port P through the oil port T of the first high-pressure ball valve (501), enters the lower cavity of the stopper hydraulic cylinder (14) through the oil port A of the first electromagnetic reversing valve (1301), the second one-way valve (402) and the second high-pressure rubber pipe (902), so that the stopper hydraulic cylinder (14) is closed urgently, so that the stopper hydraulic cylinder (14) will not be out of control, causing a major safety accident.

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