A discrete hydraulic valve machine rotary bend control system

Abstract

The present application relates to a kind of discrete hydraulic valve machine wheel rotation bending control system.Discrete hydraulic valve machine wheel rotation bending control system includes main control system, control valve group, turning assembly and digital turning valve group, main control system includes at least two main controllers, at least two main controllers are connected in parallel, control valve group is connected with main control system, control valve group opens according to the instruction of one of at least two main controllers, turning assembly includes first chamber, second chamber and piston, and digital turning valve group is connected with turning assembly by control valve group.Visible, the main control system of the present application includes at least two main controllers can improve the stability of system, at the same time, digital turning valve group uses simple structure to control turning assembly to act, the structure is not only high safety, and manufacturing cost is low, simple structure is also convenient for later maintenance, and using on-off valve reduces the cleanliness requirement of hydraulic oil, and cost is low.

Description

Technical Field

[0001] This invention relates to the field of aircraft control, and more particularly to a discrete hydraulic valve wheel steering control system. Background Technology

[0002] In existing technology, the movement of a piston inside the wheel actuator cylinder of an aircraft can be controlled by a servo valve to achieve wheel turning. Specifically, a piston is installed inside the wheel actuator cylinder, which divides the inside of the wheel actuator cylinder into a first chamber and a second chamber. Both the first and second chambers are connected to hydraulic oil circuits. The piston is connected to the landing gear steering strut through a transmission mechanism. The landing gear steering strut is connected to the wheel, thereby realizing the turning and return of the wheel. When the oil pressure in the first and second chambers is different, the piston moves and drives the landing gear steering strut to rotate. However, the servo valve uses hydraulic oil with poor cleanliness, which can easily cause blockage, leading to turning control failure and affecting safety. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a discrete hydraulic valve wheel turning control system and control method to solve the problem of excessive cost in related technologies.

[0004] A first aspect of the present invention provides a discrete hydraulic valve wheel turning control system, comprising: a main control system, the main control system including at least two main controllers connected in parallel; a control valve group, the control valve group including a switching valve and a mode conversion valve, the switching valve opening the mode conversion valve according to an instruction from one of the at least two main controllers, the control valve group establishing a connection with the main control system, and the control valve group opening according to an instruction from one of the at least two main controllers; a turning assembly, the turning assembly including a first chamber, a second chamber, and a piston, the piston being located between the first chamber and the second chamber; and a digital turning valve group, the digital turning valve group being connected to the turning assembly via the control valve group, the control valve group being used to control the connection or closure of the digital turning valve group and the turning assembly, the digital turning valve group including a first inlet switch valve, a first outlet switch valve, a second inlet switch valve, and a second outlet switch valve, the first inlet switch valve being used to control the hydraulic oil entering the first chamber, the first outlet switch valve being used to control the hydraulic oil discharging from the first chamber, and the second inlet switch valve being used to control the hydraulic oil entering the first chamber. The first inlet switch valve controls the hydraulic oil entering the second chamber, and the second outlet switch valve controls the hydraulic oil exiting the second chamber. Both the first inlet switch valve and the first outlet switch valve are connected to the first chamber via a mode switching valve, and both the second inlet switch valve and the second outlet switch valve are connected to the second chamber via the same mode switching valve. When one of the at least two main controllers issues a turning command, the control valve group controls the connection between the digital turning valve group and the turning assembly. The first inlet switch valve discharges hydraulic oil into the first chamber, and the hydraulic oil in the second chamber is discharged through the second outlet switch valve. The pistons located in the first and second chambers move, thereby rotating the landing gear turning strut, and the wheels complete the turn. When one of the at least two main controllers issues a return command, the control valve group controls the connection between the digital turning valve group and the turning assembly. The second inlet switch valve discharges hydraulic oil into the second chamber, and the hydraulic oil in the first chamber is discharged through the first outlet switch valve. The pistons located in the first and second chambers move, thereby rotating the landing gear turning strut, and the wheels return to their original position.

[0005] A second aspect of the present invention provides a discrete hydraulic valve wheel turning control method, applied to a discrete hydraulic valve wheel turning control system as described in the first aspect. The method includes: a main control system issuing commands to a control valve group and a digital turning valve group; the control valve group opening according to a command from one of at least two main controllers; and the digital turning valve group being connected to a turning component through the opened control valve group.

[0006] A third aspect of the present invention provides an electronic device, including at least one processor; a memory for storing at least one processor-executable instruction; wherein the at least one processor is used to execute the instruction to implement the steps of the above-described digital valve wheel turning control method.

[0007] A fourth aspect of the present invention provides a computer-readable storage medium that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the steps of the digital valve wheel turning control method described above.

[0008] The at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects: the main control system issues commands to the control valve group and the digital turning valve group; the control valve group opens according to the command of one of the at least two main controllers; and the digital turning valve group is connected to the turning component through the opened control valve group. Based on this, the main control system of the present invention includes at least two main controllers to provide a backup main controller, thereby improving system stability. Simultaneously, the digital turning valve group of the present invention uses a simple structure to control the operation of the turning component. This structure is not only highly safe but also low in manufacturing cost. The simple structure also facilitates later maintenance, and the use of a switching valve reduces the requirements for the cleanliness of the hydraulic oil, resulting in low cost. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic flowchart of a discrete hydraulic valve wheel turning control system according to an embodiment of the present invention.

