High power electrically-driven hydraulic actuator with clustered servo motor pumps

Abstract

The present application relates to a high power electrically-driven hydraulic actuator with clustered servo motor pumps and a control method. The actuator comprises a host computer, a drive control module, a servo motor pump assembly, a functional valve manifold hydraulic circuit, and a hydraulic cylinder (10). The host computer is electrically connected to the drive control module, and the drive control module is electrically connected to the servo motor pump assembly. The servo motor pump assembly is connected to the hydraulic cylinder (10) via the functional valve manifold hydraulic circuit. The host computer issues a control command for forward rotation or reverse rotation to the drive control module, which drives the servo motor pump assembly to rotate forward or reversely, such that hydraulic fluid is driven into different chambers of the hydraulic cylinder (10) through the functional valve manifold hydraulic circuit, so as to extend or retract the hydraulic cylinder (10) and thus implement the extension or retraction of the actuator. The present application avoids the use of ultra-large-flow servo valves and ultra-high-power hydraulic pump stations, satisfies the requirements for electric actuators with power levels of 100 kW and above, and also features a high load capacity, a strong impact resistance, a compact structure, and electrification.

Description

Servo motor pump cluster high-power electric drive hydraulic actuator and control method

[0001] This application claims priority to Chinese Patent Application No. 2024118122628, filed on December 10, 2024, entitled "A Servo Motor Pump Cluster High-Power Electro-Drive Hydraulic Actuator", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention belongs to the field of servo mechanism technology, and relates to a servo motor pump cluster type high-power electro-hydraulic actuator and control method. Background Technology

[0003] Electro-hydraulic actuators, as a novel electro-actuator technology solution, are widely used in advanced aircraft in the international aerospace field due to their advantages such as heavy-duty capacity, strong shock resistance, easy redundancy, high reliability, and energy efficiency. Domestic research institutes have been tracking technological development for many years and have achieved certain results in theoretical research and prototype manufacturing, and have begun engineering application demonstrations in the aviation, aerospace, and marine fields. Electro-hydraulic actuators in aviation, aerospace, and marine fields pursue high reliability, high dynamic characteristics, and high power density, generally employing redundancy schemes for the system or key components, such as dual-redundancy or triple-redundancy architectures, to address system reliability issues. Additionally, structural integration schemes are used to address high power density. However, currently, the highest redundancy design used in electro-hydraulic actuators in the aerospace and marine fields, both domestically and internationally, is quadruple-redundancy to address system reliability issues.

[0004] Driven by the social demand and technological development trends of electrification, energy conservation, and environmental protection, the actuators of civil engineering equipment must also be developed in the direction of electrification, energy conservation, and environmental protection. Electro-hydraulic actuators combine efficient power electronic drive with the proven hydraulic transmission in engineering machinery, making them an excellent electrified actuation system solution at present. In response to the current demand for heavy-duty and ultra-high-power electrified actuators, foreign universities and enterprises have developed a variety of electro-hydraulic actuators. Considering the low-cost requirements of the civilian market, current electro-hydraulic actuators for engineering machinery all use a servo motor to drive a hydraulic pump, and then match it with a functional valve group to drive the hydraulic cylinder to achieve linear output. The power is generally in the range of several kilowatts to tens of kilowatts. Electro-hydraulic actuators with a power of more than one hundred kilowatts are currently still lacking. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a servo motor pump cluster type high-power electric drive hydraulic actuator and control method. Compared with traditional valve-controlled hydraulic actuators, it avoids the problems of ultra-large flow servo valves and ultra-high power hydraulic pump stations. This invention meets the requirements of ultra-high power electric actuators of hundreds of kilowatts and above, and at the same time has the characteristics of heavy load capacity, strong impact resistance, compact structure and electrification.

[0006] The solution of the present invention is:

[0007] Servo motor pump cluster high-power electro-hydraulic actuator, including host computer, drive control module, servo motor pump group, functional valve group oil circuit and hydraulic cylinder;

[0008] The host computer sends a control command to the drive control module to rotate forward or backward. The drive control module drives the servo motor pump group to rotate forward or backward according to the control command, and drives the oil to enter different cavities in the hydraulic cylinder through the oil circuit of the functional valve group, so as to realize the extension or retraction of the hydraulic cylinder, and thus realize the extension or retraction of the actuator.

[0009] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the drive control module includes n controllers; the servo motor pump group includes n servo motor pumps; the controllers and servo motor pumps are electrically connected in a one-to-one correspondence; all n servo motor pumps are connected to the oil circuit of the functional valve group; n is a positive integer not less than 10; each servo motor pump is provided with oil port A and oil port B.

