Steering gear hydraulic system and operation method based on cylinder loading and accumulator loading

Abstract

The steering gear hydraulic system based on cylinder loading and accumulator loading includes a steering system, a small loading cylinder and a large loading cylinder symmetrically connected on both sides of the steering plate, the oil chamber of the small loading cylinder is connected to the small cylinder loading system and the first accumulator loading system, the oil chamber of the large loading cylinder is connected to the large cylinder loading system and the second accumulator loading system, the small cylinder loading system and the large cylinder loading system have the same structure, the first accumulator loading system and the second accumulator loading system have the same structure, the steering system is used to control the operation of the small cylinder loading system and the large cylinder loading system when there is no fault to realize load simulation, and control the operation of the first accumulator loading system and the second accumulator loading system after the small cylinder loading system and the large cylinder loading system fail to realize load simulation. The present invention realizes load simulation in normal and emergency situations at the same time.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic loading, specifically relating to a servo hydraulic system and its operation method based on cylinder loading and accumulator loading. Background Technology

[0002] Hydraulic steering gear is a crucial piece of equipment on a ship, enabling it to turn and maintain its rudder position. It is a complex system integrating electromechanical and hydraulic systems, and its performance directly impacts the ship's normal operation. Therefore, during the steering gear design process, it is necessary to fully simulate actual underwater load conditions to verify whether the product prototype meets the usage requirements. This necessitates a steering gear load loading system.

[0003] Existing servo load-loading systems have at least the following problems:

[0004] 1. Currently, rudder loading systems typically use a single loading cylinder to simulate the load. Due to the complexity of underwater conditions, the load on the rudder varies significantly at different speeds. Furthermore, at the same speed, the load on the rudder changes from zero to its maximum value as it rotates from zero to its maximum angle. The load sensor of the cylinder is designed with the maximum load capacity in mind. For low-speed, small-angle rudder operation, a single cylinder cannot accurately simulate the actual load, resulting in a significant discrepancy between the actual and theoretical loads.

[0005] 2. Due to the complexity of the hydraulic cylinder loading system control, which requires electromechanical-hydraulic system coupling control to simulate the load, a failure requires a long time for troubleshooting and repair. It cannot simulate loading under emergency conditions, which will seriously affect the servo motor factory testing and product delivery. Therefore, the reliability of the loading system is not high and the redundancy is poor. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in the prior art by providing a servo hydraulic system and its operation method based on cylinder loading and accumulator loading.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows:

[0008] The steering gear hydraulic system based on cylinder loading and accumulator loading includes a steering system, a small loading cylinder and a large loading cylinder symmetrically connected on both sides of the rudder plate. The oil chamber of the small loading cylinder is connected to the small cylinder loading system and the first accumulator loading system. The oil chamber of the large loading cylinder is connected to the large cylinder loading system and the second accumulator loading system. The small cylinder loading system and the large cylinder loading system have the same structure. The first accumulator loading system and the second accumulator loading system have the same structure. All three systems (small cylinder loading system, first accumulator loading system, large cylinder loading system, and second accumulator loading system) are connected to the steering system via signal connection.

[0009] The steering system is used for:

[0010] When the small hydraulic cylinder loading system and the large hydraulic cylinder loading system are fault-free, control the operation of the small hydraulic cylinder loading system and the large hydraulic cylinder loading system to achieve load simulation;

[0011] After the small cylinder loading system and the large cylinder loading system fail, the No. 1 accumulator loading system and the No. 2 accumulator loading system are controlled to operate to achieve load simulation.

[0012] Both the small cylinder loading system and the large cylinder loading system include an oil pump, a servo valve, a first hydraulically controlled check valve, a second hydraulically controlled check valve, and a first solenoid ball valve. The inlet and outlet of the oil pump are connected to the oil tank and the P port of the servo valve, respectively. The A and B ports of the servo valve are connected to the inlet of the first and second hydraulically controlled check valves, respectively. The T port of the servo valve is connected to the oil tank. In the small cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the small loading cylinder, respectively. The two ends of the first solenoid ball valve in the small cylinder loading system are connected to the two oil chambers of the small loading cylinder, respectively. In the large cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the large loading cylinder, respectively. The two ends of the first solenoid ball valve in the large cylinder loading system are connected to the two oil chambers of the large loading cylinder, respectively.

[0013] The small cylinder loading system and the large cylinder loading system also include an auxiliary pump, a two-position three-way solenoid ball valve, a first replenishing oil check valve, and a second replenishing oil check valve. The inlet and outlet of the auxiliary pump are connected to the oil tank and the first port of the two-position three-way solenoid ball valve, respectively. The second port of the two-position three-way solenoid ball valve is connected to the X port of the first hydraulic check valve and the X port of the second hydraulic check valve. The third port of the two-position three-way solenoid ball valve, the Y port of the first hydraulic check valve, and the Y port of the second hydraulic check valve are all connected to the oil tank. The inlet of the first replenishing oil check valve and the second replenishing oil check valve is connected to the oil tank. In the small cylinder loading system, the outlet of the first replenishing oil check valve and the second replenishing oil check valve are connected to the two oil chambers of the small loading cylinder, respectively. In the large cylinder loading system, the outlet of the first replenishing oil check valve and the second replenishing oil check valve are connected to the two oil chambers of the large loading cylinder, respectively.

[0014] Both the No. 1 and No. 2 accumulator loading systems include an oil pump, a first electromagnetic ball valve, a third electromagnetic ball valve, a fourth electromagnetic ball valve, a fifth electromagnetic ball valve, a sixth electromagnetic ball valve, a No. 1 accumulator, and a No. 2 accumulator. In the No. 1 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the small loading cylinder. In the No. 2 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the large loading cylinder. One end of each of the third and fourth electromagnetic ball valves is connected to the oil tank via the oil pump. The other end of the third electromagnetic ball valve is connected to one end of the fifth electromagnetic ball valve and the inlet / outlet of the No. 1 accumulator. The other end of the fourth electromagnetic ball valve is connected to one end of the sixth electromagnetic ball valve and the inlet / outlet of the No. 2 accumulator. The other ends of the fifth and sixth electromagnetic ball valves in the No. 1 accumulator loading system are respectively connected to the two oil chambers of the small loading cylinder. In the No. 2 accumulator loading system, the other ends of the fifth and sixth electromagnetic ball valves are respectively connected to the two oil chambers of the large loading cylinder.

[0015] The No. 1 accumulator loading system and the No. 2 accumulator loading system further include a first normally open ball valve, a first unloading ball valve, a second normally open ball valve, and a second unloading ball valve. One end of the first normally open ball valve is connected to the third and fifth solenoid ball valves, and one end of the first unloading ball valve is connected to the oil tank. The other ends of the first normally open ball valve and the first unloading ball valve are both connected to the inlet and outlet oil ports of the No. 1 accumulator. One end of the second normally open ball valve is connected to the fourth and sixth solenoid ball valves, and one end of the second unloading ball valve is connected to the oil tank. The other ends of the second normally open ball valve and the second unloading ball valve are both connected to the inlet and outlet oil ports of the No. 2 accumulator. The inlet and outlet gas ports of the No. 1 accumulator and the No. 2 accumulator are respectively connected to the nitrogen cylinder through the first charging valve and the second charging valve.

