A double-cylinder cross compensation based pulse-free hydraulic control system and method

Abstract

The application discloses a kind of based on double cylinder cross compensation's pulseless hydraulic control system and method, including first oil cylinder, second oil cylinder, hydraulic control module and controller;The rodless cavity of first oil cylinder is equipped with first oil port, the rodless cavity of second oil cylinder is equipped with third oil port;The rod cavity of first oil cylinder is connected with the rod cavity of second oil cylinder by connecting pipe;The hydraulic control module includes auxiliary oil pipe, total oil inlet pipe, total oil return pipe, reversing valve group;First oil cylinder is equipped with upper stroke control point SA1 and lower stroke control point SA2, and second oil cylinder is equipped with upper stroke control point SA3 and lower stroke control point SA4;SA1, SA2, SA3, SA4 are monitored by sensor module, and sensor module, reversing valve group, control valve group are connected with controller respectively;When one of the oil cylinder is at reversing point, another oil cylinder has been in stable advancing state, the high stability of slurry flow is realized from the root, and pressure pulse is almost completely eliminated.

Description

Technical Field

[0001] This invention relates to the field of hydraulic transmission and fluid transport technology, specifically to a pulse-free hydraulic control system and method based on dual-cylinder cross compensation. Background Technology

[0002] In fields such as construction engineering, mining filling, and fluid transportation, hydraulically driven reciprocating pumps are core equipment. Traditional twin-cylinder grouting pumps drive a grout cylinder to suck and discharge grout fluid through the alternating reciprocating motion of two hydraulic cylinders. When the hydraulic cylinders switch directions at the end of their stroke, they experience a brief stop and start process, causing the output flow of the driven grout cylinder to drop sharply to zero. Although the two hydraulic cylinders work alternately, at the moment of switching, the total output flow of the system still exhibits significant pulsation and pressure shock. This pulsating phenomenon leads to discontinuous grout fluid flow and grout segregation, affecting project quality. At the same time, the drastic pressure changes also reduce the lifespan of hydraulic components, hydraulic pipelines, grout fluid delivery pipelines, valves, and pipeline joints, and generate vibration and noise. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a pulse-free hydraulic control system and method based on dual-cylinder cross-compensation, which can eliminate the flow and pressure pulses generated during cylinder reversal from a mechanistic perspective, thereby achieving continuous and stable slurry flow.

[0004] The technical solution of the present invention to solve the above problems is: a pulse-free hydraulic control system based on dual-cylinder cross compensation, including a first cylinder, a second cylinder, a hydraulic control module and a controller; The rodless chamber of the first hydraulic cylinder is provided with a first oil port, and the rodless chamber of the second hydraulic cylinder is provided with a third oil port; the rod chamber of the first hydraulic cylinder and the rod chamber of the second hydraulic cylinder are connected by a connecting pipe. The hydraulic control module includes an auxiliary oil pipe, a main oil inlet pipe, a main oil return pipe, a directional valve group, and a control valve group; The first oil port and the third oil port are connected to the main oil inlet pipe and the main oil return pipe respectively through a reversing valve assembly; the main pump is connected to the main oil inlet pipe. One end of the auxiliary oil pipe is connected to the connecting pipe, and the other end is connected to the auxiliary pump; the auxiliary oil pipe is connected to the main return oil pipe through a control valve group; The first cylinder is provided with an upper stroke control point SA1 and a lower stroke control point SA2, and the second cylinder is provided with an upper stroke control point SA3 and a lower stroke control point SA4; SA1, SA2, SA3, and SA4 are monitored through sensor modules; The sensor module, reversing valve assembly, and control valve assembly are respectively connected to the controller.

[0005] Furthermore, the reversing valve assembly includes a first reversing valve and a second reversing valve; The first oil port is connected to the main oil inlet pipe and the main oil return pipe through the first directional valve, and the third oil port is connected to the main oil inlet pipe and the main oil return pipe through the second directional valve; the first directional valve is controlled by the first control valve, and the second directional valve is controlled by the second control valve. The first control valve and the second control valve are respectively connected to the controller.

[0006] Furthermore, the reversing valve assembly includes a first cartridge valve, a second cartridge valve, a third cartridge valve, and a fourth cartridge valve. The A port of the first cartridge valve and the A port of the second cartridge valve are connected through pipe I, which is connected to the main oil inlet pipe. The B port of the first cartridge valve is connected to the first oil port through pipe II. The B port of the second cartridge valve is connected to the third oil port through pipe III. The B port of the third cartridge valve is connected to pipe II. The B port of the fourth cartridge valve is connected to pipe III. The A ports of the third cartridge valve and the A ports of the fourth cartridge valve are connected to the main oil return pipe. The X ports of the first, second, third, and fourth cartridge valves are controlled by electromagnetic directional valves I, II, III, and IV, respectively, to control their reversing. Electromagnetic directional valves I, II, III, and IV are connected to a controller.