[0010] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the hydraulic cylinder includes a housing and a hydraulic rod;

[0011] The shell is a vertically placed hollow column structure; an opening is provided at the top of the shell; a hydraulic rod is coaxially arranged in the inner cavity of the shell; the top of the hydraulic rod extends out from the opening at the top of the shell.

[0012] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the bottom of the hydraulic rod is provided with a flange to achieve contact sealing between the bottom side wall of the hydraulic rod and the inner wall of the housing; the interior of the hydraulic rod is provided with a cavity along the axial direction, defined as cavity B; the cavity formed by the outer wall of the hydraulic rod, the flange at the bottom of the hydraulic rod, and the inner wall of the hydraulic cylinder is defined as cavity A.

[0013] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the functional valve group oil circuit includes a first hydraulically controlled check valve and a second hydraulically controlled check valve.

[0014] In this system, the oil ports A of the n servo motor pumps converge and are connected to the inlet of the first hydraulic check valve and the control port of the second hydraulic check valve, respectively; the outlet of the first hydraulic check valve is connected to chamber A of the hydraulic cylinder; the oil ports B of the n servo motor pumps converge and are connected to the control port of the first hydraulic check valve and the inlet of the second hydraulic check valve, respectively; the outlet of the second hydraulic check valve is connected to chamber B of the hydraulic cylinder; by setting the first hydraulic check valve in the oil circuit between the oil ports A of the n servo motor pumps and chamber A of the hydraulic cylinder, and setting the second hydraulic check valve in the oil circuit between the oil ports B of the n servo motor pumps and chamber B of the hydraulic cylinder, the position holding of the hydraulic actuator in the state of shutdown or power failure is achieved.

[0015] In the aforementioned servo motor pump cluster type high-power electro-hydraulic actuator, the functional valve group oil circuit also includes a first replenishing check valve and a second replenishing check valve.

[0016] The first oil replenishment check valve has its inlet connected to the booster tank; its outlet is connected to the oil ports A of the n servo motor pumps; the second oil replenishment check valve has its inlet connected to the booster tank; and its outlet is connected to the oil ports B of the n servo motor pumps. By bypassing the oil ports A and B of the n servo motor pumps, the first and second oil replenishment check valves are respectively installed to provide clustered oil replenishment to the n servo motor pumps.

[0017] In the aforementioned servo motor pump cluster type high-power electro-hydraulic actuator, the functional valve group oil circuit further includes a first safety valve and a second safety valve; the inlet of the first safety valve is connected to chamber A of the hydraulic cylinder; the outlet of the first safety valve is connected to the booster oil tank; the inlet of the second safety valve is connected to chamber B of the hydraulic cylinder, and the outlet of the second safety valve is connected to the booster oil tank; by setting the first safety valve at chamber A of the hydraulic cylinder and the second safety valve at chamber B of the hydraulic cylinder, the maximum working pressure of the hydraulic actuator is limited.

[0018] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the functional valve group oil circuit also includes a first high-pressure sensor and a second high-pressure sensor.

[0019] The first high-pressure sensor is connected to chamber A of the hydraulic cylinder; the second high-pressure sensor is connected to chamber B of the hydraulic cylinder; the pressure in chamber A of the hydraulic cylinder is monitored in real time by the first high-pressure sensor; and the pressure in chamber B of the hydraulic cylinder is monitored in real time by the second high-pressure sensor.

[0020] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the functional valve group oil circuit also includes a bypass valve and a booster oil tank.

[0021] The booster tank is connected to n servo motor pumps; the three ports of the bypass valve are connected to chamber A of the hydraulic cylinder, chamber B of the hydraulic cylinder, and the booster tank, respectively; the hydraulic actuator is vacuumed and filled with oil through the manual bypass valve; the booster tank is used to replenish oil to all n servo motor pumps and collect leaked oil from the n servo motor pumps.

[0022] In the aforementioned servo motor pump cluster high-power electro-hydraulic actuator, the functional valve group oil circuit also includes a low-pressure sensor and a filling valve;

[0023] The low-pressure sensor and the filling valve are both connected to the booster tank; the low-pressure sensor monitors the pressure in the booster tank; and the filling valve enables the hydraulic actuator to be evacuated and filled with oil.

[0024] The control method for the aforementioned servo motor pump cluster high-power electro-hydraulic actuator includes:

[0025] The host computer sends a forward rotation control command or a reverse rotation control command to the drive control module.

