Lightweight direct drainage servo system and device

Abstract

The application provides a light-weight direct drainage servo system and device, comprising a constant value pressure reducing valve, a check valve, a high-pressure safety valve, an essential oil filter, a servo valve, a hydraulic control check valve, a hydraulic cylinder, a displacement sensor, an accumulator, an electromagnetic reversing valve, an energy source selection valve, a high-pressure test hose, a low-pressure test hose, a high-pressure self-sealing joint, a low-pressure self-sealing joint and a logic control algorithm, which not only realizes that an energy redundancy module and a ground test energy module share a high-pressure test hose, but also has a direct injection zero control function module under the condition of a non-motor pump test energy, and improves the power density ratio and reliability of the servo mechanism.

Description

Technical Field

[0001] This invention relates to the field of electro-hydraulic servo control system technology, specifically to a lightweight direct-flow servo system and device. Background Technology

[0002] Direct-flow servo systems are widely used in launch vehicle thrust vector control systems due to their simple structure, fast dynamic response, and ability to utilize high-pressure energy from the engine. The number of servo systems in each stage of a launch vehicle is often even. The high-pressure energy flow path of the servo system is connected to a redundant energy module via high-pressure hoses, which greatly improves the reliability of the servo system and meets the high reliability requirements for manned lunar landing. However, each servo system requires an additional high-pressure hose, the length of which depends on the distance between the two servo systems. This not only increases weight, but also leaves the hose suspended in the air, connected to the servo mechanism at both ends via connectors. During flight, the launch vehicle experiences significant vibrations, which could lead to collisions with other structures or detachment. Damage to other structures, the hose itself, or the connector detachment could have serious consequences. Therefore, it is necessary to reduce or even eliminate the number of suspended hoses within the rocket body to further improve the power density ratio and reliability of the servo system.

[0003] Before launch, a launch vehicle requires a servo system for attitude correction to maintain vertical launch. Before launch, the engine is not ignited, and the servo system cannot directly draw on its high-voltage energy. The current servo system needs to carry a motor pump test oil source and is equipped with a ground intermediate frequency power supply and an automatic disconnection device to disconnect the power supply and ground cable. Once the engine is ignited, the servo system can obtain the engine's energy and does not need to be powered by the motor pump test oil source, but it still needs to be carried into space. This inevitably increases the weight and complexity of the servo system and reduces its reliability. Therefore, it is necessary to study how to eliminate the motor pump test oil source, but still provide attitude correction energy for the servo system before launch, thereby achieving vertical launch of the launch vehicle.

[0004] Patent document CN104314141A discloses an automatic liquid pressure regulating mechanism, including a regulator body. The regulator body comprises a rectangular cylinder and a semi-circular cylinder. A compression spring and a nozzle are disposed within the rectangular cylinder. A pneumatic valve is fixedly mounted on the nozzle. One end of the pneumatic valve is connected to the compression spring, and the other end is connected to a pin. Two drain pipes are disposed below the nozzle, located on the left and right sides of the bottom of the rectangular cylinder, respectively, and connected to a servo hydraulic cylinder. The servo hydraulic cylinder includes a first air chamber and a second air chamber separated by a piston. The two drain pipes are respectively connected to the first and second air chambers. A water inlet pipe penetrating the rectangular cylinder is connected to the nozzle. The servo hydraulic cylinder is connected to a regulator for controlling the air pressure within the sealed pipe. However, this patent cannot completely solve the existing technical problems, nor can it meet the needs of this invention. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a lightweight direct flow servo system and device.