[0016] The No. 1 accumulator loading system and the No. 2 accumulator loading system further include a first accumulator safety valve, a first accumulator unloading valve, a second accumulator safety valve, and a second accumulator unloading valve. One end of the first accumulator safety valve and the first accumulator unloading valve are connected to the inlet and outlet ports of the No. 1 accumulator, and the other end of the first accumulator safety valve and the first accumulator unloading valve are connected to the oil tank. One end of the second accumulator safety valve and the second accumulator unloading valve are connected to the inlet and outlet ports of the No. 2 accumulator, and the other end of the second accumulator safety valve and the second accumulator unloading valve are connected to the oil tank.

[0017] The operating method of the steering gear hydraulic system based on cylinder loading and accumulator loading includes:

[0018] When the small cylinder loading system and the large cylinder loading system are functioning properly, the steering system uses the cylinder loading mode to control the operation of the small cylinder loading system and the large cylinder loading system to achieve load simulation.

[0019] After determining that the small cylinder loading system and the large cylinder loading system have malfunctioned, the steering system activates the accumulator loading mode to control the No. 1 accumulator loading system and the No. 2 accumulator loading system to achieve load simulation.

[0020] Both the small cylinder loading system and the large cylinder loading system include an oil pump, a servo valve, a first hydraulically controlled check valve, a second hydraulically controlled check valve, and a first solenoid ball valve. The inlet and outlet of the oil pump are connected to the oil tank and the P port of the servo valve, respectively. The A and B ports of the servo valve are connected to the inlet of the first and second hydraulically controlled check valves, respectively. The T port of the servo valve is connected to the oil tank. In the small cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the small loading cylinder, respectively. The two ends of the first solenoid ball valve in the small cylinder loading system are connected to the two oil chambers of the small loading cylinder, respectively. In the large cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the large loading cylinder, respectively. The two ends of the first solenoid ball valve in the large cylinder loading system are connected to the two oil chambers of the large loading cylinder, respectively.

[0021] The operating method includes the following cylinder loading modes:

[0022] When a small load condition simulation is required, the steering system controls the first solenoid ball valve of the large cylinder loading system to be energized. At this time, the two oil chambers of the large loading cylinder are connected, and the output load of the large loading cylinder is zero. At the same time, the steering system controls the small cylinder loading system to extend and retract the small loading cylinder to output differential pressure load.

[0023] When a large load condition simulation is required, the steering system controls the first solenoid ball valve in the small cylinder loading system to be energized. At this time, the two oil chambers of the small loading cylinder are connected, and the output load of the small loading cylinder is zero. At the same time, the steering system controls the large cylinder loading system to extend and retract the large loading cylinder to output differential pressure load.

[0024] When it is necessary to simulate ultra-high load conditions, the steering system controls the small cylinder loading system and the large cylinder loading system respectively, so that the small loading cylinder and the large loading cylinder extend and retract to output the corresponding differential pressure load, and the differential pressure load output by the small loading cylinder and the large loading cylinder are in opposite directions.

[0025] When unloaded, the first solenoid ball valves of the small cylinder loading system and the large cylinder loading system are energized by the steering system. At this time, the two oil chambers of the small loading cylinder and the two oil chambers of the large loading cylinder are connected, and the output load is zero.

[0026] The process by which the steering system controls the small hydraulic cylinder loading system to extend and retract the small loading cylinder includes:

[0027] The steering system controls the opening of the first and second hydraulic control check valves in the small hydraulic cylinder loading system, and the servo valve is energized to move the working position to the left. The oil output by the servo pump enters one oil chamber of the small loading cylinder through the P port of the servo valve, the B port of the servo valve, and the second hydraulic control check valve in sequence, pushing the piston rod of the small loading cylinder to perform extension and retraction. The oil in the other oil chamber flows through the first hydraulic control check valve and then returns to the oil tank through the A and T ports of the servo valve in sequence. At this time, a pressure difference is formed between the two oil chambers of the small loading cylinder.

[0028] The steering system controls the extension and retraction of the large loading cylinder via the large loading cylinder system, which includes the following processes:

[0029] The steering system controls the opening of the first and second hydraulically controlled check valves in the large hydraulic cylinder loading system, and energizes the servo valve to move the working position to the right. The oil output from the oil pump enters one oil chamber of the large loading cylinder through the P port of the servo valve, the A port of the servo valve, and the first hydraulically controlled check valve in sequence, pushing the piston rod of the large loading cylinder to perform extension and retraction. The oil in the other oil chamber flows through the second hydraulically controlled check valve and then returns to the oil tank through the B port and T port of the servo valve in sequence. At this time, a pressure difference is formed between the two oil chambers of the large loading cylinder.

[0030] Both the No. 1 accumulator loading system and the No. 2 accumulator loading system include an oil pump, a first electromagnetic ball valve, a third electromagnetic ball valve, a fourth electromagnetic ball valve, a fifth electromagnetic ball valve, a sixth electromagnetic ball valve, a No. 1 accumulator, and a No. 2 accumulator. In the No. 1 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the small loading cylinder. In the No. 2 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the large loading cylinder. One end of each of the third and fourth electromagnetic ball valves is connected to the oil tank through the oil pump. The other end of the third electromagnetic ball valve is connected to one end of the fifth electromagnetic ball valve and the inlet / outlet of the No. 1 accumulator. The other end of the fourth electromagnetic ball valve is connected to one end of the sixth electromagnetic ball valve and the inlet / outlet of the No. 2 accumulator. The other ends of the fifth and sixth electromagnetic ball valves in the No. 1 accumulator loading system are respectively connected to the two oil chambers of the small loading cylinder. In the No. 2 accumulator loading system, the other ends of the fifth and sixth electromagnetic ball valves are respectively connected to the two oil chambers of the large loading cylinder.

[0031] The operation method includes the following load simulation operations in the energy storage loading mode:

[0032] When a small load condition simulation is required, the steering system controls the first solenoid ball valve in the No. 2 accumulator loading system to be energized. At this time, the two oil chambers of the large load cylinder are connected, and the output load of the large load cylinder is zero. At the same time, the steering system drives the steering cylinder to rotate the rudder plate, thereby causing the piston rod of the small load cylinder to extend and retract. The volume of the No. 1 accumulator decreases and the pressure increases, while the volume of the No. 2 accumulator increases and the pressure decreases.

[0033] When a high-load condition simulation is required, the steering system controls the first solenoid ball valve in the No. 1 accumulator loading system to be energized. At this time, the two oil chambers of the small loading cylinder are connected, and the output load of the small loading cylinder is zero. At the same time, the steering system drives the steering cylinder to rotate the rudder plate, thereby causing the piston rod of the large loading cylinder to extend and retract. The volume of the No. 2 accumulator decreases and the pressure increases, while the volume of the No. 1 accumulator increases and the pressure decreases.

[0034] When simulating ultra-high load conditions, the steering system drives the steering cylinder to rotate the rudder plate, thereby causing the piston rods of the small loading cylinder and the large loading cylinder to extend and retract. The pressures of the first and second accumulators in the first accumulator loading system and the first and second accumulators in the second accumulator loading system change accordingly, and the differential pressure load output by the small loading cylinder and the large loading cylinder are in opposite directions.

[0035] When unloaded, the steering system controls the first solenoid ball valves of the No. 1 accumulator loading system and the No. 2 accumulator loading system to be energized. At this time, the two oil chambers of the small loading cylinder and the two oil chambers of the large loading cylinder are connected, and the output load is zero.

