Hydraulic motor based on pulse control

Abstract

The utility model discloses a hydraulic motor based on pulse control, relates to the technical field of hydraulic control, and aims to solve the problems of limited control precision, slow response and the like when a traditional proportional electromagnetic valve controls the hydraulic motor. According to the core technology, a control valve of a rotor-stator structure is adopted, a rotor is made of a permanent magnet, a stator is a plurality of sets of interphase coil windings, a variable magnetic field is generated by introducing controllable pulses into coils and adjusting the pulse time and width, the variable magnetic field interacts with the rotor to control the flow of the valve, and accurate control over the rotating speed and torque of the hydraulic motor is achieved. The technology has the advantages of high-precision control, quick response, simple and reliable structure and the like, and has a wide application prospect in the fields of industrial automation, aviation and the like for precise control of the hydraulic actuating mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of hydraulic control, especially a hydraulic motor based on pulse control. BACKGROUND

[0002] In current industrial production and various engineering applications, as a key execution element of the hydraulic system, the performance of the hydraulic motor directly affects the operation effect of the whole system. The hydraulic motor is driven by high-pressure hydraulic oil, and the liquid pressure energy provided by the hydraulic pump is efficiently converted into mechanical energy of the output shaft to realize the output of torque and speed, and is widely used in many fields such as mechanical manufacturing, aerospace, ocean engineering, etc.

[0003] At present, the control of the torque and speed of the hydraulic motor depends on the throttle valve to adjust the flow and pressure, and the proportional electromagnetic valve is a commonly used core device to realize this control. The working principle of the proportional electromagnetic valve is based on electromagnetic induction. When the current passes through the coil 6, a magnetic field is generated, which drives the armature to move linearly, thereby controlling the opening of the valve to realize the regulation of flow and pressure.

[0004] However, this control method based on the proportional electromagnetic valve has many inherent defects. From the structural point of view, since the armature can only move linearly under the action of the magnetic field force, the force is difficult to keep uniform during the movement, which directly leads to the fact that the valve core cannot realize ideal linear motion. This not only limits the control accuracy of the proportional electromagnetic valve, but also requires complex design of its structure to improve the control accuracy, thereby greatly increasing the cost. For example, in some precision machining equipment with very high control accuracy requirements, the complexity of the structure of the proportional electromagnetic valve is greatly improved to meet the accuracy requirements, and the cost also increases several times.

[0005] In addition, the armature moving linearly is significantly affected by inertia, resulting in slow reaction speed. In actual application scenarios, such as flight control systems in the aviation field, the hydraulic motor needs to respond quickly to changes in flight attitude, but the traditional proportional electromagnetic valve cannot adjust the speed and torque of the hydraulic motor in time and accurately due to its slow reaction speed, which seriously affects the flight safety and stability.

[0006] In summary, the traditional control method of the hydraulic motor based on the proportional electromagnetic valve has problems in control accuracy, reaction speed, and cost, which has become a bottleneck restricting its further development in high-end equipment manufacturing, precision control, and other fields, and an innovative control method is needed to break through these limitations. The utility model patent of the hydraulic motor based on pulse control is a new solution to these problems. CONTENT OF THE UTILITY MODEL

[0007] The utility model discloses a purpose lies in providing a kind of hydraulic motor based on pulse control, to solve the control precision limited, reaction speed slow, complex structure and the problem of high cost when traditional proportional solenoid valve controls hydraulic motor. Through the innovative pulse control technology and the unique control valve structure design, realize the high-precision, fast response and stable and reliable control to the hydraulic motor speed and torque, improve the performance of hydraulic motor in various application scenarios, especially meet the demand of extremely high control precision and response speed requirement field such as aviation.

[0008] In order to realize the above-mentioned purpose, the utility model is through the following technical scheme to realize: a kind of hydraulic motor based on pulse control, comprising:

[0009] Control valve, the control valve adopts rotor-stator structure, rotor is made of permanent magnet, and is divided into S pole and N pole, and stator is composed of array interlaced coil winding;

[0010] Pulse control module, for the coil winding of the stator is passed into controllable pulse, by adjusting pulse time and width, produce the magnetic field that changes with control demand, and interact with rotor, form controllable angle to control valve flow size;

[0011] Control microcomputer, connected with the pulse control module, for according to the speed signal operation of hydraulic motor, give corresponding pulse width and time control signal to the pulse control module;

[0012] Encoder, installed on hydraulic motor shaft, for real-time speed of hydraulic motor is fed back to the control microcomputer in pulse mode.

