Electrical control device and control method based on rotating vane type steering engine

Abstract

The invention provides an electrical control device and control method based on a rotating vane type steering engine, and relates to the field of steering engine electrical control. The device comprises a shell assembly; the heat dissipation bin assembly is used for heat dissipation and cooling; the liquid circulation assembly is used for conveying water cooling liquid; the protection assembly is used for side protection; the shell assembly comprises an aluminum alloy shell. The heat dissipation bin assembly is additionally arranged in the aluminum alloy shell, the electrical assembly is installed in the heat dissipation bin, heat can be quickly conducted out through the aluminum alloy bin body and the heat dissipation fins, the heat dissipation fins penetrate through the back plate of the aluminum alloy shell and are exposed, the heat dissipation fins and the back plate of the aluminum alloy shell form an integrated structure, and the heat dissipation efficiency is improved. Heat generated by the heat source is transmitted to the heat dissipation fins through the aluminum alloy bin body and is directly conducted to the surfaces of the fins through the aluminum alloy shell to be dissipated, the heat conduction path is shortened by more than 50%, meanwhile, the whole aluminum alloy shell can conduct heat dissipation, and the heat dissipation effect is improved.

Description

Technical Field

[0001] This invention relates to the field of servo motor electrical control, specifically an electrical control device and control method based on a vane servo motor. Background Technology

[0002] A vane-type steering gear is a device that uses hydraulic or electric power to rotate rotor blades to steer a ship's rudder. It is a core component of a ship's steering system. Based on hydraulic circuit switching between the rotor and stator or direct motor drive, vane-type steering gears are characterized by their compact structure, fast response, and high reliability, and are widely used in the heading control of various types of ships.

[0003] The electrical control unit of a vane steering gear is a core component of a ship's maneuvering system, responsible for receiving commands, processing signals, driving hydraulic valves, and monitoring operational status. The electrical control unit of a vane steering gear mainly includes a core control and processing unit, a command input and rudder angle setting unit, an execution drive unit, a position and status feedback unit, a human-machine interface and indication unit, a power supply and protection unit, and a communication and interface unit.

[0004] In high-temperature environments, the electrical control devices of rotary servo motors are prone to overheating and derating of electronic components and a sharp reduction in the lifespan of electrolytic capacitors, affecting the normal operation of the electrical control devices. Furthermore, to avoid corrosion of the electrical control devices by the salt in the coastal environment, the electrical control devices are usually fully enclosed, which poses a greater challenge to the cooling of the electrical control devices of rotary servo motors. It is particularly important to meet the requirements of the fully enclosed electrical control devices while achieving good heat dissipation. Summary of the Invention

[0005] The purpose of this invention is to provide an electrical control device and control method based on a rotary vane servo motor, so as to solve the problems mentioned in the background art and overcome its technical defects.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an electrical control device and control method based on a rotary vane servo motor, including a housing assembly; a heat dissipation chamber assembly for heat dissipation and cooling; a liquid circulation assembly for conveying water-cooled liquid; and a protective assembly for side protection; The housing assembly includes: an aluminum alloy housing; The heat dissipation chamber assembly includes: a heat dissipation chamber fixed inside the aluminum alloy shell; an electrical component installed inside the heat dissipation chamber by screws; an aluminum alloy chamber body fixed to the side of the heat dissipation chamber; a plurality of equidistant and uniformly distributed guide pipes fixed inside the aluminum alloy chamber body; and heat dissipation fins fixed to the side of the aluminum alloy chamber body; the heat dissipation fins extend through the rear end of the aluminum alloy shell. The liquid circulation assembly includes: corrugated pipes fixed to the upper and lower sides of the aluminum alloy tank; and inlet and outlet pipes threadedly connected to one end of the two sets of corrugated pipes. The protective components include: magnetorheological fluid cavities that are closely attached to the left and right sides of the aluminum alloy chamber; and support springs that are fixed inside the magnetorheological fluid cavities.

[0007] As a further embodiment of the present invention, the liquid circulation assembly further includes: a water pump fixed to the end of the inlet pipe; a coolant tank fixed to the end of the outlet pipe; and a connector installed at the connection between the corrugated pipe and the inlet and outlet pipes.