[0006] The lightweight direct-flow servo system provided by the present invention includes:

[0007] First high-pressure drainage hose, first fixed-value pressure reducing valve, first check valve, first accumulator, first solenoid directional valve, first high-pressure safety valve, first energy selection valve, first oil filter, first servo valve, first hydraulic cylinder, first displacement sensor, first hydraulically controlled check valve, first low-pressure drainage hose, second high-pressure drainage hose, second fixed-value pressure reducing valve, second check valve, second accumulator, second solenoid directional valve, second high-pressure safety valve, second energy selection valve, second oil filter, second servo valve, second hydraulic cylinder, second displacement sensor, second hydraulically controlled check valve and second low-pressure drainage hose, high-pressure test hose, high-pressure self-sealing connector, low-pressure test hose, low-pressure self-sealing connector and controller;

[0008] The first high-pressure drain hose, the first fixed-value pressure reducing valve, the first check valve, the first accumulator, the first solenoid directional valve, and the first high-pressure safety valve constitute the main oil circuit high-pressure energy source;

[0009] The second high-pressure drain hose, the second fixed-value pressure reducing valve, the second check valve, the second accumulator, the second solenoid directional valve, and the second high-pressure safety valve constitute the secondary oil circuit high-pressure energy source.

[0010] The main oil circuit high-pressure energy source and the auxiliary oil circuit high-pressure energy source together form an energy redundancy module, and their connection method is as follows:

[0011] The first high-pressure drain hose is connected in series with the first fixed-value pressure reducing valve and the first one-way valve in sequence; the first accumulator is connected in series with the first electromagnetic reversing valve, and then connected in parallel with the first high-pressure safety valve to converge in the main oil circuit to form the main oil circuit high-pressure energy.

[0012] The first energy selection valve has its first oil inlet connected to the main oil circuit high-pressure energy source, its second oil inlet connected to the auxiliary oil circuit high-pressure energy source, and its outlet connected to the first fine oil filter. The electromagnetic control terminals are all connected to the controller via cables.

[0013] The first servo valve inlet is connected to the first essential oil filter outlet, the first return port is connected to the outlet of the first high-pressure safety valve, the second port is connected to the first hydraulic check valve and the first low-pressure drainage hose in sequence, and the third port is connected to the low-pressure test hose and the low-pressure self-sealing connector in sequence.

[0014] The two control ports of the first servo valve are respectively connected to the two chambers of the first hydraulic cylinder, and the electromagnetic control terminals are all connected to the controller via cables;

[0015] The first displacement sensor is connected to the piston rod of the first hydraulic cylinder and feeds the signal back to the controller via a cable;

[0016] The second high-pressure drain hose is connected in series with the second fixed-value pressure reducing valve and the second one-way valve in sequence; the second accumulator is connected in series with the second electromagnetic reversing valve, and then connected in parallel with the second high-pressure safety valve to converge in the auxiliary oil circuit to form the auxiliary oil circuit high-pressure energy;

[0017] The first oil inlet of the second energy selection valve is connected to the high-pressure energy of the auxiliary oil circuit, the second oil inlet is connected to the high-pressure energy of the main oil circuit, and the outlet is connected to the second fine oil filter. The electromagnetic control terminals are all connected to the controller via cables.

[0018] The second servo valve inlet is connected to the second essential oil filter outlet, the first return port is connected to the outlet of the second high-pressure safety valve, the second return port is connected to the second hydraulic check valve and the second low-pressure drain hose in sequence, and the third return port is connected to the low-pressure test hose and the low-pressure self-sealing connector in sequence.

[0019] The two control ports of the second servo valve are respectively connected to the two chambers of the second hydraulic cylinder, and the electromagnetic control terminals are all connected to the controller via cables;

[0020] The second displacement sensor is connected to the piston rod of the second hydraulic cylinder and feeds the signal back to the controller via a cable.

[0021] Preferably, the first energy selection valve and the second energy selection valve are two-position three-way solenoid valves. In the de-energized state, both inlets and outlets are connected, and in the energized state, only the second oil inlet is connected to the outlet.

[0022] Preferably, the high-pressure test hose is a three-way high-pressure hose, with its output ends connected to the first energy selection valve and the second energy selection valve respectively, and its input end connected to the high-pressure self-sealing connector.

[0023] Preferably, the low-pressure test hose is a three-way low-pressure hose, with its output ends connected to the oil return ports of the first servo valve and the second servo valve, respectively, and its input end connected to a low-pressure self-sealing connector.

[0024] Preferably, the first electromagnetic reversing valve and the first electromagnetic reversing valve are two-position two-way electromagnetic valves, in which the inlet and outlet are connected when the power is off, and in which the inlet and outlet are disconnected when the power is on.

