Active wave compensation dual-redundancy control system

Abstract

The invention discloses an active wave compensation dual-redundancy control system, and belongs to the technical field of wave compensation, the active wave compensation dual-redundancy control system comprises a base and an optical fiber gyroscope, the base is provided with a first adjusting assembly, a second adjusting assembly, a third adjusting assembly and a control assembly, and the control assembly is matched with the first adjusting assembly, the second adjusting assembly, the third adjusting assembly and the control assembly. By arranging the hydraulic control module, disturbance of a trestle plate in the working state can be compensated in real time, by arranging the first control loop and the second control loop, conversion of the hydraulic control module can be achieved by inputting a switching control signal, so that the control loops are switched, and the efficient and rapid control effect is achieved; when the control loops are switched, the parts in the previous control loop are separated from the transmission shaft, so that the parts in the previous control loop are prevented from influencing the continuous operation of the transmission shaft.

Description

Technical Field

[0001] The invention relates to the technical field of heave compensation, and in particular to an active heave compensation dual-redundancy control system. Background Art

[0002] When operating at sea, the maintenance ship is affected by the complex marine environment, which seriously affects the operating efficiency and safety of the operating equipment. Therefore, the use of trestle equipment with wave compensation technology can effectively compensate for the disturbance error of the ship under the action of waves, and perform safe, efficient and stable operations in the fields of personnel transportation and transfer, wind power maintenance, etc. The trestle mechanism is driven by hydraulic means, in which the hydraulic system has the characteristics of fast response, high power density, high rigidity and high precision. However, due to the precise structure and the harsh working environment at sea, faults are prone to occur during the operation, resulting in low control efficiency of the control system, poor emergency response capability and other problems, which to a certain extent restricts the wave compensation capability and the reliability of the motion process. Therefore, the present invention provides an active wave compensation dual redundant control system. Summary of the invention

[0003] In view of the defects in the prior art, the present invention provides an active wave compensation dual redundant control system, which overcomes the problem that due to the precise structure and the harsh working environment at sea, failures are prone to occur during operation, resulting in low control efficiency and poor emergency response capabilities of the control system, which to a certain extent restricts the wave compensation capability and the reliability of the motion process.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an active wave compensation dual redundant control system, comprising a base and a fiber optic gyroscope, wherein an adjustment component 1, an adjustment component 2, an adjustment component 3 and a control component are arranged on the base, the adjustment component 1 comprises a positioning circular seat, a first cylinder 1 and a second cylinder 1, a transmission shaft 1 is fixedly installed on the positioning circular seat, a transmission unit 1 is arranged between the transmission shaft 1 and the fiber optic gyroscope and the transmission shaft 1, the adjustment component 2 comprises a first cylinder 2, a second cylinder 2 and a positioning rotating seat, a transmission shaft 2 is fixedly installed at both ends of the positioning rotating seat, a transmission unit 2 is arranged between the first cylinder 2 and the second cylinder 2 and the corresponding transmission shaft 2, the adjustment component 3 comprises a trestle board, a first cylinder 3 and a second cylinder 3, a positioning circular plate is fixedly installed on the trestle board, a transmission shaft 3 is fixedly installed on the positioning circular plate, a transmission unit 3 is arranged between the transmission shaft 3 and the first cylinder 3 and the second cylinder 3, and the control component comprises a controller 1 and a controller 2, and the controller 1 and the controller 2 are used to receive and output signals.

[0005] Furthermore, the fiber optic gyroscope is used to collect the roll, pitch, heave and heading information of the ship, and is fixedly mounted on the support ring plate on the base, and the adjustment round seat is rotatably mounted on the support ring plate.

[0006] Furthermore, the adjusting swivel seat is rotatably mounted on the adjusting circular seat, a supporting circular plate is fixedly mounted on the adjusting swivel seat, the adjusting circular plate is rotatably mounted on the supporting circular plate, the transmission shaft three is rotatably connected with the supporting circular plate and the adjusting swivel seat, and the axes of the adjusting circular plate, the supporting circular plate and the transmission shaft three are in the same straight line.