[0036] The No. 1 accumulator loading system and the No. 2 accumulator loading system further include a first normally open ball valve, a first unloading ball valve, a second normally open ball valve, and a second unloading ball valve. One end of the first normally open ball valve is connected to the third and fifth solenoid ball valves, and one end of the first unloading ball valve is connected to the oil tank. The other ends of the first normally open ball valve and the first unloading ball valve are both connected to the oil inlet and outlet ports of the No. 1 accumulator. One end of the second normally open ball valve is connected to the fourth and sixth solenoid ball valves, and one end of the second unloading ball valve is connected to the oil tank. The other ends of the second normally open ball valve and the second unloading ball valve are both connected to the oil inlet and outlet ports of the No. 2 accumulator. The air inlet and outlet ports of the No. 1 accumulator and the No. 2 accumulator are respectively connected to the nitrogen cylinder through the first charging valve and the second charging valve.

[0037] In the energy storage loading mode, the following operations are performed sequentially before the load simulation operation:

[0038] Accumulator pressure setting: The steering system first controls the first normally open ball valve and the second normally open ball valve to close, and the first unloading ball valve and the second unloading ball valve to open, so that the first accumulator and the second accumulator are completely depressurized. Then, it controls the first charging valve and the second charging valve to open, so that the gas in the nitrogen cylinder enters the first accumulator and the second accumulator. When the charging pressure in the first accumulator and the second accumulator reaches the set value, it controls the first charging valve and the second charging valve to close.

[0039] Accumulator oil pressure setting: When the rudder is at the 0° position and the small loading cylinder and the large loading cylinder are in the neutral position, the steering system controls the third, fourth, fifth, and sixth solenoid ball valves to be energized. The oil output from the oil pump in the No. 1 accumulator loading system flows to the two oil chambers of the small loading cylinder, the No. 1 accumulator, and the No. 2 accumulator. The oil output from the oil pump in the No. 2 accumulator loading system flows to the two oil chambers of the large loading cylinder, the No. 1 accumulator, and the No. 2 accumulator. When the oil pressure of the No. 1 and No. 2 accumulators reaches the set value, the steering system controls the third and fourth solenoid ball valves to be de-energized, and the oil pump stops operating.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0041] 1. The present invention provides a steering gear hydraulic system based on cylinder loading and accumulator loading, comprising a steering system, a small loading cylinder and a large loading cylinder symmetrically connected on both sides of the rudder plate. The oil chamber of the small loading cylinder is connected to the small cylinder loading system and the first accumulator loading system, and the oil chamber of the large loading cylinder is connected to the large cylinder loading system and the second accumulator loading system. The small cylinder loading system and the large cylinder loading system have the same structure, and the first accumulator loading system and the second accumulator loading system have the same structure. Furthermore, the small cylinder loading system, the first accumulator loading system, the large cylinder loading system, and the second accumulator loading system are all connected to the steering system. The signal connection and steering system are used to control the operation of the small and large hydraulic cylinder loading systems to achieve load simulation when both systems are functioning correctly. Conversely, in the event of a failure in either the small or large hydraulic cylinder loading system, the system controls the operation of the first and second accumulator loading systems to achieve load simulation. On one hand, this system achieves load simulation under normal conditions based on a dual-loading cylinder structure; on the other hand, the introduction of an accumulator loading system allows switching to it when the hydraulic cylinder loading system fails, thus enabling load simulation in emergency situations. Therefore, this invention simultaneously achieves load simulation under both normal and emergency conditions.

[0042] 2. The small cylinder loading system and large cylinder loading system of the servo motor hydraulic system based on cylinder loading and accumulator loading of this invention both include an oil pump, a servo valve, a first hydraulically controlled check valve, a second hydraulically controlled check valve, and a first solenoid ball valve. The inlet and outlet of the oil pump are connected to the oil tank and the P port of the servo valve, respectively. The A and B ports of the servo valve are connected to the inlet of the first and second hydraulically controlled check valves, respectively. The T port of the servo valve is connected to the oil tank. In the small cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the small loading cylinder, respectively. In the small cylinder loading system, both ends of the first solenoid ball valve are connected to the two oil chambers of the small loading cylinder, respectively. In the large cylinder loading system, the outlets of the first and second hydraulically controlled check valves are connected to the two oil chambers of the large loading cylinder, respectively. In the large cylinder loading system, both ends of the first solenoid ball valve are connected to the large loading cylinder, respectively. The two oil chambers are connected. When simulating small load conditions, the steering system controls the bypass of the large loading cylinder, pushing the piston rod of the small loading cylinder to extend and retract through the small loading cylinder loading system, thereby driving the rudder plate to simulate load torque. When simulating large load conditions, the steering system controls the bypass of the small loading cylinder, pushing the piston rod of the large loading cylinder to extend and retract through the large loading cylinder loading system. When simulating extremely large load conditions, the steering system simultaneously controls both the small and large loading cylinder loading systems, causing the piston rods of both cylinders to extend and retract, with the output differential pressure loads in opposite directions, i.e., the piston rod extension and retraction states of the small and large loading cylinders are opposite. Under no-load conditions, the steering system controls both the small and large loading cylinder loading systems to bypass. This cylinder loading system uses large and small loading cylinders of different sizes to accurately simulate various different load conditions. Therefore, this invention achieves accurate simulation of various different load conditions.

[0043] 3. In the servo hydraulic system based on cylinder loading and accumulator loading of this invention, both the No. 1 accumulator loading system and the No. 2 accumulator loading system include an oil pump, a first electromagnetic ball valve, a third electromagnetic ball valve, a fourth electromagnetic ball valve, a fifth electromagnetic ball valve, a sixth electromagnetic ball valve, a No. 1 accumulator, and a No. 2 accumulator. In the No. 1 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the small loading cylinder. In the No. 2 accumulator loading system, the two ends of the first electromagnetic ball valve are respectively connected to the two oil chambers of the large loading cylinder. One end of the ball valve and the fourth solenoid ball valve are connected to the oil tank via an oil pump. The other end of the third solenoid ball valve is connected to one end of the fifth solenoid ball valve and the inlet / outlet of the first accumulator. The other end of the fourth solenoid ball valve is connected to one end of the sixth solenoid ball valve and the inlet / outlet of the second accumulator. In the loading system of the first accumulator, the other ends of the fifth and sixth solenoid ball valves are respectively connected to the two oil chambers of the small loading cylinder. In the loading system of the second accumulator, the other ends of the fifth and sixth solenoid ball valves are respectively connected to the two oil chambers of the large loading cylinder. The oil chambers are connected. When simulating small load conditions, the steering system controls the bypass of the large load cylinder. Through the No. 1 accumulator loading system, the two accumulators connected to the small load cylinder change volume with the extension and retraction of the small load cylinder, thus serving as the load for the steering cylinder. When simulating large load conditions, the steering system controls the bypass of the small load cylinder. Through the No. 1 accumulator loading system, the two accumulators connected to the large load cylinder change volume with the extension and retraction of the large load cylinder. When simulating extremely large load conditions... During the simulation, the steering system simultaneously controls the No. 1 and No. 2 accumulator loading systems, causing changes in the volumes of the two accumulators connected to the small loading cylinder and the two accumulators connected to the large loading cylinder. This scaling of the two accumulator volumes simulates the differential pressure load on the cylinders. This loading system can simulate various load conditions under emergency situations with high accuracy, and also exhibits low loading noise and vibration. The power source for the loading system is only used for accumulator oil replenishment and air pressure setting, resulting in low installed power and low cost. Therefore, this invention not only achieves simulation of different load conditions under emergency situations but also achieves low loading noise and vibration and low cost. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the hydraulic cylinder loading system in this invention.