[0025] Preferably, when the servo system is in ground testing mode before launch, the first electromagnetic reversing valve, the first energy selection valve, and the second energy selection valve are de-energized. The ground oil source is connected to the high-pressure test hose and the low-pressure test hose through the high-pressure self-sealing connector and the low-pressure self-sealing connector, respectively. The high-pressure working medium flows to the inlet of the first servo valve and the second servo valve through the high-pressure self-sealing connector, the high-pressure test hose, the first energy selection valve, and the second energy selection valve, so as to realize the normal operation of the servo mechanism. It returns to the ground oil source through the low-pressure test hose and the low-pressure self-sealing connector. After all pre-launch tests are completed, the accumulator is charged to the rated working pressure, the first electromagnetic reversing valve and the first electromagnetic reversing valve are closed, and then the ground oil source is disconnected from the high-pressure self-sealing connector and the low-pressure self-sealing connector.

[0026] Preferably, when the launch vehicle enters the pre-launch zeroing control mode, the first electromagnetic reversing valve and the first electromagnetic reversing valve open, controlling the first servo valve and the second servo valve to swing the hydraulic cylinder to the required position, ensuring that the rocket is in a vertical launch state. After reaching the corresponding position, the first electromagnetic reversing valve and the first electromagnetic reversing valve are immediately de-energized. When multiple zeroing actions are required, the above pre-launch zeroing control mode can be repeated.

[0027] Preferably, after the engine starts ignition, the first solenoid directional valve, the first energy selection valve, and the second energy selection valve are de-energized. The engine's high-pressure working medium provides high-pressure energy to the servo mechanism, which then provides constant-pressure energy to the servo mechanism sequentially through the high-pressure drain hose, the set-value pressure reducing valve, the check valve, the energy selection valve, and the oil filter. When the high-pressure energy in the main oil circuit fails, the first energy selection valve is energized, cutting off the high-pressure energy in the main oil circuit. The high-pressure energy in the auxiliary oil circuit then provides constant-pressure energy to the servo mechanism through the high-pressure test hose, allowing the servo mechanism to continue operating. When the high-pressure energy in the auxiliary oil circuit fails, the second energy selection valve is energized, cutting off the high-pressure energy in the auxiliary oil circuit, and the high-pressure energy in the main oil circuit will then provide high-pressure energy.

[0028] The lightweight direct flow servo device provided by the present invention employs the aforementioned lightweight direct flow servo system.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] This invention not only enables the energy redundancy module and the ground test energy module to share the high-pressure test hose, but also has a pre-launch zero-adjustment control function module under the condition of no motor pump test energy, thereby improving the power density ratio and reliability of the servo mechanism. Attached Figure Description

[0031] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0032] Figure 1 This is a schematic diagram illustrating the working principle of the present invention;

[0033] Reference numerals: 1-First high-pressure drainage hose; 2-First fixed-value pressure reducing valve; 3-First check valve; 4-First accumulator; 5-First solenoid directional valve; 6-First high-safety valve; 7-First energy selection valve; 8-First oil filter; 9-First servo valve; 10-First hydraulic cylinder; 11-First displacement sensor; 12-First hydraulic check valve; 13-First low-pressure drainage hose; 14-Second high-pressure drainage hose; 15-Second fixed-value pressure reducing valve; 16 17-Second check valve; 18-Second accumulator; 19-Second solenoid directional valve; 20-Second high-safety valve; 21-Second energy selection valve; 22-Second oil filter; 23-Second servo valve; 24-Second hydraulic cylinder; 25-Second displacement sensor; 26-Second hydraulic check valve; 27-Second low-pressure drainage hose; 28-High-pressure test hose; 29-High-pressure self-sealing connector; 30-Low-pressure test hose; 31-Controller. Detailed Implementation

[0034] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0035] Example 1

[0036] This invention provides a lightweight direct traffic servo system, comprising:

[0037] 1. First high-pressure drainage hose; 2. First fixed-value pressure reducing valve; 3. First check valve; 4. First accumulator; 5. First solenoid directional valve; 6. First high-pressure safety valve; 7. First energy selection valve; 8. First oil filter; 9. First servo valve; 10. First hydraulic cylinder; 11. First displacement sensor; 12. First hydraulic check valve; 13. First low-pressure drainage hose; 14. Second high-pressure drainage hose; 15. Second fixed-value pressure reducing valve; 16. Second check valve; 17. Second accumulator; 18. Second solenoid directional valve; 19. Second high-pressure safety valve; 20. Second energy selection valve; 21. Second oil filter; 22. Second servo valve; 23. Second hydraulic cylinder; 24. Second displacement sensor; 25. Second hydraulic check valve; 26. Second low-pressure drainage hose; 27. High-pressure test hose; 28. High-pressure self-sealing connector; 29. ​​Low-pressure test hose; 30. Low-pressure self-sealing connector; and controller 31.

[0038] The first high-pressure drain hose 1, the first fixed-value pressure reducing valve 2, the first check valve 3, the first accumulator 4, the first solenoid directional valve 5, and the first high-pressure safety valve 6 constitute the main oil circuit high-pressure energy source;

[0039] The second high-pressure drain hose 14, the second fixed-value pressure reducing valve 15, the second one-way valve 16, the second accumulator 17, the second solenoid directional valve 18, and the second high-pressure safety valve 19 constitute the secondary oil circuit high-pressure energy source.

[0040] The main oil circuit high-pressure energy source and the auxiliary oil circuit high-pressure energy source together form an energy redundancy module, and their connection method is as follows:

[0041] The first high-pressure drain hose 1 is connected in series with the first fixed-value pressure reducing valve 2 and the first one-way valve 3 in sequence; the first accumulator 4 is connected in series with the first electromagnetic reversing valve 5, and then connected in parallel with the first high-pressure safety valve 6 to converge in the main oil circuit to form the main oil circuit high-pressure energy.

[0042] The first energy selection valve 7 has an oil inlet connected to the main oil circuit high-pressure energy source, a second oil inlet connected to the auxiliary oil circuit high-pressure energy source, and an outlet connected to the first fine oil filter 8. The electromagnetic control terminals are all connected to the controller 31 via cables.

[0043] The oil inlet of the first servo valve 9 is connected to the outlet of the first essential oil filter 8. The first return port is connected to the outlet of the first high-pressure safety valve 6. The second return port is connected to the first hydraulic check valve 12 and the first low-pressure drainage hose 13 in sequence. The third return port is connected to the low-pressure test hose 29 and the low-pressure self-sealing connector 30 in sequence.

[0044] The two control ports of the first servo valve 9 are respectively connected to the two chambers of the first hydraulic cylinder 10, and the electromagnetic control terminals are all connected to the controller 31 via cables.

[0045] The first displacement sensor 11 is connected to the piston rod of the first hydraulic cylinder 10 and feeds the signal back to the controller 31 via a cable;

[0046] The second high-pressure drain hose 14 is connected in series with the second fixed-value pressure reducing valve 15 and the second one-way valve 16 in sequence; the second accumulator 17 is connected in series with the second electromagnetic reversing valve 18, and then connected in parallel with the second high-pressure safety valve 19 to converge in the auxiliary oil circuit to form the auxiliary oil circuit high-pressure energy.

[0047] The first oil inlet of the second energy selection valve 20 is connected to the high-pressure energy of the auxiliary oil circuit, the second oil inlet is connected to the high-pressure energy of the main oil circuit, and the outlet is connected to the second fine oil filter 21. The electromagnetic control terminals are all connected to the controller 31 via cables.

[0048] The oil inlet of the second servo valve 22 is connected to the outlet of the second essential oil filter 21. The first return port is connected to the outlet of the second high-pressure safety valve 19. The second return port is connected to the second hydraulic check valve 25 and the second low-pressure drainage hose 26 in sequence. The third return port is connected to the low-pressure test hose 29 and the low-pressure self-sealing connector 30 in sequence.

[0049] The two control ports of the second servo valve 22 are respectively connected to the two chambers of the second hydraulic cylinder 23, and the electromagnetic control terminals are all connected to the controller 31 via cables;

[0050] The second displacement sensor 24 is connected to the piston rod of the second hydraulic cylinder 23 and feeds the signal back to the controller 31 via a cable.