[0008] As a further embodiment of the present invention: the water inlet pipe is located above the aluminum alloy shell, the water outlet pipe is located below the aluminum alloy shell, the water inlet pipe and the water outlet pipe are respectively connected to two sets of corrugated pipes through connectors, and O-rings are embedded at the connection between the corrugated pipes and the aluminum alloy shell.

[0009] As a further embodiment of the present invention: the corrugated pipe is located between the aluminum alloy shell and the aluminum alloy tank, the coolant tank is interconnected with the aluminum alloy tank through a water pump, an inlet pipe, and the corrugated pipe, and the aluminum alloy tank is interconnected with the coolant tank through the corrugated pipe and the outlet pipe.

[0010] As a further embodiment of the present invention: two sets of wedge-shaped blocks are fixed inside the aluminum alloy housing, which are symmetrically distributed about the vertical center line of the aluminum alloy shell. The side of the wedge-shaped block closer to the vertical center line of the aluminum alloy shell is lower than the side of the wedge-shaped block farther from the vertical center line of the aluminum alloy shell.

[0011] As a further embodiment of the present invention: the top of the guide pipe is connected to the corrugated pipe through a diversion pipe, and the bottom of the guide pipe is a suspended structure, and the liquid in the guide pipe is guided to the corrugated pipe on the outlet pipe through a wedge block.

[0012] As a further embodiment of the present invention, the housing assembly further includes: a buzzer mounted on the top of the aluminum alloy housing; a micro display screen fixed to the front end of the aluminum alloy housing; an indicator light disposed above the micro display screen; a rotary switch disposed to the left of the micro display screen; and a DIP switch disposed below the rotary switch.

[0013] As a further embodiment of the present invention: the electrical components include a CPU control module, a data processing module, a communication interface module, a power supply and a proportional valve driver, wherein the CPU control module, the power supply and the proportional valve driver are in close contact with the aluminum alloy housing.

[0014] As a further embodiment of the present invention: the interior of the magnetorheological fluid cavity is filled with magnetorheological fluid, and the gap between the magnetorheological fluid cavity and the aluminum alloy chamber is filled with thermally conductive silicone grease. The two sides of the magnetorheological fluid cavity are formed by splicing two corrugated plate-like structures, and the sides are sealed and encapsulated by side plates. The support spring is located between the recessed areas of the magnetorheological fluid cavity.

[0015] As a further aspect of the present invention: a control method comprising the following steps: S1. Command Input: Command input is achieved through DIP switches and rotary switches. The CPU control module receives the command and switches between automatic and manual control. Under automatic control, the rudder angle error is calculated by analyzing the data fed back by the rudder angle feedback sensor. S2. Automatic control: The power supply is used to power the electrical control device. The CPU control module controls the proportional valve driver to precisely control the valve core opening and direction, thereby controlling the flow rate and direction of the hydraulic oil flowing to the steering gear impeller chamber. S3, Closed-loop feedback: The rudder angle feedback sensor performs actual measurements and sends feedback signals to the CPU control module. The CPU control module determines whether the adjustment is complete and displays the data on a small display screen. S4. Heat dissipation control: A temperature sensor is installed inside the heat dissipation chamber to monitor the temperature inside the chamber. When the CPU control module determines that the temperature is too high, it starts the water pump to achieve forced cooling.

[0016] Compared with the prior art, the beneficial effects of the present invention include: 1. By adding a heat dissipation chamber assembly inside the aluminum alloy shell, the electrical components are installed inside the heat dissipation chamber. Heat can be quickly dissipated through the aluminum alloy chamber and heat dissipation fins. The heat dissipation fins penetrate through the back plate of the aluminum alloy shell and are exposed, making the heat dissipation fins and the back plate of the aluminum alloy shell an integrated structure. The heat generated by the heat source is transferred to the heat dissipation fins through the aluminum alloy chamber and then directly conducted to the surface of the fins through the aluminum alloy shell and dissipated. The heat conduction path is shortened by more than 50%. At the same time, the entire aluminum alloy shell can dissipate heat, improving the heat dissipation effect. 2. With the addition of a liquid circulation component and a flexible bellows connection, even if the aluminum alloy shell is subjected to vibration, the normal flow of the liquid circulation component will not be affected. At the same time, the coolant in the liquid circulation component can enter the aluminum alloy chamber, quickly dissipating the heat from the aluminum alloy chamber, and achieving efficient heat dissipation in conjunction with the heat dissipation chamber component. 3. Through the protective components, the magnetorheological fluid cavity is in contact with the aluminum alloy housing via thermally conductive silicone grease. The heat from the magnetorheological fluid cavity can be transferred to the aluminum alloy housing. The protective components, by filling the magnetorheological fluid cavity with magnetorheological fluid and working in conjunction with the support spring, can provide good support for the aluminum alloy housing. Attached Figure Description

