Efficient hydraulic system and control method for smooth erection

Abstract

This invention relates to the field of hydraulic technology, and in particular to a high-efficiency hydraulic system for smooth erection, comprising an oil supply module, a control valve module, and a three-stage cylinder. The oil supply module is connected to the control valve module. The oil supply module has left and right dual oil tanks, both with output pipelines connected to the inlet pipeline and equipped with an oil output mechanism. It also has speed-regulating return oil and left and right speed-regulating pipelines with parallel speed-regulating valves. The return oil ports of the dual oil tanks are respectively connected to the return oil pipelines connected to the control valve module. The control valve module includes a proportional directional valve and small-cavity and large-cavity balance valves. The proportional directional valve is connected to the inlet, return, and large and small-cavity pipelines of the three-stage cylinder. The large and small-cavity pipelines are connected in series with the balance valve. A branch pipeline with a proportional relief valve is connected between the inlet and return oil pipelines. The pilot oil port of the balance valve has a damping orifice and is equipped with a pilot pipeline, a one-way throttle valve, and a return oil pipeline. This invention achieves redundant oil supply, precisely controls oil flow and pressure, ensures a smooth and shock-free process for the entire erection and leveling process of the erector frame, and improves overall reliability and stability.

Description

Technical Field

[0001] This invention relates to the field of hydraulic technology, and in particular to a high-efficiency hydraulic system and control method for smooth erection. Background Technology

[0002] Launch vehicles typically employ a single three-stage hydraulic cylinder as the actuator for the 90° erection and 0° return movements of the erector frame. The hydraulic system, as the core drive unit, must simultaneously meet the performance requirements for rapid erector frame movement, as well as the requirements for smooth and shock-free operation during stage switching and the final stage of the movement. This places stringent practical requirements on the oil source that powers the hydraulic system, namely, it must possess excellent structural integration, reliable oil supply, precise oil output control, and pipeline adaptability. Otherwise, during the stage switching or final stage of the cylinder, excessive oil flow or velocity can easily cause significant impacts, which may affect the service life of hydraulic components or even damage the erector frame structure.

[0003] The hydraulic systems currently used in launch vehicles have many defects in terms of oil source structure design, pipeline layout, and control methods, and are no longer suitable for actual combat use. First, the oil tanks of the oil source are mostly single-chamber structures with only a single output pipeline connected to the control valve module, without any oil supply redundancy design. Once a single pipeline or a single oil tank fails, it will directly cause the entire hydraulic system to lose pressure, making it impossible to complete the core actions of erection and leveling, resulting in insufficient operational reliability. Second, the oil output mechanism is simply configured, and it is impossible to achieve a smooth reduction in flow rate at the cylinder stage switching node, making it difficult to effectively solve the stage switching impact problem.

[0004] While existing technologies have made attempts to achieve smooth speed regulation in hydraulic systems, they still have significant limitations. For example, a compact high-pressure drive actuator disclosed in patent publication number CN115789005 uses a cam mechanism in conjunction with a throttle valve to achieve deceleration during erection, but it is only designed for the erection stage and does not consider the speed regulation requirements during leveling and cylinder stage switching, thus failing to solve the impact problem throughout the entire process. The launch vehicle combined servo hydraulic power source device disclosed in patent publication number CN112343894A uses a volumetric speed regulation method combining a servo motor and a proportional pump. It changes the pump displacement according to the erection angle to achieve cylinder deceleration during stage switching. However, due to the dead zone characteristics of the proportional pump and the minimum stable operating speed of the servo motor, even with the minimum displacement and minimum speed signals, the pump will still have a certain flow output. For the large-sized cylinders of the launch vehicle, a large displacement proportional pump is required to meet the requirements of rapid action. However, its minimum control flow will still cause a large impact on the cylinder during stage switching and stroke completion, resulting in poor speed regulation.

[0005] Furthermore, when the launch vehicle's erector frame is erected to 70-80°, its center of gravity flips. In this state, the hydraulic cylinders bear a heavy load. To prevent the cylinders from stalling and falling, traditional designs install balance valves or hydraulic locks in the large and small chambers of the cylinder. To avoid affecting the cylinder's rapid movement, a large pilot ratio is required for the balance valve. However, after the center of gravity flips, because the system's maximum set pressure remains unchanged, the pilot pressure increases instantaneously, causing the balance valve or hydraulic lock to fully open. Under the load, the cylinder stalls. Subsequently, the pilot pressure rapidly decreases, causing the balance valve or hydraulic lock to close. This phenomenon repeats itself, causing the vehicle to sway and posing a significant safety hazard. Summary of the Invention

[0006] The present invention aims to solve the above-mentioned defects and provide a high-efficiency hydraulic system and control method for smooth erection.

[0007] In order to overcome the defects in the background technology, the technical solution adopted by the present invention to solve its technical problem is: a high-efficiency hydraulic system for smooth erection, including an oil supply module, a control valve module and a three-stage cylinder, wherein the oil supply module is connected to the control valve module; The oil supply module includes a left oil tank and a right oil tank. The oil outlet of the left oil tank is connected to the oil inlet pipe through a left output pipe, and the oil outlet of the right oil tank is connected to the oil inlet pipe through a right output pipe. Both the left output pipe and the right output pipe are equipped with oil output mechanisms for outputting oil. The oil output mechanism includes a pressure control module, a constant power module, an oil source proportional pump, a booster pump, and an oil source servo motor. The pressure control module and the constant power module are both integrated on the oil source proportional pump. The oil source servo motor drives the oil source proportional pump through a shaft connection. The oil source proportional pump and the booster pump are connected in series on both the left output pipeline and the right output pipeline. The return port T of the left oil tank and the return port T of the right oil tank are connected by a speed-regulating return oil pipeline. The preset position on the left output pipeline and the preset position on the speed-regulating return oil pipeline are connected by a left speed-regulating pipeline. The preset position on the right output pipeline and the preset position on the speed-regulating return oil pipeline are connected by a right speed-regulating pipeline. Speed-regulating valves are connected in series on both the right and left speed-regulating pipelines. The return port T of the left oil tank is connected to one end of the return oil pipeline one, and the other end of the return oil pipeline one is connected to the control valve module. The return port T of the right oil tank is connected to one end of the return oil pipeline two, and the other end of the return oil pipeline two is connected to the control valve module. The control valve module includes a proportional directional valve, a small-cavity balance valve, and a large-cavity balance valve, with the oil inlet of the proportional directional valve connected to the oil inlet pipeline. The return port of the proportional directional valve is connected to one end of the return oil pipeline. The working port A of the proportional directional valve is connected to the large-cavity inlet of the third-stage cylinder through a large-cavity pipeline, and the working port B is connected to the small-cavity inlet of the third-stage cylinder through a small-cavity pipeline. A large-cavity balance valve is connected in series on the large-cavity pipeline, and a small-cavity balance valve is connected in series on the small-cavity pipeline. A branch pipeline three is connected between the preset position on the inlet pipeline and the preset position on the return pipeline two, and a proportional relief valve is connected in series on the branch pipeline three. The pilot port of the small cavity balance valve and the large cavity balance valve are configured to form a damping orifice for outputting pilot oil. The damping orifice on the large cavity balance valve is connected to the return oil line three through branch line two. The pilot port of the small cavity balance valve at a preset position on the small cavity pipeline is connected to the pilot port of the small cavity of the large cavity balance valve through pilot line one. A one-way throttle valve is connected in series on the pilot line one. The damping orifice on the small cavity balance valve is connected to the return oil line one. The pilot oil port of the small cavity balance valve at the preset position on the large cavity pipeline is connected through the pilot line two. A one-way throttle valve is connected in series on the pilot line two. The third return oil line is connected to the first return oil line and the second return oil line, respectively.