[0007] Furthermore, the control valve group includes a switching valve and a third control valve. The A port of the switching valve is connected to the auxiliary oil pipe through a pipeline, the B port of the switching valve is connected to the main return oil pipe through a pipeline, the X port of the switching valve is connected to the A port of the third control valve through a pipeline, and the P port of the third control valve is connected to the auxiliary oil pipe through a pipeline. The third control valve is connected to the controller.

[0008] Furthermore, the third control valve is an electromagnetically controlled two-position two-way directional valve.

[0009] Furthermore, the control valve group includes a fifth cartridge valve, the B port of which is connected to the auxiliary oil pipe, the A port of which is connected to the main return oil pipe, and the X port of which is controlled to switch via a solenoid directional valve V; the solenoid directional valve V is connected to the controller.

[0010] Furthermore, the sensor module includes four position sensors, with position sensors respectively installed at SA1, SA2, SA3, and SA4, and the four position sensors are respectively connected to the controller.

[0011] Furthermore, the sensor module includes a first displacement sensor and a second displacement sensor. The first displacement sensor is installed on the piston rod of the first cylinder, and SA1 and SA2 are the stroke monitoring points of the first displacement sensor. The second displacement sensor is installed on the piston rod of the second cylinder, and SA3 and SA4 are the stroke monitoring points of the second displacement sensor. The first displacement sensor and the second displacement sensor are respectively connected to the controller.

[0012] Furthermore, the first and second oil cylinders are each connected to a slurry cylinder, and the two slurry cylinders are each connected to a slurry suction and discharge valve assembly.

[0013] A pulse-free hydraulic control method based on dual-cylinder cross-compensation is applicable to the aforementioned pulse-free hydraulic control system: The piston rods of the first and second cylinders are controlled to reciprocate alternately, and their working phases are kept at a predetermined difference, so that when the piston rod of one cylinder is at the reversing point, the piston rod of the other cylinder is already in a stable forward working state. During the stage where the piston rods of the two cylinders need to advance synchronously, control the control valve group to open the connection between the connecting pipe and the main return oil pipe.

[0014] Furthermore, during the phase where the piston rods of the two cylinders move in opposite directions, one advancing and one retreating, first control the control valve group to disconnect the connection between the connecting pipe and the main return oil pipe, the auxiliary pump replenishes oil, the retracting cylinder quickly retracts, and then control the control valve group to open the connection between the connecting pipe and the main return oil pipe.

[0015] The present invention has the following beneficial effects: This invention provides a pulse-free hydraulic control system and method based on dual-cylinder cross-compensation. The system controls the first and second cylinders to advance synchronously before the reversal point. When one cylinder is at the reversal point, the other is already in the forward state. The stable operation of one cylinder compensates for the flow loss of the other during the reversal. When the piston rod of one cylinder is at the reversal point, the piston rod of the other cylinder is already in a stable forward state. This fundamentally achieves high stability of the slurry flow rate and almost completely eliminates pressure pulses. The auxiliary pump and control valve group automatically maintain the hydraulic oil balance in the hydraulic pipeline under various operating conditions. The fully automated control, with the auxiliary pump providing compensation flow, results in minimal system overflow loss, significantly reduced overall energy consumption, and smooth overall hydraulic system pressure. This effectively protects the pumps, valves, seals, and pipelines, extending the equipment's service life. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 3 for Figure 2 A schematic diagram of the hydraulic control module. In the diagram: 1-First hydraulic cylinder, 2-Second hydraulic cylinder, 3-Slurry cylinder, 4-First oil port, 6-Third oil port, 8-Connecting pipe, 9-Main oil inlet pipe, 10-Auxiliary oil pipe, 11-Main oil return pipe, 12-First directional valve, 13-Second directional valve, 14-First control valve, 15-Second control valve, 16-Main pump, 17-Cooling device, 18-Filter valve, 19-Auxiliary pump, 20-Switch valve, 21-Third control valve, 22-First overflow pipe, 23-First overflow valve, 24-Second overflow pipe, 25-Second overflow valve. 101 - First pipe, 102 - Second pipe, 103 - Third pipe, 104 - Fourth pipe, 105 - Fifth pipe, 106 - Sixth pipe, 107 - Seventh pipe, 108 - Eighth pipe, 109 - Ninth pipe, 110 - Tenth pipe. 201 - First hydraulic control pipeline, 202 - Second hydraulic control pipeline, 203 - Third hydraulic control pipeline, 204 - Fourth hydraulic control pipeline; 301-First cartridge valve, 302-Second cartridge valve, 303-Third cartridge valve, 304-Fourth cartridge valve, 305-Fifth cartridge valve, 306-Solenoid directional valve I, 307-Solenoid directional valve II, 308-Solenoid directional valve III, 309-Solenoid directional valve IV, 310-Solenoid directional valve V, 311-Pipeline I, 312-Pipeline II, 313-Pipeline III. Detailed Implementation