[0013] Further as the improvement of the utility model technical scheme, the rotor is placed oppositely by two permanent magnets made of rare earth material to form S and N poles.

[0014] Further as the improvement of the utility model technical scheme, the stator is made with multiple-pole slot, and the magnetic pole is formed by winding wire in the slot, and the magnetic field is generated when current is passed.

[0015] Further as the improvement of the utility model technical scheme, the stator is a multi-slot stator, and the coils in the multiple pairs of electromagnetic poles on the multi-slot stator are independent and not communicated with each other, and each pair of independent coils is connected with a group of pulse output power modules.

[0016] Further as the improvement of the utility model technical scheme, the stator is a 6-slot stator, and the 6-slot stator adopts 6 coils connected with a common end, and the other end is connected with 6 pulse output power modules.

[0017] Further as the improvement of the utility model technical scheme, the pulse control module controls the valve flow size to realize the speed and torque control of hydraulic motor.

[0018] Further as the improvement of the utility model technical scheme, the control microcomputer combines the rotating speed signal of the encoder feedback, adjusts the pulse output of the pulse control module through operation, to realize the closed loop control to the hydraulic motor.

[0019] In summary, the utility model has the following innovative points:

[0020] The control valve structure is innovative: the core of the utility model is to adopt a brand-new rotor-stator structure control valve. The rotor part is carefully made of permanent magnet, and is specially designed to be divided into S pole and N pole, and the stable magnetic field basis is provided by using the characteristics of permanent magnet. The stator is composed of coil winding arranged alternately. This unique structure design provides a hardware basis for subsequent pulse control, which is in sharp contrast with the linear motion armature structure of traditional proportional electromagnetic valve, and fundamentally avoids the problem of nonlinear action of valve core caused by uneven force.

[0021] Pulse control principle: accurate control is realized by passing the carefully designed controllable pulse current to the coil winding of the stator. Specifically, by skillfully adjusting the time and width of the pulse, a magnetic field that can be flexibly changed according to the control requirements can be generated. This changing magnetic field interacts with the permanent magnet magnetic field of the rotor, and then generates a rotation angle that can be quickly reacted and accurately controlled. This rotation angle directly acts on the valve to realize accurate control of the valve flow size. For example, when the hydraulic motor rotating speed needs to be increased, the magnetic field generated by the stator is adjusted by adjusting the pulse parameters, so that the magnetic field generated by the stator interacts with the rotor magnetic field, increases the valve opening, increases the hydraulic oil flow, and thus increases the hydraulic motor rotating speed.

[0022] Closed loop control system: the whole control process constructs an efficient closed loop control system. A high-precision encoder is installed on the shaft of the hydraulic motor, which mainly functions to monitor the rotating speed of the hydraulic motor in real time, and quickly feeds back the rotating speed information to the control microcomputer in the form of pulse. The control microcomputer as the "brain" of the whole system, after receiving the rotating speed signal feedback by the encoder, carries out rapid operation according to the internal preset algorithm. According to the operation result, the control microcomputer accurately gives corresponding pulse width and time control signal, and these signals are transmitted to the coil of the control hydraulic valve through a special output module. In this way, dynamic and accurate adjustment of the rotating speed and torque of the hydraulic motor is realized, and the hydraulic motor is ensured to run stably in the preset working state.

[0023] The utility model has the following beneficial effects:

[0024] High precision control: compared with the traditional proportional electromagnetic valve control mode, the utility model based on the method of pulse control can realize high precision control of the hydraulic motor speed and torque. Because pulse control can accurately adjust the magnetic field change, and then accurately control the valve flow, the output of the hydraulic motor is more stable and accurate, which meets the needs of application scenarios such as precision machining, aerospace equipment and other high control precision requirements.

[0025] Fast response: the unique rotor-stator structure and pulse control technology greatly improve the reaction speed of the system. Unlike the traditional proportional electromagnetic valve affected by inertia, the system can quickly respond to the change of the control signal. In the scene such as aviation flight control, high-speed mechanical equipment operation and other scenes that need to quickly adjust the output of the hydraulic motor, the system can respond in time and accurately, and improve the overall performance and safety of the system.

