Method for monitoring working state of electro-hydraulic governor, electro-hydraulic governor and computer program product

Abstract

The application provides an electro-hydraulic governor, a working state monitoring method of the electro-hydraulic governor and a computer program product, wherein the electro-hydraulic governor comprises an electric control state detection unit and a machine control state detection unit; the working state monitoring method of the electro-hydraulic governor comprises: acquiring a first state signal output by the electric control state detection unit and a second state signal output by the machine control state detection unit; wherein the first state signal represents whether an electric governor servo piston of the electro-hydraulic governor is at a first predetermined position, and the second state signal represents whether a machine governor servo piston of the electro-hydraulic governor is at a second predetermined position; and determining a current working state of the electro-hydraulic governor based on a logic combination of the first state signal and the second state signal. The method provided in the application embodiment can effectively improve the accuracy of the working state determination of the electro-hydraulic governor and the fault diagnosis efficiency.

Description

Technical Field

[0001] This application relates to the field of electro-hydraulic servo control technology, and more specifically, to a method for monitoring the working status of an electro-hydraulic speed controller, an electro-hydraulic speed controller, and a computer program product. Background Technology

[0002] As industrial production develops towards higher efficiency, precision, and continuity, electro-hydraulic speed controllers, with their advantages of fast response, high control accuracy, and strong load adaptability, have become the core speed control equipment for large rotating machinery. The reliability of their status detection and mode switching has become a key link in ensuring continuous operation of industrial production and reducing unplanned downtime losses.

[0003] Existing electro-hydraulic speed governors are designed with two control modes: electronic control and mechanical control. Due to the possibility of abnormal switching between the two modes, it is difficult to quickly locate the root cause and distinguish whether the problem is an external electronic control system failure or an internal mechanical failure of the speed governor. This leads to inefficient fault diagnosis, easy misjudgment, and increased downtime and maintenance costs. It also restricts the reliability and adaptability of the dual-mode operation of the electro-hydraulic speed governor and poses potential risks to the safe and stable operation of industrial production. Summary of the Invention

[0004] Based on this, it is necessary to address the above-mentioned problems. This application provides a method for monitoring the working status of an electro-hydraulic speed governor, an electro-hydraulic speed governor, and a computer program product. By configuring an electronic control status detection unit and a mechanical control status detection unit to output corresponding status signals, the method enables real-time monitoring of the working mode of the electro-hydraulic speed governor, thereby achieving the effects of accurately determining the current operating mode, quickly locating the root cause of the fault, and reducing equipment downtime and maintenance costs.

[0005] In a first aspect, embodiments of this application provide a method for monitoring the operating status of an electro-hydraulic speed governor. The electro-hydraulic speed governor includes an electronic control status detection unit and a mechanical control status detection unit. The method for monitoring the operating status of the electro-hydraulic speed governor includes: acquiring a first status signal output by the electronic control status detection unit and a second status signal output by the mechanical control status detection unit; wherein the first status signal indicates whether the electronically controlled servo piston of the electro-hydraulic speed governor is in a first predetermined position, and the second status signal indicates whether the mechanically controlled servo piston of the electro-hydraulic speed governor is in a second predetermined position; determining the current operating status of the electro-hydraulic speed governor based on a logical combination of the first status signal and the second status signal; wherein the operating status includes electronic control mode, mechanical control mode, transition state, or fault state.

[0006] In the above implementation process, by configuring the electronic control status detection unit and the mechanical control status detection unit to synchronously collect the first status signal and the second status signal, and comparing them based on the preset logical combination rules, the current working status of the electro-hydraulic speed governor is determined, thus realizing accurate and unambiguous determination of electronic control mode, mechanical control mode, transition state or fault state.

[0007] Optionally, in this embodiment, the electronic control state detection unit includes a first moving part and a first proximity sensor; the first predetermined position is the position of the electronically controlled servo piston located at the top dead center, as detected by the first proximity sensor; the mechanical control state detection unit includes a second moving part and a second proximity sensor; the second predetermined position is the position of the mechanically controlled servo piston located at the top dead center, as detected by the second proximity sensor.

[0008] In the above implementation process, the precise detection and clear correlation of the top dead center positions of the electronically controlled servo piston and the mechanically controlled servo piston are achieved through the configuration of the electronically controlled servo piston and the mechanically controlled servo piston.

[0009] Optionally, in this embodiment, the first state signal includes a first valid signal and a first invalid signal, and the second state signal includes a second valid signal and a second invalid signal; the first valid signal is the signal output by the electronic control state detection unit when the electronically controlled servo piston is in the first predetermined position; the first invalid signal is the signal output by the electronic control state detection unit when the electronically controlled servo piston is not in the first predetermined position; the second valid signal is the signal output by the mechanical control state detection unit when the mechanically controlled servo piston is in the second predetermined position; the second invalid signal is the signal output by the mechanical control state detection unit when the electronically controlled servo piston is not in the second predetermined position.

[0010] In the above implementation process, a clear correspondence and accurate representation of the piston position and the state signal were achieved, solving the problem that the state signal was ambiguous and could not accurately reflect whether the piston was in the predetermined position.

[0011] In the above implementation process, the current operating state of the electro-hydraulic speed controller is determined based on the logical combination of the first state signal and the second state signal, including: when the first state signal output is a first invalid signal and the second state signal output is a second valid signal, the current operating state of the electro-hydraulic speed controller is determined to be in electronic control mode; when the first state signal output is a first valid signal and the second state signal output is a second invalid signal, the current operating state of the electro-hydraulic speed controller is determined to be in mechanical control mode; when the first state signal output is a first valid signal and the second state signal output is a second valid signal, the current operating state of the electro-hydraulic speed controller is determined to be in transition state; when the first state signal output is a first invalid signal and the second state signal output is a second invalid signal, the current operating state of the electro-hydraulic speed controller is determined to be in fault state. This logical combination enables accurate and unambiguous differentiation and determination of the current operating state of the electro-hydraulic speed controller.