[0051] The first energy selection valve 7 and the second energy selection valve 20 are two-position three-way solenoid valves. In the de-energized state, both inlets and outlets are connected, and in the energized state, only the second oil inlet is connected to the outlet.

[0052] The high-pressure test hose 27 is a three-way high-pressure hose, with its output ends connected to the first energy selection valve 7 and the second energy selection valve 20 respectively, and its input end connected to the high-pressure self-sealing connector 28.

[0053] The low-pressure test hose 29 is a three-way low-pressure hose, with its output ends connected to the oil return ports of the first servo valve 9 and the second servo valve 23, respectively, and its input end connected to the low-pressure self-sealing connector 30.

[0054] The first electromagnetic reversing valve 5 and the second electromagnetic reversing valve 18 are two-position two-way electromagnetic valves. In the de-energized state, their inlet and outlet are connected, and in the energized state, their inlet and outlet are disconnected.

[0055] Example 2

[0056] Example 2 is a preferred example of Example 1.

[0057] like Figure 1 The first aspect of this invention provides an energy selection valve, a high-pressure test hose, and a high-pressure self-sealing connector. When the servo system is in ground testing mode before launch of the launch vehicle, the electromagnetic reversing valve and the energy selection valve are de-energized. The ground oil source is connected to the high-pressure test hose and the low-pressure test hose through the high-pressure self-sealing connector and the low-pressure self-sealing connector, respectively. The high-pressure working medium flows to the inlet of the servo valve through the high-pressure self-sealing connector, the high-pressure test hose, the energy selection valve, and the oil filter, so that the servo mechanism can work normally. It returns to the ground oil source through the low-pressure test hose and the low-pressure self-sealing connector. After completing all pre-launch tests, the accumulator is charged to the rated working pressure, the electromagnetic reversing valve is closed, and then the ground oil source is disconnected from the high-pressure self-sealing connector and the low-pressure self-sealing connector.

[0058] When the engine ignites, the solenoid directional valve and the energy selection valve are de-energized. The engine's high-pressure working medium provides high-pressure energy to the servo mechanism, which then provides constant-pressure energy to the servo system through the high-pressure drain hose, the set-value pressure reducing valve, the check valve, the energy selection valve, and the oil filter. If the high-pressure energy in the main oil circuit fails, the energy selection valve is energized, cutting off the high-pressure energy in the main oil circuit. The high-pressure energy in the auxiliary oil circuit then provides constant-pressure energy to the servo mechanism through the high-pressure test hose, allowing the servo mechanism to continue operating and preventing the launch vehicle from losing flight attitude control. Similarly, if the high-pressure energy in the auxiliary oil circuit fails, its energy selection valve is energized, cutting off the high-pressure energy in the auxiliary oil circuit, and the high-pressure energy in the main oil circuit will then provide high-pressure energy.

[0059] As explained above, when the energy selection valve is de-energized, the two inlets are connected to ensure that the high-pressure test hose can simultaneously supply power to both servo mechanisms during ground oil source testing. At the same time, when the energy selection valve is energized, the inlet connected to the high-pressure energy in its main oil circuit is closed, which can isolate the main oil circuit high-pressure energy in the diversion operation if a fault occurs. Meanwhile, the high-pressure energy in the auxiliary oil circuit provides high-pressure energy to the servo mechanism through the high-pressure test hose. In this way, the ground test oil source and the energy redundancy module can share the high-pressure test hose.

[0060] The second aspect of this invention provides a pre-launch zeroing control module, including an accumulator, an electromagnetic directional valve, and a logic control algorithm. The electromagnetic directional valve is a normally open two-position, two-way valve with zero-leakage sealing performance in the closed state. After the launch vehicle completes all pre-flight tests on the flight tower, the accumulator is filled with the rated pressure working medium using a ground oil source, and the electromagnetic directional valve is energized to be in the closed state. When zeroing is required before launch, the electromagnetic directional valve opens, and then the servo valve is controlled to swing the hydraulic cylinder to the required position, ensuring that the rocket is in a vertical launch state. After reaching the corresponding position, the electromagnetic directional valve is immediately de-energized. When multiple zeroing actions are required, the above zeroing control module can be repeatedly executed, thus eliminating the need for a motor pump test oil source and greatly improving the power density ratio and reliability of the servo system.

