Hydraulic control system and control method

Abstract

This invention discloses a hydraulic control system and control method, belonging to the field of aerospace technology. The hydraulic system includes a hydraulic power unit integrated within a container, comprising a hydraulic oil tank, a motor pump group, a safety valve group, and a flow divider valve group. An erection control unit is connected to an erection cylinder for erection and leveling. A leveling control unit is connected to a launch pad leveling cylinder for lifting and leveling. A tilting control unit is connected to a tilting cylinder. An accumulator is connected to the inlet of the tilting control unit, used to supply oil to drive the tilting support to avoid obstacles after receiving a takeoff command. The return ports of each control unit are connected to the hydraulic oil tank. The control method includes erection, leveling, accumulator pressurization, rapid tilting, and erector frame leveling steps. This invention uses a container-integrated hydraulic power unit to achieve mobile launch without reliance on external support; the flow divider valve group supplies oil independently, ensuring no interference between units; the accumulator instantaneously releases oil to drive the tilting support to quickly avoid obstacles, resulting in fast response, high reliability, and easy rapid deployment and withdrawal.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and more specifically, to a hydraulic control system and control method. Background Technology

[0002] Traditional liquid-fueled rocket launch systems are mostly equipped with hydraulic drive units built on fixed launch sites. The overall units lack integrated container structures, resulting in insufficient flexibility in transportation and on-site deployment, making them unsuitable for mobile, unsupported launch scenarios. Existing hydraulic drive units lack multi-path independent oil supply structures, making it difficult to provide stable and independent oil supplies to the erection, leveling, and tilting mechanisms of the launch system simultaneously. This leads to poor stability in the coordinated operation of multiple actuators. The tilting mechanism of the launch system typically relies on direct drive via the main oil circuit, lacking an independent pressure oil reserve structure. This prevents it from performing rapid avoidance maneuvers after a launch command is issued, resulting in response efficiency and operational reliability that do not meet launch requirements. Furthermore, the return oil paths of the various control loops in existing hydraulic units are scattered, failing to form a unified closed-loop return oil circulation. This results in low oil circulation efficiency during system operation, poor overall operational stability, and limited ease of maintenance, making it difficult to support the rapid deployment and reliable launch requirements of mobile, unsupported liquid-fueled launch vehicles. Summary of the Invention

[0003] The purpose of this invention is to provide a hydraulic control system and control method that can solve the above-mentioned technical problems.

[0004] In a first aspect, the present invention provides a hydraulic system for a mobile, unsupported liquid-fueled launch vehicle system, comprising: A hydraulic power unit, integrated within a container, includes a hydraulic oil tank, a motor pump assembly, a safety valve assembly, and a flow divider valve assembly, the flow divider valve assembly having multiple oil outlets; The erection control unit is connected to the first oil outlet of the diversion valve group and is used to connect the erection cylinder to control the erection and leveling of the erection frame. The leveling control unit is connected to the second oil outlet of the diversion valve group and is used to connect to the launch platform leveling cylinder to control the lifting and leveling of the launch platform. The tilt control unit is connected to the third oil outlet of the diversion valve group and is used to connect to the tilt cylinder; An accumulator, which is connected to the oil inlet of the rollover control unit, is used to supply oil to the rollover control unit after receiving a takeoff command, so as to drive the rollover support to quickly avoid an obstacle. The return ports of the erection control unit, the leveling control unit, and the tilting control unit are all connected to the hydraulic oil tank.

[0005] In an optional embodiment, the motor pump group includes at least a first motor pump group and a second motor pump group, and the safety valve group includes at least a first safety valve group and a second safety valve group. The oil outlet of the first motor pump group is connected to the oil inlet of the first safety valve group, the oil outlet of the second motor pump group is connected to the oil inlet of the second safety valve group, and the oil outlets of the first safety valve group and the second safety valve group are both connected in parallel to the oil inlet of the diverter valve group.

[0006] In an optional embodiment, the erection control unit includes an erection and leveling control valve group and a cylinder-side valve group; The erection and leveling control valve group is located inside the container, and the cylinder-side valve group is located on the erection base and close to the erection cylinder. The cylinder-side valve group includes a check valve, a throttle valve, and a hydraulically controlled check valve; The oil outlet of the one-way valve is connected to the rodless chamber of the erecting cylinder, and the throttle valve is connected in series between the one-way valve and the rodless chamber of the erecting cylinder. The hydraulically controlled check valve is installed in the return oil circuit of the rodless chamber of the erecting cylinder, and the control port of the hydraulically controlled check valve is connected to the inlet oil circuit of the rod chamber of the erecting cylinder.

[0007] In an optional embodiment, the erecting cylinder includes a first erecting cylinder and a second erecting cylinder; The erection and leveling control valve group is connected to the cylinder side valve group corresponding to the first erection cylinder and the second erection cylinder respectively through the diversion pipeline; The vertical and horizontal control valve group adjusts the oil distribution according to the piston rod position signal detected by the displacement sensor to achieve synchronous action of the two cylinders.

[0008] In an optional embodiment, the leveling control unit is a launch platform leveling control multi-way valve, which has four independent control ports, each of which is used to connect to the rodless chamber of one of the four launch platform leveling cylinders.