[0045] Figure 2 This is a schematic diagram of the energy storage loading system in this invention.

[0046] In the diagram, the components are: steering system 1, small loading cylinder 2, large loading cylinder 3, small cylinder loading system 4, oil pump 41, servo valve 42, first hydraulic check valve 43, second hydraulic check valve 44, first solenoid ball valve 45, auxiliary pump 46, two-position three-way solenoid ball valve 47, first replenishing check valve 48, second replenishing check valve 49, accumulator loading system 5, third solenoid ball valve 51, fourth solenoid ball valve 52, fifth solenoid ball valve 53, sixth solenoid ball valve 54, accumulator 55, first air charging valve 551, accumulator 56, and second air charging valve 561. 57. First normally open ball valve; 58. First unloading ball valve; 59. Second normally open ball valve; 50. Second unloading ball valve; 6. Large hydraulic cylinder loading system; 61. Main pump check valve; 62. Main pump overflow valve; 63. Oil filter; 64. Second solenoid ball valve; 65. Auxiliary pump check valve; 66. Auxiliary pump overflow valve; 67. First safety valve; 68. Second safety valve; 69. Oil chamber pressure sensor; 70. Second accumulator loading system; 71. First accumulator unloading valve; 72. First accumulator safety valve; 73. Second accumulator unloading valve; 74. Second accumulator safety valve; 8. Oil tank; 9. Rudder plate; 10. Steering cylinder. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0048] First oil replenishing check valve 48 and second oil replenishing check valve 49: In this invention, the first oil replenishing check valve 48 and the second oil replenishing check valve 49 are used to replenish oil to the two oil chambers of the oil cylinder when it is unloaded and moving.

[0049] Two-position three-way solenoid ball valve 47: In this invention, the two-position three-way solenoid ball valve 47 is used to open and close the first hydraulic control check valve 43 and the second hydraulic control check valve 44.

[0050] The basic principle of accumulator loading is as follows: when the rudder plate 9 is at 0°, the small loading cylinder 2 and the large loading cylinder 3 are in the middle position. At this time, the pressure of the first accumulator 55 and the second accumulator 56 is equal. The fifth solenoid ball valve 53 and the sixth solenoid ball valve 54 are energized and in the open circuit state, while the other solenoid ball valves are de-energized and in the short circuit state.

[0051] First accumulator unloading valve 72 and second accumulator unloading valve 74: When the accumulator pressure is too high, the first accumulator unloading valve 72 and the second accumulator unloading valve 74 are energized, the first solenoid ball valve 45, the fifth solenoid ball valve 53, and the sixth solenoid ball valve 54 are energized, and the accumulator is depressurized. When the pressure reaches the set value, the first accumulator unloading valve 72 and the second accumulator unloading valve 74 are de-energized, the first solenoid ball valve 45 is de-energized, and the fifth solenoid ball valve 53 and the sixth solenoid ball valve 54 remain energized, and the pressure of the accumulator and the oil cylinder is maintained at the set value.

[0052] First accumulator safety valve 71 and second accumulator safety valve 73: The accumulator safety valves in this invention are used to limit the maximum oil filling pressure and protect the accumulator.

[0053] Example 1:

[0054] See Figure 1 , Figure 2The steering gear hydraulic system based on cylinder loading and accumulator loading includes a steering system 1, small loading cylinders 2 and large loading cylinders 3 symmetrically connected on both sides of the rudder plate 9, a small cylinder loading system 4, a first accumulator loading system 5, a large cylinder loading system 6, and a second accumulator loading system 7. The small cylinder loading system 4 and the large cylinder loading system 6 have the same structure, and the first accumulator loading system 5 and the second accumulator loading system 7 have the same structure. The small cylinder loading system 4, the first accumulator loading system 5, the large cylinder loading system 6, and the second accumulator loading system 7 are all signal connected to the steering system 1. The small cylinder loading system 4 and the large cylinder loading system 6 each include an oil pump 41, a servo valve 42, a first hydraulically controlled check valve 43, and a second hydraulically controlled check valve 44. Valve 44, first solenoid ball valve 45, auxiliary pump 46, two-position three-way solenoid ball valve 47, first replenishing oil check valve 48, second replenishing oil check valve 49, main pump check valve 61, main pump overflow valve 62, oil filter 63, second solenoid ball valve 64, auxiliary pump check valve 65, auxiliary pump overflow valve 66, first safety valve 67, second safety valve 68. The oil inlet ends of the oil pump 41 and auxiliary pump 46 are both connected to the oil tank 8. The oil outlet end of the oil pump 41 is connected to the P port of the servo valve 42 in sequence through the main pump check valve 61, oil filter 63, and second solenoid ball valve 64. The A and B ports of the servo valve 42 are connected to the oil inlet ends of the first hydraulic control check valve 43 and the second hydraulic control check valve 44, respectively. The T port of the servo valve 42 is connected to the oil tank 8. The small oil cylinder loading system 4 is the first The oil outlets of the first hydraulic check valve 43 and the second hydraulic check valve 44 are respectively connected to the lower and upper oil chambers of the small loading cylinder 2. The two ends of the first solenoid ball valve 45 in the small cylinder loading system 4 are respectively connected to the two oil chambers of the small loading cylinder 2. The oil outlets of the first hydraulic check valve 43 and the second hydraulic check valve 44 in the large cylinder loading system 6 are respectively connected to the lower and upper oil chambers of the large loading cylinder 3. The two ends of the first solenoid ball valve 45 in the large cylinder loading system 6 are respectively connected to the two oil chambers of the large loading cylinder 3. The oil outlet of the auxiliary pump 46 is connected to port 1 of the two-position three-way solenoid ball valve 47 through the auxiliary pump check valve 65. Port 2 of the two-position three-way solenoid ball valve 47 is connected to port X of the first hydraulic check valve 43 and port X of the second hydraulic check valve 44. The No. 3 port of the two-position three-way solenoid ball valve 47, the Y port of the first hydraulic check valve 43, and the Y port of the second hydraulic check valve 44 are all connected to the oil tank 8. The oil inlet ends of the first replenishing oil check valve 48 and the second replenishing oil check valve 49 are all connected to the oil tank 8. The oil outlet ends of the first replenishing oil check valve 48 and the second replenishing oil check valve 49 in the small cylinder loading system 4 are respectively connected to the lower and upper oil chambers of the small loading cylinder 2. The oil outlet ends of the first replenishing oil check valve 48 and the second replenishing oil check valve 49 in the large cylinder loading system 6 are respectively connected to the lower and upper oil chambers of the large loading cylinder 3. The oil inlet ends of the main pump overflow valve 62 and the auxiliary pump overflow valve 66 are respectively connected to the oil outlet ends of the oil pump 41 and the auxiliary pump 46. The oil outlet ends of the main pump overflow valve 62 and the auxiliary pump overflow valve 66 are both connected to the oil tank 8.One end of each of the first safety valve 67 and the second safety valve 68 is connected to the oil tank 8. The other ends of the first safety valve 67 and the second safety valve 68 in the small cylinder loading system 4 are connected to the lower and upper oil chambers of the small loading cylinder 2, respectively. The other ends of the first safety valve 67 and the second safety valve 68 in the large cylinder loading system 6 are connected to the lower and upper oil chambers of the large loading cylinder 3, respectively. Furthermore, oil chamber pressure sensors 69 are installed on the connecting pipes between the first safety valve 67, the second safety valve 68, and the corresponding oil chamber.