[0008] In a further improvement, both the left and right oil tanks are equipped with integrated oil source temperature sensors, integrated oil source level sensors, and integrated oil source air filters.

[0009] In a further improvement, the left output pipeline and the right output pipeline are respectively connected to the manual control pipeline, the manual control pipeline is connected to the oil inlet pipeline, and a manual pump is connected in series on the manual control pipeline.

[0010] As a further improvement, return oil filters are installed in series on both the first and second return oil lines.

[0011] As a further improvement, a high-pressure filter unit is connected in series on the oil inlet pipe.

[0012] In a further improvement, the large cavity interface of the three-stage cylinder is connected to the return oil line via a large cavity overflow pipe, and the small cavity interface of the three-stage cylinder is connected to the return oil line via a small cavity overflow pipe. A large cavity overflow valve is connected in series on the large cavity overflow pipe, and a small cavity overflow valve is connected in series on the small cavity overflow pipe.

[0013] In a further improvement, the preset position on the large cavity pipeline and the preset position on the return oil pipeline are connected by a branch pipeline, and a two-way solenoid valve and a leveling proportional directional valve are sequentially connected in series on the branch pipeline.

[0014] In a further improvement, a large-cavity balance valve filter is connected in series on the first pilot line, and a small-cavity balance valve filter is connected in series on the second pilot line.

[0015] A control method for a high-efficiency hydraulic system for smooth erection, including the erection and leveling processes: Erection process: When the erector receives the erection command signal, the control system sets the maximum opening signal Hmax of the proportional directional valve 108, the maximum speed Nmax of the oil source servo motor 210, the maximum displacement Vmax of the oil source proportional pump 209, and the pressure of the proportional relief valve 107 to the preset value P1. When the erector frame angle is between 0 and D1, the control system controls each component to maintain the above state and erect at full speed. When the erector frame is erected to D1, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are gradually reduced to V1 and N1 using the ramp signal. At the same time, the pressure of the proportional relief valve 107 is gradually reduced to the preset value P2 using the ramp signal. When the erection frame angle exceeds D2, maintain the pressure preset value P2 of the proportional relief valve 107, and immediately give the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210 to maintain rapid erection. When the erection angle reaches D3, the slope signal is used again to gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V2 and N2, respectively. At the same time, the slope signal is used to gradually reduce the pressure of the proportional overflow valve 107 to the preset value P3. When the erection frame angle exceeds D4, maintain the pressure preset value P3 of the proportional relief valve 107, immediately increase the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to the maximum values ​​Vmax and Nmax, and continue to advance the erection. When the erector frame angle reaches D5, gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V3 and N3, respectively. At the same time, gradually reduce the set pressure of the proportional overflow valve 107 to the preset value P4 to stabilize the pushing action and continue to push the erection. When the erector frame angle is raised to D6 and the center of gravity flips, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are gradually increased from the starting value of g% of the maximum value per ms until V4 and N4. When the erector frame angle is raised to D7, the pressure preset value P4 of the proportional relief valve 107 is maintained, and the speed of the oil source servo motor 210 is gradually reduced to the minimum stable speed Nmin. The displacement of the oil source proportional pump 209 is reduced until the minimum displacement Vmin. The rate at which the displacement of the oil source proportional pump 209 is reduced is less than the rate at which the speed of the oil source servo motor 210 is reduced. Leveling process: When the erector receives the leveling command signal, the control system immediately sets the maximum opening Hmax of the proportional directional valve 108, and sets the pressure to the preset value P5 using the proportional relief valve with the ramp signal gradually increasing. Before the stage change point D6, the speed of the oil source servo motor 210 and the displacement of the oil source proportional pump 209 are gradually increased to N5 and V5, respectively, starting from g% of the maximum value per ms. After the stage change, the speed of the oil source servo motor 210 and the displacement of the oil source proportional pump 209 are rapidly increased to Nmax and Vmax, respectively. When the erector frame returns to level D8, gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V6 and N6, respectively, while gradually increasing the set pressure of the proportional relief valve 107 to the preset value P6. When the erection angle is lower than D4, the proportional relief valve 107 sets the pressure to maintain the preset value P6, and immediately gives the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210 to maintain rapid leveling until the angle reaches D9. When the erection angle reaches D9, the slope signal is used to gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V7 and N7, respectively, while gradually increasing the set pressure of the proportional relief valve 107 to the preset value P7. When the erection angle is lower than D2, the proportional relief valve 107 sets the pressure to maintain the preset value P7, and immediately increases the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to Vmax and Nmax, and continues to push back to level. When the erector frame angle drops to D10, the speed of the oil source servo motor 210 is gradually reduced to the minimum stable speed Nmin, and the displacement of the oil source proportional pump 209 is reduced to the minimum displacement Vmin. At this time, the rate at which the displacement of the oil source proportional pump 209 decreases is less than the rate at which the speed of the oil source servo motor 210 decreases.

[0016] In a further improvement, the hydraulic system is equipped with an angular acceleration closed-loop control unit. The angular acceleration closed-loop control unit calculates the angular acceleration ε based on the change in the erector frame angle. When the angular acceleration ε > 0.1 rad / s², the opening of the proportional directional valve and the displacement of the oil source proportional pump are reduced. The reduction value of the proportional directional valve opening is H = K1 × (ε actual − 0.1), and the reduction value of the oil source proportional pump displacement is V = K2 × (ε actual − 0.1). K1 and K2 are preset proportional coefficients.