[0017] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein: Figure 1 The schematic diagram shows an overall structural schematic diagram according to one embodiment of the present invention; Figure 2 The schematic diagram shows a half-section structure according to one embodiment of the present invention; Figure 3 The schematic diagram shows a rear-view structural schematic according to an embodiment of the present invention; Figure 4 The schematic diagram shows a cross-sectional structural diagram of an aluminum alloy casing according to an embodiment of the present invention; Figure 5 The diagram schematically shows a rear view of a heat dissipation chamber assembly according to an embodiment of the present invention; Figure 6 The schematic diagram shows a structural schematic of a flow guide tube according to an embodiment of the present invention; Figure 7 The schematic diagram shows the internal structure of an aluminum alloy compartment according to one embodiment of the present invention; Figure 8 The schematic diagram shows a bellows structure according to an embodiment of the present invention.

[0018] The diagram is labeled as follows: 1. Outer casing assembly; 101. Aluminum alloy casing; 102. Buzzer; 103. Rotary switch; 104. DIP switch; 105. Miniature display screen; 106. Indicator light; 2. Electrical components; 3. Liquid circulation assembly; 301. Coolant tank; 302. Water pump; 303. Inlet pipe; 304. Outlet pipe; 305. Connector; 306. Corrugated pipe; 4. Heat dissipation chamber assembly; 401. Heat dissipation chamber; 402. Heat dissipation fins; 403. Aluminum alloy chamber; 404. Guide pipe; 405. Wedge block; 5. Protective components; 501. Magnetorheological fluid chamber; 502. Support spring. Detailed Implementation

[0019] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0020] An embodiment of the present invention is illustrated in conjunction with the accompanying drawings.

[0021] Example 1: Please see Figures 1-8 This is the first embodiment of the present invention. This embodiment provides an electrical control device based on a rotary vane servo motor, including a housing assembly 1; a heat dissipation chamber assembly 4 for heat dissipation and cooling; a liquid circulation assembly 3 for conveying water-cooled liquid; and a protective assembly 5 for side protection. Housing assembly 1 includes: an aluminum alloy housing 101; The heat dissipation chamber assembly 4 includes: a heat dissipation chamber 401 fixed inside the aluminum alloy shell 101; an electrical component 2 installed inside the heat dissipation chamber 401 by screws; an aluminum alloy chamber body 403 fixed to the side of the heat dissipation chamber 401; a plurality of equidistant and uniformly distributed guide pipes 404 fixed inside the aluminum alloy chamber body 403; and heat dissipation fins 402 fixed to the side of the aluminum alloy chamber body 403; the heat dissipation fins 402 penetrate through the rear end of the aluminum alloy shell 101. The liquid circulation assembly 3 includes: corrugated pipes 306 fixed on the upper and lower sides of the aluminum alloy tank body 403; and inlet pipes 303 and outlet pipes 304 threadedly connected to one end of the two sets of corrugated pipes 306. The protective component 5 includes: magnetorheological fluid chambers 501 that are closely attached to the left and right sides of the aluminum alloy chamber 403; and support springs 502 that are fixed inside the magnetorheological fluid chambers 501.

[0022] Furthermore, the liquid circulation assembly 3 also includes: a water pump 302 fixed to the end of the inlet pipe 303; a coolant tank 301 fixed to the end of the outlet pipe 304; and a connector 305 installed at the connection between the bellows 306 and the inlet pipe 303 and the outlet pipe 304.

[0023] It should be noted that the aluminum alloy shell 101 and the aluminum alloy tank 403 are connected by a bellows 306, which can ensure the normal flow of the liquid circulation component 3 when the aluminum alloy shell 101 vibrates or shakes due to the impact of waves.