[0012] In the above implementation process, the first valid signal and the second valid signal are at high level, and the first invalid signal and the second invalid signal are at low level. This clarifies the definition and unified standard of the validity of the first state signal and the second state signal, providing an intuitive and unambiguous signal basis for the logical combination determination of the working state of the electro-hydraulic speed controller.

[0013] In the above implementation process, if a state switching signal is detected, the state switching signal is identified; if the state switching signal indicates a need to switch from machine control mode to electric control mode, the stepper motor is controlled to drive the mechanically adjustable servo piston to move to the top dead center; if the state switching signal indicates a need to switch from electric control mode to machine control mode, the stepper motor is controlled to drive the electronically adjustable servo piston to move to the top dead center, thus realizing the orderly exit of different modes and the smooth intervention of the target mode.

[0014] In the above implementation process, the stepper motor control method during state switching includes: starting the mechanically regulated servo piston or the electronically regulated servo piston with a first pulse frequency; when the mechanically regulated servo piston or the electronically regulated servo piston moves to a preset position, controlling the mechanically regulated servo piston or the electronically regulated servo piston with a second pulse frequency higher than the first pulse frequency; and using a third pulse frequency lower than the second pulse frequency to perform positioning control on the mechanically regulated servo piston or the electronically regulated servo piston, thereby quickly and accurately performing homing control on the mechanically regulated servo piston or the electronically regulated servo piston, providing reliable mechanical positioning support for dual-mode switching.

[0015] Secondly, embodiments of this application provide an electro-hydraulic speed regulator, comprising: an electronically controlled state detection unit having a first moving member and a first proximity sensor, and a mechanically controlled state detection unit having a second moving member and a second proximity sensor; the first moving member is fixedly connected to an electronically controlled servo piston, and the first moving member is configured to change axially synchronously with the stroke of the electronically controlled servo piston; the first proximity sensor is connected to the first moving member and configured to identify the position change of the first moving member and output a first state signal characterizing whether the electronically controlled servo piston of the electro-hydraulic speed regulator is at a first predetermined position; the second moving member is fixedly connected to a mechanically controlled servo piston, and the second moving member is configured to change axially synchronously with the stroke of the mechanically controlled servo piston; the second proximity sensor is connected to the second moving member and configured to identify the position change of the second moving member and output a second state signal characterizing whether the mechanically controlled servo piston of the electro-hydraulic speed regulator is at a second predetermined position; wherein, the first predetermined position characterizes the electronically controlled servo piston being at top dead center, and the second predetermined position characterizes the mechanically controlled servo piston being at top dead center.

[0016] Optionally, in this embodiment of the application, the electro-hydraulic speed controller further includes a display module, which is used to receive and display the current operating status of the electro-hydraulic speed controller.

[0017] Therefore, the electro-hydraulic speed controller provided in this application embodiment, by configuring an electronic control status detection unit containing a first moving part and a first proximity sensor, a mechanical control status detection unit containing a second moving part and a second proximity sensor, and a display module for receiving and displaying the current working status, essentially achieves convenient and accurate acquisition of the top dead center position of the electronic and mechanical servo pistons, which were originally difficult to detect directly. It can also achieve independent detection and differentiation of the two types of piston position signals. At the same time, the optional display module allows the internal working status of the speed controller to be visualized, solving the problems of traditional electro-hydraulic speed controllers being unable to conveniently acquire key position signals of the servo piston, lacking independent signal differentiation, and having an unintuitive working status.

[0018] Thirdly, embodiments of this application also provide a computer program product, which includes a computer program / instruction that, when executed by a processor, implements the steps in any of the above implementation methods.

[0019] The electro-hydraulic speed controller monitoring method provided in this application, by configuring a moving part linked to the servo piston and a corresponding proximity sensor, accurately detects the key position of the piston and outputs a status signal, realizing real-time monitoring and clear indication of the speed controller's working mode; effectively improving the accuracy of working status determination and fault diagnosis efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of the working status monitoring method for the electro-hydraulic speed controller provided in the embodiments of this application;

[0022] Figure 2 This is a logic matrix diagram of the state signal of the electro-hydraulic speed controller provided in the embodiments of this application;

[0023] Figure 3 This is a state digital signal logic matrix diagram of an electro-hydraulic speed controller provided in an optional embodiment of this application.

[0024] Figure 4 This is a flowchart of the electro-hydraulic speed governor state switching control method provided in the embodiments of this application;

[0025] Figure 5 This is a flowchart of the stepper motor control method in the electro-hydraulic speed controller provided in the embodiments of this application;

[0026] Figure 6 A schematic diagram of an electro-hydraulic speed controller capable of monitoring operating status provided for the implementation of this application.

[0027] Figure 7 This is a schematic diagram of the electro-hydraulic speed controller's operating state provided in the embodiments of this application;

[0028] Figure 8 This is a schematic diagram of the electro-hydraulic speed regulator's mechanical adjustment working state provided in the embodiments of this application.

[0029] Explanation of reference numerals in the attached drawings: First moving part - 601; Second moving part - 602; Electrically adjustable servo piston - 603; Mechanically adjustable servo piston - 604; First proximity sensor - 605; Second proximity sensor - 606. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. For example, the flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive 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 diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0031] Electro-hydraulic speed governors are precision speed control devices that integrate electrical control and hydraulic actuators. Their core function is to control the movement of actuators by adjusting fluid pressure or flow, thereby achieving precise control of the rotational speed of rotating machinery. With their advantages of fast response, high control accuracy, and strong load adaptability, they have become core equipment for large rotating machinery. Against the backdrop of industrial production's deep transformation towards high efficiency, precision, and continuous operation, the stable operation of these large rotating machines directly determines the continuous capacity of the production line. The accuracy of the electro-hydraulic speed governor's status detection and the reliability of its mode switching are not only core supports for ensuring stable equipment speed and improving production efficiency, but also key links in reducing unplanned downtime losses and avoiding safety accidents. Electro-hydraulic speed governors are designed with a dual-mode architecture, with both electrical and mechanical control modes coexisting. They can determine the operating status based on speed feedback signals. The electrical control mode can meet the high-precision dynamic speed control requirements under complex working conditions, while the mechanical control mode serves as a backup, maintaining basic equipment operation in the event of an electrical control system failure. The two modes work together to form a double insurance.