[0017] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] Example 1 like Figure 1 As shown, a pulse-free hydraulic control system based on dual-cylinder cross compensation includes a first cylinder 1, a second cylinder 2, a hydraulic control module, and a controller. The first hydraulic cylinder 1 and the second hydraulic cylinder 2 are each connected to a slurry cylinder 3, and the two slurry cylinders 3 are each connected to a slurry suction and discharge valve assembly. The rodless chamber of the first hydraulic cylinder 1 is provided with a first oil port 4, and the rodless chamber of the second hydraulic cylinder 2 is provided with a third oil port 6; the rod chamber of the first hydraulic cylinder 1 and the rod chamber of the second hydraulic cylinder 2 are connected by a connecting pipe 8.

[0019] The hydraulic control module includes a main inlet pipe 9, a main return pipe 11, an auxiliary pipe 10, a directional valve assembly, and a control valve assembly. The directional valve assembly includes a first directional valve 12 and a second directional valve 13. The first directional valve 12 is controlled by a first control valve 14, and the second directional valve 13 is controlled by a second control valve 15. The first directional valve 12 and the second directional valve 13 are three-position four-way directional valves, and the first control valve 14 and the second control valve 15 are electromagnetically controlled three-position four-way directional valves. A check valve is provided on the main inlet pipe 9. The first control valve 14 and the second control valve 15 are connected to the controller.

[0020] The P port of the first directional valve 12 is connected to the main oil inlet pipe 9 through the first pipe 101, the T port is connected to the main oil return pipe 11 through the second pipe 102, and the A port is connected to the first oil port 4 of the first cylinder 1 through the third pipe 103. The first hydraulic control port of the first directional valve 12 is connected to the B port of the first control valve 14 through the first hydraulic control pipe 201. The second hydraulic control port of the first directional valve 12 is connected to the A port of the first control valve 14 through the second hydraulic control pipe 202. The P port of the first control valve 14 is connected to the main oil inlet pipe 9 through the fourth pipe 104, and the T port is connected to the main oil return pipe 11 through the fifth pipe 105.

[0021] The P port of the second directional valve 13 is connected to the main oil inlet pipe 9 through the sixth pipe 106, the T port is connected to the main oil return pipe 11 through the seventh pipe 107, and the A port is connected to the third oil port 6 of the second cylinder 2 through the eighth pipe 108. The first hydraulic control port of the second directional valve 13 is connected to the B port of the second control valve 15 through the third hydraulic control pipe 203. The second hydraulic control port of the second directional valve 13 is connected to the A port of the second control valve 15 through the fourth hydraulic control pipe 204. The P port of the second control valve 15 is connected to the main oil inlet pipe 9 through the ninth pipe 109, and the T port is connected to the main oil return pipe 11 through the tenth pipe 110.

[0022] One end of the auxiliary oil pipe 10 is connected to the connecting pipe 8, and the other end is connected to the auxiliary pump 19. A one-way valve is provided on the auxiliary oil pipe 10. A control valve group is provided on the auxiliary oil pipe 10, which includes a switching valve 20 and a third control valve 21. The third control valve 21 is an electromagnetically controlled two-position two-way directional valve. Port A of the switching valve 20 is connected to the auxiliary oil pipe 10 through a pipe, port B of the switching valve 20 is connected to the main return oil pipe 11 through a pipe, port X of the switching valve 20 is connected to port A of the third control valve 21 through a pipe, and port P of the third control valve 21 is connected to the auxiliary oil pipe 10 through a pipe. When the third control valve 21 is energized, the pressure oil in the auxiliary oil pipe 10 acts on port X of the switching valve 20, causing it to switch and disconnect from the main return oil pipe 11. At this time, the auxiliary pump 19 can replenish oil to the connecting pipe 8. When the third control valve 21 is de-energized and closed, the switching valve 20 is reset under the action of the spring, connecting the connecting pipe 8 and the main return oil pipe 11 to an unloaded state. The third control valve 21 is connected to the controller.