[0011] Figure 2 A flowchart illustrating a management method for a main controller according to an embodiment of the present invention;

[0012] Figure 3 A flowchart illustrating another management method for a main controller provided in an embodiment of the present invention;

[0013] Figure 4 A schematic diagram of a discrete hydraulic valve wheel turning control system provided in an embodiment of the present invention;

[0014] Figure 5 A simplified layout diagram of a discrete hydraulic valve wheel turning control system provided in an embodiment of the present invention, wherein the control valve group is opened;

[0015] Figure 6 A simplified layout diagram of a discrete hydraulic valve wheel turning control system provided in an embodiment of the present invention, wherein oil is introduced into the first chamber and oil is discharged from the second chamber;

[0016] Figure 7 A simplified layout diagram of a discrete hydraulic valve wheel turning control system provided in an embodiment of the present invention, wherein oil is introduced into the second chamber and oil is discharged from the first chamber;

[0017] Figure 8 This is a schematic diagram of a turning assembly according to an embodiment of the present invention;

[0018] Figure 9 This is a schematic diagram of the control flow of a discrete hydraulic valve wheel turning control method according to an embodiment of the present invention;

[0019] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0020] Figure 11 This is a schematic diagram of the structure of a computer system provided in an embodiment of the present invention. Detailed Implementation

[0021] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0022] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0023] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0024] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0025] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0026] The following describes in detail, with reference to the accompanying drawings, a discrete hydraulic valve wheel turning control system and its control method according to an embodiment of the present invention.

[0027] Figure 1 This is a flowchart illustrating a discrete hydraulic valve wheel turning control system according to an embodiment of the present invention. Figure 1 As shown, the discrete hydraulic valve wheel turning control system includes:

[0028] The main control system 101 includes at least two main controllers connected in parallel.

[0029] The control valve assembly 102 includes a switching valve and a mode switching valve. The switching valve opens the mode switching valve according to an instruction from one of at least two main controllers. The control valve assembly is connected to the main control system and opens according to an instruction from one of at least two main controllers.

[0030] The turning assembly 104 includes a first chamber, a second chamber, and a piston, with the piston located between the first and second chambers.

[0031] A digital turning valve assembly 103 is connected to a turning component 104 via a control valve assembly 102. The control valve assembly 102 controls the connection or closure of the digital turning valve assembly 103 and the turning component 104. The digital turning valve assembly 103 includes a first inlet switch valve, a first outlet switch valve, a second inlet switch valve, and a second outlet switch valve. The first inlet switch valve controls the hydraulic oil entering the first chamber, the first outlet switch valve controls the hydraulic oil exiting the first chamber, the second inlet switch valve controls the hydraulic oil entering the second chamber, and the second outlet switch valve controls the hydraulic oil exiting the second chamber. Both the first inlet switch valve and the first outlet switch valve are connected to the first chamber via a mode switching valve, and both the second inlet switch valve and the second outlet switch valve are connected to the second chamber via a mode switching valve.

[0032] When one of the at least two main controllers issues a turning command, the control valve group controls the connection between the digital turning valve group and the turning assembly. The first inlet switch valve discharges hydraulic oil into the first chamber, and the hydraulic oil in the second chamber is discharged through the second outlet switch valve. The pistons located in the first and second chambers move, thereby driving the landing gear turning strut to rotate, and the wheels complete the turn.

[0033] When one of the at least two main controllers issues a return command, the control valve group controls the connection between the digital steering valve group and the steering assembly. The second inlet switch valve discharges hydraulic oil into the second chamber, while the hydraulic oil in the first chamber is discharged through the first outlet switch valve. The pistons located in the first and second chambers move, thereby driving the landing gear steering strut to rotate, and the wheels return to their original position.

[0034] In this embodiment, the turning assembly can be a wheel actuator cylinder. The wheel actuator cylinder is equipped with a piston, which divides the interior of the wheel actuator cylinder into a first chamber and a second chamber. Both the first chamber and the second chamber are connected to hydraulic oil circuits. The piston is connected to the landing gear turning strut through a transmission mechanism such as a gear and rack. A wheel is connected to each side of the landing gear turning strut. Specifically, a rack is provided on the piston, and a gear that meshes with the rack is provided on the landing gear turning strut. When the piston moves, it drives the rack to move, which in turn drives the gear on the landing gear turning strut to rotate. The rotation of the gear drives the wheels on both sides to rotate, thereby realizing the turning and return of the wheels.

[0035] As can be seen, the main control system of this invention includes at least two main controllers, providing a backup controller. This ensures good stability and control accuracy of the entire discrete hydraulic valve wheel turning control system, excellent dynamic performance, and avoids turning failures caused by using only one main controller, thus enhancing safety. Simultaneously, the control valve group is connected to the main control system and opens according to the command of one of the at least two main controllers. The switching valve enables precise control of the mode conversion valve, which in turn controls the flow of hydraulic oil into different chambers. Therefore, the digital turning valve group of this invention uses a simple structure to control the flow of hydraulic oil, achieving wheel turning control with a simple structure. The use of a switching valve reduces the requirements for hydraulic oil cleanliness, thereby lowering operating costs.

[0036] In some embodiments, the main control system adopts a combination of model self-monitoring and mutual monitoring, and sets up a cross-channel data link (CCDL) in the form of a CAN bus between at least two main controllers to realize communication and real-time data sharing between the two controllers. In this embodiment, the main control system includes two main controllers, and at least two main controllers are connected in parallel. One of the at least two main controllers is the primary main controller, and the other main controllers are slave controllers. For ease of distinction, the main controller referred to below is the primary controller, and the other less frequently used main controllers are slave controllers, which are standby controllers. There can be at least one slave controller. When the main controller is working, the slave controllers are silent. When the main controller fails, the slave controllers are working. The main control system may also include two, three, four, or more slave controllers. In practical applications, one main controller is used to control the control valve group and the digital turn valve group, and the remaining slave controllers can be in a silent state. When one of the aforementioned main controllers fails, signals are sent to the other main controllers in sequence, causing the other main controllers to start in sequence.

[0037] Figure 2 This is a flowchart illustrating a management method for a main controller according to an embodiment of the present invention. Figure 2 As shown, the specific management methods of the main controller can include:

[0038] S201, main controller self-test.