[0024] Furthermore, the inlet pipe 303 is located above the aluminum alloy shell 101, and the outlet pipe 304 is located below the aluminum alloy shell 101. The inlet pipe 303 and the outlet pipe 304 are connected to two sets of corrugated pipes 306 through connectors 305 respectively. O-rings are embedded at the connection between the corrugated pipes 306 and the aluminum alloy shell 101.

[0025] It should be noted that the O-ring is used to seal the connection between the bellows 306 and the aluminum alloy shell 101, so that the aluminum alloy shell 101 is in a fully enclosed state, reducing the intrusion of salt in the coastal environment. Fluororubber is preferred for the O-ring because it has strong chemical corrosion resistance and can withstand chloride ions, salt spray and various chemical media in seawater, which can meet the sealing requirements of the aluminum alloy shell 101.

[0026] Furthermore, the corrugated pipe 306 is located between the aluminum alloy outer shell 101 and the aluminum alloy tank 403. The coolant tank 301 is interconnected with the aluminum alloy tank 403 through the water pump 302, the inlet pipe 303, and the corrugated pipe 306. The aluminum alloy tank 403 is interconnected with the coolant tank 301 through the corrugated pipe 306 and the outlet pipe 304.

[0027] It should be noted that the coolant in the coolant tank 301 can enter the inlet pipe 303 through the water pump 302, and then enter the aluminum alloy tank 403 through the corrugated pipe 306, which quickly removes the heat from the aluminum alloy tank 403. Subsequently, the coolant can flow back into the coolant tank 301 through the corrugated pipe 306 and the outlet pipe 304, thus realizing liquid recycling.

[0028] Furthermore, the interior of the aluminum alloy housing 403 is fixed with two sets of wedge-shaped blocks 405 symmetrically distributed about the vertical center line of the aluminum alloy outer shell 101. The side of the wedge-shaped block 405 closest to the vertical center line of the aluminum alloy outer shell 101 is lower than the side of the wedge-shaped block 405 furthest from the vertical center line of the aluminum alloy outer shell 101.

[0029] It should be noted that the wedge block 405 is integrated with the aluminum alloy housing 403. The aluminum alloy housing 101 has good thermal conductivity, while the wedge block 405 has one end lower and one end higher, forming a certain slope. The coolant can quickly flow through the wedge block 405 to the bellows 306 at the bottom, which can achieve rapid drainage.

[0030] Furthermore, the top of the guide pipe 404 is connected to the corrugated pipe 306 through a branch pipe, and the bottom of the guide pipe 404 is a suspended structure. The liquid in the guide pipe 404 is guided to the corrugated pipe 306 on the outlet pipe 304 through the wedge block 405.

[0031] It should be noted that the bottom-suspended guide pipe 404 can reduce the frictional resistance with the bottom of the container, allowing the coolant to flow more smoothly and improving heat exchange efficiency. At the same time, the suspended structure can prevent solid particles or impurities from depositing inside the guide pipe 404, thus avoiding blockage.

[0032] In this embodiment, a heat dissipation chamber assembly 4 is added inside the aluminum alloy shell 101, and the electrical components 2 are installed inside the heat dissipation chamber 401. Heat can be quickly dissipated through the aluminum alloy chamber 403 and the heat dissipation fins 402. The heat dissipation fins 402 penetrate through the back plate of the aluminum alloy shell 101 and are exposed, making the heat dissipation fins 402 and the back plate of the aluminum alloy shell 101 an integral structure. The heat generated by the heat source is transferred to the heat dissipation fins 402 through the aluminum alloy chamber 403, and then directly conducted to the fin surface through the aluminum alloy shell 101 and dissipated. The heat conduction path is shortened by more than 50%, and the entire aluminum alloy shell 101 can dissipate heat, improving the heat dissipation effect. With the liquid circulation component 3 and the flexible connection of the bellows 306, even if the aluminum alloy shell 101 is subjected to vibration, the normal flow of the liquid circulation component 3 will not be affected. At the same time, the coolant in the liquid circulation component 3 can enter the aluminum alloy chamber 403 to quickly dissipate the heat of the aluminum alloy chamber 403, and achieve efficient heat dissipation in conjunction with the heat dissipation chamber component 4.

[0033] Example 2: Please see Figure 1 , Figure 2 and Figure 6 This is the second embodiment of the present invention, which provides an electrical control device based on a rotary vane servo motor.