[0061] This invention is achieved through the following technical solution. The invention mainly includes: a high-pressure drain hose, a fixed-value pressure reducing valve, a check valve, a high-pressure safety valve, a servo valve, a hydraulic cylinder, a displacement sensor, a hydraulically controlled check valve, and a low-pressure drain hose. It is further characterized by including an accumulator, a solenoid directional valve, an energy selection valve, a high-pressure test hose, a high-pressure self-sealing connector, a low-pressure test hose, a low-pressure self-sealing connector, and a logic control algorithm. The high-pressure drain hose, fixed-value pressure reducing valve, check valve, accumulator, solenoid directional valve, and high-pressure safety valve constitute the main oil circuit high-pressure energy source. Another set of high-pressure drain hoses, fixed-value pressure reducing valves, check valves, accumulators, solenoid directional valves, and high-pressure safety valves constitutes the auxiliary oil circuit high-pressure energy source. The main oil circuit high-pressure energy source and the auxiliary oil circuit high-pressure energy source together form an energy redundancy module. The connection method is as follows: the first inlet of the energy selection valve is connected to the auxiliary oil circuit high-pressure energy source, the second inlet is connected to the main oil circuit high-pressure energy source, and the outlet is connected to the fine oil filter. The electromagnetic control terminal is connected to the controller via a cable. The servo valve inlet is connected to the oil filter outlet. The first return port is connected to the high-pressure safety valve outlet, the second to the hydraulic check valve and the low-pressure drain hose, and the third to the low-pressure test hose and the low-pressure self-sealing connector. The two control ports are connected to the two chambers of the hydraulic cylinder, respectively. The electromagnetic control terminal is connected to the controller via a cable. The displacement sensor is connected to the hydraulic cylinder piston rod and feeds back the signal to the controller via a cable.

[0062] The working process of this invention is as follows: When the servo system is in ground testing condition before the launch of the carrier rocket, the electromagnetic reversing valve and the energy selection valve are de-energized. The ground oil source is connected to the high-pressure test hose and the low-pressure test hose through the high-pressure self-sealing connector and the low-pressure self-sealing connector, respectively. The high-pressure working medium flows to the inlet of the servo valve through the high-pressure self-sealing connector, the high-pressure test hose, and the energy selection valve, so that the servo mechanism can work normally. It then returns to the ground oil source through the low-pressure test hose and the low-pressure self-sealing connector. After all pre-launch tests are completed, the accumulator is charged to the rated working pressure, the electromagnetic reversing valve is closed, and then the ground oil source is disconnected from the high-pressure self-sealing connector and the low-pressure self-sealing connector.

[0063] When the launch vehicle enters the pre-launch zeroing control mode, the electromagnetic reversing valve opens, and then the control servo valve moves to make the hydraulic cylinder swing to the required position, ensuring that the rocket is in a vertical launch state. After reaching the corresponding position, the power is immediately cut off and the electromagnetic reversing valve opens. When multiple zeroing actions are required, the above pre-launch zeroing control mode can be repeated.

[0064] When the engine ignites, the solenoid directional valve and the energy selection valve are de-energized. The engine's high-pressure working medium provides high-pressure energy to the servo mechanism, which then provides constant-pressure energy to the servo mechanism through the high-pressure drain hose, the set-value pressure reducing valve, the check valve, the energy selection valve, and the oil filter. If the high-pressure energy in the main oil circuit fails, the energy selection valve is energized, cutting off the high-pressure energy in the main oil circuit. The high-pressure energy in the auxiliary oil circuit then provides constant-pressure energy to the servo mechanism through the high-pressure test hose, allowing the servo mechanism to continue operating and preventing the launch vehicle from losing flight attitude control. Similarly, if the high-pressure energy in the auxiliary oil circuit fails, its energy selection valve is energized, cutting off the high-pressure energy in the auxiliary oil circuit, and the high-pressure energy in the main oil circuit will then provide high-pressure energy.