[0023] The first hydraulic cylinder 1 is provided with an upper stroke control point SA1 and a lower stroke control point SA2, and the second hydraulic cylinder 2 is provided with an upper stroke control point SA3 and a lower stroke control point SA4. The upper stroke control points SA1 and SA3 are lower than the upper stroke reversal point, and the lower stroke control points SA2 and SA4 are higher than the upper stroke reversal point.

[0024] In one embodiment, position sensors are provided at SA1, SA2, SA3, and SA4, and the four position sensors are respectively connected to the controller.

[0025] In one embodiment, a first displacement sensor is provided on the piston rod of the first cylinder 1, and SA1 and SA2 are the stroke monitoring points of the first displacement sensor. A second displacement sensor is provided on the piston rod of the second cylinder 2, and SA3 and SA4 are the stroke monitoring points of the second displacement sensor. The first displacement sensor and the second displacement sensor are respectively connected to the controller.

[0026] In one embodiment, the main inlet pipe 9 and the main return pipe 11 are connected by a first overflow pipe 22, and the overflow pipe is provided with a first overflow valve 23. The auxiliary oil pipe 10 and the main return pipe 11 are connected by a second overflow pipe 24, and the second overflow pipe 24 is provided with a second overflow valve 25.

[0027] In one embodiment, the main pump 16 is connected to the main oil inlet pipe 9, and the cooling device 17 and the filter valve 18 are provided on the main oil return pipe 11.

[0028] The main pump 16 and auxiliary pump 19 operate continuously, and the hydraulic control system mainly includes the following operating stages: Phase 1: First cylinder 1 advances, second cylinder 2 retracts; In stage 2, after the piston of the first cylinder 1 moves to SA1, the first cylinder 1 advances, the second cylinder 2 advances, the third control valve 21 opens the switch valve 20, and controls the return of oil through the connecting pipe 8. In stage 3, after time T1, the first cylinder 1 retracts, the second cylinder 2 advances, the third control valve 21 closes the switch valve 20, and the auxiliary oil pipe 10 replenishes oil. In stage 4, after the piston of the first cylinder 1 quickly retracts to SA2, the third control valve 21 opens the switch valve 20 to control the return of oil through the connecting pipe 8. In stage 5, after the piston of the second cylinder 2 moves to SA3, the second cylinder 2 advances, the first cylinder 1 advances, the third control valve 21 opens the switch valve 20, and controls the return of oil through the connecting pipe 8. In stage 6, after time T2, the second cylinder 2 retracts, the first cylinder 1 advances, the third control valve 21 closes the switch valve 20, and the auxiliary oil pipe 10 replenishes oil. In stage 7, after the piston of the second cylinder 2 quickly retracts to SA4, the third control valve 21 opens the switch valve 20 to control the return of oil through the connecting pipe 8. Phase 8 repeats the above phases 1-7 until unloading.

[0029] The power supply status of each electromagnetic control point in stages 1-7 above is shown in Table 1 below: Table 1

[0030] Example 2 The difference between this embodiment and Embodiment 1 is that: like Figure 2 and 3 As shown, the hydraulic control module includes a main inlet pipe 9, a main return pipe 11, an auxiliary pipe 10, a directional valve assembly, and a control valve assembly. The directional valve assembly includes a first cartridge valve 301, a second cartridge valve 302, a third cartridge valve 303, and a fourth cartridge valve 304. Port A of the first cartridge valve 301 and port A of the second cartridge valve 302 are connected via pipe I 311, which is connected to the main inlet pipe 9. Port B of the first cartridge valve 301 is connected to the first port 4 via pipe II 312. Port B of the second cartridge valve 302 is connected to the third port 6 via pipe III 313. Port B of the third cartridge valve 303 is connected to pipe II 312. Port B of the fourth cartridge valve 304 is connected to pipe III 313. Ports A of the third cartridge valve 303 and the fourth cartridge valve 304 are connected to the main return pipe 11. The X ports of the first cartridge valve 301, the second cartridge valve 302, the third cartridge valve 303, and the fourth cartridge valve 304 are respectively controlled by electromagnetic directional valves I 306, II 307, III 308, and IV 309 for their switching. Electromagnetic directional valves I 306, II 307, III 308, and IV 309 are connected to a controller.