[0032] The inventors discovered that during the operation of the electro-hydraulic speed governor, when the electronic control mode is running, the stability of the speed can be used to determine whether the electronic control system is working, but it is impossible to confirm whether the mechanically controlled servo piston has returned to its position. When the mechanical control mode is engaged, it is also impossible to verify whether the electronically controlled servo piston has left the working area through signals. During the mode switching process, there is a lack of effective identification of the transition state, which can easily lead to a misjudgment of normal switching as a malfunction.

[0033] Taking the GAC GSR2000 electro-hydraulic governor, a common model used in marine main engine diesel engines, as an example, this model is widely used in 5,000-ton bulk carriers. It adopts a dual-mode design with electronic control as the main mode and mechanical control as a backup. During normal navigation, the electronic control unit receives the speed signal and drives the electronic governor servo piston to adjust the fuel quantity to maintain the target speed of 1,000 rpm. In case of electronic control failure, the centrifugal force of the flyweight drives the mechanical governor servo piston to maintain an emergency speed of 800 rpm. The operating status is determined by the speed feedback signal. In practical applications, this type of electro-hydraulic governor has significant drawbacks: Firstly, during normal ship navigation, the diesel engine speed fluctuates slightly by ±8 rpm. Operators can only see the speed data and cannot distinguish whether it is normal adjustment in electronic control mode, partial intervention in mechanical control mode, or a transitional process between modes through equipment feedback. This leads to ambiguous judgment of the working status and is prone to misjudgment during operation and maintenance. Secondly, when emergency mode switching tests are conducted before docking, a failure to switch triggers a power alarm. Technicians need to spend at least 3 hours disassembling and inspecting components such as the electronic control unit, the ESC servo piston, the mechanical control servo piston, and the flyweight lever mechanism to troubleshoot faults such as ESC piston jamming or insufficient lubrication of the mechanical control lever. The lack of standardized signal basis leads to inefficient fault diagnosis and high costs. In addition, when encountering a strong typhoon and power grid fluctuations trigger an electronic control fault to switch to mechanical control mode, the ESC servo piston does not return to its original position and remains at the 8mm stroke position. It acts on the fuel rack simultaneously with the mechanical control piston, causing severe speed fluctuations of ±15 rpm and abnormal wear of components. The lack of return signal verification during mode switching leads to dual-mode interference and uncontrollable operation.

[0034] Based on this, this solution provides an electro-hydraulic speed governor and a method for monitoring its operating status. This monitoring method, by configuring an electronic control status detection unit and a mechanical control status detection unit, collects signals characterizing the positions of the electronically controlled servo piston and the mechanically controlled servo piston in real time. Based on a preset signal logic matrix, it achieves accurate and unambiguous determination of the operating status. This solution, by configuring moving parts linked to the servo pistons and corresponding proximity sensors, and optimizing the operating status determination logic of the electro-hydraulic speed governor, achieves real-time monitoring and clear indication of the speed governor's operating mode; effectively improving the accuracy of operating status determination and the efficiency of fault diagnosis.

[0035] Please refer to Figure 1 , Figure 1 This is a flowchart of a method for monitoring the operating status of an electro-hydraulic speed governor provided in this application embodiment; the monitoring method includes the following steps:

[0036] Step S100: Obtain the first state signal output by the electronic control state detection unit and the second state signal output by the mechanical control state detection unit.

[0037] In step S100 above, the first state signal output by the electronic control status detection unit and the second state signal output by the mechanical control status detection unit are simultaneously acquired. The first state signal indicates whether the electronically controlled servo piston of the electro-hydraulic speed governor is in a first predetermined position, and the second state signal indicates whether the mechanically controlled servo piston of the electro-hydraulic speed governor is in a second predetermined position. By acquiring the first and second state signals, key physical positional information can be provided to determine whether the speed governor is in electronic control mode, mechanical control mode, transitional state, or fault state. The electronically controlled servo piston is used in the electronic control mode of the electro-hydraulic speed governor. It adjusts the hydraulic actuator through precise axial displacement and is the core actuator that ensures stable speed under normal operating conditions. The mechanically controlled servo piston is used in the mechanical control mode of the electro-hydraulic speed governor. When abnormal situations such as loss of electronic control signal or power failure occur, the mechanical logic drives the axial displacement of the mechanically controlled servo piston to ensure that the speed is stable within a safe range and avoid equipment shutdown. The two different driving methods and applicable operating conditions together constitute the execution basis for the dual-mode speed regulation of the electro-hydraulic speed governor.

[0038] Optionally, the electro-hydraulic speed controller also includes a controller. The controller can serve as the core for signal acquisition, pre-configuring signal receiving interfaces compatible with both the electronic control status detection unit and the mechanical control status detection unit to ensure compatibility with the output signal types of the two types of detection units. The controller also includes preset signal preprocessing logic to optimize the stability of the first and second state signals to be acquired. This includes configuring an RC low-pass filter mechanism to filter signal noise caused by electromagnetic interference and setting anti-jitter delays to avoid false acquisitions caused by instantaneous signal fluctuations, thus ensuring signal accuracy. In practice, the first and second state signals acquired by the controller can be temporarily stored in an internal data buffer and marked with a timestamp for easy verification of signal timeliness by subsequent logic judgment modules, avoiding judgment deviations caused by signal delays.

[0039] Step S200: Determine the current operating state of the electro-hydraulic speed controller based on the logical combination of the first state signal and the second state signal.

[0040] In step S200 above, a fixed logical combination and its correspondence with the operating state can be pre-stored in the controller of the electro-hydraulic speed governor. This clarifies that the four signal combinations correspond to the four operating states, forming a standardized judgment basis to ensure that the judgment logic is unified and unambiguous. Subsequently, the controller extracts the first and second state signals that have been synchronously acquired from the internal data buffer. After verifying the acquisition timestamps of the two signals to ensure that the two types of signals used for judgment are output signals at the same time node, it compares them with the preset logical combination rules to determine the unique operating state category corresponding to the current signal combination. After the matching is completed, the controller generates a result signal that represents the current operating state of the electro-hydraulic speed governor.