[0026] Simple and reliable structure: abandoning the complex linear motion armature structure of the traditional proportional electromagnetic valve, the control valve structure design of the utility model is more simple and direct. This simple structure not only reduces the manufacturing cost, but also reduces the complex connection between parts, improves the reliability and stability of the system, and reduces the maintenance cost and failure rate.

[0027] Lightweight and miniaturization: the optimized structure design realizes a certain degree of lightweight and miniaturization while ensuring performance. This feature makes the pulse control based hydraulic motor have significant advantages in application scenarios that have strict restrictions on the size and weight of the device, such as unmanned aerial vehicles, small underwater vehicles, etc., which widens its application range. BRIEF DESCRIPTION OF DRAWINGS

[0028] Other features, objects and advantages of the utility model will become more apparent through reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0029] Figure 1 The control valve structure diagram of a pulse control based hydraulic motor of the utility model embodiment;

[0030] Figure 2 The structure diagram of the rotor of the utility model embodiment;

[0031] Figure 3 The structure diagram of the stator of the utility model embodiment;

[0032] Figure 4 The structure diagram of the coil winding of the utility model embodiment;

[0033] Figure 5 The control framework diagram of a pulse control based hydraulic motor of the utility model embodiment.

[0034] In the figure: 1-control valve; 2-pulse control module; 3-control microcomputer; 4-hydraulic motor; 5-encoder; 11-rotor; 12-stator; 121-slot; 122-coil winding. DETAILED DESCRIPTION

[0035] The utility model will be combined with the specific implementation below and the drawing, hereinafter with the utility model's illustrative embodiment and explanation are used to explain the utility model, but not as the limitation of the utility model.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back, upper end, lower end, top, bottom, etc.) in the embodiments of the utility model are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0037] In the utility model, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For ordinary skilled persons in the art, the specific meaning of the above-mentioned term in the utility model can be understood according to the specific circumstances.

[0038] In addition, in the utility model, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features; in addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled persons in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0039] The utility model will be combined with the specific implementation below and the drawing, hereinafter with the utility model's illustrative embodiment and explanation are used to explain the utility model, but not as the limitation of the utility model.

[0040] Please refer to Figures 1 to 5 The utility model provides a kind of technical scheme: a kind of hydraulic motor based on pulse control, comprising:

[0041] Control valve 1, the control valve 1 adopts rotor 11-stator 12 structure, rotor 11 is made of permanent magnet, is divided into S pole and N pole, and stator 12 is composed of array interlaced coil winding 122;

[0042] Pulse control module 2, for the coil winding 122 of the stator 12 into controllable pulse, by adjusting the pulse time and width, produce the magnetic field with the control demand change, interact with the rotor 11, form controllable rotation angle to control the valve flow size;

[0043] Control microcomputer 3, connected with the pulse control module 2, for according to the rotational speed signal of the hydraulic motor 4 operation, give corresponding pulse width and time control signal to the pulse control module 2;

[0044] Encoder 5, installed on the shaft of the hydraulic motor 4, for real-time feedback of the rotational speed of the hydraulic motor 4 to the control microcomputer 3 in pulse mode.

[0045] Specifically, in the embodiment, the rotor 11 is formed by two pairs of permanent magnets made of rare earth materials and arranged oppositely to form S and N poles.

[0046] Specifically, in the embodiment, the stator 12 is made of a plurality of slots 121, and the slots are wound with wires to form magnetic poles to generate a magnetic field when current is passed.

[0047] Specifically, in the embodiment, the stator is a multi-slot stator, and the coils in the multiple pairs of electromagnetic poles on the multi-slot stator are independent and not communicated with each other, and each pair of independent coils is connected with a group of pulse output power modules.

[0048] Specifically, in the embodiment, the stator is a 6-slot stator, and 6 coils are connected to a common end, and the other end is connected to 6 pulse output power modules.

[0049] Specifically, in the embodiment, the pulse control module 2 controls the valve flow size to control the rotational speed and torque of the hydraulic motor 4.