[0017] The beneficial effects of this invention are as follows: This design adopts a dual-tank redundant oil supply design, and dual output pipelines ensure the reliability of oil supply, avoiding system pressure loss due to single-path failure; the oil output mechanism, in conjunction with the speed regulating pipeline with a speed regulating valve, can accurately regulate the oil flow and achieve zero dead zone control of the flow; in the control valve module, the proportional directional valve and the proportional relief valve work together to dynamically adjust the oil pressure and flow; the pilot oil port of the large and small chamber balance valve is equipped with a damping orifice, and is matched with a pilot pipeline with a one-way throttle valve to accurately control the pilot pressure, effectively preventing the cylinder from stalling and falling and the vehicle body from shaking when the center of gravity flips; the whole system achieves precise control of oil pressure and flow, ensuring a smooth and shock-free process for the erection and leveling of the erector frame, and greatly improving the operational stability, control accuracy and overall reliability of the hydraulic system. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the oil supply module in this invention. Figure 1 ; Figure 2 This is a schematic diagram of the oil supply module in this invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the present invention; Figure 4 This is a schematic diagram of the control valve assembly in this invention; In the diagram, 1-control valve module, 2-oil supply module, 3-three-stage cylinder; 101-System pressure sensor, 102-Return oil filter, 103-Check valve, 104-High pressure filter unit, 105-Damping orifice, 106-One-way throttle valve, 107-Proportional relief valve, 108-Proportional directional valve, 109-Small chamber balance valve, 110-Small chamber relief valve, 111-Large chamber relief valve, 112-Large chamber balance valve, 113-Two-way solenoid valve, 114-Leveling proportional directional valve, 115-Small chamber balance valve Balance valve filter, 116-Large cavity balance valve filter, 117-Branch line one, 118-Pilot line one, 119-Branch line two, 120-Return oil line one, 121-Pilot line two, 122-Large cavity line, 123-Large cavity overflow line, 124-Small cavity overflow line, 125-Small cavity line, 126-Branch line three, 127-Return oil line two, 128-Inlet oil line, 129-Return oil line three; 201-Right oil tank, 202-Left oil tank, 203-Manual pump, 204-Speed ​​control valve, 205-Oil source temperature sensor, 206-Oil source air filter, 207-Oil source level sensor, 208-Boost pump, 209-Oil source proportional pump, 210-Oil source servo motor, 211-Left output pipeline, 212-Left speed control pipeline, 213-Manual control pipeline, 214-Right output pipeline, 215-Right speed control pipeline, 216-Speed ​​control return oil pipeline. Detailed Implementation

[0020] 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, not all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 This embodiment provides a high-efficiency hydraulic system for smooth erection, including an oil supply module 2, a control valve module 1, and a three-stage cylinder 3. The oil supply module 2 is connected to the control valve module 1, and the control valve module 1 is connected to the three-stage cylinder 3. The oil supply module 2 includes a left oil tank 202 and a right oil tank 201. The oil outlet of the left oil tank 202 is connected to the oil inlet pipe 128 through a left output pipe 211, and the oil outlet of the right oil tank 201 is connected to the oil inlet pipe 128 through a right output pipe 214. Both the left output pipe 211 and the right output pipe 214 are provided with oil output mechanisms for outputting oil. The hydraulic output mechanism includes a pressure control module, a constant power module, an oil source proportional pump 209, a booster pump 208, and an oil source servo motor 210. The pressure control module and the constant power module are both integrated into the oil source proportional pump 209. The oil source servo motor 210 drives the opening of the oil source proportional pump 209 via a shaft connection. The speed of the oil source servo motor 210 and the displacement of the proportional pump 209 are controlled by the control system. If the system pressure exceeds a preset threshold, the pressure control module will immediately reduce the output displacement of the oil source proportional pump 209 to a minimum, completely cutting off the hydraulic oil supply and preventing... To prevent system overpressure damage, the constant power module ensures constant equipment output power (P×Q=constant) by adjusting the product of pressure (P) and flow rate (Q), which prevents power overload-induced failures and avoids resource waste. The left output pipeline 211 and the right output pipeline 214 are connected in series with an oil source proportional pump 209 and a booster pump 208. The booster pump 208 is a gear pump with good self-priming performance, which can significantly improve the system's self-priming capability and ensure that the oil source proportional pump 209 can still work normally under an absolute pressure of 0.5 bar, meeting the requirements of the highest altitude scenario that domestic launch vehicles can reach. The return port T2 of the left oil tank 202 is connected to the return port T2 of the right oil tank 201 via a speed-regulating return pipeline 216. A preset position on the left output pipeline 211 is connected to a preset position on the speed-regulating return pipeline 216 via a left speed-regulating pipeline 212. A preset position on the right output pipeline 214 is connected to a preset position on the speed-regulating return pipeline 216 via a right speed-regulating pipeline 215. In this way, the minimum flow rate output by the proportional pump is output into the oil tank through the speed-regulating pipeline and the speed-regulating return pipeline 215, achieving zero-flow output. Speed-regulating valves 204 are connected in series on both the right speed-regulating pipeline 215 and the left speed-regulating pipeline 212. The speed-regulating valves 204 can adjust the flow rate of the hydraulic fluid according to actual needs, and they integrate a pressure compensator to ensure that the flow rate is independent of the load, guaranteeing stable operation of the hydraulic system. The left output... Pipeline 211 and right output pipeline 214 are respectively connected to manual control pipeline 213. The manual control pipeline 213 is connected to oil inlet pipeline 128. A manual pump 203 is connected in series on the manual control pipeline 213. When the erection device is powered off, the hydraulic oil can be directly supplied to the hydraulic system controlling the erection frame of the launch vehicle by continuously shaking the manual pump 203. This ensures that the hydraulic system can still obtain oil supply when there is no power drive, thereby supporting the erection frame to complete emergency actions. The return port T1 of the left oil tank 202 is connected to one end of the return pipeline 120. The other end of the return pipeline 120 is connected to the control valve module 1 for the return of oil from the left oil tank 202. The return port T1 of the right oil tank 201 is connected to one end of the return pipeline 127. The other end of the return pipeline 127 is connected to the control valve module 1 to realize the return of oil from the right oil tank 201. The control valve module 1 includes a proportional directional valve 108, a small-cavity balance valve 109, and a large-cavity balance valve 112. The oil inlet of the proportional directional valve 108 is connected to the oil inlet pipeline 128 and is used to receive high-pressure oil delivered by the oil supply module 2 to provide a power oil source for the operation of the three-stage cylinder 3. A one-way valve 103 and a system pressure sensor 101 for detecting the oil pressure in the pipeline are connected in series on the left output pipeline 211 and the right output pipeline 214. The system pressure sensor 101 is used to detect the oil pressure in the pipeline in real time and feed the pressure data back to the control system to provide a basis for system troubleshooting. The one-way valve 103 limits the oil to flow only along the output pipeline, the oil inlet pipeline 128, and the proportional directional valve 108 to prevent the oil from flowing back to the oil source proportional pump 209 or the booster pump 208 and avoid damage to the core pump body due to reverse pressure. The return port of the proportional directional valve 108 is connected to one end of the return oil pipeline 127, so as to realize the directional return of the oil after the proportional directional valve 108 completes the working cycle to the right oil tank 201 and the left oil tank 202, and ensure the closed-loop circulation of the hydraulic system oil. The working port A of the proportional directional valve 108 is connected to the large-cavity inlet of the third-stage cylinder 3 via the large-cavity pipeline 122, and the working port B is connected to the small-cavity inlet of the third-stage cylinder 3 via the small-cavity pipeline 125. A large-cavity balance valve 112 is connected in series on the large-cavity pipeline 122, and a small-cavity balance valve 109 is connected in series on the small-cavity pipeline 125. A branch pipeline 126 is connected in series between the preset position on the inlet pipeline 128 and the preset position on the return pipeline 127. A proportional relief valve 107 is connected in series on the branch pipeline 126. The core purpose of setting the proportional relief valve 107 is to dynamically adjust the set pressure according to the real-time angle value of the erector frame: before the stage change, the set pressure of the proportional relief valve 107 is reduced to the minimum value, directly limiting the maximum working pressure of the system; because the working area of ​​the large cavity of the cylinder decreases after the stage change, the system pressure needs to increase to drive the load. In order to prevent pressure overshoot from causing the erector frame to shake, the maximum system pressure needs to be limited. The pilot ports of the small-cavity balance valve 109 and the large-cavity balance valve 112 form a damping orifice 105 for outputting pilot oil. This damping orifice 105 allows for partial unloading of the flow into the one-way throttle valve 106, thereby controlling the pilot pressure. The damping orifice 105 on the large-cavity balance valve 112 is connected to the return oil pipeline 129 via branch line 2 119. The pilot oil flows back to the return oil pipeline 129 via the damping orifice 105 and branch line 2 119. A preset position is located on the small-cavity pipeline 125. The pilot port of the small chamber of the large chamber balance valve 112 is connected to the pilot port of the small chamber via a pilot line 118. A large chamber balance valve filter 116 and a one-way throttle valve 106 are connected in series on the pilot line 118, so that the hydraulic oil first passes through the large chamber balance valve filter 116 and then through the one-way throttle valve 106. The large chamber balance valve filter 116 is used to filter impurities in the oil in the small chamber pipeline 125 to prevent impurities from clogging the large chamber balance valve 112 or the one-way throttle valve 106, and to ensure the operating accuracy of the large chamber balance valve 112. The damping orifice 105 on the small cavity balance valve 109 is connected to the return oil pipeline 120 to realize the pilot pressure return of the small cavity balance valve 109. The pilot oil port of the small cavity balance valve 109 at the preset position on the large cavity pipeline 122 is connected to the pilot oil port of the small cavity of the small cavity balance valve 109 through the second pilot pipeline 121. The second pilot pipeline 121 is equipped with a small cavity balance valve filter 115 and a one-way throttle valve 106 in series. Its function is the same as that of the large cavity balance valve filter 116, filtering impurities in the large cavity pipeline 122 and protecting the small cavity balance valve 109 and the one-way throttle valve 106. The return oil pipeline 3 129 is connected to the return oil pipeline 1 120 and the return oil pipeline 2 127 respectively, and is used to integrate the return oil of the small cavity balance valve 109 and the proportional directional valve 108, so that the oil is concentrated and returned to the oil supply module 2, improving the return oil efficiency and simplifying the pipeline layout. The preset position on the large cavity pipeline 122 and the preset position on the return oil pipeline 3 129 are connected by the branch pipeline 1 117, and the branch pipeline 1 117 is connected in series with the two-way solenoid valve 113 and the return proportional directional valve 114. The two-way solenoid valve 113 controls the opening and closing of the branch pipeline 1 117, and the return proportional directional valve 114 is used to increase the return oil area of ​​the large cavity when returning, so that part of the hydraulic oil in the large cavity pipeline 122 returns directly to the oil tank, preventing excessive back pressure.