[0009] In an optional implementation, an auxiliary support clamp control valve assembly is also included; The auxiliary support clamp control valve assembly is mounted on the erecting frame, and its oil inlet is connected to the fourth oil outlet of the diversion valve assembly. Its oil outlets are respectively used to connect to the clamp cylinder and the auxiliary support cylinder. The auxiliary support clamp control valve assembly adopts an explosion-proof structure.

[0010] In an optional embodiment, the flip control unit includes a first flip control valve group and a second flip control valve group, and the accumulator includes a first accumulator group and a second accumulator group. The first accumulator group is connected to the oil inlet of the first tilt control valve group, and the second accumulator group is connected to the oil inlet of the second tilt control valve group. The first tilt control valve group is used to connect to the tilt cylinders of at least one set of tilt supports, and the second tilt control valve group is used to connect to the tilt cylinders of at least another set of tilt supports.

[0011] In optional implementations, a displacement sensor and / or a pressure sensor may also be included; The displacement sensor is installed in the erecting cylinder, the launching platform leveling cylinder, and / or the tilting cylinder to detect the position of the piston rod. The pressure sensor is installed in the oil circuit of the erection control unit, the leveling control unit, and / or the tilting control unit to detect oil pressure; The erection control unit, leveling control unit, or tilting control unit adjusts the oil supply of the corresponding hydraulic cylinder according to the detection signals of the displacement sensor and / or pressure sensor.

[0012] Secondly, the present invention provides a hydraulic control method, applied to the hydraulic system described in any of the foregoing embodiments, comprising the following steps: Erection control steps: Drive the motor pump unit, distribute the oil to the erection control unit through the diversion valve group, control the erection cylinder to extend, and drive the erection frame to rotate around the slewing support to a vertical state docked with the launch pad; Leveling control steps: After the erector reaches a vertical position, the oil is distributed to the leveling control unit through the diversion valve group, which controls the launch platform leveling cylinder to extend, lift and level the launch platform; Accumulator charging procedure: During the launch preparation phase, pressurized oil is injected into the accumulator by flipping the control unit; Rapid flipping procedure: After receiving the takeoff command, control the accumulator to release pressurized oil, and control the flipping cylinder to move rapidly through the flipping control unit, driving the flipping bracket to switch from the support position to the avoidance position; Erecting and leveling steps: After launch, control the retraction of the erecting cylinder to drive the erecting frame back to a horizontal state.

[0013] In an optional implementation, during the rapid flipping step: The first accumulator group and the second accumulator group release pressurized oil at the same time, and the first tilt control valve group and the second tilt control valve group control the corresponding tilt cylinder action at the same time. When one of the accumulator groups or the tilt control valve group fails, the other accumulator group and the tilt control valve group independently drive the corresponding tilt cylinder to complete the avoidance action.

[0014] The beneficial effects of the embodiments of the present invention are: Employing a containerized integrated hydraulic power unit, the system enables comprehensive transportation and rapid on-site deployment of the hydraulic system, eliminating reliance on fixed launch sites and dedicated facilities and meeting the requirements of mobile launch vehicles operating independently. The multi-channel oil outlet structure of the diversion valve assembly provides independent hydraulic supply to the erection control unit, leveling control unit, and tilting control unit, ensuring that each control unit operates independently and improving the stability of multi-actuator collaborative operation. The accumulator is directly connected to the tilting control unit, allowing for instantaneous release of pressurized hydraulic fluid upon receiving the takeoff command, driving the tilting bracket to quickly complete avoidance maneuvers without relying on real-time oil supply from the main pump, resulting in fast response and high reliability. The return ports of each control unit are uniformly connected to the hydraulic oil tank, forming a complete closed hydraulic circulation loop, effectively improving system operational stability, reducing the risk of hydraulic leakage, simplifying on-site maintenance procedures, and enabling highly modular assembly and dismantling efficiency. This allows for rapid deployment and evacuation, perfectly adapting to the launch scenarios of mobile, independent liquid-fueled launch vehicles. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A block diagram illustrating the composition of a hydraulic control system provided in an embodiment of the present invention; Figure 2 The hydraulic schematic diagram shows the erection and leveling control section of the hydraulic control system provided in the embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The following is combined Figure 1 and Figure 2 The following describes some embodiments of the present invention in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Example 1 This embodiment provides a hydraulic system for a mobile, unsupported liquid-propellant launch system. This hydraulic system serves liquid-propellant launch vehicles in mobile, unsupported launch scenarios. Its main functions include driving the erector frame to erect and level the rocket body, driving the launch pad to lift and level, driving the tilting support for rapid obstacle avoidance, and driving the clamps and auxiliary supports to clamp and release the rocket body. The hydraulic system adopts a highly integrated modular design, with core power and control components centrally located within a standard shipping container. Each actuator is connected to the control valve group within the container via hydraulic pipelines, enabling overall transportation and rapid on-site assembly.

[0025] The hydraulic system mainly includes a hydraulic power unit, a lifting control unit, a leveling control unit, a tilting control unit, an auxiliary support clamp control valve group, an accumulator, a displacement sensor, a pressure sensor, and hydraulic pipelines connecting the various components.