[0007] Furthermore, the fiber optic gyroscope and the dividing plate are fixedly mounted on the base, the first cylinder 2 and the second cylinder 2 are fixedly mounted on the position adjustment circular seat, and the first cylinder 3 and the second cylinder 3 are fixedly mounted on the position adjustment rotating seat.

[0008] Furthermore, transmission unit one, transmission unit two, and transmission unit three all include a positioning rotating plate, a positioning short shaft, a dividing plate, and a cylindrical electromagnet. The positioning rotating plate is fixedly connected to the corresponding positioning short shaft, the end of the dividing plate is in contact with the corresponding positioning short shaft, the cylindrical electromagnet is fixedly installed on the inner side of the positioning short shaft, and the cylindrical electromagnet is movably connected to the corresponding transmission shaft one, transmission shaft two, and transmission shaft three, respectively.

[0009] Furthermore, the transmission shaft one is in the same straight line with the corresponding first cylinder one, the positioning short shaft, the second cylinder one, and the axis of the cylindrical electromagnet; the transmission shaft two is in the same straight line with the corresponding positioning short shaft, the cylindrical electromagnet, the first cylinder two, and the axis of the second cylinder two; and the transmission shaft three is in the same straight line with the corresponding positioning short shaft, the cylindrical electromagnet, the first cylinder three, and the axis of the first cylinder three.

[0010] Furthermore, the dividing plate is in contact with the corresponding first cylinder one, second cylinder one, first cylinder two, second cylinder two, first cylinder three, and second cylinder three respectively. Under the action of the positioning short shaft, the positioning rotating plate, and the dividing plate, the interiors of the first cylinder one, second cylinder one, first cylinder two, second cylinder two, first cylinder three, and second cylinder three are divided into liquid inlet chambers and liquid outlet chambers.

[0011] Furthermore, the fiber optic gyroscope, the second cylinder one, the first cylinder two, the second cylinder two, the first cylinder three, and the second cylinder three are all fixedly provided with a liquid outlet pipe and a liquid inlet pipe, and the base, the position adjustment round seat, and the position adjustment rotating seat are all fixedly installed with two hydraulic pumps, and the hydraulic pumps are fixedly connected to the corresponding liquid inlet pipes.

[0012] Furthermore, the control component also includes a hydraulic control module 1 and a hydraulic control module 2. The hydraulic control module 1, the hydraulic control module 2, the controller 1 and the controller 2 are all fixedly mounted on the base. The controller 1 is used to transmit signals to the hydraulic control module 1, and the controller 2 is used to transmit signals to the hydraulic control module 2. The hydraulic control module 1 is used to control the hydraulic pumps and positioning short shafts corresponding to the first cylinder 1, the first cylinder 2 and the first cylinder 3, and the hydraulic control module 2 is used to control the hydraulic pumps and positioning short shafts corresponding to the second cylinder 1, the second cylinder 2 and the second cylinder 3.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention can achieve real-time compensation for disturbances in the working state of the trestle plate by means of the mutual cooperation of the adjustment component 1, the adjustment component 2, the adjustment component 3 and the control component. (2) The present invention can achieve the conversion of the hydraulic control module by inputting a switching control signal by setting the control loop 1 and the control loop 2, thereby switching the control loop and achieving an efficient and fast control effect. (3) The present invention can achieve the disconnection of the components in the previous control loop from the transmission shaft when switching the control loop by setting a cylindrical electromagnet, thereby preventing the components in the previous control loop from affecting the continued operation of the transmission shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a front view of the overall structure of the present invention.

[0016] Figure 3 It is a top view of the overall structure of the present invention.

[0017] Figure 4 It is a schematic structural diagram of the regulating component 1 of the present invention.

[0018] Figure 5 It is a schematic diagram of the structure of the short axis of the engine.

[0019] Figure 6 It is a structural schematic diagram of the dividing plate of the present invention.

[0020] Figure 7 It is a schematic diagram of the structure of the regulating component 2 of the present invention.

[0021] Figure 8 It is a schematic structural diagram of the regulating component three of the present invention.