[0055] Both the No. 1 accumulator loading system 5 and the No. 2 accumulator loading system 7 include an oil pump 41, a first solenoid ball valve 45, a third solenoid ball valve 51, a fourth solenoid ball valve 52, a fifth solenoid ball valve 53, a sixth solenoid ball valve 54, a No. 1 accumulator 55, a No. 2 accumulator 56, a first normally open ball valve 57, a first unloading ball valve 58, a second normally open ball valve 59, and a second unloading ball valve 50. In the No. 1 accumulator loading system 5, the two ends of the first solenoid ball valve 45 are respectively connected to the lower and upper parts of the small loading cylinder 2. The oil chambers are connected. The two ends of the first electromagnetic ball valve 45 in the second accumulator loading system 7 are respectively connected to the lower and upper oil chambers of the large loading cylinder 3. One end of each of the third electromagnetic ball valve 51 and the fourth electromagnetic ball valve 52 is connected to the oil tank 8 via the oil pump 41. The other end of the third electromagnetic ball valve 51 is connected to one end of the fifth electromagnetic ball valve 53 and the inlet / outlet of the first accumulator 55. The other end of the fourth electromagnetic ball valve 52 is connected to one end of the sixth electromagnetic ball valve 54 and the inlet / outlet of the second accumulator 56. In the accumulator loading system 5, the other ends of the fifth solenoid ball valve 53 and the sixth solenoid ball valve 54 are respectively connected to the lower and upper oil chambers of the small loading cylinder 2. In the second accumulator loading system 7, the other ends of the fifth solenoid ball valve 53 and the sixth solenoid ball valve 54 are respectively connected to the lower and upper oil chambers of the large loading cylinder 3. One end of the first normally open ball valve 57 is connected to the third solenoid ball valve 51 and the fifth solenoid ball valve 53. One end of the first unloading ball valve 58 is connected to the oil tank 8. The first normally open ball valve 57 and the first unloading ball valve 58 are connected to the oil tank 8. The other end of valve 58 is connected to the inlet and outlet of accumulator 55. One end of the second normally open ball valve 59 is connected to the fourth solenoid ball valve 52 and the sixth solenoid ball valve 54. One end of the second unloading ball valve 50 is connected to the oil tank 8. The other ends of the second normally open ball valve 59 and the second unloading ball valve 50 are connected to the inlet and outlet of accumulator 56. The inlet and outlet of accumulator 55 and accumulator 56 are connected to nitrogen cylinder 20 through the first charging valve 551 and the second charging valve 561, respectively.

[0056] The operating method of the steering gear hydraulic system based on cylinder loading and accumulator loading includes:

[0057] When the small hydraulic cylinder loading system 4 and the large hydraulic cylinder loading system 6 are functioning correctly, the steering system 1 uses the hydraulic cylinder loading mode to control the operation of the small hydraulic cylinder loading system 4 and the large hydraulic cylinder loading system 6 to achieve load simulation. Specifically:

[0058] When a small load condition simulation is required, the steering system 1 controls the first solenoid ball valve 45 in the large cylinder loading system 6 to be energized. At this time, the upper and lower oil chambers of the large loading cylinder 3 are connected, and the output load of the large loading cylinder 3 is zero. At the same time, the steering system 1 controls the small cylinder loading system 4 to retract the small loading cylinder 2 to output differential pressure load.

[0059] When a large load condition simulation is required, the steering system 1 controls the first solenoid ball valve 45 in the small cylinder loading system 4 to be energized. At this time, the upper and lower oil chambers of the small loading cylinder 2 are connected, and the output load of the small loading cylinder 2 is zero. At the same time, the steering system 1 controls the large cylinder loading system 6 to make the large loading cylinder 3 extend to output differential pressure load.

[0060] When it is necessary to simulate ultra-high load conditions, the steering system 1 controls the small cylinder loading system 4 and the large cylinder loading system 6 respectively, so that the small loading cylinder 2 retracts and the large loading cylinder 3 extends to output the corresponding differential pressure load, and the differential pressure load output by the small loading cylinder 2 and the large loading cylinder 3 is in opposite directions.

[0061] When unloaded, the steering system 1 controls the first solenoid ball valve 45 in the small cylinder loading system 4 and the large cylinder loading system 6 to be energized. At this time, the upper and lower oil chambers of the small loading cylinder 2 and the upper and lower oil chambers of the large loading cylinder 3 are connected, and the output load is zero.

[0062] The process by which the steering system 1 retracts the small loading cylinder 2 by controlling the small cylinder loading system 4 includes:

[0063] When the steering system 1 controls the two-position three-way solenoid ball valve 47 to be energized, the auxiliary pump 46 outputs oil, and the auxiliary pump overflow valve 66 sets the oil pressure. The oil pressure causes the first hydraulic control check valve 43 and the second hydraulic control check valve 44 to open. At the same time, the servo valve 42 is energized to move the working position to the left position. The oil output by the servo pump 41 passes through the main pump check valve 61, oil filter 63, second solenoid ball valve 64, P port of servo valve 42, B port of servo valve 42, and second hydraulic control check valve 44 in sequence before entering the upper oil chamber of the small loading cylinder 2. This pushes the piston rod of the small loading cylinder 2 to retract. The oil in the lower oil chamber flows through the first hydraulic control check valve 43 and then passes through the A port and T port of servo valve 42 in sequence before returning to the oil tank 8. At this time, a pressure difference is formed between the two oil chambers of the small loading cylinder 2.

[0064] The process by which the steering system 1 extends the large loading cylinder 3 by controlling the large cylinder loading system 6 includes:

[0065] The steering system 1 controls the two-position three-way solenoid ball valve 47 to be energized, the auxiliary pump 46 outputs oil, and the auxiliary pump overflow valve 66 sets the oil pressure. The oil pressure causes the first hydraulic control check valve 43 and the second hydraulic control check valve 44 to open. At the same time, the servo valve 42 is energized to move the working position to the right position. The oil output by the oil pump 41 passes through the main pump check valve 61, oil filter 63, second solenoid ball valve 64, P port of servo valve 42, A port of servo valve 42, and first hydraulic control check valve 43 in sequence before entering the lower oil chamber of the large loading cylinder 3. This pushes the piston rod of the large loading cylinder 3 to extend. The oil in the upper oil chamber flows through the second hydraulic control check valve 44 and then passes through the B port and T port of servo valve 42 in sequence before returning to the oil tank 8. At this time, a pressure difference is formed between the two oil chambers of the large loading cylinder 3.

[0066] After determining that the small hydraulic cylinder loading system 4 and the large hydraulic cylinder loading system 6 have malfunctioned, the steering system 1 activates the accumulator loading mode to control the operation of the first accumulator loading system 5 and the second accumulator loading system 7 to achieve load simulation. The following operations are performed in sequence:

[0067] Accumulator pressure setting: The steering system 1 first controls the first normally open ball valve 57 and the second normally open ball valve 59 to close, and the first unloading ball valve 58 and the second unloading ball valve 50 to open, so that the first accumulator 55 and the second accumulator 56 are completely depressurized. Then, it controls the first charging valve 551 and the second charging valve 561 to open, so that the gas in the nitrogen cylinder 20 enters the first accumulator 55 and the second accumulator 56. When the charging pressure in the first accumulator 55 and the second accumulator 56 reaches the set value, it controls the first charging valve 551 and the second charging valve 561 to close.