[0026] The hydraulic power unit, integrated within a standard shipping container, is the core power source of the hydraulic system. The hydraulic power unit includes a hydraulic oil tank, a motor-pump assembly, a safety valve assembly, a flow divider valve assembly, a return oil filter, and a cooling system. The hydraulic oil tank, located at the bottom of the container, has sufficient volume to meet the system's circulation requirements. It is equipped with a level gauge, temperature sensor, and air filter to monitor the oil condition and ensure oil cleanliness. The motor-pump assembly, mounted above the hydraulic oil tank, consists of a first motor-pump assembly and a second motor-pump assembly. The first motor-pump assembly comprises a first electric motor and a first hydraulic pump, while the second motor-pump assembly comprises a second electric motor and a second hydraulic pump. Each electric motor drives its corresponding hydraulic pump to draw oil from the hydraulic oil tank and output high-pressure hydraulic fluid. The first and second motor-pump assemblies operate in parallel, running simultaneously under normal conditions to provide sufficient flow. If one motor-pump assembly fails, the other can independently maintain basic system operation.

[0027] The outlet of the first motor pump unit is connected to the inlet of the first safety valve group via a high-pressure steel pipe, and the outlet of the second motor pump unit is connected to the inlet of the second safety valve group via a high-pressure steel pipe. Both the first and second safety valve groups are pilot-operated relief valves, used to limit the maximum working pressure of the system and prevent damage to hydraulic components due to excessive pressure. The outlets of the first and second safety valve groups are connected in parallel to the inlet of the flow divider valve group. The set pressure of the safety valve group is determined based on the maximum working load of the system, and is usually higher than the normal operating pressure but lower than the rated pressure of the pipelines and components.

[0028] The flow divider valve assembly is located downstream of the safety valve assembly and has one inlet and multiple outlets. The inlet receives oil from the safety valve assembly, while the outlets supply oil to different control units. In this embodiment, the flow divider valve assembly has a first outlet, a second outlet, a third outlet, and a fourth outlet. An internal flow distribution valve core is installed in the flow divider valve assembly, which automatically adjusts the flow distribution according to the load pressure of each circuit, ensuring a stable oil supply to each control unit. When the load on a certain circuit suddenly increases, the flow divider valve assembly automatically reduces the flow in that circuit to avoid affecting the normal operation of other circuits.

[0029] The erection control unit is connected to the first outlet of the flow divider valve assembly via a high-pressure pipeline to control the movement of the erection cylinder, enabling the erection and leveling of the erector frame. The erection control unit consists of two parts: an erection / leveling control valve assembly and a cylinder-side valve assembly. The erection / leveling control valve assembly is installed in the control cabinet inside the container and includes a proportional directional valve, a pressure compensation valve, a pressure reducing valve, and several manual standby valves. The inlet of the proportional directional valve is connected to the first outlet of the flow divider valve assembly, and its return port is connected to the hydraulic oil tank. The proportional directional valve has three operating positions, corresponding to erection, stop, and leveling. The pressure compensation valve is connected in series downstream of the operating port of the proportional directional valve to compensate for the impact of load changes on flow rate and maintain stable movement speed of the actuator.

[0030] The cylinder-side valve assembly is mounted on the erecting base, close to the erecting cylinder. This proximity arrangement significantly shortens the connecting pipeline length between the control valve assembly and the actuator cylinder, reduces response lag caused by pipeline volume and hydraulic compressibility, and improves the dynamic response performance of the erecting control. The cylinder-side valve assembly includes three main components: a check valve, a throttle valve, and a hydraulically controlled check valve.

[0031] The inlet of the check valve is connected to the outlet of the erection and leveling control valve assembly via a pipeline, and the outlet of the check valve is connected to the inlet of the throttle valve. The check valve allows oil to flow from the erection and leveling control valve assembly to the rodless chamber of the erection cylinder, preventing reverse flow. After the erection is completed, the check valve automatically closes, cutting off the oil passage between the rodless chamber and the erection and leveling control valve assembly. Together with the hydraulically controlled check valve, it locks the erection cylinder, preventing the erector frame from falling back due to its own weight or external forces.

[0032] The outlet of the throttle valve is connected to the rodless chamber of the erecting cylinder. The throttle valve employs an adjustable flow structure, controlling the flow rate of oil entering the rodless chamber of the erecting cylinder by adjusting the valve opening, thereby regulating the erecting speed. During erection, the throttle valve maintains a certain opening, ensuring the erector frame rises smoothly at the set speed, avoiding impact vibration caused by excessive speed. The throttle valve's adjustment handle is located on the valve assembly surface beside the cylinder, facilitating manual fine-tuning by on-site commissioning and maintenance personnel according to actual working conditions.