[0031] One end of the auxiliary oil pipe 10 is connected to the connecting pipe 8. The control valve group includes a fifth cartridge valve 305. Port B of the fifth cartridge valve 305 is connected to the auxiliary oil pipe 10, and port A of the fifth cartridge valve 305 is connected to the main return oil pipe 11. Port X of the fifth cartridge valve 305 is controlled to switch direction by a solenoid directional valve V 310. The solenoid directional valve V 310 is connected to the controller.

[0032] The main pump 16 and auxiliary pump 19 operate continuously, and the hydraulic control system mainly includes the following operating stages: Phase 1: First cylinder 1 advances, second cylinder 2 retracts; In stage 2, after the piston of the first cylinder 1 moves to SA1, the first cylinder 1 advances, the second cylinder 2 advances, the solenoid reversing valve V310 opens the fifth cartridge valve 305, and controls the return of oil through the connecting pipe 8. In stage 3, after time T1, the first cylinder 1 retracts, the second cylinder 2 advances, the solenoid directional valve V310 closes the fifth cartridge valve 305, and the auxiliary oil pipe 10 replenishes oil. In stage 4, after the piston of the first cylinder 1 quickly retracts to SA2, the solenoid directional valve V310 opens the fifth cartridge valve 305, controlling the return of oil through the connecting pipe 8; In stage 5, after the piston of the second cylinder 2 moves to SA3, the second cylinder 2 advances, the first cylinder 1 advances, the solenoid reversing valve V310 opens the fifth cartridge valve 305, and controls the return of oil through the connecting pipe 8. In stage 6, after time T2, the second cylinder 2 retracts, the first cylinder 1 advances, the solenoid directional valve V310 closes the fifth cartridge valve 305, and the auxiliary oil pipe 10 replenishes oil. In stage 7, after the piston of the second cylinder 2 quickly retracts to SA4, the solenoid reversing valve V310 opens the fifth cartridge valve 305, controlling the return of oil through the connecting pipe 8; Phase 8 repeats the above phases 1-7 until unloading.

[0033] The power supply status of each electromagnetic control point in stages 1-7 above is shown in Table 2 below: Table 2

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A pulse-free hydraulic control system based on dual-cylinder cross-compensation, characterized in that: Includes a first hydraulic cylinder (1), a second hydraulic cylinder (2), a hydraulic control module, and a controller; The rodless chamber of the first cylinder (1) is provided with a first oil port (4), and the rodless chamber of the second cylinder (2) is provided with a third oil port (6); the rod chamber of the first cylinder (1) and the rod chamber of the second cylinder (2) are connected by a connecting pipe (8); The hydraulic control module includes an auxiliary oil pipe (10), a main oil inlet pipe (9), a main oil return pipe (11), a directional valve group, and a control valve group; The first oil port (4) and the third oil port (6) are connected to the main oil inlet pipe (9) and the main oil return pipe (11) respectively through the reversing valve group; the main pump (16) is connected to the main oil inlet pipe (9). One end of the auxiliary oil pipe (10) is connected to the connecting pipe (8), and the other end is connected to the auxiliary pump (19); the auxiliary oil pipe (10) is connected to the main return oil pipe (11) through the control valve group. The first oil cylinder (1) is provided with an upper stroke control point SA1 and a lower stroke control point SA2, and the second oil cylinder (2) is provided with an upper stroke control point SA3 and a lower stroke control point SA4; SA1, SA2, SA3, and SA4 are monitored through sensor modules; The sensor module, reversing valve assembly, and control valve assembly are respectively connected to the controller; Ensure that when the piston rod of one cylinder is at the reversing point, the piston rod of the other cylinder is already in a stable forward working state; During the stage where the piston rods of the two cylinders need to advance synchronously, control the control valve group to open the connection between the connecting pipe (8) and the main return oil pipe (11); During the phase where the piston rods of the two cylinders move in opposite directions, advancing and retreating, first control the control valve group to disconnect the connection between the connecting pipe (8) and the main return oil pipe (11), then the auxiliary pump (19) replenishes oil, and the retracting cylinder quickly retracts. Then control the control valve group to open the connection between the connecting pipe (8) and the main return oil pipe (11).