[0065] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0066] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0067] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A lightweight direct-flow servo system, characterized in that, include: First high-pressure drainage hose (1), first fixed-value pressure reducing valve (2), first check valve (3), first accumulator (4), first solenoid directional valve (5), first high-pressure safety valve (6), first energy selection valve (7), first oil filter (8), first servo valve (9), first hydraulic cylinder (10), first displacement sensor (11), first hydraulic check valve (12), first low-pressure drainage hose (13), second high-pressure drainage hose (14), second fixed-value pressure reducing valve (15), second check valve (16), second accumulator (17), second solenoid directional valve (18), second high-pressure safety valve (19), second energy selection valve (20), second oil filter (21), second servo valve (22), second hydraulic cylinder (23), second displacement sensor (24), second hydraulic check valve (25), and second low-pressure drainage hose (26), high-pressure test hose (27), high-pressure self-sealing connector (28), low-pressure test hose (29), low-pressure self-sealing connector (30), and controller (31); The first high-pressure drain hose (1), the first fixed-value pressure reducing valve (2), the first check valve (3), the first accumulator (4), the first solenoid directional valve (5), and the first high-pressure safety valve (6) constitute the main oil circuit high-pressure energy source; The second high-pressure drain hose (14), the second fixed-value pressure reducing valve (15), the second check valve (16), the second accumulator (17), the second solenoid directional valve (18), and the second high-pressure safety valve (19) constitute the secondary oil circuit high-pressure energy source. The main oil circuit high-pressure energy source and the auxiliary oil circuit high-pressure energy source together form an energy redundancy module, and their connection method is as follows: The first high-pressure drain hose (1) is connected in series with the first fixed-value pressure reducing valve (2) and the first one-way valve (3); the first accumulator (4) is connected in series with the first electromagnetic reversing valve (5), and then connected in parallel with the first high-pressure safety valve (6) to converge in the main oil circuit to form the main oil circuit high-pressure energy. The first oil inlet of the first energy selection valve (7) is connected to the high-pressure energy of the main oil circuit, the second oil inlet is connected to the high-pressure energy of the auxiliary oil circuit, and the outlet is connected to the first fine oil filter (8). The electromagnetic control terminals are all connected to the controller (31) via cables. The oil inlet of the first servo valve (9) is connected to the outlet of the first fine oil filter (8), the first return port is connected to the outlet of the first high pressure safety valve (6), the second port is connected to the first hydraulic check valve (12) and the first low pressure drainage hose (13) in sequence, and the third port is connected to the low pressure test hose (29) and the low pressure self-sealing connector (30) in sequence. The two control ports of the first servo valve (9) are respectively connected to the two chambers of the first hydraulic cylinder (10), and the electromagnetic control terminals are all connected to the controller (31) through cables. The first displacement sensor (11) is connected to the piston rod of the first hydraulic cylinder (10) and feeds the signal back to the controller (31) via a cable. The second high-pressure drain hose (14) is connected in series with the second fixed-value pressure reducing valve (15) and the second one-way valve (16); the second accumulator (17) is connected in series with the second electromagnetic reversing valve (18), and then connected in parallel with the second high-pressure safety valve (19) to converge in the auxiliary oil circuit to form the auxiliary oil circuit high-pressure energy. The first oil inlet of the second energy selection valve (20) is connected to the high-pressure energy of the auxiliary oil circuit, the second oil inlet is connected to the high-pressure energy of the main oil circuit, and the outlet is connected to the second fine oil filter (21). The electromagnetic control terminals are all connected to the controller (31) via cables. The oil inlet of the second servo valve (22) is connected to the outlet of the second oil filter (21), the first return port is connected to the outlet of the second high-pressure safety valve (19), the second return port is connected to the second hydraulic check valve (25) and the second low-pressure drainage hose (26) in sequence, and the third return port is connected to the low-pressure test hose (29) and the low-pressure self-sealing connector (30) in sequence. The two control ports of the second servo valve (22) are respectively connected to the two chambers of the second hydraulic cylinder (23), and the electromagnetic control terminals are connected to the controller (31) through cables. The second displacement sensor (24) is connected to the piston rod of the second hydraulic cylinder (23) and feeds the signal back to the controller (31) via a cable. The first energy selection valve (7) and the second energy selection valve (20) are two-position three-way solenoid valves. In the de-energized state, both inlets and outlets are connected, and in the energized state, only the second oil inlet is connected to the outlet. The high-pressure test hose (27) is a three-way high-pressure hose, with its output ends connected to the first energy selection valve (7) and the second energy selection valve (20) respectively, and its input end connected to the high-pressure self-sealing connector (28); The low-pressure test hose (29) is a three-way low-pressure hose, with its output ends connected to the oil return ports of the first servo valve (9) and the second servo valve (22) respectively, and its input end connected to the low-pressure self-sealing connector (30).