[0033] The hydraulically controlled check valve is located in the return oil circuit of the rodless chamber of the erecting cylinder. The hydraulically controlled check valve has two functional interfaces: a main valve port and a control port. The inlet side of the main valve port is connected to the rodless chamber of the erecting cylinder, and the outlet side is connected to the return oil line. The control port is connected to the inlet oil circuit of the rod chamber of the erecting cylinder. The main valve core of the hydraulically controlled check valve remains closed under the action of spring force and oil pressure in the rodless chamber, cutting off the passage between the rodless chamber and the return oil line, thus achieving position locking. When it is necessary to level the erecting frame, the erecting and leveling control valve group switches to the leveling position, and pressurized oil enters the rod chamber of the erecting cylinder. This pressurized oil simultaneously acts on the control piston of the hydraulically controlled check valve through the control oil circuit, overcoming the spring force and oil pressure in the rodless chamber, pushing open the main valve core, and opening the passage from the rodless chamber to the return oil line. The oil in the rodless chamber flows back to the hydraulic oil tank through the main valve port of the hydraulically controlled check valve, causing the piston rod of the erecting cylinder to retract and drive the erecting frame to return to its horizontal position. When the horizontal position stops, the pressure in the rod chamber disappears, and the hydraulically controlled check valve automatically closes under the action of the spring force, locking the oil in the rodless chamber back in place.

[0034] The erecting cylinders include a first erecting cylinder and a second erecting cylinder, which are symmetrically arranged on both sides of the erecting frame. The bottom ends of the cylinder bodies of the first and second erecting cylinders are hinged to the erecting cylinder supports on the erecting support frame via pins, and the top ends of the piston rods are hinged to the erecting hinge points on the erecting frame via pins. When the two erecting cylinders extend and retract synchronously, they drive the erecting frame to rotate around the slewing supports on the erecting support frame, realizing the conversion from a horizontal parking state to a vertical support state.

[0035] The erection and leveling control valve assembly is connected to the corresponding cylinder-side valve assemblies of the first and second erection cylinders via a diversion pipeline. The diversion pipeline includes a high-pressure steel pipe that branches into two lines after exiting the erection and leveling control valve assembly. Each of the two steel pipes is connected to the inlet of the check valve of the two cylinder-side valve assemblies. A diversion and throttling element is installed at the outlet of the erection and leveling control valve assembly to ensure that the oil flow into the two cylinder-side valve assemblies is equal, thus achieving initial synchronization of the two cylinders.

[0036] Both the first and second erecting cylinders are equipped with displacement sensors. These sensors are built-in magnetostrictive displacement sensors, with the sensor rod fixed to the cylinder body and the magnetic ring fixed to the piston. When the piston moves, the magnetic ring moves synchronously with it, and the sensor detects the ring's position and outputs a corresponding electrical signal. The sensor's signal line is connected to the control circuit of the erecting and leveling control valve assembly via a shielded cable. Based on the piston rod position signals from the two displacement sensors, the control valve assembly calculates the position deviation between the two cylinders in real time. When the detected position deviation exceeds a set threshold, the control valve assembly automatically adjusts the opening of the proportional directional valve, increasing the oil supply to the lagging cylinder or decreasing the oil supply to the leading cylinder to eliminate the position deviation and ensure precise synchronous movement of the first and second erecting cylinders.

[0037] The leveling control unit is connected to the second outlet of the diverter valve assembly via a high-pressure pipeline. This connection controls the movement of the launch pad leveling cylinders, enabling the launch pad to be lifted and leveled. The leveling control unit is a multi-way valve for launch pad leveling control. This multi-way valve is a load-sensitive proportional multi-way valve with one inlet, one return port, and four independent control ports. The inlet is connected to the second outlet of the diverter valve assembly, and the return port is connected to the hydraulic oil tank. The four independent control ports are connected to the rodless chambers of the four launch pad leveling cylinders via high-pressure hoses. Each launch pad leveling cylinder corresponds to an independent control port, allowing for independent adjustment of the oil supply and pressure.

[0038] The launch pad leveling cylinders are mounted on the four corner support legs of the launch pad. The cylinder body is fixedly connected to the support leg mounting seats, and the piston rod end is supported on the ground leveling pad. The four launch pad leveling cylinders extend and retract independently, adjusting the levelness and height of the launch pad surface through different combinations of extension amounts. During leveling, the displacement sensors of each leveling cylinder provide real-time feedback on the extension position. Based on the launch pad levelness detection signal, the leveling control unit adjusts the flow rate of the four control ports to achieve automatic and precise leveling of the launch pad.

[0039] The tilt control unit is connected to the third oil outlet of the diverter valve assembly via a high-pressure pipeline to control the movement of the tilt cylinder, enabling the tilt support to quickly avoid obstacles. The tilt control unit includes a first tilt control valve assembly and a second tilt control valve assembly. Both the first and second tilt control valve assemblies are high-speed switching valve assemblies with fast response characteristics, and the opening and closing times are controlled in milliseconds.

[0040] The tilting cylinder consists of multiple sets, with each set of tilting supports corresponding to two tilting cylinders. The cylinder body of each tilting cylinder is hinged to the tilting support mounting base on the launch pad via a pin, while the piston rod end is hinged to the drive arm of the tilting support via a pin. The tilting support is mounted on the launch pad surface via a rotary shaft and can rotate between a support position and a clearance position. In the support position, the tilting support stands vertically on the launch pad surface, with the arrow receiving device at the top supporting the arrow body and its angle, and bearing the weight of the arrow. In the clearance position, the tilting support rapidly tilts outward from the launch pad, completely avoiding the drift envelope space of the arrow body during takeoff.