[0039] S202, determine if the main controller is faulty.

[0040] In some instances, if the main controller's self-test result indicates a fault, and the slave controller's self-test result indicates no fault, then S203 is executed. If the main controller's self-test result indicates no fault, then S204 and S205 are executed. The main controller's self-test result can be obtained through the cross-channel data link. It should be understood that S204 and S205 can be executed simultaneously or in a specific order, depending on the actual situation.

[0041] S203, the control valve group and the digital turn valve group are respectively connected to the slave controller, and the connection between the main controller and the control valve group and the digital turn valve group is cut off.

[0042] In some instances, if the main controller's self-test indicates a fault, the connection between the main controller and both the control valve group and the digital turn valve group is severed, while the slave controller establishes connections with both groups. The main controller's self-test results are then fed back to the slave controller for aggregation, and the slave controller implements corresponding control strategies based on these results.

[0043] S204, determine if the control valve assembly is faulty.

[0044] In some instances, when the main controller's self-test result is normal, it checks whether the control valve group is faulty. If the control valve group is faulty, step S207 is executed. If the control valve group is not faulty, step S208 is executed. The fault information for the control valve group can be directly obtained from the main controller.

[0045] S207, the control valve assembly establishes a connection with the slave controller.

[0046] In some instances, if a fault is detected in the control valve assembly, the connection between the control valve assembly and the main controller is severed, and the control valve assembly is connected to the slave controller. This prevents the faulty main controller from sending incorrect commands to the control valve assembly, thus avoiding control anomalies.

[0047] S205, determine if the digital turn valve assembly is faulty.

[0048] In some instances, when the main controller's self-test result is normal, it checks whether the digital turn valve assembly is faulty. If the digital turn valve assembly is faulty, step S206 is executed. If the digital turn valve assembly is not faulty, step S208 is executed. The fault information for the digital turn valve assembly can be directly obtained from the main controller.

[0049] S206, the digital turn valve assembly establishes a connection with the slave controller.

[0050] In some instances, if a fault is detected in the digital turn valve assembly, the connection between the digital turn valve assembly and the main controller is severed, and a connection is established between the digital turn valve assembly and the slave controller. This prevents the faulty main controller from sending incorrect commands to the digital turn valve assembly, thus avoiding control anomalies.

[0051] S208 informs the controller and simultaneously reports to the host computer.

[0052] In some instances, upon completion of steps S206, S207, or S203, the execution result is communicated to the slave controller and simultaneously reported to the host computer. The host computer can monitor the main control system in real time and acquire its data, enabling timely handling of any main controller malfunctions. It should be understood that in practical applications, when a fault is detected in either the control valve group or the digital turning valve group, only the connection between the faulty valve group and the main controller can be switched. When a control valve group fault is detected, the connection between the control valve group and the main controller is severed, and a connection is established between the control valve group and the slave controller. In this case, the digital turning valve group remains under the control of the main controller. Similarly, when a digital turning valve group fault is detected, the connection between the digital turning valve group and the main controller is severed, and a connection is established between the digital turning valve group and the slave controller. This not only ensures the stability of the discrete hydraulic valve wheel turning control system but also simplifies the workflow during faults.

[0053] Figure 3 This is a flowchart illustrating another management method for a controller according to an embodiment of the present invention. Figure 3 As shown, the management methods from the controller can include:

[0054] S301, self-test from controller.

[0055] In some examples, a self-test of the slave controller is also required when starting the main control system, thereby improving the reliability of the main control system.

[0056] S302, determine if the main controller is faulty.

[0057] In some instances, if the main controller's self-test result indicates a fault, but the slave controller's self-test result indicates no fault, then S303 is executed. If the main controller's self-test result indicates no fault, then S304 and S305 are executed. The main controller's self-test result can be obtained through the cross-channel data link. It should be understood that S304 and S305 can be executed simultaneously or in a specific order, depending on the actual situation.

[0058] S303: The control valve group and the digital turn valve group are respectively connected to the slave controller, and the connection between the main controller and the control valve group and the digital turn valve group is cut off.

[0059] In some instances, if the main controller's self-test indicates a fault, the connection between the main controller and both the control valve group and the digital turn valve group is severed, while the slave controller establishes connections with both groups. The main controller's self-test results are then fed back to the slave controller for aggregation, and the slave controller implements appropriate control strategies based on these results.

[0060] S304, determine if the control valve assembly is faulty.

[0061] In some instances, when the main controller's self-test result is normal, it determines whether the control valve group is faulty. If the control valve group is faulty, S307 is executed. If the control valve group is not faulty, S308 is executed. It should be understood that fault information for the control valve group can also be obtained directly from the main controller.

[0062] S307, the control valve assembly establishes a connection with the slave controller.

[0063] In some instances, if a fault is detected in the control valve assembly, the connection between the control valve assembly and the main controller is severed, and the control valve assembly is connected to the slave controller. This prevents the faulty main controller from sending incorrect commands to the control valve assembly, thus avoiding control anomalies.

[0064] S305, determine if the digital turn valve assembly is faulty.

[0065] In some instances, when the main controller's self-test result is normal, it determines whether the digital turn valve assembly is faulty. If the digital turn valve assembly is faulty, S306 is executed. If the digital turn valve assembly is not faulty, S308 is executed. It should be understood that fault information for the digital turn valve assembly can also be obtained directly from the main controller.

[0066] S306, the digital turn valve assembly establishes a connection with the slave controller.

[0067] In some instances, if a fault is detected in the digital turn valve assembly, the connection between the digital turn valve assembly and the main controller is severed, and a connection is established between the digital turn valve assembly and the slave controller. This prevents the faulty main controller from sending incorrect commands to the digital turn valve assembly, thus avoiding control anomalies.

[0068] S308, reporting to the host computer.

