Hydraulic control system for antenna array plane

Abstract

The invention discloses a hydraulic control system for an antenna array plane. The hydraulic control system comprises a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor, the first hydraulic node and the second hydraulic node are connected through a detachable hydraulic pipeline, and the second hydraulic node is connected with the first hydraulic cylinder and the second hydraulic cylinder through hydraulic pipelines. The antenna angle sensor is used for acquiring the real-time pitching angle of the antenna, and the first hydraulic node, the second hydraulic node and the antenna angle sensor are in communication connection with the main control box; the antenna angle sensor is used for acquiring a real-time angle of an antenna array plane; the main control box is used for controlling the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting or descending of the first hydraulic cylinder and the second hydraulic cylinder according to the antenna array plane instruction angle and the antenna array plane real-time angle. The structure is reasonably arranged, the cost is reduced, and the problem that the synchronization performance of hard synchronization of the structure is poor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of antenna array hydraulic equipment, and in particular to a hydraulic control system for an antenna array. Background Art

[0002] The antenna hydraulic control system uses the hydraulic system to adjust the antenna array to a specified angle.

[0003] In traditional antenna hydraulic control systems, the main control box is directly connected to the hydraulic valves and the pressure, oil level, oil temperature and other sensors of the hydraulic system through signal lines, which makes the wiring complicated. Especially for large antenna hydraulic control systems, due to the large number of hydraulic valves and sensors, the distance between the hydraulic valves and sensors and the main control box is large, which makes the wiring problem prominent.

[0004] In addition, the radar antenna usually rotates continuously with the turntable, and the hydraulic cylinder responsible for lifting the antenna also rotates. In order to prevent the hydraulic oil from passing through the rotating joint, a hydraulic pump station is designed in the traditional antenna hydraulic control system, and the pump station is rotated with the hydraulic cylinder. Usually, the radar erection system also has hydraulic mechanisms such as legs, which do not rotate with the turntable, and a hydraulic pump station is also designed for these hydraulic mechanisms. In this way, the entire hydraulic system contains two hydraulic pump stations, which increases the system cost and volume.

[0005] At the same time, the hydraulic synchronization control of the traditional antenna hydraulic control system adopts the method of structural hard synchronization, which has high requirements for the stiffness of the antenna. However, with the development of technology, the thickness of the antenna array is getting thinner and the size is getting larger, which makes the stiffness of the antenna weaker and weaker. The performance of the traditional structural hard synchronization method is not very ideal. In severe cases, it will cause the distortion of the array, resulting in huge economic losses. Summary of the invention

[0006] In order to solve the technical problems existing in the background technology, the present invention proposes a hydraulic control system for an antenna array.

[0007] The invention provides a hydraulic control system for an antenna array, comprising: a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor;

[0008] The first hydraulic node and the second hydraulic node are connected via a detachable hydraulic pipeline, and the second hydraulic node is connected to the first hydraulic cylinder and the second hydraulic cylinder via hydraulic pipelines respectively;

[0009] The antenna angle sensor is used to obtain the real-time pitch angle of the antenna. The first hydraulic node, the second hydraulic node, the antenna angle sensor and the main control box are communicatively connected;

[0010] The antenna angle sensor is used to obtain the real-time angle of the antenna array;

[0011] The main control box is used to control the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the antenna array command angle and the antenna array real-time angle.

[0012] Preferably, when the antenna command angle is greater than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder;

[0013] When the antenna command angle is smaller than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder;

[0014] When the antenna command angle is equal to the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

[0015] Preferably, the first hydraulic node comprises: a first control panel, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve and a high-pressure solenoid valve;

[0016] The hydraulic oil tank is connected to the inlet of the hydraulic pump, the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively, the unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board for communication, and the first control board is connected to the main control box for communication;

[0017] The second hydraulic node includes a second control board, a first multi-way valve and a second multi-way valve; the first multi-way valve is connected to the unlocking solenoid valve through a detachable hydraulic pipeline, and the first multi-way valve is connected to the first hydraulic cylinder through a hydraulic pipeline; the second multi-way valve is connected to the high-pressure solenoid valve through a detachable hydraulic pipeline, and the second multi-way valve is connected to the second hydraulic cylinder through a hydraulic pipeline; the first multi-way valve and the second multi-way valve are respectively connected to the second control board for communication, and the second control board is connected to the first control board for communication.