[0026] The control module drives the servo motor pump group to rotate forward or backward according to the control command, and drives the oil to enter different cavities in the hydraulic cylinder through the oil circuit of the functional valve group, so as to realize the extension or retraction of the hydraulic cylinder, and thus realize the extension or retraction of the actuator.

[0027] In the above control method, the drive control module includes n controllers; the servo motor pump group includes n servo motor pumps; the controllers and servo motor pumps are electrically connected in a one-to-one correspondence; all n servo motor pumps are connected to the oil circuit of the functional valve group; n is a positive integer not less than 10; each servo motor pump is provided with oil port A and oil port B.

[0028] In the above control method, the hydraulic cylinder includes a housing and a hydraulic rod;

[0029] The shell is a vertically placed hollow column structure; the top of the shell has an opening; the hydraulic rod is coaxially arranged in the inner cavity of the shell; the top of the hydraulic rod extends out from the opening at the top of the shell; the bottom of the hydraulic rod has a flange to achieve contact and sealing between the bottom side wall of the hydraulic rod and the inner wall of the shell; the interior of the hydraulic rod has an axial cavity, defined as cavity B; the cavity formed by the outer wall of the hydraulic rod, the flange at the bottom of the hydraulic rod, and the inner wall of the hydraulic cylinder is defined as cavity A.

[0030] In the above control method, the functional valve group oil circuit includes a first hydraulically controlled check valve and a second hydraulically controlled check valve;

[0031] In this system, the oil ports A of the n servo motor pumps converge and are connected to the inlet of the first hydraulic check valve and the control port of the second hydraulic check valve, respectively; the outlet of the first hydraulic check valve is connected to chamber A of the hydraulic cylinder; the oil ports B of the n servo motor pumps converge and are connected to the control port of the first hydraulic check valve and the inlet of the second hydraulic check valve, respectively; the outlet of the second hydraulic check valve is connected to chamber B of the hydraulic cylinder; by setting the first hydraulic check valve in the oil circuit between the oil ports A of the n servo motor pumps and chamber A of the hydraulic cylinder, and setting the second hydraulic check valve in the oil circuit between the oil ports B of the n servo motor pumps and chamber B of the hydraulic cylinder, the position holding of the hydraulic actuator in the state of shutdown or power failure is achieved.

[0032] In the above control method, the functional valve group oil circuit also includes a first replenishing check valve and a second replenishing check valve;

[0033] The first oil replenishment check valve has its inlet connected to the booster tank; its outlet is connected to the oil ports A of the n servo motor pumps; the second oil replenishment check valve has its inlet connected to the booster tank; and its outlet is connected to the oil ports B of the n servo motor pumps. By bypassing the oil ports A and B of the n servo motor pumps, the first and second oil replenishment check valves are respectively installed to provide clustered oil replenishment to the n servo motor pumps.

[0034] In the above control method, the functional valve group oil circuit further includes a first safety valve and a second safety valve; the inlet of the first safety valve is connected to chamber A of the hydraulic cylinder; the outlet of the first safety valve is connected to the booster oil tank; the inlet of the second safety valve is connected to chamber B of the hydraulic cylinder, and the outlet of the second safety valve is connected to the booster oil tank; by setting the first safety valve at chamber A of the hydraulic cylinder and the second safety valve at chamber B of the hydraulic cylinder, the maximum working pressure of the hydraulic actuator is limited.

[0035] In the control method described above, the functional valve group oil circuit also includes a first high-pressure sensor and a second high-pressure sensor;

[0036] The first high-pressure sensor is connected to chamber A of the hydraulic cylinder; the second high-pressure sensor is connected to chamber B of the hydraulic cylinder; the pressure in chamber A of the hydraulic cylinder is monitored in real time by the first high-pressure sensor; and the pressure in chamber B of the hydraulic cylinder is monitored in real time by the second high-pressure sensor.

[0037] In the above control method, the functional valve group oil circuit also includes a bypass valve and a booster oil tank;

[0038] The booster tank is connected to n servo motor pumps; the three ports of the bypass valve are connected to chamber A of the hydraulic cylinder, chamber B of the hydraulic cylinder, and the booster tank, respectively; the hydraulic actuator is vacuumed and filled with oil through the manual bypass valve; the booster tank is used to replenish oil to all n servo motor pumps and collect leaked oil from the n servo motor pumps.