2. The lightweight direct-flow servo system according to claim 1, characterized in that, The first electromagnetic reversing valve (5) and the second electromagnetic reversing valve (18) are two-position two-way electromagnetic valves. In the de-energized state, their inlet and outlet are connected, and in the energized state, their inlet and outlet are disconnected.

3. The lightweight direct-flow servo system according to claim 1, characterized in that, Before the launch of the carrier rocket, when the servo system is in the ground test condition, the first electromagnetic reversing valve (5), the second electromagnetic reversing valve (18), the first energy selection valve (7), and the second energy selection valve (20) are de-energized. The ground oil source is connected to the high-pressure test hose (27) and the low-pressure test hose (29) through the high-pressure self-sealing connector (28) and the low-pressure self-sealing connector (30), respectively. The high-pressure working medium flows to the inlet of the first servo valve (9) and the second servo valve (22) through the high-pressure self-sealing connector (28), the high-pressure test hose (27), the first energy selection valve (7), and the second energy selection valve (20), so as to realize the normal operation of the servo mechanism. It returns to the ground oil source through the low-pressure test hose (29) and the low-pressure self-sealing connector (30). After completing all pre-launch tests, the accumulator is charged to the rated working pressure, the first electromagnetic reversing valve (5) and the second electromagnetic reversing valve (18) are closed, and then the ground oil source is disconnected from the high-pressure self-sealing connector (28) and the low-pressure self-sealing connector (30).

4. The lightweight direct-flow servo system according to claim 1, characterized in that, When the launch vehicle enters the pre-launch zeroing control mode, the first electromagnetic reversing valve (5) and the second electromagnetic reversing valve (18) are opened, controlling the first servo valve (9) and the second servo valve (22) to swing the hydraulic cylinder to the required position, ensuring that the rocket is in a vertical launch state. After reaching the corresponding position, the first electromagnetic reversing valve (5) and the second electromagnetic reversing valve (18) are immediately de-energized. When multiple zeroing actions are required, the above pre-launch zeroing control mode can be repeated.

5. The lightweight direct-flow servo system according to claim 1, characterized in that, When the engine starts igniting, the first solenoid directional valve (5), the second solenoid directional valve (18), the first energy selection valve (7), and the second energy selection valve (20) are de-energized. The high-pressure working medium of the engine provides high-pressure energy to the servo mechanism, which in turn provides constant pressure energy to the servo mechanism through the high-pressure drain hose, the fixed-value pressure reducing valve, the check valve, the energy selection valve, and the oil filter. When the high-pressure energy of the main oil circuit fails, the first energy selection valve (7) is energized, the high-pressure energy of the main oil circuit is cut off, and the high-pressure energy of the auxiliary oil circuit provides constant pressure energy to the servo mechanism through the high-pressure test hose (27), so that the servo mechanism continues to maintain its working state. When the high-pressure energy of the auxiliary oil circuit fails, the second energy selection valve (20) is energized, the high-pressure energy of the auxiliary oil circuit is cut off, and the high pressure of the main oil circuit will provide high-pressure energy to it.

6. A lightweight direct-flow servo device, characterized in that, The lightweight direct-flow servo system according to any one of claims 1-5 is adopted.

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