[0068] Accumulator oil pressure setting: When the rudder plate 9 is at the 0° position and the small loading cylinder 2 and the large loading cylinder 3 are in the neutral position, the steering system 1 controls the third electromagnetic ball valve 51, the fourth electromagnetic ball valve 52, the fifth electromagnetic ball valve 53 and the sixth electromagnetic ball valve 54 to be energized. The oil output by the oil pump 41 in the first accumulator loading system 5 flows to the two oil chambers of the small loading cylinder 2, the first accumulator 55 and the second accumulator 56 respectively. The oil output by the oil pump 41 in the second accumulator loading system 7 flows to the two oil chambers of the large loading cylinder 3, the first accumulator 55 and the second accumulator 56 respectively. When the oil pressure of the first accumulator 55 and the second accumulator 56 reaches the set value, the steering system 1 controls the third electromagnetic ball valve 51 and the fourth electromagnetic ball valve 52 to be de-energized, and the oil pump 41 stops operating.

[0069] Load simulation operation:

[0070] When a small load condition simulation is required, the steering system 1 controls the first solenoid ball valve 45 in the second accumulator loading system 7 to be energized. At this time, the two oil chambers of the large loading cylinder 3 are connected, and the output load of the large loading cylinder 3 is zero. At the same time, the steering system 1 drives the steering cylinder 10 to drive the rudder plate 9 to rotate, thereby causing the piston rod of the small loading cylinder 2 to retract. The volume of the first accumulator 55 decreases and the pressure increases, while the volume of the second accumulator 56 increases and the pressure decreases. When the rudder plate 9 rotates to the maximum angle, the pressure difference between the upper and lower chambers of the small loading cylinder 2 is the output load of the cylinder.

[0071] When a large load condition simulation is required, the steering system 1 controls the first solenoid ball valve 45 in the first accumulator loading system 5 to be energized. At this time, the two oil chambers of the small loading cylinder 2 are connected, and the output load of the small loading cylinder 2 is zero. At the same time, the steering system 1 drives the steering cylinder 10 to drive the rudder plate 9 to rotate, thereby causing the piston rod of the large loading cylinder 3 to extend. The volume of the second accumulator 56 decreases and the pressure increases, while the volume of the first accumulator 55 increases and the pressure decreases. When the rudder plate 9 rotates to the maximum angle, the pressure difference between the upper and lower chambers of the large loading cylinder 3 is the output load of the cylinder.

[0072] When simulating ultra-high load conditions, the steering system 1 drives the steering cylinder 10 to rotate the rudder plate 9, thereby causing the piston rod of the small loading cylinder 2 to retract and the piston rod of the large loading cylinder 3 to extend. The pressures of the first accumulator 55 and the second accumulator 56 in the first accumulator loading system 5 and the first accumulator 55 and the second accumulator 56 in the second accumulator loading system 7 change accordingly, and the differential pressure load output by the small loading cylinder 2 and the large loading cylinder 3 are in opposite directions.

[0073] When unloaded, the steering system 1 controls the first solenoid ball valve 45 in the first accumulator loading system 5 and the second accumulator loading system 7 to be energized. At this time, the two oil chambers of the small loading cylinder 2 and the two oil chambers of the large loading cylinder 3 are connected, and the output load is zero.

[0074] Example 2:

[0075] The difference from Example 1 is as follows:

[0076] The first accumulator loading system 5 and the second accumulator loading system 7 further include a first accumulator safety valve 71, a first accumulator unloading valve 72, a second accumulator safety valve 73, and a second accumulator unloading valve 74. One end of the first accumulator safety valve 71 and the first accumulator unloading valve 72 are connected to the inlet and outlet ports of the first accumulator 55, and the other end of the first accumulator safety valve 71 and the first accumulator unloading valve 72 are connected to the oil tank 8. One end of the second accumulator safety valve 73 and the second accumulator unloading valve 74 are connected to the inlet and outlet ports of the second accumulator 56, and the other end of the second accumulator safety valve 73 and the second accumulator unloading valve 74 are connected to the oil tank 8.

Claims

1. A steering gear hydraulic system based on cylinder loading and accumulator loading, characterized by: The hydraulic system comprises a steering system (1), a small loading oil cylinder (2) and a large loading oil cylinder (3) symmetrically connected to both sides of a steering plate (9); the oil chamber of the small loading oil cylinder (2) is connected to the small oil cylinder loading system (4) and a first accumulator loading system (5); the oil chamber of the large loading oil cylinder (3) is connected to a large oil cylinder loading system (6) and a second accumulator loading system (7); the small oil cylinder loading system (4) and the large oil cylinder loading system (6) have the same structure; the first accumulator loading system (5) and the second accumulator loading system (7) have the same structure; and the small oil cylinder loading system (4), the first accumulator loading system (5), the large oil cylinder loading system (6), and the second accumulator loading system (7) are all connected to the steering system (1) by signals; The small oil cylinder loading system (4) and the large oil cylinder loading system (6) both comprise an oil delivery pump (41), a servo valve (42), a first hydraulically controlled one-way valve (43), a second hydraulically controlled one-way valve (44), and a first electromagnetic ball valve (45). The oil inlet and outlet ends of the oil delivery pump (41) are respectively connected to the oil tank (8) and the P port of the servo valve (42). The A and B ports of the servo valve (42) are respectively connected to the oil inlet ends of the first hydraulically controlled one-way valve (43) and the second hydraulically controlled one-way valve (44). The T port of the servo valve (42) is connected to the oil tank (8). The oil outlet ends of the first hydraulically controlled one-way valve (43) and the second hydraulically controlled one-way valve (44) are respectively connected to the two oil chambers of the small loading oil cylinder (2); the two ends of the first electromagnetic ball valve (45) in the small oil cylinder loading system (4) are respectively connected to the two oil chambers of the small loading oil cylinder (2); the oil outlet ends of the first hydraulically controlled one-way valve (43) and the second hydraulically controlled one-way valve (44) in the large oil cylinder loading system (6) are respectively connected to the two oil chambers of the large loading oil cylinder (3); and the two ends of the first electromagnetic ball valve (45) in the large oil cylinder loading system (6) are respectively connected to the two oil chambers of the large loading oil cylinder (3); The steering system (1) is used for: When the small oil cylinder loading system (4) and the large oil cylinder loading system (6) are not faulty, the small oil cylinder loading system (4) and the large oil cylinder loading system (6) are controlled to operate to achieve load simulation; When a small oil cylinder loading system (4) or a large oil cylinder loading system (6) fails, the No. 1 accumulator loading system (5) or the No. 2 accumulator loading system (7) is controlled to operate to realize load simulation.

2. The steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 1, characterized in that: The small oil cylinder loading system (4) and the large oil cylinder loading system (6) further include an auxiliary pump (46), a two-position three-way electromagnetic ball valve (47), a first oil replenishment check valve (48), and a second oil replenishment check valve (49). The oil inlet and outlet ends of the auxiliary pump (46) are respectively connected to the oil tank (8) and the No. 1 port of the two-position three-way electromagnetic ball valve (47). The No. 2 port of the two-position three-way electromagnetic ball valve (47) is connected to the X port of the first hydraulically controlled check valve (43) and the X port of the second hydraulically controlled check valve (44). The No. 3 port of the two-position three-way electromagnetic ball valve (47) and the No. 1 port of the first hydraulically controlled check valve (43) are connected to the No. 2 port of the second hydraulically controlled check valve (44). The Y port of the valve (43) and the Y port of the second hydraulically controlled one-way valve (44) are both connected to the oil tank (8); the oil inlet ends of the first oil replenishment one-way valve (48) and the second oil replenishment one-way valve (49) are both connected to the oil tank (8); the oil outlet ends of the first oil replenishment one-way valve (48) and the second oil replenishment one-way valve (49) in the small oil cylinder loading system (4) are respectively connected to the two oil chambers of the small loading oil cylinder (2); and the oil outlet ends of the first oil replenishment one-way valve (48) and the second oil replenishment one-way valve (49) in the large oil cylinder loading system (6) are respectively connected to the two oil chambers of the large loading oil cylinder (3).