[0041] The accumulator system comprises a first accumulator group and a second accumulator group, corresponding to the first and second flip control valve groups, respectively. Both the first and second accumulator groups are bladder-type accumulators, characterized by large capacity and rapid response. The oil port of the first accumulator group is connected to the oil inlet of the first flip control valve group, and the oil port of the second accumulator group is connected to the oil inlet of the second flip control valve group. During the launch preparation phase, the oil output from the motor pump group is pressurized and supplied to the first and second accumulator groups via the diversion valve group and the flip control unit. The accumulator bladders compress and store energy until the set operating pressure is reached. After pressurization, the flip control valve group closes, and the accumulators maintain a high-pressure energy storage state.

[0042] Upon receiving the takeoff command, the control system simultaneously sends opening signals to both the first and second rollover control valve groups. The two rollover control valve groups open instantaneously, and the high-pressure hydraulic fluid stored in the first and second accumulator groups enters the corresponding rollover cylinders at extremely high flow rates, driving the cylinders to extend rapidly and pushing the rollover support from its supporting position to its avoidance position in a very short time. Because the energy release from the accumulators does not depend on the real-time oil supply capacity of the motor-pump unit, the rollover action speed is much higher than that of ordinary hydraulic circuits, meeting the launch requirements for second-level avoidance.

[0043] The first tilt control valve group is connected to the tilt cylinders of at least one set of tilt supports, and the second tilt control valve group is connected to the tilt cylinders of at least another set of tilt supports. Under normal conditions, the two accumulator groups and the two tilt control valve groups work simultaneously, driving all tilt supports to synchronously avoid obstacles. When one set of accumulator groups or tilt control valve groups fails to function properly due to a malfunction, the other set of accumulator groups and tilt control valve groups can still independently drive their corresponding tilt cylinders to complete the avoidance action, ensuring reliable avoidance by the tilt supports and improving the system's safety redundancy.

[0044] The auxiliary support clamp control valve assembly is mounted on the erector frame, close to the clamp cylinder and the auxiliary support cylinder. The inlet of the auxiliary support clamp control valve assembly is connected to the fourth outlet of the diverter valve assembly via a high-pressure pipeline. The outlets are connected to the rodless chambers of both the clamp cylinder and the auxiliary support cylinder, and the return port is connected to the hydraulic oil tank. The auxiliary support clamp control valve assembly adopts an explosion-proof design; all electromagnets, terminals, and electrical components are encapsulated within an explosion-proof enclosure. The enclosure strength meets explosion-proof standards, preventing internal electrical sparks from igniting external flammable gases and adapting to flammable gas environments that may exist during rocket loading and parking.

[0045] The clamping cylinder includes a primary clamping cylinder and a secondary clamping cylinder. The primary and secondary clamping cylinders drive the primary and secondary clamping actions respectively, achieving staged clamping and release. The auxiliary support cylinder includes a front auxiliary support cylinder and a rear auxiliary support cylinder, which drive the front and rear auxiliary supports to rise and fall respectively, supporting the arrow body during horizontal parking and erection, and accommodating arrow body deformation.

[0046] The hydraulic system also includes displacement sensors and pressure sensors. Displacement sensors are installed in the first erecting cylinder, the second erecting cylinder, the launching platform leveling cylinder, and the tilting cylinder to detect the real-time position of the piston rods in each cylinder. Pressure sensors are installed in the inlet lines of the erecting control unit, the leveling control unit, and the tilting control unit to detect the oil supply pressure in each circuit. Each sensor is connected to the control cabinet inside the container via shielded cables, transmitting the detection signals to the controller. The controller adjusts the opening of each control valve group based on the feedback signals from the displacement sensors to control the movement speed and position of the cylinders; and adjusts the output pressure of the motor pump group based on the feedback signals from the pressure sensors, achieving closed-loop control and overload protection of the system.

[0047] The return oil ports of the erection control unit, leveling control unit, tilting control unit, and auxiliary support clamp control valve assembly are all connected to the hydraulic oil tank via return oil pipelines. A return oil filter is installed on the return oil pipeline to filter contaminants from the return oil. The return oil filter uses a high-precision filter element, and its filtration accuracy meets the cleanliness requirements of the hydraulic system. The filtered oil is cooled by a cooling device before returning to the hydraulic oil tank, maintaining the oil temperature within the normal operating range. This unified return oil circulation design ensures oil cleanliness and temperature stability, extends the service life of hydraulic components, and simplifies system maintenance and management.

[0048] Example 2 This embodiment provides a hydraulic control method applied to the above-mentioned hydraulic system, including an erection control step, a leveling control step, an accumulator charging step, a rapid flipping step, and an erection frame return-to-level step.

[0049] Erection control steps: Start the first and second motor pump sets. The two motors drive their corresponding hydraulic pumps to draw oil from the hydraulic oil tank. After pressure limiting protection by the first and second safety valve sets, the oil flows into the inlet of the diversion valve set. The diversion valve set distributes the oil to the erection control unit. The oil flows out from the first outlet and enters the erection-leveling control valve set via a high-pressure pipeline. The proportional directional valve of the erection-leveling control valve set switches to the erection position. After pressure stabilization by the pressure compensation valve, the oil flows through the diversion pipeline into the cylinder-side valve sets corresponding to the first and second erection cylinders. The oil then passes through a check valve and a throttle valve in sequence, entering the rodless chamber of the two erection cylinders, pushing the piston rod to extend and driving the erection frame to rotate around the slewing support from a horizontal to a vertical position.