[0022] Reference numerals: 101-base; 102-support ring plate; 103-position adjustment round seat; 104-hydraulic control module 1; 105-fiber optic gyroscope; 106-first cylinder 1; 107-trestle board; 108-guardrail; 109-transmission shaft 1; 110-liquid outlet pipe; 111-hydraulic pump; 112-liquid inlet pipe; 113-position adjustment rotating plate; 114-position adjustment short shaft; 115-second cylinder 1; 116-dividing plate ;117-cylindrical electromagnet;118-liquid inlet chamber;119-liquid outlet chamber;120-adjusting circular plate;121-supporting circular plate;122-first cylinder two;123-second cylinder two;124-adjusting swivel seat;125-first cylinder three;126-second cylinder three;127-transmission shaft two;128-transmission shaft three;129-hydraulic control module two;130-controller one;131-controller two. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0024] Example: Reference Figure 1-Figure 8 An active wave compensation dual redundant control system includes a base 101 and a fiber optic gyroscope 105. The fiber optic gyroscope 105 is installed inside the ship. The fiber optic gyroscope 105 is used to collect the ship's roll, pitch, heave and heading information. The base 101 is provided with an adjustment component 1, an adjustment component 2, an adjustment component 3 and a control component.

[0025] The adjustment component 1 includes a positioning circular seat 103, a first cylinder 106, and a second cylinder 115. The first cylinder 106 and the second cylinder 115 are both fixedly mounted on the base 101, the base 101 is fixedly mounted on the support ring plate 102, the positioning circular seat 103 is rotatably mounted on the support ring plate 102, a transmission shaft 109 is fixedly mounted on the positioning circular seat 103, and a transmission unit 1 is arranged between the transmission shaft 109 and the fiber optic gyroscope 105 and the transmission shaft 109.

[0026] Adjustment component 2 includes a first cylinder 122, a second cylinder 123, and a positioning swivel seat 124. The first cylinder 122 and the second cylinder 123 are both fixedly mounted on the positioning round seat 103. The positioning swivel seat 124 is rotatably mounted on the positioning round seat 103. Transmission shaft 2 127 is fixedly mounted on both ends of the positioning swivel seat 124. A transmission unit 2 is arranged between the first cylinder 122, the second cylinder 123 and the corresponding transmission shaft 127.

[0027] The adjustment component three includes a trestle plate 107, a first cylinder three 125, and a second cylinder three 126. The first cylinder three 125 and the second cylinder three 126 are both fixedly mounted on the positioning swivel seat 124. A positioning circular plate 120 is fixedly mounted on the trestle plate 107. A guardrail 108 is also symmetrically fixedly arranged on the trestle plate 107. A transmission shaft three 128 is fixedly mounted on the positioning circular plate 120. A supporting circular plate 121 is fixedly mounted on the positioning swivel seat 124. The positioning circular plate 120 is rotatably mounted on the supporting circular plate 121. The transmission shaft three 128 is rotatably connected with the supporting circular plate 121 and the positioning swivel seat 124. The axes of the positioning circular plate 120, the supporting circular plate 121, and the transmission shaft three 128 are on the same straight line. A transmission unit three is arranged between the transmission shaft three 128 and the first cylinder three 125 and the second cylinder three 126.

[0028] Transmission unit 1, transmission unit 2, and transmission unit 3 all include a positioning rotating plate 113, a positioning short shaft 114, a dividing plate 116, and a cylindrical electromagnet 117. The positioning rotating plate 113 is fixedly connected to the corresponding positioning short shaft 114, the end of the dividing plate 116 is in contact with the corresponding positioning short shaft 114, and the cylindrical electromagnet 117 is fixedly installed on the inner side of the positioning short shaft 114, and the cylindrical electromagnet 117 is movably connected to the corresponding transmission shaft 1 109, transmission shaft 2 127, and transmission shaft 3 128, respectively.

[0029] The transmission shaft 109 is in the same straight line with the corresponding first cylinder 106, the positioning short shaft 114, the second cylinder 115, and the axis of the cylindrical electromagnet 117; the transmission shaft 2 127 is in the same straight line with the corresponding positioning short shaft 114, the cylindrical electromagnet 117, the first cylinder 2 122, and the axis of the second cylinder 2 123; the transmission shaft 3 128 is in the same straight line with the corresponding positioning short shaft 114, the cylindrical electromagnet 117, the first cylinder 3 125, and the axis of the first cylinder 3 125.