[0069] In some instances, upon completion of steps S306, S307, or S303, the execution result is reported to the host computer. The host computer can monitor the main control system in real time and acquire its data, enabling timely handling of any main controller malfunctions. Furthermore, the slave controller can monitor the main controller's status based on data sent via CCDL, and also receive fault information for faulty control valve groups and digital turn valve groups from the main controller. The slave controller then re-detects these faulty control valve groups and digital turn valve groups. If the slave controller detects a fault in a control valve group or digital turn valve group again, based on the main controller's initial detection, it shuts off the control valve group and digital turn valve group, reports the system fault, and activates the emergency control valve group.

[0070] In practical applications, when a fault is detected in either the control valve group or the digital turning valve group, the connection between the faulty valve group and the slave controller can be established only. When a fault is detected in the control valve group, the connection between the control valve group and the main controller is severed, and a connection is established between the control valve group and the slave controller. In this case, the digital turning valve group is still controlled by the main controller. Similarly, when a fault is detected in the digital turning valve group, the connection between the digital turning valve group and the main controller is severed, and a connection is established between the digital turning valve group and the slave controller. In this case, the control valve group is still controlled by the main controller. Based on this, not only can the stability of the discrete hydraulic valve wheel turning control system be guaranteed, but the workflow in case of faults can also be simplified.

[0071] In some instances, when one master controller is working, it sends a working signal to another master controller, which is not working. One master controller then sends a command to open the control valve group.

[0072] Specifically, when the main controller is functioning normally, it can send a working signal to the slave controller. This working signal can be "the main controller is working normally, and the slave controller remains silent." At this time, the main controller connects to the control valve group, and issues commands to open the control valve group. Based on this, another main controller can obtain the current status information of the main controller in real time, and can then be activated promptly based on the working signal in case of a failure of the current main controller, thereby ensuring the stability of the entire system.

[0073] In some instances, when one master controller fails, it sends a fault signal to the other master controller, which then activates and issues commands to open the control valve assembly.

[0074] Specifically, when the main controller fails, it can send a fault signal to another main controller (i.e., a slave controller). This fault signal can be something like, "Main controller failed; switch to another main controller to control the control valve group." At this time, the other controller connects to the control valve group and issues commands to open it. Based on this, the other main controller can obtain the current main controller's status information in real time, and can then be activated promptly based on the operating signal when the current main controller fails, thereby ensuring the stability of the entire system.

[0075] Figure 4 A schematic diagram of a discrete hydraulic valve wheel turning control system provided in an embodiment of the present invention is shown below. Figure 4As shown, the control valve assembly includes a switching valve 401 and a mode switching valve 402, which are connected together. The switching valve 401 can open the mode switching valve 402 according to the instruction of one of at least two main controllers. The digital turning valve assembly includes a first inlet switch valve 4031 and a first outlet switch valve 4032, both connected to the first chamber A via the mode switching valve 402. The second inlet switch valve 4041 and the second outlet switch valve 4042 are both connected to the second chamber B via the mode switching valve. Therefore, using at least two main controllers can improve the stability of the entire system, and also allows for precise control of the chamber pressure by having one inlet switch valve and one outlet switch valve corresponding to each chamber.

[0076] like Figure 4 As shown, the switching valve 401 may include at least one boosting switching valve and at least one depressurizing switching valve. The boosting switching valve and the mode switching valve 402 are connected in series, and the depressurizing switching valve and the mode switching valve 402 are connected in parallel. The two ends of the depressurizing switching valve are respectively connected to the two ends of the mode switching valve 402. Specifically, the boosting switching valve is a normally closed switching valve 4011, and the depressurizing switching valve is a normally open switching valve 4012. The normally closed switching valve 4011 and the mode switching valve 402 are connected in series, and the normally open switching valve 4012 and the mode switching valve 402 are connected in parallel. The two ends of the normally open switching valve 4012 are respectively connected to the two ends of the mode switching valve 402. The normally closed switching valve 4011 is located upstream of the normally open switching valve 4012. Figure 4 The damping orifice 408 is also shown. The damping orifice 408 is a small orifice or micro-orifice. When hydraulic oil flows through the pipeline, the damping orifice 408 can slow down the flow rate of the hydraulic oil or reduce the flow rate, thereby playing a damping role. Therefore, when the damping orifice 408 is connected, the impeller is in a damped and reduced sway state. At the same time, when the hydraulic oil flow rate is determined, the damping orifice 408 can also be used to replace the throttle valve to play a throttling role, thereby reducing costs and improving the stability of the valve core of the mode switching valve 402.

[0077] Initially, the normally closed switching valve 4011 is closed, and the normally open switching valve 4012 is open. A return spring is connected downstream of the mode switching valve 402, and in the initial state, the return spring is in a relaxed state. The oil source 406 is not connected to the switching valve 401; the hydraulic oil in the oil source 406 does not enter the switching valve 401, nor does it enter the mode switching valve 402, nor does it enter the first chamber A and the second chamber B of the turning assembly.

[0078] like Figure 4As shown, both the first inlet switch valve 4031 and the second inlet switch valve 4041 can be normally closed valves, and both the first outlet switch valve 4032 and the second outlet switch valve 4042 can be normally open valves. In the initial state, both the first inlet switch valve 4031 and the second inlet switch valve 4041 are closed. At this time, hydraulic oil cannot flow into the turning assembly through either the first inlet switch valve 4031 or the second inlet switch valve 4041, and the wheel cannot turn. Since the turning assembly includes a first chamber A and a second chamber B, hydraulic oil will not enter the first chamber A through the first inlet switch valve, nor will it enter the second chamber B through the second inlet switch valve. It should be understood that the hydraulic oil in the first chamber A and the second chamber B can flow to the return oil source 407 through the mode switching valve 402, thereby recovering the hydraulic oil.