[0050] During the erection process, displacement sensors installed on the two erection cylinders monitor the piston rod extension position in real time and feed the position signal back to the controller of the erection and leveling control valve assembly. The controller compares the position data of the two cylinders and calculates the position deviation. When the deviation exceeds a set threshold, the controller automatically adjusts the opening of the proportional directional valve and fine-tunes the oil supply to the lagging cylinder to keep the two cylinders synchronized. When the erector frame rotates to the vertical position docked with the launch pad, the proportional directional valve switches to the neutral position, cutting off the oil supply. The check valve automatically closes, cutting off the oil circuit between the rodless chamber and the erection and leveling control valve assembly. The hydraulically controlled check valve remains closed under the action of the oil pressure in the rodless chamber and the spring force, locking the oil in the rodless chamber and preventing the erector frame from falling back.

[0051] Leveling Control Procedure: After the erector frame reaches a vertical position and is docked with the launch pad, the control system issues a leveling command. The diversion valve group distributes oil to the leveling control unit, and the oil flows out from the second outlet into the launch pad leveling control multi-way valve. Based on the support status of each launch pad leg and the levelness detection signal, the leveling control multi-way valve controls the opening of four independent control ports, supplying oil to the four launch pad leveling cylinders. Each leveling cylinder extends independently, lifting the launch pad. When the launch pad platform reaches a level position, the leveling control multi-way valve closes all control ports, maintaining the launch pad position.

[0052] Accumulator Pressurization Procedure: During the launch preparation phase, the control system initiates the accumulator pressurization procedure. The diversion valve assembly distributes hydraulic fluid to the tilt control unit. Fluid flows out from the third outlet and enters the first and second tilt control valve assemblies. Both tilt control valve assemblies switch to the pressurization position, and hydraulic fluid enters the first and second accumulator assemblies respectively, compressing the bladder to store pressure energy. When the accumulator pressure reaches the set operating pressure, the pressure sensor sends a signal, and the tilt control valve assemblies switch to the pressure holding state, stopping the pressurization process. The accumulator maintains a high-pressure energy storage state, awaiting takeoff command.

[0053] Rapid Tilting Procedure: During the rocket launch countdown, the control system continuously monitors the launch command signal. Upon receiving the launch command, the control system immediately sends a rapid opening signal to the first and second tilt control valve groups. Both valve groups fully open within milliseconds, instantly releasing the high-pressure hydraulic fluid stored in the first and second accumulator groups, which then enters the corresponding tilt cylinders at extremely high flow rates. Driven by the high-pressure hydraulic fluid, the tilt cylinders rapidly extend, pushing the tilt support to rotate rapidly from a vertical support position to a horizontal clearance position. The entire tilting action is completed within seconds, ensuring unobstructed launch passage for the rocket.

[0054] During rapid flipping, the control system continuously monitors the operational status of the two accumulator groups and the two flipping control valve groups. If insufficient pressure is detected in one accumulator group or the flipping control valve group fails to open properly, the control system determines that the circuit is faulty and immediately initiates the redundancy switching logic. The other, functioning accumulator group and flipping control valve group operate independently, continuing to drive their corresponding flipping cylinders to complete the avoidance maneuver. Although the driving force of some flipping supports may be reduced, it still ensures reliable avoidance by the flipping supports, preventing any impact on the rocket's takeoff.

[0055] Erector Leveling Procedure: After rocket liftoff and successful launch confirmation, the control system executes the erector leveling procedure. The proportional directional valve of the erector leveling control valve group switches to the leveling position, and pressurized hydraulic fluid enters the rod chambers of the first and second erector cylinders. Simultaneously, the pressurized hydraulic fluid in the rod chambers acts on the control ports of the hydraulically piloted check valves in the two cylinder-side valve groups through the control oil circuit, overcoming spring force and oil pressure in the rodless chamber, and opening the main valve core of the hydraulically piloted check valve. The hydraulic fluid in the rodless chamber flows into the return oil line through the opened main valve port, and returns to the hydraulic oil tank after filtration and cooling. The piston rod of the erector cylinder retracts, driving the erector to rotate around the slewing support from a vertical to a horizontal position. After leveling, the proportional directional valve switches to the neutral position, the hydraulically piloted check valve automatically closes, and the erector position is locked.

[0056] Example 3 This embodiment provides specific operating procedures for the hydraulic system during field deployment, launch, and withdrawal.