[0018] Preferably, in the process of achieving synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, the main control box unlocks the solenoid valve and the high-pressure solenoid valve through the first control board, and simultaneously starts the first multi-way valve and the second multi-way valve through the second control board;

[0019] The main control box reads the real-time angle of the antenna array in real time and obtains the length information of the first hydraulic cylinder and the second hydraulic cylinder in real time through the second control panel;

[0020] The opening directions of the first multi-way valve and the second multi-way valve are obtained according to the length information of the first hydraulic cylinder and the second hydraulic cylinder, and the target opening of the first multi-way valve is obtained according to the command angle of the antenna array and the real-time angle of the antenna array. The real-time opening of the second multi-way valve is calculated according to the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening of the first multi-way valve;

[0021] adjusting the real-time opening of the first multi-way valve according to the target opening of the first multi-way valve, and adjusting the real-time opening of the second multi-way valve according to the real-time opening of the second multi-way valve;

[0022] When the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, it is determined whether to lift or lower to a preset position;

[0023] If yes, the solenoid valve and the high-pressure solenoid valve are locked by the first control board, and the first multi-way valve and the second multi-way valve are closed by the second control board;

[0024] If not, repeat the above steps until it is lifted or lowered to the preset position.

[0025] Preferably, the adjustment process of the real-time opening of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage and a second uniform speed stage which are arranged in sequence;

[0026] When the real-time opening of the first multi-way valve is uniformly accelerated to a preset maximum opening, the first uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening;

[0027] When the difference between the real-time angle of the antenna array and the command angle of the antenna array is less than the preset angle, the deceleration phase is entered;

[0028] When the real-time opening of the first multi-way valve is reduced to a preset minimum opening, the second uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

[0029] Preferably, in the acceleration phase, K = K0 + K step ×i acc , K <K max ;

[0030] In the first uniform speed stage, K = K max , K ≥ K max ;

[0031] In the deceleration stage, K = K1-K step ×i acc , K>K0;

[0032] In the second uniform speed stage, K=K0, K≤K0;

[0033] Where K is the real-time opening of the first multi-way valve, K0 is the preset minimum opening, K1 is the target opening of the first multi-way valve when the difference between the real-time angle of the antenna array and the command angle of the antenna array is equal to the preset angle, and K max is the preset maximum opening, K step is the change in each step of the first multi-way valve, i acc To speed up the number of calculation steps.

[0034] Preferably, the real-time opening degree of the second multi-way valve=(the length of the first hydraulic cylinder−the length of the second hydraulic cylinder)×the proportionality coefficient+the real-time opening degree of the first multi-way valve.

[0035] Preferably, the first hydraulic node also includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are respectively connected to the first control panel for communication.

[0036] In the present invention, the proposed hydraulic control system for the antenna array has a reasonable structure and adopts a distributed layout. The entire antenna hydraulic control system is divided into a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor according to different functions. The main control box communicates and interconnects with the first and second hydraulic nodes, and the first and second hydraulic nodes are interconnected through hydraulic pipelines. Among them, the hydraulic pipeline is used for the supply of hydraulic medium, and each hydraulic node is arranged near the hydraulic control object. Moreover, in this embodiment, the first hydraulic node and the second hydraulic node are connected by a detachable hydraulic pipeline, so that only one hydraulic pump is needed to adjust the antenna array, which is conducive to reducing costs.

[0037] In addition, the present invention controls the first hydraulic node and the second hydraulic node to cooperate according to the antenna array command angle and the antenna array real-time angle through the main control box to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, thereby solving the problem of poor synchronization performance of structural hard synchronization. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A block diagram of a hydraulic control system for an antenna array in one embodiment of the present invention.

[0039] Figure 2 It is a block diagram of a first hydraulic node in an embodiment of the present invention.