[0041] The operating states in the embodiments of this application include electronic control mode, mechanical control mode, transition state, or fault state. Among them, the electronic control mode is the normal operating mode of the electro-hydraulic speed governor. In this mode, the electronically controlled servo piston, as the core actuator, is driven by the electrical control unit to perform axial displacement, realizing dynamic and precise control of the equipment speed. At this time, the mechanically controlled servo piston completely disengages from the speed regulation action and only serves as a standby actuator. The mechanical control mode is the emergency backup mode of the electro-hydraulic speed governor, which is suitable for emergency scenarios when the electronic control system fails. In this mode, the electronically controlled servo piston completely disengages from the speed regulation action, and the mechanically controlled servo piston, as the core actuator, is driven by the mechanical feedback mechanism (such as centrifugal force of the flyweight or spring preload) to perform axial displacement, maintain the basic speed of the equipment, and prevent the equipment from stopping. The transition state is the intermediate state between the electronic control mode and the mechanically controlled mode, which occurs during the instantaneous process of switching between the two modes. In this state, neither type of piston participates in the speed regulation action. The fault state is an abnormal state in which the electro-hydraulic speed governor cannot normally realize the speed regulation function. It is mostly caused by servo piston jamming, detection unit failure, or drive mechanism failure. In this mode, neither the electronically controlled servo piston nor the mechanically controlled servo piston can return to its normal position or perform the speed regulation action, and thus speed regulation cannot be realized.

[0042] Therefore, the electro-hydraulic speed governor working status monitoring method provided in this application obtains the first and second status signals output by the electronic control status detection unit and the mechanical control status detection unit, and determines the current working status of the electro-hydraulic speed governor based on the comparison of preset logic combination rules. In essence, it realizes accurate and unambiguous determination of electronic control mode, mechanical control mode, transition state or fault state, and solves the problems of ambiguous state determination, inaccurate signal acquisition and determination deviation caused by signal delay in traditional electro-hydraulic speed governors.

[0043] Continue to refer to the above. Figure 1 The embodiments of this application provide an electronic control state detection unit and a mechanical control state detection unit; the electronic control state detection unit includes a first moving part and a first proximity sensor; wherein, the first predetermined position is the position of the electronically controlled servo piston located at the top dead center, as detected by the first proximity sensor; the mechanical control state detection unit includes a second moving part and a second proximity sensor; wherein, the second predetermined position is the position of the mechanically controlled servo piston located at the top dead center, as detected by the second proximity sensor.

[0044] Therefore, the configuration of the electronic control status detection unit and the mechanical control status detection unit provided in this application embodiment enables accurate detection and clear association of the top dead center position of the electronically controlled servo piston and the mechanically controlled servo piston, solving the problems of traditional detection units being unable to accurately correspond to the piston top dead center position and the position representation being ambiguous.

[0045] In an optional embodiment of this application, the first state signal includes a first valid signal and a first invalid signal, and the second state signal includes a second valid signal and a second invalid signal. Specifically, the first valid signal is the signal output by the electronic control state detection unit when the electronically controlled servo piston is in a first predetermined position; the first invalid signal is the signal output by the electronic control state detection unit when the electronically controlled servo piston is not in the first predetermined position; the second valid signal is the signal output by the mechanical control state detection unit when the mechanically controlled servo piston is in a second predetermined position; and the second invalid signal is the signal output by the mechanical control state detection unit when the electronically controlled servo piston is not in the second predetermined position.

[0046] Therefore, the classification of the first and second state signals provided in this application embodiment achieves a clear correspondence and accurate representation between the piston position and the state signals, solving the problem that the meaning of the state signals is ambiguous and cannot accurately reflect whether the piston is in the predetermined position.

[0047] Please refer to Figure 2 , Figure 2 The state signal logic matrix diagram of the electro-hydraulic speed governor provided in the embodiments of this application; in optional embodiments of this application, the current operating state of the electro-hydraulic speed governor is determined based on the logical combination of the first state signal and the second state signal, including:

[0048] When the first state signal output is a first invalid signal and the second state signal output is a second valid signal, the current operating state of the electro-hydraulic speed governor is determined to be the electronic control mode. The first invalid signal indicates that the electronically controlled servo piston is not at the first predetermined position (top dead center) and has entered its working stroke to participate in speed regulation. The second valid signal indicates that the mechanically controlled servo piston is at the second predetermined position (top dead center) and remains locked, not intervening in speed regulation. This electronic control mode is the normal operating mode of the electro-hydraulic speed governor and is suitable for normal industrial production conditions. In this mode, the electrical control unit receives the speed feedback signal from the rotating machinery, drives the electronically controlled servo piston to move axially, and adjusts the flow and pressure of the hydraulic circuit, thereby achieving high-precision dynamic control of the equipment speed.

[0049] When the first state signal output is a valid signal and the second state signal output is an invalid signal, the current operating state of the electro-hydraulic speed governor is determined to be mechanical control mode. The first valid signal indicates that the ESC servo piston has reset to the first predetermined position (top dead center) and no longer participates in speed regulation. The second invalid signal indicates that the mechanical control servo piston is not at the second predetermined position (top dead center) and has entered its working stroke to perform speed regulation. This mechanical control mode is the emergency backup mode of the electro-hydraulic speed governor, typically triggered in scenarios involving electronic control system failures, such as ECU power failure, speed sensor malfunction, or ESC servo piston jamming. In this situation, the mechanical feedback mechanism replaces the electrical control, relying on mechanical forces such as centrifugal force of the flyweight or spring preload to move the mechanical control servo piston, maintaining the equipment speed within a preset emergency range. Although the speed regulation accuracy is slightly lower than in the electronic control mode, it effectively avoids unplanned equipment downtime, allowing sufficient time for troubleshooting and maintenance, and significantly reducing industrial production losses.