[0022] In a specific embodiment, both the left oil tank 202 and the right oil tank 201 are equipped with an oil source temperature sensor 205. The oil source temperature sensor 205 is used to detect the oil temperature in the oil tank in real time to avoid the oil from affecting the performance of the hydraulic system due to abnormal temperature.

[0023] In a specific embodiment, both the left oil tank 202 and the right oil tank 201 are equipped with an oil source level sensor 207. The oil source level sensor 207 can accurately detect the oil level, so as to facilitate timely replenishment of oil and prevent the system from running out of oil.

[0024] In a specific embodiment, both the left oil tank 202 and the right oil tank 201 are integrated with an oil source air filter 206. This oil source air filter 206 not only filters dust, particles, lint, and other impurities contained in the air entering the oil tank from the outside, but also prevents impurities from mixing into the oil with the air. It can effectively prevent oil contamination from causing abnormal wear of the subsequent oil source proportional pump 209 and booster pump 208, or clogging of components in the control valve module 1, ensuring smooth oil circuit of the hydraulic system and the service life of core components. At the same time, considering the complex on-board conditions of the launch vehicle in the field, at high and low altitudes, the oil source air filter 206 can maintain the air pressure balance inside and outside the oil tank, ensuring that the oil output mechanism can stably draw oil, further adapting to the reliability requirements of oil supply in on-board scenarios.

[0025] In a specific embodiment, a return oil filter 102 is connected in series on both the first return oil line 120 and the second return oil line 127 to filter the return oil. It can specifically filter metal shavings, rubber residues caused by the wear of hydraulic components, and tiny impurities that may be mixed in during the oil circulation process, preventing contaminated oil from flowing back to the oil tank and causing secondary contamination of the new oil.

[0026] In a specific embodiment, a high-pressure filter unit 104 is connected in series on the oil inlet pipeline 128. Its core function is to accurately filter impurities that may be present in the oil before it enters the core components of the control valve module 1, including metal micro-shavings generated by the operation of the oil source proportional pump 209 and booster pump 208, oxide residue on the inner wall of the pipeline, and tiny particles that may be accidentally mixed in during the output of the oil supply module 2. This prevents impurities from clogging the valve core damping hole of the proportional directional valve 108 and scratching the sealing surface of the balance valve, preventing the core valve components from jamming or failing to seal, and ensuring the control accuracy and service life of the control valve module 1.

[0027] In a specific embodiment, the large cavity interface of the three-stage cylinder 3 is connected to the return oil line 129 via a large cavity overflow pipe 123; the small cavity interface of the three-stage cylinder 3 is connected to the return oil line 129 via a small cavity overflow pipe 124, to prevent the oil in the large and small cavities of the cylinder from being trapped in the oil cavity by the balance valve, causing the cavity pressure to rise and resulting in cylinder expansion when the temperature increases; a large cavity overflow valve 111 is connected in series on the large cavity overflow pipe 123, and the preset opening pressure of the large cavity overflow valve 111 is set according to the rated working pressure of the large cavity of the three-stage cylinder 3. Similarly, a small cavity overflow valve 110 is connected in series on the small cavity overflow pipe 124, and its preset opening pressure matches the rated working pressure of the small cavity of the three-stage cylinder 3. The preset pressure values ​​of the large cavity overflow valve 111 and the small cavity overflow valve 110 are the maximum design pressure of the cylinder.

[0028] In this embodiment, each oil circuit can adopt a flow channel block structure design, which integrates various functional components on the flow channel block. Through this integrated layout, the pipeline leakage problem can be effectively solved.

[0029] This embodiment provides a control method for a high-efficiency hydraulic system that ensures smooth erection, including the erection process and the leveling process: Erection process: When the erector receives the erection command, the control system sets the maximum opening signal Hmax of the proportional directional valve 108, the maximum speed Nmax of the servo motor 210, and the maximum displacement Vmax of the oil source proportional pump 209. The proportional relief valve 107 sets the pressure to the preset value P1. During the entire erection process, the two-way solenoid valve 113 and the leveling proportional valve 114 must not be energized. When the erector frame angle is between 0 and D1, the control system controls each component to maintain the above state and erect at full speed. When the erector frame is erected to D1, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are gradually reduced to V1 and N1 using the ramp signal. At the same time, the pressure of the proportional relief valve 107 is gradually reduced to the preset value P2 using the ramp signal. When the erection frame angle exceeds D2 (stage change completed), maintain the preset pressure value P2 of the proportional relief valve 107, and immediately give the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210 to maintain rapid erection; When the erection angle reaches D3, the slope signal is used again to gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V2 and N2, respectively. At the same time, the slope signal is used to gradually reduce the pressure of the proportional overflow valve 107 to the preset value P3. When the erection frame angle exceeds D4, maintain the pressure preset value P3 of the proportional relief valve 107, immediately increase the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to the maximum values ​​Vmax and Nmax, and continue to advance the erection. When the erector frame angle reaches D5, gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V3 and N3, respectively. At the same time, gradually reduce the set pressure of the proportional overflow valve 107 to the preset value P4 to stabilize the pushing action and continue to push the erection. When the erector frame angle is raised to D6 and the center of gravity flips, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are gradually increased from the starting value of g% of the maximum value per ms until V4 and N4. When the erector frame angle is raised to D7, the pressure of the proportional relief valve 107 is maintained at the preset value P4, the speed of the oil source servo motor 210 is gradually reduced to the minimum stable speed Nmin, and the displacement of the oil source proportional pump 209 is reduced to the minimum displacement Vmin. The rate at which the displacement of the oil source proportional pump 209 is reduced is less than the rate at which the speed of the oil source servo motor 210 is reduced.