[0040] Figure 3 This is a block diagram of a second hydraulic node in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] Reference Figure 1-3 The present invention provides a hydraulic control system for an antenna array, comprising: a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor;

[0043] The first hydraulic node and the second hydraulic node are connected via a detachable hydraulic pipeline, and the second hydraulic node is connected to the first hydraulic cylinder and the second hydraulic cylinder via hydraulic pipelines respectively;

[0044] The antenna angle sensor is used to obtain the real-time pitch angle of the antenna. The first hydraulic node, the second hydraulic node, the antenna angle sensor and the main control box are communicatively connected;

[0045] The antenna angle sensor is used to obtain the real-time angle of the antenna array;

[0046] The main control box is used to control the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the antenna array command angle and the antenna array real-time angle.

[0047] The present invention has a reasonable structure and adopts a distributed layout. The entire antenna hydraulic control system is divided into a main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor according to different functions. The main control box communicates and interconnects with the first and second hydraulic nodes, and the first and second hydraulic nodes are interconnected through hydraulic pipelines. Among them, the hydraulic pipeline is used for the supply of hydraulic medium, and each hydraulic node is arranged near the hydraulic control object. Moreover, in this embodiment, the first hydraulic node and the second hydraulic node are connected by a detachable hydraulic pipeline, so that only one hydraulic pump is needed to adjust the antenna array surface, which is conducive to reducing costs.

[0048] In addition, the present invention controls the first hydraulic node and the second hydraulic node to cooperate according to the antenna array command angle and the antenna array real-time angle through the main control box to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, thereby solving the problem of poor synchronization performance of structural hard synchronization.

[0049] It should be noted that, in the present embodiment, the first hydraulic cylinder and the second hydraulic cylinder are full-stroke mechanical self-locking hydraulic cylinders, and are equipped with absolute displacement sensors.

[0050] When the antenna command angle is greater than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder;

[0051] When the antenna command angle is smaller than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder;

[0052] When the antenna command angle is equal to the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

[0053] In order to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, in this embodiment, the first hydraulic node includes: a first control board, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve and a high-pressure solenoid valve;

[0054] The hydraulic oil tank is connected to the inlet of the hydraulic pump, the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively, the unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board for communication, and the first control board is connected to the main control box for communication;

[0055] The second hydraulic node includes a second control board, a first multi-way valve and a second multi-way valve; the first multi-way valve is connected to the unlocking solenoid valve through a detachable hydraulic pipeline, and the first multi-way valve is connected to the first hydraulic cylinder through a hydraulic pipeline; the second multi-way valve is connected to the high-pressure solenoid valve through a detachable hydraulic pipeline, and the second multi-way valve is connected to the second hydraulic cylinder through a hydraulic pipeline; the first multi-way valve and the second multi-way valve are respectively connected to the second control board for communication, and the second control board is connected to the first control board for communication.

[0056] In order to solve the problem of double hydraulic pump stations, only one hydraulic pump is designed in this embodiment, which is integrated in the first hydraulic node. The first hydraulic node and the second hydraulic node are connected by a detachable hydraulic pipeline. When the antenna array needs to be adjusted, the first hydraulic node and the second hydraulic node are connected; when the antenna array is adjusted in place, the first hydraulic node and the second hydraulic node are disconnected.

[0057] Specifically, a quick connector is provided on the hydraulic pipeline between the first hydraulic node and the second hydraulic node to facilitate disassembly and assembly.

[0058] In this embodiment, the first hydraulic node also includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are respectively connected to the first control panel for communication.

[0059] In order to solve the problem of poor synchronization performance of structural hard synchronization, in this embodiment, in the process of realizing synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, the main control box first unlocks the solenoid valve and the high-pressure solenoid valve through the first control board, and simultaneously starts the first multi-way valve and the second multi-way valve through the second control board;

[0060] Next, the main control box reads the real-time angle of the antenna array in real time and obtains the length information of the first hydraulic cylinder and the second hydraulic cylinder in real time through the second control panel;

[0061] The opening directions of the first multi-way valve and the second multi-way valve are obtained according to the length information of the first hydraulic cylinder and the second hydraulic cylinder, and the target opening of the first multi-way valve is obtained according to the command angle of the antenna array and the real-time angle of the antenna array. The real-time opening of the second multi-way valve is calculated according to the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening of the first multi-way valve;

[0062] adjusting the real-time opening of the first multi-way valve according to the target opening of the first multi-way valve, and adjusting the real-time opening of the second multi-way valve according to the real-time opening of the second multi-way valve;

[0063] When the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, it is determined whether to lift or lower to a preset position;

[0064] If yes, the solenoid valve and the high-pressure solenoid valve are locked by the first control board, and the first multi-way valve and the second multi-way valve are closed by the second control board;

[0065] If not, repeat the above steps until it is lifted or lowered to the preset position.