[0050] When the first state signal output is a first valid signal and the second state signal output is a second valid signal, the current operating state of the electro-hydraulic speed controller is determined to be a transitional state. This signal combination indicates that the electronically controlled servo piston is at the first predetermined position (top dead center) and the mechanically controlled servo piston is at the second predetermined position (top dead center), with neither participating in speed regulation. This transitional state is a brief connection during the switching process between electronic and mechanical control modes, typically lasting a short time. This avoids mechanical interference caused by the simultaneous movement of the two types of servo pistons during mode switching, ensuring the smoothness of the switching process and preventing drastic speed fluctuations in the equipment.

[0051] If both the first and second state signal outputs are invalid, the current operating state of the electro-hydraulic speed governor is determined to be a fault state. Specifically, the combination of two invalid signals indicates that the ESC servo piston is not at the first predetermined position (top dead center), and the MIRV servo piston is not at the second predetermined position (top dead center), which is not a normal single-mode operating state. This fault state is an abnormal alarm state for the electro-hydraulic speed governor, indicating a potential fault. Possible causes include ESC or MIRV piston jamming, proximity sensor failure, mode switching logic disorder, and hydraulic circuit blockage. In this state, the electro-hydraulic speed governor cannot achieve stable speed control, and is prone to risks such as speed loss and accelerated wear of the mechanism. The system will immediately trigger an audible and visual alarm and upload a fault signal. Maintenance personnel can use this status indication to prioritize checking for piston jamming and sensor signal validity, thereby quickly locating the root cause of the fault and improving fault handling efficiency.

[0052] Therefore, the state signal logic matrix diagram of the electro-hydraulic speed governor provided in this application embodiment, by combining the four logic combinations of the first state signal and the second state signal, respectively corresponds to the determination of the electronic control mode, mechanical control mode, transition state, and fault state, essentially realizes the accurate and unambiguous distinction and determination of the current working state of the electro-hydraulic speed governor, and solves the problems of ambiguous state determination, inefficient fault diagnosis, and easy misjudgment of mode switching in traditional speed governors.

[0053] Continue to refer to the above. Figure 2 In this embodiment of the application, the first valid signal and the second valid signal are at a high level, and the first invalid signal and the second invalid signal are at a low level.

[0054] For example, please refer to Figure 3 The state digital signal logic matrix diagram of the electro-hydraulic speed controller provided in the optional embodiments of this application. When the electro-hydraulic speed controller is in the electronic speed controller working state, the mechanical speed controller servo piston should be at the top dead center, at which time the mechanical speed controller servo piston proximity sensor outputs signal (1), and the electronic speed controller servo piston should be at any position other than the top dead center, at which time the electronic speed controller servo piston proximity sensor outputs signal (0).

[0055] When both the electronically controlled servo piston and the mechanically controlled servo piston are at their top dead center, it is assumed that the electro-hydraulic speed controller is in a transition state, and the output signals of both the electronically controlled servo piston proximity sensor and the mechanically controlled servo piston proximity sensor are (1).

[0056] When the electro-hydraulic speed controller is in the mechanical adjustment working state, the electro-hydraulic servo piston should be at the top dead center. At this time, the electro-hydraulic servo piston proximity sensor outputs signal (1). The mechanical adjustment servo piston should be at any position other than the top dead center. At this time, the mechanical adjustment servo piston proximity sensor outputs signal (0).

[0057] When both the electronically controlled servo piston proximity sensor and the mechanically controlled servo piston proximity sensor output a signal (0), the electro-hydraulic speed controller is in a fault state.

[0058] Therefore, the embodiments of this application clearly define the first valid signal and the second valid signal as high level, and the first invalid signal and the second invalid signal as low level. In essence, this achieves a clear definition and unified standard for the validity of the first state signal and the second state signal, providing an intuitive and unambiguous signal basis for the logical combination determination of the working state of the electro-hydraulic speed controller. This solves the problems of vague definition of traditional state signal levels, which can easily lead to confusion of signal meaning and affect the accuracy of working state determination.

[0059] Please refer to Figure 4 , Figure 4 This is a flowchart of the electro-hydraulic speed governor state switching control method provided in the embodiments of this application; the control method further includes:

[0060] Step S10: Monitor and identify state switching signals.

[0061] In step S10 above, the source and triggering conditions of the switching signal can be clearly defined according to actual operating requirements, including signal loss or power failure of the external electronic control system, switching commands issued manually or automatically by the superior monitoring system, automatic switching requirements when the engine load exceeds the limit, and reset requirements after the electronic control fault is repaired, to ensure that the signal is generated only in the actual mode switching scenario; then, the digital input interface of the speed governor control unit is used to collect the signal. The control unit in the electro-hydraulic speed governor reads the output signals of the first proximity sensor and the second proximity sensor to determine the current working state. After verifying the validity of the switching signal and excluding duplicate or invalid commands, the stepper motor execution command is generated.

[0062] Step S20: When the state switching signal indicates that the switch from machine control mode to electronic control mode is required, control the stepper motor to drive the mechanically adjustable servo piston to move to the top dead center; when the state switching signal indicates that the switch from electronic control mode to machine control mode is required, control the stepper motor to drive the electronically adjustable servo piston to move to the top dead center.

[0063] In step S20 above, when the controller receives the stepper motor execution command, and the command is to switch from machine control mode to electric control mode, the controller outputs the stepper motor drive command; according to the drive command, the mechanical adjustment servo piston is driven to move axially; during the piston movement, the controller receives the signal feedback from the machine control status detection unit in real time until it detects that the mechanical adjustment servo piston has reached the top dead center and outputs the second valid signal to stop the motor drive.

[0064] When the controller receives a stepper motor execution command, and the command is to switch from electronic control mode to machine control mode, it can start another stepper motor of the same model to drive the ESC servo piston to move until the electronic control status detection unit outputs the first valid signal to confirm that the ESC servo piston has reached the top dead center and the motor drive stops.