[0030] Leveling process: When the erector receives the leveling command signal, the control system immediately sets the proportional directional valve 108 to the maximum opening Hmax, and uses the proportional relief valve with the ramp signal to gradually increase the pressure to the preset value P5. Before the stage change point D6, the speed of the oil source servo motor 210 and the displacement of the oil source proportional pump 209 are gradually increased to N5 and V5, respectively, starting from the maximum value g% per ms. After the stage change, the speed of the oil source servo motor 210 and the displacement of the oil source proportional pump 209 are rapidly increased to Nmax and Vmax, respectively. During the three-stage leveling process, the two-way solenoid valve 113 and the leveling proportional valve 114 must not be energized. When the erector frame returns to level D8, gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V6 and N6, respectively. At the same time, gradually increase the set pressure of the proportional relief valve 107 to the preset value P6. At this time, open the two-way solenoid valve 113, and gradually increase the opening of the leveling proportional reversing valve 114 to the preset opening W1. When the erection angle is lower than D4, the proportional relief valve 107 sets the pressure to maintain the preset value P6, immediately gives the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210, the two-way solenoid valve 113 remains open, and the opening of the leveling proportional reversing valve 114 remains at the preset opening W1 to maintain rapid leveling until the angle reaches D9. When the erection frame angle reaches D9, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are gradually reduced to V7 and N7 using the ramp signal. At the same time, the pressure of the proportional relief valve 107 is gradually increased to the preset value P7. The two-way solenoid valve 113 remains open. The opening of the leveling proportional directional valve 114 is gradually increased to the preset opening W2, and the preset opening W2 of the leveling proportional directional valve 114 is greater than the preset opening W1. When the erection angle is lower than D2, the proportional relief valve 107 sets the pressure to maintain the preset value P7, immediately increases the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to Vmax and Nmax, the two-way solenoid valve 113 remains open, the leveling proportional reversing valve 114 maintains the preset opening W2, and continues to advance the leveling. When the erector frame angle drops to D10, the two-way solenoid valve 113 and the leveling proportional directional valve 114 are de-energized, gradually reducing the speed of the oil source servo motor 210 to the minimum stable speed Nmin, and reducing the displacement of the oil source proportional pump 209 to the minimum displacement Vmin. At this time, the rate at which the displacement of the oil source proportional pump 209 decreases is less than the rate at which the speed of the oil source servo motor 210 decreases.

[0031] The erection angles are arranged from smallest to largest as follows: D10 < D1 < D2 < D9 < D3 < D4 < D8 < D5 < D6 < D7.