[0050] Specifically, in the embodiment, the control microcomputer 3 combines the rotational speed signal fed back by the encoder 5, adjusts the pulse output of the pulse control module 2 through operation, and realizes closed-loop control of the hydraulic motor 4.

[0051] Further, in the embodiment of the utility model:

[0052] (I) control valve structure

[0053] In order to overcome the limitation of traditional control method, the utility model shows unique innovation in the structure design of rotor and stator of the hydraulic motor control valve 1.

[0054] Rotor design: The rotor 11 is made of two high-performance rare-earth permanent magnets. Through careful design, the S and N poles are formed, which are stable and have clear polarity. Rare-earth permanent magnets have the characteristics of high remanence, high coercivity and high magnetic energy product, which can provide strong and stable magnetic field for the rotor 11, ensuring that it can generate enough driving torque when interacting with the stator magnetic field, and effectively control the valve flow.

[0055] Stator design: The stator 12 is precisely made with a certain number of slots 121. The number and distribution of these slots 121 are optimized according to the actual control requirements and performance parameters of the hydraulic motor 4. The conductors are tightly wound in the slots 121 to form magnetic poles. When current passes through these conductors, a magnetic field will be generated around the stator 12 according to the principle of electromagnetic induction. This design enables the stator 12 to interact with the rotor 11 permanent magnet magnetic field, and through controlling the size and direction of the current, precise control of the rotor 11 rotation is achieved.

[0056] Magnetic pole interaction: Special modulated pulses are passed into the corresponding two groups of coils. These pulse signals are carefully designed, and their time and width can be flexibly adjusted according to control requirements. When the pulse current passes through the coil, N and S poles corresponding to the rotor 11 magnetic poles will be formed in the stator 12, and the principle of mutual attraction and repulsion between magnetic poles is used to achieve precise control of the rotor 11. For example, when the valve opening needs to be increased, the pulse parameters are adjusted to make the stator 12 generate a magnetic field that interacts with the rotor 11 magnetic field, driving the rotor 11 to rotate by a certain angle, thereby increasing the valve opening and increasing the hydraulic oil flow.

[0057] (II) Pulse control principle and implementation

[0058] Stator 12 coil connection mode: Taking a 6-slot stator as an example (actual application is not limited to 6-slot structure, and can be flexibly adjusted according to specific requirements), in this design, the coils in each pair of electromagnetic poles use two different but efficient connection modes.

[0059] Independent connection mode: Each pair of independent coils is connected to a group of pulse output power modules, a total of 6 pairs. This connection mode enables each pair of coils to independently receive pulse signals, achieving precise control of each magnetic pole magnetic field, thereby providing the possibility of more precise control of the rotor 11 rotation. For example, when the hydraulic motor 4 needs to be fine-tuned, the pulse signal of a certain pair of coils can be adjusted individually to achieve a small adjustment in the rotor 11 rotation angle, thereby precisely controlling the valve 1 flow.

[0060] Public end connection method: 6 coils can also be connected to a common end, and the other end is connected to 6 pulse output power modules. This connection method simplifies the circuit structure and reduces the cost while ensuring effective control of each magnetic pole. In actual application, according to the specific control requirements and system complexity requirements, the two connection methods can be flexibly selected.

[0061] Closed-loop control implementation: The entire control process is based on an efficient closed-loop control system. A high-precision encoder 5 is installed on the shaft of the hydraulic motor 4, which can accurately feedback the rotational speed of the hydraulic motor 4 in the form of pulses in real time. The control microcomputer 3 as the core control unit of the entire system, built-in algorithm program specially for the control of the hydraulic motor 4. When receiving the rotational speed signal feedback by the encoder 5, the control microcomputer 3 will quickly perform complex calculations according to the preset algorithm. For example, compare the current rotational speed with the target rotational speed, calculate the rotational speed deviation, and according to this deviation value, combined with the dynamic response characteristics of the system, give the corresponding pulse width and time control signal. These signals are accurately output to the coils that control the hydraulic valve through a special output module. After receiving these signals, the coils will produce corresponding magnetic field changes, interact with the rotor 11, make the rotor 11 produce corresponding rotation angle, so as to accurately control the flow size of the hydraulic motor 4, and finally realize the accurate and dynamic control of the rotational speed and torque of the hydraulic motor 4. This closed-loop control method can monitor and adjust the running state of the hydraulic motor 4 in real time, ensuring its stable and efficient operation under various working conditions.