[0030] The dividing plate 116 is in contact with the corresponding first cylinder 106, second cylinder 115, first cylinder 2 122, second cylinder 2 123, first cylinder 3 125, and second cylinder 3 126 respectively. Under the action of the positioning short shaft 114, the positioning rotating plate 113, and the dividing plate 116, the interiors of the first cylinder 106, second cylinder 115, first cylinder 2 122, second cylinder 2 123, first cylinder 3 125, and second cylinder 3 126 are divided into a liquid inlet chamber 118 and a liquid outlet chamber 119.

[0031] The fiber optic gyroscope 105, the second cylinder 115, the first cylinder 2 122, the second cylinder 2 123, the first cylinder 3 125, and the second cylinder 3 126 are all fixedly provided with a liquid outlet pipe 110 and a liquid inlet pipe 112. The base 101, the position adjustment round seat 103, and the position adjustment rotating seat 124 are all fixedly installed with two hydraulic pumps 111, the hydraulic pump 111 is fixedly connected to the corresponding liquid inlet pipe 112, the liquid outlet pipe 110 and the liquid inlet pipe 112 are respectively communicated with the corresponding liquid inlet chamber 118 and the liquid outlet chamber 119, and the liquid outlet pipe 110 and the liquid inlet pipe 112 are both communicated with the oil storage tank on the ship.

[0032] The hydraulic pump 111 is used to control the hydraulic oil to flow into the liquid outlet chamber 119 along the liquid inlet pipe 112. Even if the volume of the liquid outlet chamber 119 increases, the volume of the liquid inlet chamber 118 corresponding to the liquid outlet chamber 119 decreases. Under the action of the hydraulic oil, the adjusting plate 113 rotates relative to the axis of the adjusting short shaft 114, and the adjusting short shaft 114 corresponding to the adjusting plate 113 rotates synchronously. The cylindrical electromagnet 117 on the adjusting short shaft 114 rotates synchronously, and the cylindrical electromagnet 117 is controlled to adsorb the corresponding transmission shaft 109, that is, the transmission shaft 109 rotates synchronously.

[0033] The control component includes a controller 130 and a controller 2 131, which are used to receive and output signals. The control component also includes a hydraulic control module 104 and a hydraulic control module 2 129. The hydraulic control module 104, the hydraulic control module 2 129, the controller 130, and the controller 2 131 are all fixedly installed on the base 101. The controller 130 is used to transmit signals to the hydraulic control module 104, and the controller 2 131 is used to transmit signals to the hydraulic control module 2 129. The hydraulic control module 104 is used to control the hydraulic pump 111 and the cylindrical electromagnet 117 corresponding to the first cylinder 106, the first cylinder 2 122, and the first cylinder 3 125. The hydraulic control module 2 129 is used to control the hydraulic pump 111 and the cylindrical electromagnet 117 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126.

[0034] Controller 1 130 and hydraulic control module 1 104 form control loop 1, controller 2 131 and hydraulic control module 2 129 form control loop 2, control loop 1 and control loop 2 are backup loops for each other, control loop 1 is the main control loop, after a communication failure occurs between controller 1 130 and hydraulic control module 1 104, communication is established between controller 2 131 and hydraulic control module 2 129, when there are no fault signals in control loop 1 and control loop 2, control loop 1 realizes the control of the trestle board 107.

[0035] Working principle: After the fiber optic gyroscope 105 collects the roll, pitch, heave and heading information of the ship, it is transmitted to the controller 130, and the controller 130 transmits it to the hydraulic control module 104. Under the action of the hydraulic control module 104, the hydraulic pump 111 and the cylindrical electromagnet 117 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122 and the first cylinder 3 125 are controlled. The cylindrical electromagnet 117 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122 and the first cylinder 3 125 are respectively adsorbed and fixed to the corresponding transmission shaft 1 109, the transmission shaft 2 127 and the transmission shaft 3 128. At this time, the cylindrical electromagnet 117 corresponding to the second cylinder 1 115, the second cylinder 2 123 and the second cylinder 3 126 are not adsorbed and fixed to the corresponding transmission shaft 1 109, the transmission shaft 2 127 and the transmission shaft 3 128.