2. The pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The reversing valve group includes a first reversing valve (12) and a second reversing valve (13). The first oil port (4) is connected to the main oil inlet pipe (9) and the main oil return pipe (11) through the first reversing valve (12), and the third oil port (6) is connected to the main oil inlet pipe (9) and the main oil return pipe (11) through the second reversing valve (13); the first reversing valve (12) is controlled by the first control valve (14), and the second reversing valve (13) is controlled by the second control valve (15); The first control valve (14) and the second control valve (15) are respectively connected to the controller.

3. The pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The reversing valve group includes a first cartridge valve (301), a second cartridge valve (302), a third cartridge valve (303), and a fourth cartridge valve (304). The A port of the first cartridge valve (301) and the A port of the second cartridge valve (302) are connected through pipe I (311). Pipe I (311) is connected to the main oil inlet pipe (9). The B port of the first cartridge valve (301) is connected to the first oil port (4) through pipe II (312). The B port of the second cartridge valve (302) is connected to the third oil port (6) through pipe III (313). The B port of the third cartridge valve (303) is connected to pipe II (312). The B port of the fourth cartridge valve (304) is connected to pipe III (313). The A ports of the third cartridge valve (303) and the fourth cartridge valve (304) are connected to the main return oil pipe (11). The X ports of the first cartridge valve (301), the second cartridge valve (302), the third cartridge valve (303), and the fourth cartridge valve (304) are respectively controlled by electromagnetic directional valve I (306), electromagnetic directional valve II (307), electromagnetic directional valve III (308), and electromagnetic directional valve IV (309) to switch their directions; electromagnetic directional valve I (306), electromagnetic directional valve II (307), electromagnetic directional valve III (308), and electromagnetic directional valve IV (309) are connected to the controller.

4. The pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The control valve group includes a switching valve (20) and a third control valve (21). The A port of the switching valve (20) is connected to the auxiliary oil pipe (10) through a pipeline, the B port of the switching valve (20) is connected to the main return oil pipe (11) through a pipeline, the X port of the switching valve (20) is connected to the A port of the third control valve (21) through a pipeline, and the P port of the third control valve (21) is connected to the auxiliary oil pipe (10) through a pipeline. The third control valve (21) is connected to the controller.

5. A pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 4, characterized in that: The third control valve (21) is an electromagnetically controlled two-position two-way directional valve.

6. A pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The control valve group includes a fifth cartridge valve (305), the B port of the fifth cartridge valve (305) is connected to the auxiliary oil pipe (10), the A port of the fifth cartridge valve (305) is connected to the main return oil pipe (11), and the X port of the fifth cartridge valve (305) is controlled to switch through the electromagnetic reversing valve V (310); the electromagnetic reversing valve V (310) is connected to the controller.

7. A pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The sensor module includes four position sensors, with position sensors installed at SA1, SA2, SA3, and SA4 respectively, and the four position sensors are connected to the controller.

8. A pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The sensor module includes a first displacement sensor and a second displacement sensor. The piston rod of the first cylinder (1) is equipped with the first displacement sensor, and SA1 and SA2 are the stroke monitoring points of the first displacement sensor. The piston rod of the second cylinder (2) is equipped with the second displacement sensor, and SA3 and SA4 are the stroke monitoring points of the second displacement sensor. The first displacement sensor and the second displacement sensor are respectively connected to the controller.

9. A pulse-free hydraulic control system based on dual-cylinder cross-compensation as described in claim 1, characterized in that: The first oil cylinder (1) and the second oil cylinder (2) are respectively connected to a slurry cylinder (3), and the two slurry cylinders (3) are respectively connected to the suction and discharge valve assembly.

10. A pulse-free hydraulic control method based on dual-cylinder cross-compensation, characterized in that: Applicable to the pulseless hydraulic control system according to any one of claims 1-9: The piston rod of the first cylinder (1) and the piston rod of the second cylinder (2) are controlled to reciprocate alternately, and the working phase of the two is kept at a predetermined difference, so as to ensure that when the piston rod of one cylinder is at the reversing point, the piston rod of the other cylinder is already in a stable forward working state. During the stage where the piston rods of the two cylinders need to advance synchronously, control the control valve group to open the connection between the connecting pipe (8) and the main return oil pipe (11).

11. The pulse-free hydraulic control method based on dual-cylinder cross-compensation as described in claim 10, characterized in that: During the phase where the piston rods of the two cylinders move in opposite directions, advancing and retreating, first control the control valve group to disconnect the connection between the connecting pipe (8) and the main return oil pipe (11), then the auxiliary pump (19) replenishes oil, and the retracting cylinder quickly retracts. Then control the control valve group to open the connection between the connecting pipe (8) and the main return oil pipe (11).

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