3. The steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 1 or 2, characterized in that: The No. 1 accumulator loading system (5) and the No. 2 accumulator loading system (7) both comprise an oil delivery pump (41), a first electromagnetic ball valve (45), a third electromagnetic ball valve (51), a fourth electromagnetic ball valve (52), a fifth electromagnetic ball valve (53), a sixth electromagnetic ball valve (54), a No. 1 accumulator (55), and a No. 2 accumulator (56). The two ends of the first electromagnetic ball valve (45) in the No. 1 accumulator loading system (5) are respectively connected to the two oil chambers of the small loading oil cylinder (2), and the two ends of the first electromagnetic ball valve (45) in the No. 2 accumulator loading system (7) are respectively connected to the two oil chambers of the large loading oil cylinder (3). The third electromagnetic ball valve (51), the fourth electromagnetic ball valve (52) ) are connected to the oil tank (8) through the oil delivery pump (41); the other end of the third electromagnetic ball valve (51) is connected to one end of the fifth electromagnetic ball valve (53) and the oil inlet and outlet of the first accumulator (55); the other end of the fourth electromagnetic ball valve (52) is connected to one end of the sixth electromagnetic ball valve (54) and the oil inlet and outlet of the second accumulator (56); the other ends of the fifth electromagnetic ball valve (53) and the sixth electromagnetic ball valve (54) in the first accumulator loading system (5) are respectively connected to the two oil chambers of the small loading cylinder (2); the other ends of the fifth electromagnetic ball valve (53) and the sixth electromagnetic ball valve (54) in the second accumulator loading system (7) are respectively connected to the two oil chambers of the large loading cylinder (3).

4. The steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 3 is characterized in that: The first accumulator loading system (5) and the second accumulator loading system (7) further include a first normally open ball valve (57), a first unloading ball valve (58), a second normally open ball valve (59), and a second unloading ball valve (50); one end of the first normally open ball valve (57) is connected to the third electromagnetic ball valve (51) and the fifth electromagnetic ball valve (53); one end of the first unloading ball valve (58) is connected to the oil tank (8); the other ends of the first normally open ball valve (57) and the first unloading ball valve (58) are connected to the first accumulator (55); The oil inlet and outlet are connected, one end of the second normally open ball valve (59) is connected to the fourth electromagnetic ball valve (52) and the sixth electromagnetic ball valve (54), one end of the second unloading ball valve (50) is connected to the oil tank (8), the other ends of the second normally open ball valve (59) and the second unloading ball valve (50) are both connected to the oil inlet and outlet of the No. 2 accumulator (56), and the air inlet and outlet of the No. 1 accumulator (55) and the No. 2 accumulator (56) are connected to the nitrogen bottle (20) through the first charging valve (551) and the second charging valve (561) respectively.

5. The steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 4, characterized in that: The No. 1 accumulator loading system (5) and the No. 2 accumulator loading system (7) further include a first accumulator safety valve (71), a first accumulator unloading valve (72), a second accumulator safety valve (73), and a second accumulator unloading valve (74); one end of the first accumulator safety valve (71) and the first accumulator unloading valve (72) are both connected to the oil inlet and outlet of the No. 1 accumulator (55); the other end of the first accumulator safety valve (71) and the first accumulator unloading valve (72) are both connected to the oil tank (8); one end of the second accumulator safety valve (73) and the second accumulator unloading valve (74) are both connected to the oil inlet and outlet of the No. 2 accumulator (56); the other end of the second accumulator safety valve (73) and the second accumulator unloading valve (74) are both connected to the oil tank (8).

6. The operating method of the steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 1 is characterized in that: The operation method comprises: When the small oil cylinder loading system (4) and the large oil cylinder loading system (6) are not faulty, the steering system (1) uses the oil cylinder loading mode to control the operation of the small oil cylinder loading system (4) and the large oil cylinder loading system (6) to achieve load simulation, and the oil cylinder loading mode includes: When a small load working condition simulation is required, the steering system (1) controls the first electromagnetic ball valve (45) in the large oil cylinder loading system (6) to be energized, and at this time, the two oil chambers of the large loading oil cylinder (3) are connected, and the output load of the large loading oil cylinder (3) is zero. At the same time, the steering system (1) controls the small oil cylinder loading system (4) to make the small loading oil cylinder (2) expand and contract to output a pressure difference load; When a large load working condition simulation is required, the steering system (1) controls the first electromagnetic ball valve (45) in the small oil cylinder loading system (4) to be energized, and at this time, the two oil chambers of the small loading oil cylinder (2) are connected, and the output load of the small loading oil cylinder (2) is zero. At the same time, the steering system (1) controls the large oil cylinder loading system (6) to make the large loading oil cylinder (3) expand and contract to output a pressure difference load; When it is necessary to simulate an ultra-large load condition, the steering system (1) controls the small oil cylinder loading system (4) and the large oil cylinder loading system (6) respectively, so that the small loading oil cylinder (2) and the large loading oil cylinder (3) are extended and retracted to output a corresponding pressure differential load, and the pressure differential loads output by the small loading oil cylinder (2) and the large loading oil cylinder (3) are in opposite directions; When unloaded, the steering system (1) controls the first electromagnetic ball valves (45) in the small oil cylinder loading system (4) and the large oil cylinder loading system (6) to be energized. At this time, the two oil chambers of the small loading oil cylinder (2) and the two oil chambers of the large loading oil cylinder (3) are connected, and the output load is zero; The process in which the steering system (1) controls the small cylinder loading system (4) to extend and retract the small loading cylinder (2) comprises: The steering system (1) controls the first hydraulically controlled non-return valve (43) and the second hydraulically controlled non-return valve (44) in the small oil cylinder loading system (4) to open, and the servo valve (42) is energized to move the working position to the left position. The oil output by the servo oil pump (41) enters an oil chamber of the small loading oil cylinder (2) through the P port of the servo valve (42), the B port of the servo valve (42), and the second hydraulically controlled non-return valve (44) in sequence, and pushes the piston rod of the small loading oil cylinder (2) to perform a telescopic action. The oil in the other oil chamber flows through the first hydraulically controlled non-return valve (43) and then returns to the oil tank (8) through the A port and the T port of the servo valve (42). At this time, a pressure difference is formed between the two oil chambers of the small loading oil cylinder (2); The process in which the steering system (1) controls the large oil cylinder loading system (6) to extend and retract the large loading oil cylinder (3) comprises: The steering system (1) controls the first hydraulically controlled non-return valve (43) and the second hydraulically controlled non-return valve (44) in the large oil cylinder loading system (6) to open, and the servo valve (42) is energized to move the working position to the right position. The oil output by the oil pump (41) passes through the P port of the servo valve (42), the A port of the servo valve (42), and the first hydraulically controlled non-return valve (43) in sequence and then enters an oil chamber of the large loading oil cylinder (3), pushing the piston rod of the large loading oil cylinder (3) to perform a telescopic action. The oil in the other oil chamber flows through the second hydraulically controlled non-return valve (44) and then passes through the B port and the T port of the servo valve (42) in sequence and returns to the oil tank (8). At this time, a pressure difference is formed between the two oil chambers of the large loading oil cylinder (3); After determining that the small oil cylinder loading system (4) and the large oil cylinder loading system (6) have failed, the steering system (1) starts the accumulator loading mode to control the operation of the No. 1 accumulator loading system (5) and the No. 2 accumulator loading system (7) to achieve load simulation.