[0057] On-site deployment phase: Containers integrating hydraulic power units are transported to the launch site by transport vehicles. Using hoisting equipment, the containers are placed at the predetermined position at the front end of the erection support frame, and the bottom of the containers is connected and secured to the container support frame on the erection support frame. The erection and leveling control valve assembly, leveling control unit, and tilting control unit are connected to the corresponding oil outlets of the diversion valve assembly via high-pressure steel pipes. Return oil lines are led out from the return oil ports of each control unit, converged, and connected to the return oil interface of the hydraulic oil tank. The cylinder-side valve assembly is installed on the valve assembly mounting base of the erection base and connected to the rodless and rod chambers of the corresponding erection cylinders via short steel pipes. The launch pad leveling control multi-way valve is connected to the four launch pad leveling cylinders via high-pressure hoses. The auxiliary support clamp control valve assembly is installed on the valve assembly bracket of the erection frame and connected to the clamp cylinder and auxiliary support cylinder via steel pipes. After completing all mechanical connections, the specified grade of hydraulic oil is injected into the hydraulic oil tank to the standard level. Start the motor pump unit, perform system venting, pressure adjustment and operation test, and confirm that each circuit is working normally.

[0058] Launch Operation Procedure: The liquid-fueled rocket body is horizontally hoisted onto the erector frame, aligning the body's waist support point with the clamp position on the erector frame. The auxiliary support clamp control valve assembly is activated, sequentially actuating the first and second stage clamp cylinders to grip the rocket body's waist. The front and rear auxiliary support cylinders extend, pressing against the lower surface of the rocket body to provide auxiliary support. The erection control procedure is executed, activating the motor pump assembly and extending the erection cylinders to simultaneously erect the erector frame and rocket body to a vertical position. The launch pad is transported to the erector frame docking position using a transport vehicle, and docked with the erector frame. The leveling control procedure is executed, extending the launch pad leveling cylinders to level the launch pad surface. The rocket body is transferred from the erector frame to the tilting support on the launch pad. The clamps release the rocket body, and the auxiliary supports retract. The erector frame is then detached from the rocket body. The accumulator pressurization procedure is executed, filling both accumulators with pressurized oil to the set pressure. The rocket enters the launch countdown, and all systems complete final checks. Upon receiving the liftoff command, a rapid rollover procedure is executed, with the rollover support quickly avoiding obstacles, and the rocket body ignites and lifts off.

[0059] On-site withdrawal phase: After launch, perform the erector leveling procedure to return the erector to a horizontal position. Shut down the motor pump unit to release system pressure. Disconnect the connecting pipelines between the auxiliary support clamp control valve assembly and the clamp cylinder, and remove the auxiliary support clamp control valve assembly from the erector. Disconnect the connecting pipeline between the cylinder-side valve assembly and the erector cylinder, and remove the cylinder-side valve assembly from the erector base. Disconnect the connecting hose between the launch pad leveling control multi-way valve and the leveling cylinder. Disconnect the connecting steel pipes between each control unit and the diversion valve assembly. Hoist the container onto the transport vehicle and secure it. Use lifting equipment to disassemble the three sections of the erector structure sequentially, disassemble the four modules of the launch pad sequentially, and separate the left and right support frames and connecting rods of the erector support frame. All structural modules and hydraulic components are loaded and transported separately, meeting road transport size and weight restrictions to achieve rapid withdrawal and transfer.

[0060] The hydraulic system and control method provided in this invention integrate the hydraulic power unit into a standard container, achieving modular transportation and rapid on-site deployment of the hydraulic system. This eliminates reliance on fixed launch sites and dedicated facilities, meeting the requirements for mobile, unreliant launches. The multi-channel oil supply structure of the diversion valve group provides independent and stable oil supply to the erection control unit, leveling control unit, tilting control unit, and auxiliary support clamp control valve group. Each circuit operates independently, improving the stability of multi-actuator collaborative operation. The cylinder-side valve group is located close to the erection cylinder, shortening the control pipeline and improving response speed. Combined with displacement sensors, it achieves precise synchronous control of the two erection cylinders. The accumulator is directly connected to the tilting control unit, allowing for instantaneous release of pressurized oil upon receiving the takeoff command. This drives the tilting bracket to complete rapid avoidance within seconds, eliminating reliance on the real-time oil supply capability of the motor pump group, resulting in fast response and high reliability. The redundant design of the dual accumulator group and dual tilting control valve group ensures that tilting avoidance can still be completed even in the event of a single-circuit failure, significantly improving launch safety. Each control unit's return port is uniformly connected to the hydraulic oil tank, forming a complete closed oil circulation loop. Combined with return oil filtration and cooling devices, this effectively improves oil cleanliness and system operational stability, reduces the risk of oil leakage, and simplifies on-site maintenance procedures. The overall device is highly modular, with high assembly and dismantling efficiency, enabling rapid deployment and evacuation, making it fully adaptable to the launch scenarios of mobile, unsupported liquid-fueled launch vehicles.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hydraulic system for a mobile, independent liquid-propellant launch system, characterized in that, include: A hydraulic power unit, integrated within a container, includes a hydraulic oil tank, a motor pump assembly, a safety valve assembly, and a flow divider valve assembly, the flow divider valve assembly having multiple oil outlets; The erection control unit is connected to the first oil outlet of the diversion valve group and is used to connect the erection cylinder to control the erection and leveling of the erection frame. The leveling control unit is connected to the second oil outlet of the diversion valve group and is used to connect to the launch platform leveling cylinder to control the lifting and leveling of the launch platform. The tilt control unit is connected to the third oil outlet of the diversion valve group and is used to connect to the tilt cylinder; An accumulator, which is connected to the oil inlet of the rollover control unit, is used to supply oil to the rollover control unit after receiving a takeoff command, so as to drive the rollover support to quickly avoid an obstacle. The return ports of the erection control unit, the leveling control unit, and the tilting control unit are all connected to the hydraulic oil tank.