[0034] Furthermore, the housing assembly 1 also includes: a buzzer 102 mounted on the top of the aluminum alloy housing 101; a miniature display screen 105 fixed to the front end of the aluminum alloy housing 101; an indicator light 106 located above the miniature display screen 105; a rotary switch 103 located to the left of the miniature display screen 105; and a DIP switch 104 located below the rotary switch 103.

[0035] It should be noted that the aluminum alloy housing 101 integrates a human-machine interface. The rotary switch 103 and DIP switch 104 are used to control the start and stop of the servo motor, select the steering mode (follow-up / non-follow-up / emergency), and set the rudder angle limit, etc. The indicator light 106 is used to provide power indication, operation indication, fault alarm, etc. The miniature display screen 105 is used to display the actual rudder angle, set rudder angle, system pressure, oil temperature, fault code, operation log, etc., and the buzzer 102 is used for alarm reminder.

[0036] Furthermore, electrical component 2 includes a CPU control module, a data processing module, a communication interface module, a power supply, and a proportional valve actuator, with the CPU control module, power supply, and proportional valve actuator closely attached to the aluminum alloy housing 403.

[0037] It should be noted that the power supply provides a stable and reliable DC operating power for the entire electrical control device, including transformers, rectifiers, filters, and voltage regulators if the input is AC, and usually has overvoltage, overcurrent, and short-circuit protection. The communication interface module enables data exchange with other ship systems, receiving autopilot commands and sending rudder angle, status, and alarm information to the integrated bridge system. The data processing module includes a signal receiving module, signal conditioning circuits for filtering, isolation, and multi-channel signal selection / priority logic such as manual steering taking precedence over the AP, and is used to process the acquired data; The CPU control module is used to receive operation instructions, run control algorithms, process feedback signals, and output control instructions. The proportional valve actuator can receive low-power analog command signals, such as ±10V, from the controller and convert them into high-power current signals, such as 0-800mA or ±300mA, required to drive the proportional electromagnet or torque motor. This allows for precise control of the valve core opening and direction, thereby controlling the flow rate and direction of hydraulic oil to the steering gear impeller chamber.

[0038] Furthermore, the magnetorheological fluid cavity 501 is filled with magnetorheological fluid, and the gap between the magnetorheological fluid cavity 501 and the aluminum alloy chamber 403 is filled with thermally conductive silicone grease. The two sides of the magnetorheological fluid cavity 501 are spliced ​​together by two corrugated plate-like structures, and the sides are sealed and encapsulated by side plates. The support spring 502 is located between the recessed areas of the magnetorheological fluid cavity 501.

[0039] It should be noted that the magnetorheological fluid cavity 501 is filled with magnetorheological fluid. When the aluminum alloy shell 101 is subjected to impact, the magnetorheological fluid cavity 501 deforms, squeezing the magnetorheological fluid inside, thereby reducing the distance between magnetic particles and making the magnetic chains more tightly arranged, forming an overly strong columnar or even three-dimensional network structure, which improves the support effect on the aluminum alloy shell 101. Meanwhile, the support spring 502 can be compressed inward to prevent the magnetorheological fluid cavity 501 from being excessively deformed. Under normal conditions, the support spring 502 provides basic elastic support, and the magnetorheological fluid provides auxiliary damping, which can play a good protective role.

[0040] In this embodiment, through the protective component 5, the magnetorheological fluid cavity 501 is in contact with the aluminum alloy housing 403 via thermally conductive silicone grease. The heat of the magnetorheological fluid cavity 501 can be transferred to the aluminum alloy housing 403. The protective component 5, by filling the magnetorheological fluid cavity 501 with magnetorheological fluid and in conjunction with the support spring 502, can provide good support for the aluminum alloy housing 101.

[0041] Example 3: Please see Figure 8 This is the third embodiment of the present invention, which provides a control method including the following steps: S1. Command input: Command input is achieved through DIP switch 104 and rotary switch 103. The CPU control module receives the command and realizes the switching between automatic control and manual control. Under automatic control, the rudder angle error is calculated by analyzing the data fed back by the rudder angle feedback sensor. S2. Automatic control: The power supply is used to power the electrical control device. The CPU control module controls the proportional valve driver to precisely control the valve core opening and direction, thereby controlling the flow rate and direction of the hydraulic oil flowing to the steering gear impeller chamber. S3, Closed-loop feedback: The rudder angle feedback sensor performs actual measurements and sends feedback signals to the CPU control module. The CPU control module determines whether the adjustment is complete and displays the data through the micro display screen 105. S4. Heat dissipation control: A temperature sensor is installed inside the heat dissipation chamber 401 to monitor the temperature inside the heat dissipation chamber 401. When the CPU control module determines that the temperature is too high, the CPU control module starts the water pump 302 to achieve forced cooling.