[0032] Working principle: The basic working logic of the oil supply module is as follows: the left oil tank 202 and the right oil tank 201 store oil and provide high-pressure oil through the oil output mechanism on their respective output pipelines. The oil is then transported to the control valve module 1 through the oil inlet pipeline 128 to provide power support for the operation of the three-stage cylinder 3. Among them, the oil source servo motor 210 drives the oil source proportional pump 209. The control system controls the start and stop of the motor and adjusts its speed and displacement. The booster pump 208 ensures normal oil intake under high-altitude conditions. The pressure control module and the constant power module realize the stable control of system pressure and power. When the proportional relief valve 107 fails, the pressure control module of the oil source proportional pump can still limit the maximum output pressure of the system. When the system pressure exceeds the set value of the pressure control module (which depends on the load force), the pressure control module reduces the output displacement of the oil source proportional pump 209 to the minimum, thereby preventing the system from over-pressure and causing safety accidents. For example, using the three-stage cylinder transition point (35°, 70°) and the center of gravity rotation point (85°) as nodes, the oil flow rate is controlled by adjusting the displacement of the oil source proportional pump 209, the speed of the oil source servo motor 210, the pressure set by the proportional relief valve 107, the opening of the proportional reversing valve 108, and the opening of the leveling proportional reversing valve 114, thereby achieving stable erection of the erecting frame. The specific stages are as follows: When the erecting frame receives the erection command signal, the control system sets the maximum opening signal Hmax of the proportional directional valve 108, the maximum speed of the oil source servo motor 210, and the maximum displacement Vmax of the oil source proportional pump 209 to ensure that the cylinder can act immediately after the proportional relief valve 107 reaches the set pressure. In order to prevent the start-up step impact to the greatest extent, the proportional relief valve 107 is set to a preset pressure P1 by gradually increasing the ramp signal. Under this preset value P1, the minimum value that can ensure that the erecting frame can be pushed up without overflowing is ensured. During the entire erection process, the two-way solenoid valve 113 and the leveling proportional valve 114 must not be energized. When the erection frame angle is between 0 and 32°, the control system controls each component to maintain the above state and erect at full speed. When the erector frame is erected to 32°, the displacement of the proportional pump 209 and the speed of the servo motor 210 are gradually reduced to V1 and N1 using a ramp signal. At the same time, the pressure set by the proportional relief valve 107 is gradually reduced to the preset value P2 using a ramp signal. Since the load pressure decreases as the angle increases during erection, in order to minimize the impact of stage transition, the preset pressure value P2 of the proportional relief valve 107 is the minimum value that allows the cylinder to push up the erector frame without overflowing. This serves as a buffer for the stage transition of the three-stage cylinder (near the 35° stage transition point) and avoids impact during stage transition. When the erection frame angle exceeds 35° (stage change completed), maintain the preset pressure value P2 of the proportional relief valve 107, immediately give the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210 to maintain rapid erection until the angle reaches 67°. When the erector frame angle reaches 67°, the displacement of the proportional pump 209 and the speed of the servo motor 210 are gradually reduced to V2 and N2 using a ramp signal to adapt to the second stage change (approaching the 70° stage change point). At the same time, the pressure set by the proportional relief valve 107 is gradually reduced to the preset value P3 using a ramp signal. Since the load pressure decreases as the angle increases during erection, in order to minimize the stage change impact, the preset pressure value P3 of the proportional relief valve 107 is the minimum value that allows the hydraulic cylinder to push up the erector frame during the second stage change without generating overflow, thereby achieving buffering the stage change impact. When the erection frame angle exceeds 70° (secondary stage change completed), maintain the pressure preset value P3 of the proportional relief valve 107, immediately increase the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to the maximum values ​​Vmax and Nmax, and continue to advance the erection; When the erection frame angle reaches 82°, gradually reduce the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 to V3 and N3, respectively. At the same time, gradually reduce the set pressure of the proportional overflow valve 107 to the preset value P4. The propulsion action is stable, and the erection continues. When the erector frame angle reaches 85° and the center of gravity flips, the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 can be increased in milliseconds according to time requirements until V4 and N4 are reached (during debugging, the value is gradually increased from 0.001% of the maximum value per millisecond until the maximum v% and n% are obtained and the erector frame does not shake at this time). When the erection frame angle is raised to 87°, maintain the pressure preset value P4 of the proportional relief valve 107, gradually reduce the speed of the oil source servo motor 210 to the minimum stable speed Nmin, and reduce the displacement of the oil source proportional pump 209 to the minimum displacement Vmin. At this time, the rate of decrease of pump displacement should be less than the rate of decrease of motor speed to ensure that the final erection is completed with minimal impact, and avoid excessive impact when the erection is completed to avoid damage to the equipment. The leveling process corresponds to the erection process, also using the stage change points (35°, 70°) and the center of gravity rotation point (85°) as nodes. By adjusting the speed of the 210 Nm servo motor in the reverse direction, the erector frame is smoothly leveled. The specific stages are as follows: When the erector receives the leveling command, the control system immediately sets the proportional directional valve 108 to its maximum opening Hmax. To prevent start-up step impact to the greatest extent, the proportional relief valve is set to a preset pressure of P5 by gradually increasing the ramp signal (this preset value P5 is the minimum value that can ensure the erector is pushed up without overflowing, and the ramp time is extended as much as possible while meeting the leveling time requirement). At the same time, the speed signal of the oil source servo motor 210 is gradually increased to the maximum value Nmax, and the displacement signal of the oil source proportional pump 209 is increased to the maximum value Vmax. Since the stage transition point is 85°, the speed and displacement signals should increase relatively slowly before 85°. The displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 should be increased in milliseconds until the speed and displacement reach V5 and N5 at 85° (if during debugging, the value should be gradually increased from 0.001% of the maximum value per millisecond until the maximum v% and n are obtained, ensuring that there is no flipping or shaking phenomenon at this time). After the stage transition, the value should be rapidly increased to the maximum value. During the three-stage leveling process, the two-way solenoid valve 113 and the leveling proportional valve 114 should not be energized. When the erector frame returns to 73°, gradually reduce the displacement of the proportional pump 209 and the speed of the servo motor 210 to V6 and N6, respectively. At the same time, gradually increase the set pressure of the proportional relief valve 107 to the preset value P6 (because the large chamber needs sufficient back pressure to support the load and prevent stalling during return, and the area ratio of the large and small chambers increases after the cylinder stage change, the small chamber will require greater pressure to push the cylinder to continue returning to the level. In order to minimize the impact of stage change, the preset pressure value P6 of the proportional relief valve 107 is the minimum value that allows the second stage of the cylinder to return to the level normally without overflowing). This buffers the reverse stage change of the third stage cylinder (near the 70° stage change point). At this time, open the two-way solenoid valve 113, and gradually increase the opening of the return proportional directional valve 114 to the preset opening W1 (to increase the return oil area of ​​the large chamber and minimize the system pressure and impact). When the erection angle is less than 70°, the proportional relief valve 107 sets the pressure to maintain the preset value P6, immediately gives the maximum displacement Vmax of the oil source proportional pump 209 and the maximum speed Nmax of the oil source servo motor 210, the two-way solenoid valve 113 remains open, and the opening of the leveling proportional reversing valve 114 remains at the preset opening W1 to maintain rapid leveling until the angle reaches 38°. When the erector frame angle reaches 38°, the displacement of the proportional pump 209 and the speed of the servo motor 210 are gradually reduced to V7 and N7 using the ramp signal to adapt to the second reverse stage change (approaching the 35° stage change point). At the same time, the set pressure of the proportional relief valve 107 is gradually increased to the preset value P7. Since the large chamber needs sufficient back pressure to support the load and prevent stalling during the return to normal operation, the area ratio of the large and small chambers increases after the cylinder stage change, which means that the small chamber will require more pressure to push the cylinder to continue returning to normal operation. In order to minimize the impact of the stage change, the preset value P7 of the proportional relief valve 107 is the minimum value that allows the first stage of the cylinder to return to normal operation without overflow, which serves as a buffer for the reverse stage change of the third stage cylinder (approaching the 35° stage change point). The two-way solenoid valve 113 remains open, and the opening of the return proportional directional valve 114 is gradually increased to the preset opening W2, and the preset opening W2 is greater than the preset opening W1 (to increase the return oil area of ​​the large chamber and minimize the system pressure and impact). When the erection frame angle is less than 35° (after completing the second reverse stage), the pressure of the proportional relief valve 107 is set to the preset value P7, and the displacement of the oil source proportional pump 209 and the speed of the oil source servo motor 210 are immediately increased to Vmax and Nmax. The two-way solenoid valve 113 remains open, and the opening of the leveling proportional reversing valve 114 remains at the preset opening W2, and the leveling continues to be advanced. When the erection frame angle drops to 3°, the two-way solenoid valve 113 and the leveling proportional reversing valve 114 are de-energized, and the speed of the oil source servo motor 210 is gradually reduced to the minimum stable speed Nmin. The displacement of the oil source proportional pump 209 is reduced to the minimum displacement Vmin. At this time, the rate of decrease of pump displacement is less than the rate of decrease of motor speed, ensuring that the final erection is completed with minimal impact and avoiding impact when leveling. To prevent excessive impact and structural damage from unexpected sudden stops, the angular acceleration was calculated based on the changes in the control angle throughout the entire erection and leveling process. And add an angular acceleration closed loop to the control system, when When the velocity is greater than 0.1 rad / s² (0.1 rad / s² is generally used for erection systems), reduce the opening of the proportional directional valve 108 and the displacement of the proportional pump 210: The decrease in opening value H=K1 The decrease in displacement is V=K2 K1 and K2 are proportional coefficients, which are used to reduce the back pressure and reduce the pump output flow by reducing the opening of the proportional directional valve 108 to reduce the impact.

[0033] Flow regulation: Since the oil source servo motor 210 has a minimum stable speed Nmin and the oil source proportional pump 209 has a minimum displacement Vmin, when the control system gives the minimum stable speed signal of the motor and the minimum displacement signal of the pump, the pump will output a certain flow rate, i.e., the minimum flow rate. The larger the pump displacement, the larger the minimum flow rate. By adjusting the speed regulating valve 204, the minimum flow rate can be unloaded to ensure that the flow rate output to the valve group can start from zero. At this time, the flow control has no dead zone, which can buffer the impact of the three-stage cylinder 3 shift and the action when it is in place to the maximum extent, ensuring the smoothness of the erection and leveling action and avoiding damage to hydraulic components and the erecting frame structure. Pressure safety redundancy protection: The proportional relief valve 107 is used to dynamically adjust the system pressure to adapt to the load requirements of different stages of erection; when the proportional relief valve 107 fails, the pressure control module can act as a redundant protection mechanism to continue to limit the maximum system pressure. Once the system pressure exceeds the preset value of the pressure control module, the module will immediately reduce the output displacement of the oil source proportional pump 209 to the minimum, completely cut off the hydraulic oil supply, prevent the system from being over-pressurized and causing a safety accident, and ensure the safety of the entire hydraulic system and the launch vehicle.