[0036] Under the action of the hydraulic pump 111 corresponding to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125, the hydraulic oil enters the liquid outlet chamber 119 in the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125 through the liquid inlet pipe 112, and the hydraulic oil in the liquid inlet chamber 118 returns to the oil storage tank along the liquid outlet pipe 110. At this time, the adjustment rotating plate 113 and the adjustment short shaft 114 rotate relative to the fiber optic gyroscope 105, the first cylinder 2 122, and the first cylinder 3 125. Under the action of the cylindrical electromagnet 117, the transmission shaft 109 rotates relative to the base 1 01 rotates, the transmission shaft 2 127 rotates relative to the positioning circular seat 103, the transmission shaft 3 128 rotates relative to the positioning swivel seat 124, under the action of the transmission shaft 109, the positioning circular seat 103 rotates relative to the supporting ring plate 102, under the action of the transmission shaft 2 127, the positioning swivel seat 124 rotates relative to the positioning circular seat 103, under the action of the transmission shaft 3 128, the trestle plate 107 and the positioning circular plate 120 rotate relative to the supporting circular plate 121 and the positioning swivel seat 124, that is, the rapid adjustment of the position of the trestle plate 107 is realized, so that the trestle plate 107 actively performs wave compensation.

[0037] When a fault occurs in the control circuit 1, that is, a fault occurs among the hydraulic control module 104, the controller 130, and the hydraulic pumps 111 corresponding to the first cylinder 106, the first cylinder 2 122, and the first cylinder 3 125 and the signal cannot be transmitted, the control circuit 2 is started, so that the hydraulic control module 2 129 and the controller 2 131 control the hydraulic pumps 111 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126. At this time, the cylindrical electromagnets 117 corresponding to the first cylinder 106, the first cylinder 2 122, and the first cylinder 3 125 are separated from the adsorption of the corresponding transmission shaft 109, the transmission shaft 2 127, and the transmission shaft 3 128, and the cylindrical electromagnets 117 corresponding to the second cylinder 115, the second cylinder 2 123, and the second cylinder 3 126 are adsorbed with the corresponding transmission shaft 109, the transmission shaft 2 127, and the transmission shaft 3 128, thereby realizing the switching of the control circuit.

[0038] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by technicians in the relevant technical field based on the above-mentioned conception without creative work all fall within the protection scope of the present invention.

Claims

1. An active heave compensation dual-redundancy control system, comprising a base (101) and a fiber optic gyroscope (105), characterized in that: The base (101) is provided with an adjustment component 1, an adjustment component 2, an adjustment component 3, and a control component. The adjustment component 1 includes a positioning circular seat (103), a first cylinder 1 (106), and a second cylinder 1 (115). A transmission shaft 1 (109) is fixedly mounted on the positioning circular seat (103). A transmission unit 1 is arranged between the transmission shaft 1 (109), the optical fiber gyroscope (105), and the transmission shaft 1 (109). The adjustment component 2 includes a first cylinder 2 (122), a second cylinder 2 (123), and a positioning rotating seat (124). A transmission shaft 2 (127) is fixedly mounted at both ends of the positioning rotating seat (124). The first cylinder 2 (122) A transmission unit 2 is arranged between the first cylinder 2 (123) and the second cylinder 3 (127) and the corresponding transmission shaft 2 (127); an adjustment component 3 comprises a trestle plate (107), a first cylinder 3 (125), and a second cylinder 3 (126); a positioning circular plate (120) is fixedly mounted on the trestle plate (107); a transmission shaft 3 (128) is fixedly mounted on the positioning circular plate (120); a transmission unit 3 is arranged between the transmission shaft 3 (128) and the first cylinder 3 (125) and the second cylinder 3 (126); and a control component comprises a controller 1 (130) and a controller 2 (131); the controller 1 (130) and the controller 2 (131) are used to receive and output signals.

2. The active heave compensation dual redundant control system according to claim 1, characterized in that: The optical fiber gyroscope (105) is used to collect the roll, pitch, heave and heading information of the ship, and is fixedly mounted on the support ring plate (102) on the base (101), and the positioning round seat (103) is rotatably mounted on the support ring plate (102).