[0042] Working principle: Command input is achieved through DIP switch 104 and rotary switch 103. The CPU control module receives the command and switches between automatic and manual control. Under automatic control, the rudder angle error is calculated by analyzing the data fed back by the rudder angle feedback sensor. The power supply provides power to the electrical control device. The CPU control module controls the proportional valve driver to precisely control the valve core opening and direction, thereby controlling the flow rate and direction of hydraulic oil to the rudder rotor chamber. The rudder angle feedback sensor performs actual measurements and feeds back the signal to the CPU control module. The CPU control module determines whether the adjustment is complete and displays the data on the micro display screen 105. A temperature sensor is installed in the heat dissipation chamber 401 to monitor the temperature inside the heat dissipation chamber 401. When the CPU control module determines that the temperature is too high, it starts the water pump 302. The coolant in the coolant tank 301 can enter the inlet pipe 303 through the water pump 302 and enter the aluminum alloy chamber 403 through the bellows 306, quickly removing the heat inside the aluminum alloy chamber 403. Subsequently, the coolant can pass through the bellows 306 and the outlet pipe 305. 04. The coolant flows back into the coolant tank 301. It can quickly drain through the wedge-shaped block 405 to the bottom bellows 306. Heat is then quickly dissipated through the aluminum alloy housing 403 and the cooling fins 402. The cooling fins 402 penetrate the backplate of the aluminum alloy shell 101 and protrude, making them an integral part of the structure. The heat generated by the heat source is transferred through the aluminum alloy housing 403 to the cooling fins 402, and then directly conducted to the fins through the aluminum alloy shell 101. The surface diffuses heat to achieve forced cooling. When the aluminum alloy shell 101 is impacted, the magnetorheological fluid cavity 501 deforms, squeezing the internal magnetorheological fluid, thereby reducing the distance between magnetic particles and making the magnetic chains more tightly arranged, forming an overly strong columnar or even three-dimensional network structure, which improves the support effect on the aluminum alloy shell 101. Meanwhile, the support spring 502 can be compressed inward to prevent the magnetorheological fluid cavity 501 from being excessively deformed. Under normal conditions, the support spring 502 provides basic elastic support, and the magnetorheological fluid provides auxiliary damping, which can play a good protective role.

[0043] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. An electric control device based on a turning vane type steering gear, characterized by, The shell assembly (1) includes an aluminum alloy shell (101), a heat dissipation compartment assembly (4) for heat dissipation, a liquid circulation assembly (3) for conveying water cooling liquid, and a protection assembly (5) for side protection. The shell assembly (1) includes an aluminum alloy shell (101). The heat dissipation compartment assembly (4) includes a heat dissipation compartment (401) fixed inside the aluminum alloy shell (101), an electrical assembly (2) installed inside the heat dissipation compartment (401) through screws, an aluminum alloy compartment body (403) fixed to the side of the heat dissipation compartment (401), a plurality of equidistantly and uniformly distributed flow guide pipes (404) fixed inside the aluminum alloy compartment body (403), and heat dissipation fins (402) fixed to the side of the aluminum alloy compartment body (403), the heat dissipation fins (402) penetrating through the rear end of the aluminum alloy shell (101). The liquid circulation assembly (3) includes corrugated pipes (306) fixed to the upper and lower sides of the aluminum alloy compartment body (403), and an inlet pipe (303) and an outlet pipe (304) threadedly connected to one end of the two groups of corrugated pipes (306). The protection assembly (5) includes magnetorheological fluid cavities (501) close to the left and right sides of the aluminum alloy compartment body (403), and support springs (502) fixed inside the magnetorheological fluid cavities (501).

2. The electrical control device based on a rotating vane type steering engine according to claim 1, characterized in that, The liquid circulation assembly (3) further includes a water pump (302) fixed to the end of the inlet pipe (303), a cooling liquid tank body (301) fixed to the end of the outlet pipe (304), and a connector (305) installed at the connection between the corrugated pipe (306) and the inlet pipe (303) and the outlet pipe (304).