[0066] In order to ensure stability during the lifting or lowering process, in this embodiment, the adjustment process of the real-time opening of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage, and a second uniform speed stage which are arranged in sequence;

[0067] When the real-time opening of the first multi-way valve is uniformly accelerated to a preset maximum opening, the first uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening;

[0068] When the difference between the real-time angle of the antenna array and the command angle of the antenna array is less than the preset angle, the deceleration phase is entered;

[0069] When the real-time opening of the first multi-way valve is reduced to a preset minimum opening, the second uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

[0070] Specifically, in the acceleration phase, K = K0 + K step ×i acc , K <K max ;

[0071] In the first uniform speed stage, K = K max , K ≥ K max ;

[0072] In the deceleration stage, K = K1-K step ×i acc , K>K0;

[0073] In the second uniform speed stage, K=K0, K≤K0;

[0074] Where K is the real-time opening of the first multi-way valve, K0 is the preset minimum opening, K1 is the real-time opening of the first multi-way valve when the difference between the real-time angle of the antenna array and the command angle of the antenna array is equal to the preset angle, and K max is the preset maximum opening, K step is the change in each step of the first multi-way valve, i acc To speed up the number of calculation steps.

[0075] Among them, K0, K max and K step The specific value should be set according to the actual project.

[0076] In this embodiment, the real-time opening degree of the second multi-way valve=(the length of the first hydraulic cylinder−the length of the second hydraulic cylinder)×the proportionality coefficient+the real-time opening degree of the first multi-way valve.

[0077] In this embodiment, the main control box is communicatively connected to the first hydraulic node via the RS485 bus, and the first hydraulic node and the second hydraulic node are communicatively connected via the RS485 bus.

[0078] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A hydraulic control system for an antenna array, characterized in that: include: A main control box, a first hydraulic node, a second hydraulic node, a first hydraulic cylinder, a second hydraulic cylinder and an antenna angle sensor; The first hydraulic node and the second hydraulic node are connected via a detachable hydraulic pipeline, and the second hydraulic node is connected to the first hydraulic cylinder and the second hydraulic cylinder via hydraulic pipelines respectively; The antenna angle sensor is used to obtain the real-time pitch angle of the antenna. The first hydraulic node, the second hydraulic node, the antenna angle sensor and the main control box are communicatively connected; The antenna angle sensor is used to obtain the real-time angle of the antenna array; The main control box is used to control the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder according to the antenna array command angle and the antenna array real-time angle.

2. The hydraulic control system for the antenna array according to claim 1, characterized in that: When the antenna command angle is greater than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous lifting of the first hydraulic cylinder and the second hydraulic cylinder; When the antenna command angle is smaller than the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous retraction of the first hydraulic cylinder and the second hydraulic cylinder; When the antenna command angle is equal to the antenna current angle, the main control box controls the first hydraulic node and the second hydraulic node to cooperate to achieve synchronous stopping of the first hydraulic cylinder and the second hydraulic cylinder.

3. The hydraulic control system for the antenna array according to claim 1, characterized in that: The first hydraulic node includes: a first control panel, a hydraulic cylinder, a hydraulic pump, an unlocking solenoid valve and a high-pressure solenoid valve; The hydraulic oil tank is connected to the inlet of the hydraulic pump, the outlet of the hydraulic pump is connected to the unlocking solenoid valve and the high-pressure solenoid valve respectively, the unlocking solenoid valve and the high-pressure solenoid valve are respectively connected to the first control board for communication, and the first control board is connected to the main control box for communication; The second hydraulic node includes a second control board, a first multi-way valve and a second multi-way valve; the first multi-way valve is connected to the unlocking solenoid valve through a detachable hydraulic pipeline, and the first multi-way valve is connected to the first hydraulic cylinder through a hydraulic pipeline; the second multi-way valve is connected to the high-pressure solenoid valve through a detachable hydraulic pipeline, and the second multi-way valve is connected to the second hydraulic cylinder through a hydraulic pipeline; the first multi-way valve and the second multi-way valve are respectively connected to the second control board for communication, and the second control board is connected to the first control board for communication.