[0065] For example, when a ship with a built-in YT-200 electro-hydraulic governor is sailing in a shallow inland river area, the 24V power supply of the electronic control system fails due to instantaneous fluctuations in the ship's power grid. This triggers the switching condition for the power supply failure of the electronic control system, and the electro-hydraulic governor automatically switches to the mechanical control mode to maintain the diesel engine at an emergency speed of 1450 rpm.

[0066] Thirty minutes later, the power failure was repaired. At this time, the ship's central control system issued a "power control reset" switching command. The electro-hydraulic governor control unit acquired the switching command issued by the central control system through the digital input interface, and at the same time read the output status signals of the first and second proximity sensors in real time. Subsequently, the control unit verified the matching between the switching command and the current status, and filtered out the signal noise in the early stage of power grid recovery through a 100ms anti-jitter delay. After confirming that there were no duplicate or invalid commands, it generated a stepper motor execution command. The command content was "drive the stepper motor corresponding to the servo piston to perform the return to the top dead center action".

[0067] After the stepper motor executes the command, it outputs a drive command to the stepper motor corresponding to the mechanically adjustable servo piston, setting the motor speed to 800 r / min and the step angle to 1.8°, driving the mechanically adjustable servo piston to move upward along the axis (towards the upper dead center of the mechanical reset). During the movement of the mechanically adjustable servo piston, the control unit simultaneously receives signal feedback from the mechanical control status detection unit at a frequency of 10ms / time. In the initial stage, the second proximity sensor continuously outputs the second invalid signal. When the piston moves to a position 3mm away from the upper dead center, the signal of the second proximity sensor jumps to the second valid signal. After the control unit detects that the valid signal has been stable for 200ms (anti-jitter confirmation), it immediately outputs a motor stop command, the stepper motor is powered off and braked, and the mechanically adjustable servo piston accurately returns to the upper dead center.

[0068] As can be seen from the flowchart of the electro-hydraulic speed governor state switching control method provided in this application embodiment, by accurately identifying the state switching signal, drives the mechanical speed governor servo piston to move to the top dead center when switching from mechanical control mode to electronic control mode, and drives the electronic speed governor servo piston to move to the top dead center when switching from electronic control mode to mechanical control mode. In essence, it realizes the orderly exit of different modes and the smooth intervention of the target mode, and solves the problems of uncontrollable and low reliability of traditional speed governor mode switching.

[0069] Please refer to Figure 5 , Figure 5 A flowchart illustrating a stepper motor control method in an electro-hydraulic speed controller provided in this application embodiment; the control method includes:

[0070] Step S1: Start the mechanically regulated servo piston or the electrically regulated servo piston using the first pulse frequency.

[0071] In step S1 above, a two-phase four-wire hybrid stepper motor can be selected, paired with an A4988 driver. The driver's drive voltage can be set to 24V, and the motor rotation is controlled by pulse signals. A mechanically regulated servo piston or an electronically regulated servo piston is started using the first pulse frequency. In specific implementations, a ball screw transmission mechanism can be used to convert the initial piston movement speed to 1mm / s, avoiding step loss due to insufficient torque during startup. For example, the first pulse frequency can be set to 500Hz, which is the low-speed starting frequency of the motor, corresponding to a motor speed of 50r / min.

[0072] Step S2: When the mechanically regulated servo piston or the electronically regulated servo piston moves to the preset position, the mechanically regulated servo piston or the electronically regulated servo piston is controlled by a second pulse frequency higher than the first pulse frequency.

[0073] In step S2 above, the controller can calculate the number of steps the stepper motor rotates in real time to determine whether the servo piston has reached the preset position from the top dead center. For example, the preset position can be 5mm from the top dead center. After reaching the top dead center, the first pulse frequency of 500Hz can be switched to the second pulse frequency of 1500Hz, which corresponds to the motor speed increasing from 50r / min to 150r / min, and the piston movement speed increasing to 3mm / s. This greatly improves the mode switching efficiency while ensuring operational stability.

[0074] Step S3: Use a third pulse frequency lower than the second pulse frequency to perform positioning control on the mechanically regulated servo piston or the electronically regulated servo piston.

[0075] In step S3 above, for example, when the servo piston moves to the positioning area 1mm away from the top dead center, the pulse frequency is switched to the third pulse frequency of 300Hz, corresponding to the motor speed being reduced to 30r / min and the piston moving speed being reduced to 0.6mm / s; low-speed positioning can effectively offset the inertial impact of piston movement, ensuring that the servo piston accurately stops at the top dead center, and the final positioning axial deviation is ≤±0.02mm, ensuring that the detection unit outputs a stable and effective signal.

[0076] As can be seen from the flowchart of the stepper motor control method in the electro-hydraulic speed controller provided in this application embodiment, through the three-segment pulse frequency control method, essentially realizes the fast and accurate homing control of the mechanical or electronic servo piston, providing reliable mechanical positioning support for dual-mode switching, effectively solving the problems of large piston positioning deviation, low switching efficiency, and signal instability caused by inertial impact in traditional speed controller mode switching, and further ensuring the stability and reliability of dual-mode switching of the electro-hydraulic speed controller.

[0077] Please refer to Figure 6 , Figure 6This is a schematic diagram of an electro-hydraulic speed controller capable of monitoring operating status, provided in an embodiment of this application. The various devices of the electro-hydraulic speed controller in this embodiment are used to execute the various steps in the above method embodiments. The electro-hydraulic speed controller 600 includes an electronically controlled state detection unit having a first moving element and a first proximity sensor, and a mechanically controlled state detection unit having a second moving element and a second proximity sensor.

[0078] In an optional embodiment, the first moving part 601 and the second moving part 602 can be structural components such as linkage pins, lever arm extensions, sliders, and bosses that can be reliably fixed, have no relative displacement, and whose structural dimensions are adapted to the internal space of the speed controller. The first moving part 601 is fixedly connected to the electronically controlled servo piston 603, and the first moving part 601 is configured to change axially synchronously with the stroke of the electronically controlled servo piston 603. The second moving part 602 is fixedly connected to the mechanically controlled servo piston 604, and the second moving part 602 is configured to change axially synchronously with the stroke of the mechanically controlled servo piston 604.