[0079] Figure 5 This is a simplified layout diagram of a discrete hydraulic valve wheel turning control system according to an embodiment of the present invention, wherein the control valve group is opened, as shown below. Figure 5 As shown, when the switching valve 501 receives an opening command from the main controller (when the wheel turns or returns to its original position, the normally closed switching valve 5011 remains open, and the normally open switching valve 5012 remains closed), the normally closed switching valve 5011 opens, and the normally open switching valve 5012 closes. Hydraulic oil can flow from the oil source 506, passing through the normally closed switching valve 5011 to the mode switching valve 502, thus opening the mode switching valve 502. At this time, the return spring is compressed. The hydraulic oil can push the valve of the mode switching valve 502 to move, thereby opening the mode switching valve 502. The main controller can control the pressure of the hydraulic oil entering the first chamber A and the second chamber B respectively, so that the pressure in the first chamber A and the second chamber B are not exactly the same, thereby realizing the steering of the wheel.

[0080] Figure 6 This is a simplified layout diagram of a discrete hydraulic valve wheel turning control system according to an embodiment of the present invention, wherein oil is introduced into the first chamber and oil is discharged from the second chamber. Figure 6 As shown, at least one of the two main controllers sends a turning command to the first oil inlet switch valve 6031 and the second oil outlet switch valve 6042 respectively, and both the first oil inlet switch valve 6031 and the second oil outlet switch valve 6042 are opened. At least one of the two main controllers sends a turning command to the first oil outlet switch valve 6032 and the second oil inlet switch valve 6041 respectively, and both the first oil outlet switch valve 6032 and the second oil inlet switch valve 6041 are closed.

[0081] The main controller energizes the switching valve 601 to the open state. The open switching valve 601 operates the mode switching valve. The main controller sends a turning command to the first inlet switch valve 6031 to energize and open it. The main controller sends a turning command to the second outlet switch valve 6042 to energize and open it. The main controller sends a turning command to the first outlet switch valve 6032 to energize and close it. The main controller sends a turning command to the second inlet switch valve 6041 to energize and close it.

[0082] The first inlet valve 6031 is connected to the first chamber A via a mode switching valve 602. The mode switching valve 602 can be a two-position six-way valve. The mode switching valve 602 includes a first inlet and a second outlet. The first inlet is connected to the first inlet valve 6031, and the second outlet is connected to the second outlet valve 6042. The first inlet valve 6031 is connected to the first chamber A via its first inlet. Hydraulic oil from the oil source 606 enters the first inlet valve 6031 through the mode switching valve 602 and then enters the first chamber A. The hydraulic oil in the first chamber A is not discharged through the first outlet valve 6032. The second outlet valve 6042 is connected to the second chamber B via the mode switching valve 602. The second outlet valve 6042 is connected to the second chamber B via its second outlet. The hydraulic oil in the second chamber B is discharged through the second outlet valve 6042. Specifically, the hydraulic oil in the second chamber B flows to the second outlet switch valve 6042 through the mode switching valve 602 and is discharged through the second outlet switch valve 6042. The hydraulic oil in the second chamber B can flow through the second outlet switch valve 6042 to the return oil source 607 for recycling. The hydraulic oil from the oil source 606 will not enter the second chamber B through the second inlet switch valve.

[0083] The pressure in the first chamber A is greater than the pressure in the second chamber B. Therefore, the pressure of the hydraulic oil in the first chamber A is greater than the pressure of the hydraulic oil in the second chamber B. The pressure of the hydraulic oil between the first inlet switch valve 6031 and the first outlet switch valve 6032 is greater than the pressure of the hydraulic oil between the second inlet switch valve 6041 and the second outlet switch valve 6042. The hydraulic oil in the first chamber A pushes the piston towards the second chamber B, compressing the volume of the second chamber B, thereby achieving the turning of the wheel.

[0084] Figure 7 This is a simplified layout diagram of a discrete hydraulic valve wheel turning control system according to an embodiment of the present invention, wherein oil enters from the second chamber and exits from the first chamber. Figure 7As shown, at least one of the two main controllers sends a return command to the second oil inlet switch valve 7041 and the first oil outlet switch valve 7032 respectively, and both the second oil inlet switch valve 7041 and the first oil outlet switch valve 7032 are opened. At least one of the two main controllers sends a return command to the second oil outlet switch valve 7042 and the first oil inlet switch valve 7031 respectively, and both the second oil outlet switch valve 7042 and the first oil inlet switch valve 7031 are closed.

[0085] When the main controller energizes the switching valve 701 to be in the open state, the switching valve 701, in the open state, opens the mode switching valve 702. At this time, the main controller sends a return command to the second oil inlet switch valve 7041 to energize it and put it in the open state. The main controller sends a return command to the first oil outlet switch valve 7032 to energize it and put it in the open state. The main controller sends a return command to the second oil outlet switch valve 7042 to energize it and put it in the closed state. The main controller sends a return command to the first oil inlet switch valve 7031 to energize it and put it in the closed state.

[0086] The second inlet switch valve 7041 is connected to the second chamber B via a mode switching valve 702. The mode switching valve 702 can be a two-position six-way valve. The mode switching valve 702 includes a second inlet and a first outlet. The second inlet is connected to the second inlet switch valve 7041, and the first outlet is connected to the first outlet switch valve 7032. The second inlet switch valve 7041 is connected to the second chamber B via its second inlet. Hydraulic oil from the oil source 706 enters the second inlet switch valve 7041 through the mode switching valve 702, and then enters the second chamber B through the second inlet switch valve 7041. The hydraulic oil in the second chamber B is not discharged through the second outlet switch valve 7042. The first outlet switch valve 7032 is connected to the first chamber A via the mode switching valve 702. The first outlet switch valve 7032 is connected to the first chamber A via its first outlet. The hydraulic oil in the first chamber A is discharged through the first outlet switch valve 7032. Specifically, the hydraulic oil in the first chamber A flows to the first outlet switch valve 7032 through the mode switching valve 702 and is discharged through the first outlet switch valve 7032. The hydraulic oil in the first chamber A can flow through the first outlet switch valve 7032 to the return oil source 707 for recycling. The hydraulic oil from the oil source 706 will not enter the first chamber A through the first inlet switch valve 7031.