[0034] Control valve module: During erection, the hydraulic oil output from the oil supply module 2 flows into the inlet oil line 128 via the left output line 211 and the right output line 214. The proportional directional valve 108 is switched to the erection position by the control system and operates normally. High-pressure oil is delivered to the large chamber of the third-stage cylinder 3 via the large chamber line 122, driving the cylinder to extend and achieve the erection of the erecting frame. The oil inlet of the large chamber of the third-stage cylinder 3 drives the oil outlet of the small chamber. The hydraulic oil in the small chamber flows back to the proportional directional valve 108 via the small chamber line 125, and then the proportional directional valve 108 switches to return to the oil tank via the return oil line 127. During this process, the balance valve control oil circuit is synchronously connected. To ensure the stability of the erection process: Hydraulic oil from the large cavity channel 122 is diverted into the pilot guide line 121, and then triggers the small cavity balance valve 109 to open via the one-way throttle valve 106, thus opening the small cavity return oil circuit. Simultaneously, the hydraulic oil that triggers the opening of the small cavity balance valve 109 is output through the damping orifice 105 on the small cavity and enters the return oil line 120. This method allows the small cavity balance valve 109 to maintain a certain opening degree without being fully open. By setting different sizes of damping orifices 105 and one-way throttle valves 106 to adjust the opening degree of the small cavity balance valve 109, a smooth movement after the center of gravity flips during erection can be achieved.

[0035] During the leveling process, hydraulic oil flows into the inlet pipe 128 via the left output pipe 211 and the right output pipe 214. The proportional directional valve 108 switches to the leveling position, and the high-pressure oil is delivered to the small chamber of the third-stage cylinder 3 via the small chamber pipe 125, driving the cylinder to retract and achieve leveling of the erector frame. The oil inlet of the small chamber of the third-stage cylinder 3 drives the oil outlet of the large chamber. The hydraulic oil in the large chamber flows back to the proportional directional valve 108 via the large chamber pipe 122, and then completes the return flow via the second return pipe 127. The hydraulic oil in the small chamber channel 125 is diverted into the first pilot pipe 118, and after passing through the one-way throttle valve 106, it triggers the opening of the large chamber balance valve 112, making the large chamber return oil circuit open. At the same time, the hydraulic oil that triggers the opening of the large chamber balance valve 112 is output from the damping hole 105 of the large chamber into the second branch pipe 119 for unloading. In this way, the large chamber balance valve 112 is kept at only a certain opening, achieving a smooth operation after the center of gravity of the erector frame flips.

[0036] During this process, the branch oil circuits work in sync to solve the problem of excessive return oil flow in the large cavity and ensure load holding performance: the hydraulic oil in the large cavity pipeline 122 is simultaneously diverted into the branch pipeline 117. Since the return oil flow in the large cavity of the three-stage cylinder 3 is greater than that in the small cavity, the setting of the return proportional directional valve 114 increases the return oil flow area in the large cavity, improves the return oil efficiency in the large cavity, and adapts to the flow requirements of the return action. The conventional return proportional directional valve 114 is a spool valve structure with a large internal leakage, which can easily affect the load holding function of the large cavity balance valve 112. Therefore, a two-way solenoid valve 113 is set on the branch pipeline 117 between the return proportional directional valve 114 and the large cavity of the three-stage cylinder 3. This valve adopts a cone valve core structure, which can achieve zero leakage and effectively ensure the load holding performance of the large cavity balance valve 112.

[0037] The proportional relief valve 107, as the main pressure regulating element of the system, can dynamically adjust the system pressure according to the load requirements of different angles of the erecting frame, adapting to the pressure changes throughout the erection process. When the proportional relief valve 107 fails and cannot regulate the pressure normally, the pressure control module, as a redundant protection mechanism, is activated to continuously monitor the system pressure. Once the system pressure exceeds the preset threshold of the pressure control module, the module will immediately reduce the output displacement of the oil source proportional pump 209 to the minimum, and work with the speed regulating valve 204 to unload and completely cut off the hydraulic oil supply, preventing excessive system pressure from causing pipeline rupture, component damage and other safety accidents, and comprehensively ensuring the operational safety of the hydraulic system and the launch vehicle.

[0038] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A high-efficiency hydraulic system for smooth erection, comprising an oil supply module (2), a control valve module (1), and a three-stage cylinder (3), wherein the oil supply module (2) is connected to the control valve module (1), characterized in that; The oil supply module (2) includes a left oil tank (202) and a right oil tank (201). The oil outlet of the left oil tank (202) is connected to the oil inlet pipe (128) through the left output pipe (211), and the oil outlet of the right oil tank (201) is connected to the oil inlet pipe (128) through the right output pipe (214). Both the left output pipe (211) and the right output pipe (214) are provided with oil output mechanisms for outputting oil. The oil output mechanism includes a pressure control module, a constant power module, an oil source proportional pump (209), a booster pump (208), and an oil source servo motor (210). The pressure control module and the constant power module are integrated on the oil source proportional pump (209). The oil source servo motor (210) drives the oil source proportional pump (209) through a shaft connection. The oil source proportional pump (209) and the booster pump (208) are connected in series on the left output pipeline (211) and the right output pipeline (214). The return port T2 of the left oil tank (202) and the return port T2 of the right oil tank (201) are connected by a speed-regulating return oil pipeline (216). The preset position on the left output pipeline (211) and the preset position on the speed-regulating return oil pipeline (216) are connected by a left speed-regulating pipeline (212). The preset position on the right output pipeline (214) and the preset position on the speed-regulating return oil pipeline (216) are connected by a right speed-regulating pipeline (215). Speed ​​control valves (204) are connected in series on both the right speed control pipeline (215) and the left speed control pipeline (212). The return port T1 of the left oil tank (202) is connected to one end of the return pipeline (120), and the other end of the return pipeline (120) is connected to the control valve module (1). The return port T1 of the right oil tank (201) is connected to one end of the return pipeline (127), and the other end of the return pipeline (127) is connected to the control valve module (1). The control valve module (1) includes a proportional directional valve (108), a small-cavity balance valve (109) and a large-cavity balance valve (112), and the oil inlet of the proportional directional valve (108) is connected to the oil inlet pipeline (128). The return port of the proportional directional valve (108) is connected to one end of the return oil pipeline (127); The working port A of the proportional directional valve (108) is connected to the large cavity inlet of the three-stage cylinder (3) through the large cavity pipeline (122), and the working port B is connected to the small cavity inlet of the three-stage cylinder (3) through the small cavity pipeline (125). A large cavity balance valve (112) is connected in series on the large cavity pipeline (122), and a small cavity balance valve (109) is connected in series on the small cavity pipeline (125). A branch pipeline (126) is connected between the preset position on the inlet pipeline (128) and the preset position on the return pipeline (127), and a proportional relief valve (107) is connected in series on the branch pipeline (126). The pilot ports of the small cavity balance valve (109) and the large cavity balance valve (112) form a damping orifice (105) for outputting pilot oil. The damping orifice (105) on the large cavity balance valve (112) is connected to the return oil pipeline (129) through the branch pipeline (119). The pilot port of the small cavity balance valve (112) at the preset position on the small cavity pipeline (125) is connected to the pilot port of the small cavity of the large cavity balance valve (112) through the pilot pipeline (118). A one-way throttle valve (106) is connected in series on the pilot pipeline (118). The damping hole (105) on the small cavity balance valve (109) is connected to the return oil line one (120). The pilot oil port of the small cavity balance valve (109) at the preset position on the large cavity line (122) is connected to the pilot oil port of the small cavity of the small cavity balance valve (109) through the pilot line two (121). A one-way throttle valve (106) is connected in series on the pilot line two (121). The return oil pipeline three (129) is connected to the return oil pipeline one (120) and the return oil pipeline two (127) respectively.

2. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: Both the left oil tank (202) and the right oil tank (201) are equipped with an integrated oil source temperature sensor (205), both the left oil tank (202) and the right oil tank (201) are equipped with an integrated oil source level sensor (207), and both the left oil tank (202) and the right oil tank (201) are equipped with an integrated oil source air filter (206).

3. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: The left output pipeline (211) and the right output pipeline (214) are respectively connected to the manual control pipeline (213), the manual control pipeline (213) is connected to the oil inlet pipeline (128), and a manual pump (203) is connected in series on the manual control pipeline (213).

4. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: Both the first return oil line (120) and the second return oil line (127) are equipped with return oil filters (102) connected in series.

5. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: A high-pressure filter unit (104) is connected in series on the oil inlet pipe (128).

6. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: The large cavity interface of the three-stage cylinder (3) is connected to the return oil pipeline three (129) through the large cavity overflow pipeline (123), and the small cavity interface of the three-stage cylinder (3) is connected to the return oil pipeline three (129) through the small cavity overflow pipeline (124). A large cavity overflow valve (111) is connected in series on the large cavity overflow pipeline (123), and a small cavity overflow valve (110) is connected in series on the small cavity overflow pipeline (124).

7. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: The preset position on the large cavity pipeline (122) and the preset position on the return oil pipeline (129) are connected by a branch pipeline (117), and a two-way solenoid valve (113) and a return proportional directional valve (114) are sequentially connected in series on the branch pipeline (117).

8. The efficient hydraulic system for smooth erection as described in claim 1, characterized in that: A large-cavity balance valve filter (116) is connected in series on the first pilot line (118), and a small-cavity balance valve filter (115) is connected in series on the second pilot line (121).

9. The control method of the hydraulic system according to claim 1, characterized in that, This includes the erection process and the leveling process; Erection process: When the erector receives the erection command signal, the control system sets the maximum opening signal Hmax of the proportional directional valve (108), the maximum speed Nmax of the oil source servo motor (210), the maximum displacement Vmax of the oil source proportional pump (209), and the pressure of the proportional relief valve (107) to the preset value P1. When the erection frame angle is between 0 and D1, the control system controls each component to maintain the above state and erect at full speed. When the erector frame is erected to D1, the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) are gradually reduced to V1 and N1 using the ramp signal. At the same time, the pressure set by the proportional relief valve (107) is gradually reduced to the preset value P2 using the ramp signal. When the erection frame angle exceeds D2, the pressure preset value P2 of the proportional relief valve (107) is maintained, and the maximum displacement Vmax of the oil source proportional pump (209) and the maximum speed Nmax of the oil source servo motor (210) are immediately given to maintain rapid erection; When the erection frame angle reaches D3, the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) are gradually reduced to V2 and N2 by using the ramp signal again. At the same time, the pressure set by the proportional relief valve (107) is gradually reduced to the preset value P3 by using the ramp signal. When the erection frame angle exceeds D4, maintain the pressure preset value P3 of the proportional relief valve (107), immediately increase the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) to the maximum values ​​Vmax and Nmax, and continue to advance the erection; When the erection frame angle reaches D5, gradually reduce the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) to V3 and N3, respectively. At the same time, gradually reduce the set pressure of the proportional relief valve (107) to the preset value P4 to stabilize the pushing action and continue to push the erection. When the erector frame angle rises to D6 and the center of gravity flips, the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) gradually increase from the maximum value of g% per ms until V4 and N4. When the erector frame angle is raised to D7, the pressure preset value P4 of the proportional relief valve (107) is maintained, the speed of the oil source servo motor (210) is gradually reduced to the minimum stable speed Nmin, and the displacement of the oil source proportional pump (209) is reduced to the minimum displacement Vmin. The rate at which the displacement of the oil source proportional pump (209) is reduced is less than the rate at which the speed of the oil source servo motor (210) is reduced. Leveling process: When the erecting frame receives the leveling command signal, the control system immediately sets the maximum opening Hmax of the proportional directional valve (108), and sets the pressure to the preset value P5 using the proportional relief valve with the ramp signal gradually increasing. Before the stage change point D6, the speed of the oil source servo motor (210) and the displacement of the oil source proportional pump (209) gradually increase to N5 and V5, respectively, starting from g% of the maximum value per ms. After the stage change, the speed of the oil source servo motor (210) and the displacement of the oil source proportional pump (209) rapidly increase to Nmax and Vmax. When the erector frame returns to level D8, gradually reduce the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) to V6 and N6, respectively, while gradually increasing the set pressure of the proportional relief valve (107) to the preset value P6. When the erection frame angle is lower than D4, the proportional relief valve (107) sets the pressure to maintain the preset value P6, and immediately gives the maximum displacement Vmax of the oil source proportional pump (209) and the maximum speed Nmax of the oil source servo motor (210) to maintain rapid leveling until the angle reaches D9. When the erection frame angle reaches D9, the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) are gradually reduced to V7 and N7 by using the ramp signal, while the pressure set by the proportional relief valve (107) is gradually increased to the preset value P7. When the erection frame angle is lower than D2, the pressure of the proportional relief valve (107) is set to maintain the preset value P7, and the displacement of the oil source proportional pump (209) and the speed of the oil source servo motor (210) are immediately increased to Vmax and Nmax, and the propulsion is continued to level off. When the erector frame angle drops to D10, the speed of the oil source servo motor (210) is gradually reduced to the minimum stable speed Nmin, and the displacement of the oil source proportional pump (209) is reduced to the minimum displacement Vmin. At this time, the rate at which the displacement of the oil source proportional pump (209) decreases is less than the rate at which the speed of the oil source servo motor (210) decreases.

10. The control method of the hydraulic system as described in claim 9, characterized in that: The hydraulic system is equipped with an angular acceleration closed-loop control unit. The angular acceleration closed-loop control unit calculates the angular acceleration ε based on the change in the erecting frame angle. When the angular acceleration ε > 0.1 rad / s², the opening of the proportional directional valve and the displacement of the oil source proportional pump are reduced. The reduction value of the proportional directional valve opening is H = K1 × (ε actual − 0.1), and the reduction value of the oil source proportional pump displacement is V = K2 × (ε actual − 0.1). K1 and K2 are preset proportional coefficients.

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