4. The hydraulic control system for the antenna array according to claim 3, characterized in that: In the process of achieving synchronous lifting or lowering of the first hydraulic cylinder and the second hydraulic cylinder, the main control box unlocks the solenoid valve and the high-pressure solenoid valve through the first control panel, and simultaneously starts the first multi-way valve and the second multi-way valve through the second control panel; The main control box reads the real-time angle of the antenna array in real time and obtains the length information of the first hydraulic cylinder and the second hydraulic cylinder in real time through the second control panel; The opening directions of the first multi-way valve and the second multi-way valve are obtained according to the length information of the first hydraulic cylinder and the second hydraulic cylinder, and the target opening of the first multi-way valve is obtained according to the command angle of the antenna array and the real-time angle of the antenna array. The real-time opening of the second multi-way valve is calculated according to the length information of the first hydraulic cylinder and the second hydraulic cylinder and the target opening of the first multi-way valve; adjusting the real-time opening of the first multi-way valve according to the target opening of the first multi-way valve, and adjusting the real-time opening of the second multi-way valve according to the real-time opening of the second multi-way valve; When the real-time opening of the first multi-way valve and the real-time opening of the second multi-way valve are adjusted, it is determined whether to lift or lower to a preset position; If yes, the solenoid valve and the high-pressure solenoid valve are locked by the first control board, and the first multi-way valve and the second multi-way valve are closed by the second control board; If not, repeat the above steps until it is lifted or lowered to the preset position.

5. The hydraulic control system for the antenna array according to claim 4, characterized in that: The adjustment process of the real-time opening of the first multi-way valve includes a uniform acceleration stage, a first uniform speed stage, a deceleration stage, and a second uniform speed stage which are arranged in sequence; When the real-time opening of the first multi-way valve is uniformly accelerated to a preset maximum opening, the first uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the first uniform speed stage is the preset maximum opening; When the difference between the real-time angle of the antenna array and the command angle of the antenna array is less than the preset angle, the deceleration phase is entered; When the real-time opening of the first multi-way valve is reduced to a preset minimum opening, the second uniform speed stage is entered; wherein the real-time opening of the first multi-way valve in the second uniform speed stage is the preset minimum opening.

6. The hydraulic control system for the antenna array according to claim 5, characterized in that: In the acceleration phase, K = K0 + K step ×i acc , K <K max ; In the first uniform speed stage, K = K max , K ≥ K max ; In the deceleration stage, K = K1-K step ×i acc , K>K0; In the second uniform speed stage, K=K0, K≤K0; Where K is the real-time opening of the first multi-way valve, K0 is the preset minimum opening, K1 is the real-time opening of the first multi-way valve when the difference between the real-time angle of the antenna array and the command angle of the antenna array is equal to the preset angle, and K max is the preset maximum opening, K step is the change in each step of the first multi-way valve, i acc To speed up the number of calculation steps.

7. The hydraulic control system for the antenna array according to claim 4, characterized in that: The real-time opening degree of the second multi-way valve=(the length of the first hydraulic cylinder-the length of the second hydraulic cylinder)×the proportional coefficient+the real-time opening degree of the first multi-way valve.

8. The hydraulic control system for the antenna array according to claim 3, characterized in that: The first hydraulic node also includes a cylinder unlocking pressure sensor, a working pressure sensor, an oil temperature sensor, and an oil level sensor. The oil temperature sensor is used to obtain the oil temperature of the hydraulic oil tank, the oil level sensor is used to obtain the oil level of the hydraulic cylinder, the working pressure sensor is used to obtain the working pressure, and the cylinder unlocking pressure sensor is used to obtain the unlocking pressure. The cylinder unlocking pressure sensor, the working pressure sensor, the oil temperature sensor, and the oil level sensor are respectively connected to the first control board for communication.

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