[0087] The pressure in the second chamber B is greater than the pressure in the first chamber A. Therefore, the pressure of the hydraulic oil in the second chamber B is greater than the pressure of the hydraulic oil in the first chamber A. The pressure of the hydraulic oil between the second inlet switch valve 7041 and the second outlet switch valve 7042 is greater than the pressure of the hydraulic oil between the first inlet switch valve 7031 and the first outlet switch valve 7032. The hydraulic oil in the second chamber B pushes the piston towards the first chamber A, compressing the volume of the first chamber A, thereby achieving the return of the impeller.

[0088] In practical applications, the main control system can also issue a turning command through one of at least two main controllers to the second inlet switch valve and the first outlet switch valve, making the pressure in the second chamber B greater than the pressure in the first chamber A, thereby achieving the turning of the wheel. The hydraulic oil flow method is similar to... Figure 7 Consistent, please refer to the specific details. Figure 7 The content should be understood that when the main controller sends a turning command to the second oil inlet switch valve and the first oil outlet switch valve, and when the main controller sends a turning command to the first oil inlet switch valve and the second oil outlet switch valve, the turning direction of the wheel is different. The specific direction can be set according to the actual situation.

[0089] Simultaneously, the main control system can also issue a return command to the first inlet switch valve and the second outlet switch valve through one of at least two main controllers, making the pressure in the first chamber A greater than the pressure in the second chamber B, thereby achieving the return of the impeller. This is achieved through the hydraulic oil flow method... Figure 6 Consistent, please refer to the specific details. Figure 6 Regarding the content, it should be understood that the return direction of the impeller differs when the main controller sends a return command to the first inlet switch valve and the second outlet switch valve. This can be set according to the actual situation. Furthermore, in practical applications, when the main controller issues a turning command to the first inlet switch valve and the second outlet switch valve, it cannot issue a return command to the first inlet switch valve and the second outlet switch valve; it can only issue a return command to the second inlet switch valve and the first outlet switch valve. Conversely, when the main controller issues a turning command to the second inlet switch valve and the first outlet switch valve, it cannot issue a return command to the second inlet switch valve and the first outlet switch valve; it can only issue a return command to the first inlet switch valve and the second outlet switch valve.

[0090] As can be seen, this invention can send different commands to different switching valves to achieve different turns or returns. At the same time, it can also control the opening degree of the switching valve according to the command sent by the main controller, thereby accurately controlling the pressure in the first chamber A or the second chamber B. In addition, it can also control the turning time or return time of the wheel by the timing of the command sent by the main controller, thus enabling more precise control of the wheel.

[0091] Figure 8 This is a schematic diagram of a turning assembly provided in one embodiment of the present invention. Figure 8 As shown, port C can be either the inlet or outlet of the first chamber 801; port D can be either the inlet or outlet of the second chamber 802. Based on this, hydraulic oil flowing out of the first inlet valve can flow into the first chamber 801 through port C, while hydraulic oil in the first chamber 801 can flow out through port C and return to the oil source via the first outlet valve. Similarly, hydraulic oil flowing out of the second inlet valve can flow into the second chamber 802 through port D, while hydraulic oil in the second chamber 802 can flow out through port D and return to the oil source via the second outlet valve. Therefore, by changing the amount of hydraulic oil in the first and second chambers 801 and 802, the pressure in both chambers can be changed. This pressure difference between the two chambers causes the position of piston 803 to change, thus driving the wheel assembly to rotate.

[0092] The turning mechanism of this invention is applicable not only to small and medium-sized aircraft, but also to medium and large aircraft. When applied to small and medium-sized aircraft, a rack and pinion type turning mechanism is used, such as the one described in the background section of this application; when applied to medium and large aircraft, a dual-actuator type turning mechanism is used, such as the dual-actuator type turning mechanism described in publication number CN101870358B. When the aircraft is taxiing on the ground, the mechanism receives a turning signal from the control system, and the valve control system controls the two actuators to cooperate in action, with one actuator pushing and the other actuator pulling, changing the length of the two actuators and driving the front wheel to turn.

[0093] Based on this, the control valve assembly controls the turning wheel's movement according to the commands issued by the main control system. Simultaneously, the main control system can also control the wheel's steering angle by controlling the energizing time of the first oil inlet switch valve, the second oil inlet switch valve, the wheel's return angle by controlling the energizing time of the first oil outlet switch valve, and the return angle of the wheel by controlling the energizing time of the second oil outlet switch valve.

[0094] In some embodiments, the switching valve used in this invention can be a high-speed switching valve. The high-speed switching valve can be the combined pilot-operated switching valve as disclosed in CN11639029A. High-speed switching valves have advantages such as small size, low cost, and insensitivity to contamination. In particular, they have high response speed, low repeatability error, and can be directly controlled digitally by a computer. Based on this, the discrete hydraulic valve wheel turning control system can also include a signal converter to convert the commands issued by the main control system into digital valve drive commands that can drive the digital valves, thereby achieving precise control of multiple digital valves. It should be understood that the normally closed high-speed switching valve in the control valve group can be a normally closed high-speed switching valve, and the normally open high-speed switching valve can be a normally open high-speed switching valve.

[0095] Specifically, the signal converter is electrically connected to both the main control system and the control valve group, and is located between them. The signal converter converts the commands issued by the main control system into a first digital signal and sends this first digital signal to the control valve group. This first digital signal can be used to drive multiple high-speed switching valves in the control valve group. The signal converter also converts the commands issued by the main control system into a second digital signal and sends this second digital signal to the digital turn valve group. This second digital signal can be used to drive multiple high-speed switching valves in the digital turn valve group.