[0062] Case one: precise control of industrial robot arm

[0063] Application scenarios and requirements: In a certain automobile parts manufacturing factory, the robot arm is responsible for accurately installing the processed parts on the automobile chassis. This process requires the robot arm to have high precision, and the rotational speed and torque of the hydraulic motor 4 need to be quickly and accurately adjusted according to different installation tasks to ensure the accuracy of the part installation position and the appropriateness of the installation force. Traditional proportional electromagnetic valve controlled hydraulic motor 4 is difficult to meet such high precision and fast response requirements.

[0064] Configuration and installation of pulse-controlled hydraulic motor 4: Select a pulse-controlled hydraulic motor 4 as the power actuator of the robotic arm. According to the working load and motion accuracy requirements of the robotic arm, customize the design of the control valve 1 rotor 11 and stator 12 of the hydraulic motor 4. For example, appropriately increase the number of stator 12 slots to 8 to improve the precision of magnetic field control and more accurately control the rotation angle of rotor 11. Rotor 11 uses high-performance rare earth permanent magnet material to ensure sufficient driving torque. The encoder 5 is accurately installed on the shaft of the hydraulic motor 4 to ensure that it can accurately and timely monitor the rotation speed of the hydraulic motor 4. The control microcomputer 3 has a special control algorithm built in according to the working process and accuracy requirements of the robotic arm.

[0065] Working process: When the robotic arm receives instructions to grab and install parts, the control microcomputer 3 calculates the required rotation speed and torque of the hydraulic motor 4 according to the preset algorithm, combined with the current position and attitude information of the robotic arm, and then generates the corresponding pulse control signals. These signals are transmitted to the 8 groups of coils of the stator 12 through the pulse output power module in an independent connection manner. For example, when grabbing parts, by adjusting the pulse width and time, the magnetic field generated by the stator 12 interacts with the magnetic field of the rotor 11 to accurately control the rotation speed of the hydraulic motor 4, so that the robotic arm moves smoothly and accurately to the part position and grabs it with the appropriate force. During the installation of the parts to the automobile chassis, the encoder 5 monitors the rotation speed of the hydraulic motor 4 in real time and feeds back to the control microcomputer 3. If there is a deviation between the actual rotation speed and the preset rotation speed, the control microcomputer 3 quickly adjusts the pulse control signal to ensure that the robotic arm completes the installation action with constant and accurate speed and force. Throughout the process, the pulse-controlled hydraulic motor 4 ensures the accuracy and stability of each installation action of the robotic arm due to its high-precision control and fast response capability, greatly improving production efficiency and product quality.

[0066] Case two: Hydraulic control of aviation flight simulator

[0067] Application scenarios and requirements: In the development of aviation flight simulators, it is necessary to simulate the control feeling of the aircraft in various flight states, which requires the hydraulic system to accurately control the motion posture of the flight simulator to simulate the acceleration, deceleration, turning, lifting, and other actions of the aircraft. As the key component driving the motion of the flight simulator, the hydraulic motor 4 must have high precision, fast response, and stable and reliable performance to provide a realistic flight simulation experience. Due to the limitations of control accuracy and response speed, traditional proportional electromagnetic valve-controlled hydraulic motors 4 are difficult to meet the requirements of flight simulators for complex motion simulation.

[0068] Configuration and installation of pulse-controlled hydraulic motor 4: The pulse-controlled hydraulic motor 4 is optimized for the special needs of the flight simulator. A specially designed rotor 11-stator 12 structure is used, with optimized permanent magnet material and stator coil winding to further improve magnetic field strength and control accuracy. For example, higher performance rare earth permanent magnet material is chosen for the rotor 11, increasing the thickness and area of the permanent magnet to enhance the magnetic field strength. At the same time, the stator coil is optimized for winding to improve electromagnetic conversion efficiency. A 6-slot stator structure is used, and according to the motion characteristics of the flight simulator, a common end connection method is chosen to simplify the circuit structure and improve system stability. A high-precision encoder 5 is installed on the hydraulic motor 4 shaft and accurately calibrated and connected with the control microcomputer 3. The control microcomputer 3 has a complex flight simulation control algorithm built in according to the simulation scene and flight parameter requirements of the flight simulator.