[0079] The electronically controlled servo piston 603 is used in the electronic control mode of the electro-hydraulic speed controller. It adjusts the hydraulic actuator through precise axial displacement and is the core actuator that ensures stable speed under normal working conditions. The displacement state of the electronically controlled servo piston 603 is linked to the first moving part 601, providing physical signal support for the status monitoring of the electronic control mode.

[0080] The mechanically adjustable servo piston 604 is used in the mechanical control mode of the electro-hydraulic speed controller. When abnormal situations such as loss of electrical control signal or power failure occur, the mechanical logic drives the axial displacement of the mechanically adjustable servo piston 604 to ensure that the speed is stable within a safe range and avoid equipment shutdown. The displacement state of the mechanically adjustable servo piston 604 is linked to the second moving part 602 to provide a physical basis for the state recognition of the mechanical control mode.

[0081] In an optional embodiment, the first proximity sensor 605 and the second proximity sensor 606 can be industrial-grade proximity sensors such as inductive proximity sensors, capacitive proximity sensors, and magnetic proximity sensors, which can meet the requirements of non-contact detection, anti-interference, fast response, and adaptation to metal moving parts. The first proximity sensor 605 is connected to the first moving part 601 and configured to detect the position change of the first moving part 601, and output a first state signal indicating whether the electro-hydraulic speed controller's electrically adjustable servo piston 603 is at a first predetermined position. The second proximity sensor 606 is connected to the second moving part 602 and configured to detect the position change of the second moving part 602, and output a second state signal indicating whether the electro-hydraulic speed controller's mechanically adjustable servo piston 604 is at a second predetermined position. The first predetermined position indicates that the electrically adjustable servo piston is at the top dead center, and the second predetermined position indicates that the mechanically adjustable servo piston is at the top dead center.

[0082] In an optional embodiment, the electro-hydraulic speed controller further includes a display module for receiving and displaying the current operating status of the electro-hydraulic speed controller.

[0083] For example, an industrial-grade 0.56-inch four-digit common-anode LED digital tube and a three-color indicator light can be selected as the display module. The working voltage is converted from the internal 12V power supply of the electro-hydraulic speed controller to 5VDC through a 7805 voltage regulator chip, with a response time ≤100ms to match the real-time requirements of state switching. Then, the segment code and bit selection pins of the digital tube are connected to the controller of the mode logic determination module, and the control pins of the three-color indicator lights (green / yellow / red) are connected to the controller pins. The communication is simplified by using the controller's direct IO drive method. At the same time, the corresponding rules of the display content are preset in the controller: the digital tube displays "ELEC" and the green indicator light is always on in the electric control mode; the yellow indicator light is always on in the mechanical control mode; the abnormal state displays "ERR" and the fault code, and the red indicator light flashes. In the specific implementation process, the controller receives the first and second state signals in real time and completes the working state determination, and then outputs the corresponding drive signal. By lighting up the corresponding character segment of the digital tube and turning on the power of the corresponding indicator light, the current working state of the electro-hydraulic speed controller is displayed intuitively in both text and light.

[0084] Therefore, the electro-hydraulic speed controller schematic diagram provided in this application, by configuring an electronically controlled state detection unit containing a first moving part and a first proximity sensor, a mechanically controlled state detection unit containing a second moving part and a second proximity sensor, and a display module for receiving and displaying the current working status, essentially achieves accurate detection of the top dead center position of the electronically controlled servo piston and the mechanically controlled servo piston, reliable output of status signals, and intuitive presentation of the working status, thus solving the problems of inaccurate piston position detection, unreliable status signal output, and invisible working status in traditional electro-hydraulic speed controllers.

[0085] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the electro-hydraulic speed controller's operating state according to an embodiment of this application. When the first moving part 601, which is fixedly connected to the ESC servo piston 603, moves axially away from the top dead center, the first moving part 601 will leave the detection area of ​​the first proximity sensor 605, and the first proximity sensor 605 will output a first invalid signal; at this time, the second moving part 602 will reach the top dead center of the mechanically adjustable servo piston, and the second proximity sensor 606 will output a second valid signal.

[0086] As can be seen, the schematic diagram of the electro-hydraulic speed governor's operating state provided in this application embodiment achieves accurate identification of the electronic control mode through the combination of two state signals, solving the core pain point of the electro-hydraulic speed governor's operating state being invisible; at the same time, the mechanical adjustment servo piston 604 returns to the top dead center and outputs an invalid signal, avoiding interference between the mechanical adjustment components and the electronic adjustment servo piston 603, and ensuring high precision and timely response of speed regulation in electronic control mode.

[0087] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the electro-hydraulic speed regulator's mechanical adjustment working state provided in this application embodiment; when the second moving part 602, which is fixedly connected to the mechanical adjustment servo piston 604, moves axially away from the top dead center, the second moving part 602 will leave the detection area of ​​the second proximity sensor 606, and the second proximity sensor 606 will output a second invalid signal; at this time, the first moving part 601 will reach the top dead center of the electronically adjusted servo piston, and the first proximity sensor 605 will output a first valid signal.

[0088] As can be seen, the schematic diagram of the electro-hydraulic speed controller's mechanical control status provided in this application embodiment achieves a clear identification of the mechanical control mode through the combination of two status signals, ensuring that the status of the standby mode can be identified under abnormal operating conditions; at the same time, the ESC servo piston 603 returns to the top dead center, eliminating the interference of the ESC components on the mechanical control logic and ensuring the basic stability of the mechanical control mode.