[0096] Figure 9 This is a schematic diagram of the control flow of a discrete hydraulic valve wheel turning control method according to an embodiment of the present invention. Figure 9 As shown, the discrete hydraulic valve wheel turning control system provided in the embodiments of the present invention includes a main control system, a control valve group, a turning assembly, and a digital turning valve group. The method includes:

[0097] S901, the main control system sends commands to the control valve group and the digital turn valve group.

[0098] S902, the control valve group is opened according to the instruction of one of at least two main controllers, and the digital turn valve group is connected to the turn assembly through the opened control valve group.

[0099] The main control system of this invention includes a main controller and a slave controller. The slave controller can be used as an alternative to the main controller, so that the slave controller can be directly activated for control when the main controller fails, thereby improving the stability of the discrete hydraulic valve wheel turning control system. At the same time, it adopts a simple structure to control the turning of the wheel and has strong resistance to contamination.

[0100] In some embodiments, the discrete hydraulic valve wheel turning control system of the present invention further includes a signal converter, and the method further includes: the signal converter converts the instructions issued by the main controller into digital signals and sends the digital signals to the control valve group and the digital turning valve group.

[0101] As can be seen, the discrete hydraulic valve wheel turning control system of the present invention is lighter and smaller in size. The screw holes and oil circuit interfaces are compatible with the base corresponding to the original turning system, which can be replaced in situ. Furthermore, the discrete hydraulic valve wheel turning control system of the present invention can realize rapid tracking and continuous angle control of the front wheel turning, and can effectively control the front wheel turning.

[0102] In some embodiments, the switching valve used in this invention can be a high-speed switching valve. High-speed switching valves have advantages such as small size, low cost, and insensitivity to contamination. In particular, they have high response speed, small repeatability error, and can be directly controlled digitally by a computer. The switching valve can be the pilot-operated switching valve described in publication number CN116379029A. Based on this, the discrete hydraulic valve wheel turning control system can also include a signal converter for converting the commands issued by the control system into digital valve drive commands that can drive the digital valves, thereby achieving precise control of multiple digital valves. It should be understood that the boosting switching valve, the first inlet switching valve, and the second inlet switching valve involved in this invention can be normally closed high-speed switching valves, and the depressurizing switching valve, the first outlet switching valve, and the second outlet switching valve can be normally open high-speed switching valves.

[0103] This invention also provides an electronic device, comprising: at least one processor; and a memory for storing at least one processor-executable instruction; wherein the at least one processor is configured to execute the instruction to implement the steps of the method disclosed in this invention.

[0104] Figure 10 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Figure 10 As shown, the electronic device 1000 includes at least one processor 1001 and a memory 1002 coupled to the processor 1001. The processor 1001 can execute the corresponding steps in the methods disclosed in the embodiments of the present invention.

[0105] The processor 1001 described above can also be referred to as a Central Processing Unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the method disclosed in the embodiments of this invention can be completed by the integrated logic circuitry of the hardware in the processor 1001 or by instructions in software form. The processor 1001 described above can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can be located in the memory 1002, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The processor 1001 reads the information in the memory 1002 and, in conjunction with its hardware, completes the steps of the above method.

[0106] Furthermore, the various operations / processes according to the present invention, when implemented via software and / or firmware, can be transmitted from a storage medium or network to a computer system with a dedicated hardware architecture, for example... Figure 11 The computer system 1100 shown is equipped with the programs that constitute the software. When various programs are installed, the computer system is able to perform various functions, including functions such as those mentioned above. Figure 11 This is a schematic diagram of the structure of a computer system provided in an embodiment of the present invention.

[0107] Computer system 1100 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0108] like Figure 11As shown, the computer system 1100 includes a computing unit 1101, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. The RAM 1103 may also store various programs and data required for the operation of the computer system 1100. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0109] Multiple components in computer system 1100 are connected to I / O interface 1105, including: input unit 1106, output unit 1107, storage unit 1108, and communication unit 1109. Input unit 1106 can be any type of device capable of inputting information into computer system 1100. Input unit 1106 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. Output unit 1107 can be any type of device capable of presenting information and may include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 1108 may include, but is not limited to, hard disks and optical disks. Communication unit 1109 allows computer system 1100 to exchange information / data with other devices via a network such as the Internet, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0110] The computing unit 1101 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above. For example, in some embodiments, the methods disclosed in the embodiments of the present invention can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 1000 via ROM 1102 and / or communication unit 1109. In some embodiments, the computing unit 1101 can be configured to perform the methods disclosed in the embodiments of the present invention by any other suitable means (e.g., by means of firmware).

[0111] This invention also provides a computer-readable storage medium, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is able to perform the methods disclosed in this invention.

[0112] The computer-readable storage medium in this embodiment of the invention may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The aforementioned computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specifically, the aforementioned computer-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.

[0113] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0114] This invention also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the methods disclosed in this invention.

[0115] In embodiments of the present invention, computer program code for performing the operations of the present invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include, but are not limited to, object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it can be connected to an external computer.

[0116] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0117] The modules, components, or units described in the embodiments of this invention can be implemented in software or hardware. The names of the modules, components, or units do not necessarily constitute a limitation on the module, component, or unit itself.