3. The active heave compensation dual redundant control system according to claim 2, characterized in that: The positioning rotating seat (124) is rotatably mounted on the positioning circular seat (103); a supporting circular plate (121) is fixedly mounted on the positioning rotating seat (124); the positioning circular plate (120) is rotatably mounted on the supporting circular plate (121); a transmission shaft three (128) is rotatably connected to the supporting circular plate (121) and the positioning rotating seat (124); and the axes of the positioning circular plate (120), the supporting circular plate (121) and the transmission shaft three (128) are on the same straight line.

4. The active heave compensation dual redundant control system according to claim 3, characterized in that: The fiber optic gyroscope (105) and the dividing plate (116) are fixedly mounted on the base (101), the first cylinder 2 (122) and the second cylinder 2 (123) are fixedly mounted on the position adjustment circular seat (103), and the first cylinder 3 (125) and the second cylinder 3 (126) are fixedly mounted on the position adjustment rotating seat (124).

5. The active heave compensation dual redundant control system according to claim 4, characterized in that: The transmission unit 1, the transmission unit 2 and the transmission unit 3 all comprise a positioning rotating plate (113), a positioning short shaft (114), a dividing plate (116) and a cylindrical electromagnet (117); the positioning rotating plate (113) is fixedly connected to the corresponding positioning short shaft (114); the end of the dividing plate (116) contacts the corresponding positioning short shaft (114); the cylindrical electromagnet (117) is fixedly mounted on the inner side of the positioning short shaft (114); and the cylindrical electromagnet (117) is movably connected to the corresponding transmission shaft 1 (109), the transmission shaft 2 (127) and the transmission shaft 3 (128), respectively.

6. The active heave compensation dual redundant control system according to claim 5, characterized in that: The transmission shaft one (109) is in a straight line with the corresponding axes of the first cylinder one (106), the positioning short shaft (114), the second cylinder one (115), and the cylindrical electromagnet (117); the transmission shaft two (127) is in a straight line with the corresponding axes of the positioning short shaft (114), the cylindrical electromagnet (117), the first cylinder two (122), and the second cylinder two (123); the transmission shaft three (128) is in a straight line with the corresponding axes of the positioning short shaft (114), the cylindrical electromagnet (117), the first cylinder three (125), and the first cylinder three (125).

7. The active heave compensation dual redundant control system according to claim 6, characterized in that: The dividing plate (116) is in contact with the corresponding first cylinder one (106), second cylinder one (115), first cylinder two (122), second cylinder two (123), first cylinder three (125), and second cylinder three (126), respectively. Under the action of the positioning short shaft (114), the positioning rotating plate (113), and the dividing plate (116), the interiors of the first cylinder one (106), second cylinder one (115), first cylinder two (122), second cylinder two (123), first cylinder three (125), and second cylinder three (126) are divided into a liquid inlet chamber (118) and a liquid outlet chamber (119).

8. The active heave compensation dual redundant control system according to claim 7, characterized in that: The fiber optic gyroscope (105), the second cylinder one (115), the first cylinder two (122), the second cylinder two (123), the first cylinder three (125), and the second cylinder three (126) are all fixedly provided with a liquid outlet pipe (110) and a liquid inlet pipe (112); the base (101), the position adjustment round seat (103), and the position adjustment rotating seat (124) are all fixedly provided with two hydraulic pumps (111); the hydraulic pumps (111) are fixedly connected to the corresponding liquid inlet pipes (112).

9. The active heave compensation dual redundant control system according to claim 8, characterized in that: The control assembly further comprises a hydraulic control module 1 (104) and a hydraulic control module 2 (129). The hydraulic control module 1 (104), the hydraulic control module 2 (129), the controller 1 (130) and the controller 2 (131) are all fixedly mounted on the base (101). The controller 1 (130) is used to transmit signals to the hydraulic control module 1 (104). The controller 2 (131) is used to transmit signals to the hydraulic control module 2 (129). The hydraulic control module 1 (104) is used to control the hydraulic pump (111) and the positioning short shaft (114) corresponding to the first cylinder 1 (106), the first cylinder 2 (122) and the first cylinder 3 (125). The hydraulic control module 2 (129) is used to control the hydraulic pump (111) and the positioning short shaft (114) corresponding to the second cylinder 1 (115), the second cylinder 2 (123) and the second cylinder 3 (126).

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