[0069] Working process: When the flight simulator starts and simulates the take-off process of the aircraft, the control microcomputer 3 calculates the corresponding speed and torque control instructions of the hydraulic motor 4 according to the preset take-off parameters such as acceleration, speed change, etc., and converts them into pulse control signals. These signals are transmitted to the stator coil through the pulse output power module connected by the common end, causing the stator 12 to generate a magnetic field that interacts with the rotor 11, driving the hydraulic motor 4 to operate at a specific speed and torque, thereby driving the flight simulator to simulate the acceleration and lifting action of the aircraft during take-off. During the flight, such as simulating the aircraft turning operation, the encoder 5 monitors the speed of the hydraulic motor 4 in real time and feeds back to the control microcomputer 3. The control microcomputer 3 adjusts the pulse control signal in real time according to the angle, speed, etc. of the aircraft turning parameters, accurately controls the speed and torque of the hydraulic motor 4, and makes the flight simulator accurately simulate the attitude change of the aircraft during turning. Due to the characteristics of fast response and high precision control of the pulse-controlled hydraulic motor 4, the flight simulator can realistically simulate various complex flight maneuvers, providing a highly realistic training environment for pilots.

[0070] With the development of industrial automation and intelligent manufacturing, precise control of hydraulic mechanisms is increasingly important. This new control method can be widely used in hydraulic mechanism control, accurately controlling hydraulic cylinders, hydraulic motors 4, and other hydraulic actuators, achieving high-precision positioning and speed control, and improving industrial automation production efficiency and precision. In the field of aviation, it can be applied to aircraft propellers and other components to achieve separate control of multiple propeller speeds and torques, realize single-engine power flexible transmission, simplify the structure of small unmanned aerial vehicles, and improve reliability.

[0071] The technical solutions provided by the embodiments of the present application are described in detail above, and the principles and implementation manners of the embodiments of the present application are described by applying specific examples; the above description of the embodiments is only applicable to helping understand the principles of the embodiments of the present application; meanwhile, for the general technical personnel in the art, the embodiments of the present application will have changes in the specific implementation manners and application ranges, and the above description should not be understood as the limitation of the embodiments of the present application.

Claims

1. A pulse control-based hydraulic motor, characterized by, The utility model relates to a kind of hydraulic motor control system, including: Control valve, the control valve adopts rotor-stator structure, rotor is made of permanent magnet, is divided into S pole and N pole, and stator is composed of array coil winding; Pulse control module, for the coil winding of the stator is passed into controllable pulse, by adjusting pulse time and width, produce the magnetic field that changes with control demand, interact with rotor, form controllable rotation angle to control valve flow size; Control microcomputer, connect with the pulse control module, for according to the rotation speed signal calculation of hydraulic motor, give corresponding pulse width and time control signal to the pulse control module; Encoder, installed on hydraulic motor shaft, for real-time speed of hydraulic motor is fed back to the control microcomputer with pulse mode.

2. A pulse controlled hydraulic motor as claimed in claim 1, wherein: The rotor is made of two pairs of permanent magnets of rare earth material and is placed oppositely to form S and N poles.

3. A pulse controlled hydraulic motor as claimed in claim 1, wherein: The stator is made of multiple slots, and the wire is wound in the slot to form a magnetic pole to generate a magnetic field when current is passed.

4. A pulse controlled hydraulic motor as claimed in claim 3, wherein: The stator is a multi-slot stator, and the coils in the multiple pairs of electromagnetic poles on the multi-slot stator are independent and not connected to each other, and each pair of independent coils is connected to a group of pulse output power modules.

5. A pulse controlled hydraulic motor as claimed in claim 3, wherein: The stator is a 6-slot stator, and the 6-slot stator uses 6 coils to connect a common end and connects 6 pulse output power modules at the other end.

6. A pulse control based hydraulic motor as claimed in claim 1, wherein: The pulse control module controls the size of the valve flow to control the rotation speed and torque of the hydraulic motor.

7. A pulse controlled hydraulic motor as claimed in claim 1, wherein: The control microcomputer combines the rotation speed signal fed back by the encoder to adjust the pulse output of the pulse control module through calculation to realize closed-loop control of the hydraulic motor.

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