[0118] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that can be used include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0119] The above description is merely an illustration of some embodiments of the present invention and the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0120] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A discrete hydraulic valve machine rotary bend control system, characterized by, The system comprises: a main control system comprising at least two main controllers connected in parallel; a control valve group comprising a switching valve and a mode conversion valve, the switching valve opens the mode conversion valve according to the instruction of one of the at least two main controllers, the control valve group is connected with the main control system, and the control valve group opens according to the instruction of one of the at least two main controllers; a turning assembly comprising a first chamber, a second chamber and a piston located between the first chamber and the second chamber; a digital turning valve group connected with the turning assembly through the control valve group, the control valve group is used to control the communication or closing of the digital turning valve group and the turning assembly, the digital turning valve group comprises a first oil inlet switch valve, a first oil outlet switch valve, a second oil inlet switch valve and a second oil outlet switch valve, the first oil inlet switch valve is used to control the hydraulic oil entering the first chamber, the first oil outlet switch valve is used to control the hydraulic oil discharged from the first chamber, the second oil inlet switch valve is used to control the hydraulic oil entering the second chamber, and the second oil outlet switch valve is used to control the hydraulic oil discharged from the second chamber, the first oil inlet switch valve and the first oil outlet switch valve are connected to the first chamber through the mode conversion valve, and the second oil inlet switch valve and the second oil outlet switch valve are connected to the second chamber through the mode conversion valve; when one of the at least two main controllers issues a turning instruction, the control valve group controls the communication of the digital turning valve group and the turning assembly, the first oil inlet switch valve discharges hydraulic oil into the first chamber, the hydraulic oil in the second chamber is discharged through the second oil outlet switch valve, the piston located in the first chamber and the second chamber moves, thereby driving the landing gear turning strut to rotate, and the wheel completes turning; when one of the at least two main controllers issues a return instruction, the control valve group controls the communication of the digital turning valve group and the turning assembly, the second oil inlet switch valve discharges hydraulic oil into the second chamber, the hydraulic oil in the first chamber is discharged through the first oil outlet switch valve, the piston located in the first chamber and the second chamber moves, thereby driving the landing gear turning strut to rotate, and the wheel completes returning.

2. The discrete hydraulic valve wheel turning control system according to claim 1, wherein the switching valve comprises at least one pressure increasing switch valve and at least one pressure reducing switch valve, the pressure increasing switch valve and the mode conversion valve are connected in series, the pressure reducing switch valve and the mode conversion valve are connected in parallel, and the two ends of the pressure reducing switch valve are communicated with the two ends of the mode conversion valve respectively; when one of the at least two main controllers issues a turning or returning instruction, the pressure increasing switch valve is opened, the pressure reducing switch valve is closed, the pressure increasing switch valve controls the mode conversion valve to be opened, and the mode conversion valve communicates the digital turning valve group and the turning assembly. When one of the at least two main controllers issues a closing instruction, the pressure increasing switch valve is closed, the pressure decreasing switch valve is opened, the return spring controls the mode conversion valve to be disconnected, and the digital turning valve group and the turning assembly are disconnected.

3. The discrete hydraulic valve machine wheel turning control system according to claim 1, wherein, one of the at least two main controllers issues a turning instruction to the first inlet switch valve and the second outlet switch valve respectively, and both the first inlet switch valve and the second outlet switch valve are opened, one of the at least two main controllers issues a turning instruction to the first outlet switch valve and the second inlet switch valve respectively, and both the first outlet switch valve and the second inlet switch valve are closed.

4. The discrete hydraulic valve machine wheel turning control system according to claim 3, wherein, the mode conversion valve comprises a first inlet and a second outlet, the first inlet switch valve is communicated with the first chamber through the first inlet, and the second outlet switch valve is communicated with the second chamber through the second outlet, the pressure of the first chamber is greater than the pressure of the second chamber, and the piston compresses the volume of the second chamber.

5. The discrete hydraulic valve machine wheel turning control system according to claim 1, wherein, one of the at least two main controllers issues a return instruction to the second inlet switch valve and the first outlet switch valve respectively, and both the second inlet switch valve and the first outlet switch valve are opened, one of the at least two main controllers issues a return instruction to the second outlet switch valve and the first inlet switch valve respectively, and both the second outlet switch valve and the first inlet switch valve are closed.

6. The discrete hydraulic valve machine wheel turning control system according to claim 5, wherein, the mode conversion valve comprises a second inlet and a first outlet, the second inlet switch valve is communicated with the second chamber through the second inlet, and the first outlet switch valve is communicated with the first chamber through the first outlet, the pressure of the second chamber is greater than the pressure of the first chamber, and the piston compresses the volume of the first chamber.

7. The discrete hydraulic valve engine rotary bend control system of claim 1, wherein, The discrete hydraulic valve machine wheel turning control system further comprises a signal converter, the signal converter is located between the main control system and the control valve group, and also located between the main control system and the digital turning valve group, the signal converter converts the instructions issued by the main controller into digital signals, and sends the digital signals to the control valve group and the digital turning valve group.

8. The discrete hydraulic valve machine wheel turning control system according to claim 1, wherein, when one of the main controllers works, the one main controller issues a working signal to the other main controller, and the other main controller does not work, the instructions issued by the one main controller control the control valve group to be opened.

9. The discrete hydraulic valve machine wheel turning control system according to claim 8, wherein, When the one master controller fails, the one master controller sends a failure signal to the other master controller, the other master controller works, The instruction sent by the other master controller controls the control valve group to open.

10. A method of discrete hydraulic valve train cam bend control, characterized by The method is applied to the discrete hydraulic valve machine wheel turning control system as claimed in any one of claims 1 to 9, the discrete hydraulic valve machine wheel turning control system comprising a master control system, a control valve group, a turning assembly and a digital turning valve group, the method comprising: The master control system sends an instruction to the control valve group and the digital turning valve group; The control valve group opens according to the instruction of one of the at least two master controllers, and the digital turning valve group communicates with the turning assembly through the opened control valve group.

11. The discrete hydraulic valvmachine rotary bend control method of claim 10, wherein, The discrete hydraulic valve machine wheel turning control system further comprises a signal converter, and the method further comprises: The signal converter converts the instruction sent by the master controller into a digital signal and sends the digital signal to the control valve group and the digital turning valve group.

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