[0089] In an alternative embodiment, please refer to Figure 6 In this application, the first moving component is fixed to the electrically adjustable servo piston, and the second moving component is fixed to the mechanically adjustable servo piston. First and second proximity sensors are mounted on a base and aligned with the moving components. A controller connects the sensors, stepper motor, and display module to complete the hardware assembly. Please refer to [link to relevant documentation]. Figure 2 This application also systematically defines signal rules, decision logic, and display mapping; during the operation of the electro-hydraulic speed controller, please first refer to... Figure 1 The electronic control status detection unit and the mechanical control status detection unit simultaneously acquire the first status signal and the second status signal, and determine the current operating status of the electro-hydraulic speed governor based on a preset logical combination rule; please refer to [further details omitted]. Figure 4 and Figure 5 The controller receives and accurately identifies the state switching signal in real time to switch between two modes. At this time, the stepper motor starts with the first pulse frequency, accelerates with the second pulse frequency when the preset position is switched, and positions itself with the third pulse frequency when the positioning area is switched, driving the corresponding servo piston to return to its original position, thereby realizing real-time monitoring and switching of the working mode of the electro-hydraulic speed controller.

[0090] Based on the same inventive concept, embodiments of this application also provide a computer program product, which includes a computer program / instruction that, when executed by a processor, implements the steps in any of the above implementation methods.

[0091] The computer-readable storage medium can be any medium capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The storage medium stores the program, and the processor executes the program after receiving an execution instruction. The method executed by the electronic terminal as defined in any embodiment of this invention can be applied to the processor or implemented by the processor.

[0092] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0093] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0095] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0096] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0097] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for monitoring the operating status of an electro-hydraulic speed controller, characterized in that, The electro-hydraulic speed controller includes an electronic control status detection unit and a mechanical control status detection unit; the method includes: Acquire a first state signal output by the electronic control state detection unit and a second state signal output by the mechanical control state detection unit; wherein, the first state signal indicates whether the electronically adjustable servo piston of the electro-hydraulic speed controller is in a first predetermined position, and the second state signal indicates whether the mechanically adjustable servo piston of the electro-hydraulic speed controller is in a second predetermined position. Based on the logical combination of the first state signal and the second state signal, the current operating state of the electro-hydraulic speed controller is determined; wherein, the operating state includes electronic control mode, mechanical control mode, transition state or fault state; The first status signal includes a first valid signal and a first invalid signal, and the second status signal includes a second valid signal and a second invalid signal; The first valid signal is the signal output by the electronic control status detection unit when the ESC servo piston is in the first predetermined position; the first invalid signal is the signal output by the electronic control status detection unit when the ESC servo piston is not in the first predetermined position. The second valid signal is the signal output by the machine control status detection unit when the machine-controlled servo piston is in the second predetermined position; the second invalid signal is the signal output by the machine control status detection unit when the electronically controlled servo piston is not in the second predetermined position.

2. The method according to claim 1, characterized in that, in, The electronic control status detection unit includes a first moving part and a first proximity sensor; the first predetermined position is the position of the first moving part detected by the first proximity sensor, which represents the position of the electronically controlled servo piston at the top dead center. The machine control status detection unit includes a second moving part and a second proximity sensor; the second predetermined position is the position of the machine control servo piston at the top dead center, as detected by the second proximity sensor.

3. The method according to claim 1, characterized in that, The determination of the current operating state of the electro-hydraulic speed regulator based on the logical combination of the first state signal and the second state signal includes: When the first status signal output is a first invalid signal and the second status signal output is a second valid signal, the current working state of the electro-hydraulic speed controller is determined to be the electronic control mode. When the first status signal output is a first valid signal and the second status signal output is a second invalid signal, the current working state of the electro-hydraulic speed controller is determined to be the machine control mode; When the first state signal output is a first valid signal and the second state signal output is a second valid signal, the current working state of the electro-hydraulic speed controller is determined to be the transition state. If the first status signal output is a first invalid signal and the second status signal output is a second invalid signal, the current operating state of the electro-hydraulic speed controller is determined to be the fault state.

4. The method according to claim 1, characterized in that, The first valid signal and the second valid signal are at a high level, and the first invalid signal and the second invalid signal are at a low level.

5. The method according to claim 2, characterized in that, The method further includes: Monitor and identify state transition signals; When the state switching signal indicates a need to switch from machine control mode to electric control mode, the stepper motor is controlled to drive the machine adjustment servo piston to move to the top dead center. When the state switching signal indicates a need to switch from electronic control mode to machine control mode, the stepper motor is controlled to drive the ESC servo piston to move to the top dead center.

6. The method according to claim 5, characterized in that, in, The control methods for the stepper motor include: The mechanically controlled servo piston or the electronically controlled servo piston is started using the first pulse frequency; When the mechanically regulated servo piston or the electronically regulated servo piston moves to a preset position, the mechanically regulated servo piston or the electronically regulated servo piston is controlled by a second pulse frequency higher than the first pulse frequency. The positioning control of the mechanically regulated servo piston or the electrically regulated servo piston is performed using a third pulse frequency lower than the second pulse frequency.

7. An electro-hydraulic speed regulator, characterized in that, The electro-hydraulic speed controller includes an electronic control state detection unit having a first moving part and a first proximity sensor, and a mechanical control state detection unit having a second moving part and a second proximity sensor. The first moving part is fixedly connected to the electronically controlled servo piston, and the first moving part is configured to change axially synchronously with the stroke of the electronically controlled servo piston; The first proximity sensor is connected to the first moving part and is configured to identify the position change of the first moving part and output a first state signal characterizing whether the electro-hydraulic speed regulator's servo piston is in a first predetermined position. The second moving part is fixedly connected to the mechanical adjustment servo piston, and the second moving part is configured to change axially synchronously with the stroke of the mechanical adjustment servo piston; The second proximity sensor is connected to the second moving part and is configured to detect the position change of the second moving part and output a second state signal characterizing whether the mechanical adjustment servo piston of the electro-hydraulic speed controller is in a second predetermined position; Wherein, the first predetermined position indicates that the electronically controlled servo piston is at the top dead center, and the second predetermined position indicates that the mechanically controlled servo piston is at the top dead center.

8. The electro-hydraulic speed regulator according to claim 7, further comprising a display module, the display module being used to receive and display the current operating status of the electro-hydraulic speed regulator.

9. A computer program product, characterized in that, The computer program product includes a computer program / instruction that, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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