2. The hydraulic system according to claim 1, characterized in that, The motor pump group includes at least a first motor pump group and a second motor pump group, and the safety valve group includes at least a first safety valve group and a second safety valve group; The oil outlet of the first motor pump group is connected to the oil inlet of the first safety valve group, the oil outlet of the second motor pump group is connected to the oil inlet of the second safety valve group, and the oil outlets of the first safety valve group and the second safety valve group are both connected in parallel to the oil inlet of the diverter valve group.

3. The hydraulic system according to claim 1, characterized in that, The erection control unit includes an erection and leveling control valve group and a cylinder-side valve group; The erection and leveling control valve group is located inside the container, and the cylinder-side valve group is located on the erection base and close to the erection cylinder. The cylinder-side valve group includes a check valve, a throttle valve, and a hydraulically controlled check valve; The oil outlet of the one-way valve is connected to the rodless chamber of the erecting cylinder, and the throttle valve is connected in series between the one-way valve and the rodless chamber of the erecting cylinder. The hydraulically controlled check valve is installed in the return oil circuit of the rodless chamber of the erecting cylinder, and the control port of the hydraulically controlled check valve is connected to the inlet oil circuit of the rod chamber of the erecting cylinder.

4. The hydraulic system according to claim 3, characterized in that, The erecting cylinder includes a first erecting cylinder and a second erecting cylinder; The erection and leveling control valve group is connected to the cylinder side valve group corresponding to the first erection cylinder and the second erection cylinder respectively through the diversion pipeline; The vertical and horizontal control valve group adjusts the oil distribution according to the piston rod position signal detected by the displacement sensor to achieve synchronous action of the two cylinders.

5. The hydraulic system according to claim 1, characterized in that, The leveling control unit is a launch platform leveling control multi-way valve. The multi-way valve has four independent control ports, which are respectively used to connect to the rodless chambers of the four launch platform leveling cylinders.

6. The hydraulic system according to claim 1, characterized in that, It also includes the auxiliary support clamp control valve assembly; The auxiliary support clamp control valve assembly is mounted on the erecting frame, and its oil inlet is connected to the fourth oil outlet of the diversion valve assembly. Its oil outlets are respectively used to connect to the clamp cylinder and the auxiliary support cylinder. The auxiliary support clamp control valve assembly adopts an explosion-proof structure.

7. The hydraulic system according to claim 1, characterized in that, The flip control unit includes a first flip control valve group and a second flip control valve group, and the accumulator includes a first accumulator group and a second accumulator group. The first accumulator group is connected to the oil inlet of the first tilt control valve group, and the second accumulator group is connected to the oil inlet of the second tilt control valve group. The first tilt control valve group is used to connect to the tilt cylinders of at least one set of tilt supports, and the second tilt control valve group is used to connect to the tilt cylinders of at least another set of tilt supports.

8. The hydraulic system according to claim 1, characterized in that, It also includes displacement sensors and / or pressure sensors; The displacement sensor is installed in the erecting cylinder, the launching platform leveling cylinder, and / or the tilting cylinder to detect the position of the piston rod. The pressure sensor is installed in the oil circuit of the erection control unit, the leveling control unit, and / or the tilting control unit to detect oil pressure; The erection control unit, leveling control unit, or tilting control unit adjusts the oil supply of the corresponding hydraulic cylinder according to the detection signals of the displacement sensor and / or pressure sensor.

9. A hydraulic control method, applied to the hydraulic system according to any one of claims 1-8, characterized in that, Includes the following steps: Erection control steps: Drive the motor pump unit, distribute the oil to the erection control unit through the diversion valve group, control the erection cylinder to extend, and drive the erection frame to rotate around the slewing support to a vertical state docked with the launch pad; Leveling control steps: After the erector reaches a vertical position, the oil is distributed to the leveling control unit through the diversion valve group, which controls the launch platform leveling cylinder to extend, lift and level the launch platform; Accumulator charging procedure: During the launch preparation phase, pressurized oil is injected into the accumulator by flipping the control unit; Rapid flipping procedure: After receiving the takeoff command, control the accumulator to release pressurized oil, and control the flipping cylinder to move rapidly through the flipping control unit, driving the flipping bracket to switch from the support position to the avoidance position; Erecting and leveling steps: After launch, control the retraction of the erecting cylinder to drive the erecting frame back to a horizontal state.

10. The hydraulic control method according to claim 9, characterized in that, In the rapid flipping step: The first accumulator group and the second accumulator group release pressurized oil at the same time, and the first tilt control valve group and the second tilt control valve group control the corresponding tilt cylinder action at the same time. When one of the accumulator groups or the tilt control valve group fails, the other accumulator group and the tilt control valve group independently drive the corresponding tilt cylinder to complete the avoidance action.

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