3. The electrical control device based on a rotating vane type steering engine according to claim 2, characterized in that, The inlet pipe (303) is located above the aluminum alloy shell (101), the outlet pipe (304) is located below the aluminum alloy shell (101), the inlet pipe (303) and the outlet pipe (304) are respectively connected to the two groups of corrugated pipes (306) through the connector (305), and O-rings are embedded at the connection between the corrugated pipe (306) and the aluminum alloy shell (101).

4. The electrical control device based on a rotating vane type steering engine according to claim 3, characterized in that, The corrugated pipe (306) is located between the aluminum alloy shell (101) and the aluminum alloy compartment body (403), the cooling liquid tank body (301) is connected to the aluminum alloy compartment body (403) through the water pump (302), the inlet pipe (303), and the corrugated pipe (306), and the aluminum alloy compartment body (403) is connected to the cooling liquid tank body (301) through the corrugated pipe (306) and the outlet pipe (304).

5. The electrical control device based on a rotating vane type steering engine according to claim 4, characterized in that, The aluminum alloy compartment body (403) is fixed with two groups of wedge-shaped blocks (405) symmetrically distributed about the vertical center line of the aluminum alloy shell (101), and the side of the wedge-shaped block (405) close to the vertical center line of the aluminum alloy shell (101) is lower than the side of the wedge-shaped block (405) away from the vertical center line of the aluminum alloy shell (101).

6. The electrical control device based on a rotating vane type steering engine according to claim 5, characterized in that, The top of the flow guide pipe (404) is communicated with the bellows (306) through a flow divider, the bottom of the flow guide pipe (404) is a suspended structure, and the liquid in the flow guide pipe (404) is guided to the bellows (306) on the water outlet pipe (304) through the wedge (405).

7. The electrical control device based on a rotating vane type steering engine according to claim 6, characterized in that, The shell assembly (1) further comprises a buzzer (102) mounted on the top of the aluminum alloy shell (101), a micro display screen (105) fixed to the front end of the aluminum alloy shell (101), an indicator light (106) arranged above the micro display screen (105), a rotary switch (103) arranged on the left side of the micro display screen (105), and a DIP switch (104) arranged below the rotary switch (103).

8. The electrical control device based on a rotating vane type steering engine according to claim 7, characterized in that, The electrical assembly (2) comprises a CPU control module, a data processing module, a communication interface module, a power supply and a proportional valve driver, and the CPU control module, the power supply and the proportional valve driver are closely attached to the aluminum alloy bin body (403).

9. The electrical control device based on a rotating vane type steering engine according to claim 8, characterized in that, The inside of the magneto-rheological fluid cavity (501) is filled with magneto-rheological fluid, and the gap between the magneto-rheological fluid cavity (501) and the aluminum alloy bin body (403) is filled with heat-conducting silicone grease, the two sides of the magneto-rheological fluid cavity (501) are spliced by two wave plate structures, the side part is sealed and packaged by a side plate, and the supporting spring (502) is located between the recessed areas of the magneto-rheological fluid cavity (501).

10. A control method applied to the electric control device based on the rotary vane type steering engine according to claims 1 to 9, characterized in that, The method comprises the following steps: S1, instruction input: the instruction input is realized through the DIP switch (104) and the rotary switch (103), the CPU control module receives the instruction, realizes the automatic control and manual control switching, under the automatic control, the rudder angle error is calculated by analyzing the data feedback by the rudder angle feedback sensor; S2, automatic control: the power supply is used for power supply of the electrical control device, the CPU control module controls the proportional valve driver, accurately controls the valve core opening degree and direction, so as to control the hydraulic oil flow and direction flowing to the rudder engine rotating blade cavity; S3, closed loop feedback: the rudder angle feedback sensor performs actual measurement, and the feedback signal is fed back to the CPU control module, the CPU control module judges whether the adjustment is completed, and the data display is realized through the micro display screen (105); S4, heat dissipation control: the temperature sensor is arranged in the heat dissipation bin (401) to monitor the temperature in the heat dissipation bin (401), and the CPU control module starts the water pump (302) when the temperature is too high to realize forced cooling.

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