7. The operating method of the steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 6, characterized in that: The No. 1 accumulator loading system (5) and the No. 2 accumulator loading system (7) both comprise an oil delivery pump (41), a first electromagnetic ball valve (45), a third electromagnetic ball valve (51), a fourth electromagnetic ball valve (52), a fifth electromagnetic ball valve (53), a sixth electromagnetic ball valve (54), a No. 1 accumulator (55), and a No. 2 accumulator (56). The two ends of the first electromagnetic ball valve (45) in the No. 1 accumulator loading system (5) are respectively connected to the two oil chambers of the small loading oil cylinder (2), and the two ends of the first electromagnetic ball valve (45) in the No. 2 accumulator loading system (7) are respectively connected to the two oil chambers of the large loading oil cylinder (3). The third electromagnetic ball valve (51), the fourth electromagnetic ball valve (52) ) are connected to the oil tank (8) through the oil delivery pump (41), the other end of the third electromagnetic ball valve (51) is connected to one end of the fifth electromagnetic ball valve (53) and the oil inlet and outlet of the first accumulator (55), the other end of the fourth electromagnetic ball valve (52) is connected to one end of the sixth electromagnetic ball valve (54) and the oil inlet and outlet of the second accumulator (56), the other ends of the fifth electromagnetic ball valve (53) and the sixth electromagnetic ball valve (54) in the first accumulator loading system (5) are respectively connected to the two oil chambers of the small loading cylinder (2), and the other ends of the fifth electromagnetic ball valve (53) and the sixth electromagnetic ball valve (54) in the second accumulator loading system (7) are respectively connected to the two oil chambers of the large loading cylinder (3); In the operating method, the accumulator loading mode includes the following load simulation operations: When a small load working condition simulation is required, the steering system (1) controls the first electromagnetic ball valve (45) in the No. 2 accumulator loading system (7) to be energized, and at this time, the two oil chambers of the large loading cylinder (3) are connected, and the output load of the large loading cylinder (3) is zero. At the same time, the steering system (1) drives the steering cylinder (10) to drive the rudder plate (9) to rotate, thereby causing the piston rod of the small loading cylinder (2) to expand and contract, and the volume of the No. 1 accumulator (55) decreases, the pressure increases, and the volume of the No. 2 accumulator (56) increases, and the pressure decreases; When a large load working condition simulation is required, the steering system (1) controls the first electromagnetic ball valve (45) in the No. 1 accumulator loading system (5) to be energized, and at this time, the two oil chambers of the small loading oil cylinder (2) are connected, and the output load of the small loading oil cylinder (2) is zero. At the same time, the steering system (1) drives the steering oil cylinder (10) to drive the rudder plate (9) to rotate, thereby causing the piston rod of the large loading oil cylinder (3) to expand and contract, the volume of the No. 2 accumulator (56) to decrease, the pressure to increase, and the volume of the No. 1 accumulator (55) to increase, and the pressure to decrease; When it is necessary to simulate an ultra-large load condition, the steering system (1) drives the steering cylinder (10) to drive the rudder plate (9) to rotate, thereby causing the piston rods of the small loading cylinder (2) and the large loading cylinder (3) to extend and retract, and the pressures of the No. 1 accumulator (55) and the No. 2 accumulator (56) in the No. 1 accumulator loading system (5) and the No. 1 accumulator (55) and the No. 2 accumulator (56) in the No. 2 accumulator loading system (7) all change accordingly, and the pressure difference loads output by the small loading cylinder (2) and the large loading cylinder (3) are in opposite directions; When the load is not loaded, the steering system (1) controls the first electromagnetic ball valve (45) in the No. 1 accumulator loading system (5) and the No. 2 accumulator loading system (7) to be energized. At this time, the two oil chambers of the small loading oil cylinder (2) and the two oil chambers of the large loading oil cylinder (3) are connected, and the output load is zero.

8. The operating method of the steering gear hydraulic system based on cylinder loading and accumulator loading according to claim 7, characterized in that: The first accumulator loading system (5) and the second accumulator loading system (7) further include a first normally open ball valve (57), a first unloading ball valve (58), a second normally open ball valve (59), and a second unloading ball valve (50); one end of the first normally open ball valve (57) is connected to the third electromagnetic ball valve (51) and the fifth electromagnetic ball valve (53); one end of the first unloading ball valve (58) is connected to the oil tank (8); the other ends of the first normally open ball valve (57) and the first unloading ball valve (58) are connected to the first accumulator (55); The oil inlet and outlet are connected, one end of the second normally open ball valve (59) is connected to the fourth electromagnetic ball valve (52) and the sixth electromagnetic ball valve (54), one end of the second unloading ball valve (50) is connected to the oil tank (8), the other ends of the second normally open ball valve (59) and the second unloading ball valve (50) are both connected to the oil inlet and outlet of the No. 2 accumulator (56), and the air inlet and outlet of the No. 1 accumulator (55) and the No. 2 accumulator (56) are connected to the nitrogen bottle (20) through the first charging valve (551) and the second charging valve (561) respectively; In the accumulator loading mode, the following operations are performed in sequence before the load simulation operation: Gas pressure setting of the accumulator: the steering system (1) first controls the first normally open ball valve (57) and the second normally open ball valve (59) to be closed, and the first unloading ball valve (58) and the second unloading ball valve (50) to be opened, so that the first accumulator (55) and the second accumulator (56) are completely depressurized, and then controls the first charging valve (551) and the second charging valve (561) to be opened, so that the gas in the nitrogen bottle (20) enters the first accumulator (55) and the second accumulator (56), and when the charging pressure in the first accumulator (55) and the second accumulator (56) reaches the set value, the first charging valve (551) and the second charging valve (561) are controlled to be closed; The oil pressure setting of the accumulator: when the steering plate (9) is at the 0° position and the small loading oil cylinder (2) and the large loading oil cylinder (3) are at the middle position, the steering system (1) controls the third electromagnetic ball valve (51), the fourth electromagnetic ball valve (52), the fifth electromagnetic ball valve (53) and the sixth electromagnetic ball valve (54) to be energized, and the oil output by the oil delivery pump (41) in the No. 1 accumulator loading system (5) flows to the two oil chambers of the small loading oil cylinder (2) and the No. 1 accumulator (55). and a No. 2 accumulator (56). The oil output by the oil delivery pump (41) in the No. 2 accumulator loading system (7) flows to the two oil chambers of the large loading oil cylinder (3), the No. 1 accumulator (55) and the No. 2 accumulator (56). When the oil pressures of the No. 1 accumulator (55) and the No. 2 accumulator (56) reach a set value, the steering system (1) controls the third electromagnetic ball valve (51) and the fourth electromagnetic ball valve (52) to lose power, and the oil delivery pump (41) stops operating.

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