[0039] In the above control method, the functional valve group oil circuit also includes a low-pressure sensor and a filling valve;

[0040] The low-pressure sensor and the filling valve are both connected to the booster tank; the low-pressure sensor monitors the pressure in the booster tank; and the filling valve enables the hydraulic actuator to be evacuated and filled with oil.

[0041] In the control method described above, the specific process of the actuator's retraction action is as follows:

[0042] The host computer sends the same control command to n servo motor pumps; the n servo motor pumps rotate forward simultaneously and output oil with corresponding flow rate and pressure; the oil flows from port A of the n servo motor pumps into the functional valve group oil circuit; the oil enters chamber A of the hydraulic cylinder through the first hydraulic control check valve, and at the same time, control oil is input to the second hydraulic control check valve; the second hydraulic control check valve opens in the reverse direction; the oil in chamber B of the hydraulic cylinder flows back to port B of the n servo motor pumps through the second hydraulic control check valve, and is used for the servo motor pumps to draw oil, realizing the retraction action of the hydraulic rod.

[0043] In the above control method, during the retraction of the actuator, the leaked oil from the n servo motor pumps flows back to the booster tank after converging inside the functional valve group oil circuit; during the retraction of the actuator, the second replenishing check valve opens to replenish oil from the booster tank during the operation of the servo motor pumps; the first replenishing check valve, the first high-pressure safety valve, the second high-pressure safety valve, and the manual bypass valve close; the pressure sensor collects the working pressure of chamber A of the hydraulic cylinder, the pressure sensor collects the working pressure of chamber B of the hydraulic cylinder, and the pressure sensor collects the pressure of the booster tank.

[0044] In the control method described above, the specific process of the actuator's extension action is as follows:

[0045] The host computer sends the same control command to n servo motor pumps; the n servo motor pumps rotate in opposite directions simultaneously and output oil with corresponding flow rates and pressures; the oil flows from port B of the n servo motor pumps into the functional valve group's oil circuit; the oil enters chamber B of the hydraulic cylinder through the second hydraulically controlled check valve, while simultaneously supplying control oil to the first hydraulically controlled check valve; the first hydraulically controlled check valve opens in the reverse direction; the oil in chamber A of the hydraulic cylinder flows back to port A of the n servo motor pumps through the first hydraulically controlled check valve, for the servo motor pumps to draw oil and realize the extension action of the hydraulic rod.

[0046] In the above control method, during the extension of the actuator, the leaked oil from the n servo motor pumps flows back to the booster tank after converging inside the functional valve group oil circuit; during the retraction of the actuator, the first replenishing check valve opens to replenish oil from the booster tank during the operation of the servo motor pumps; the second replenishing check valve, the first high-pressure safety valve, the second high-pressure safety valve, and the manual bypass valve close; the pressure sensor collects the working pressure of chamber A of the hydraulic cylinder, the pressure sensor collects the working pressure of chamber B of the hydraulic cylinder, and the pressure sensor collects the pressure of the booster tank.

[0047] The advantages of this invention compared to the prior art are:

[0048] (1) The present invention adopts a servo motor pump cluster scheme, which increases the number of motor pumps in the previous redundant electrostatic actuator from 2-4 to 10 or more, forming a motor pump cluster. One pump is 50kW, and 10 pumps are 500kW. Through flow integration and power superposition, the power order of magnitude is increased, solving the problem of electrification of ultra-high power hydraulic actuators. Compared with traditional valve-controlled hydraulic actuators, it avoids the problems of ultra-high flow servo valves and ultra-high power hydraulic pump stations, providing a new solution for ultra-high power actuators.

[0049] (2) The electric pump cluster of the present invention is arranged in a linear array on the oil circuit of the functional valve group. The oil circuit of the functional valve group is equipped with hydraulic valves, booster oil tanks, etc. The functional valve group and the hydraulic cylinder are arranged in parallel and fixed to the hydraulic cylinder by flanges at both ends, forming an integrated electric-driven hydraulic actuator, which has the characteristics of simple structure and convenient installation, use and maintenance;

[0050] (3) The servo motor pump cluster high-power electric drive hydraulic actuator of the present invention adopts a modular integrated design. The array-type motor pump cluster and other hydraulic components of the system are integrated on the functional valve block. The oil port of the rod chamber of the hydraulic cylinder is led to the oil port flange in the middle of the cylinder through a pipeline. The pipeline and the hydraulic cylinder are an integral structure. The oil port flanges of the two chambers of the hydraulic cylinder are kept on the same plane. The functional valve group is fixed to the hydraulic cylinder as a whole by bolts. The oil inlet and outlet manifold of the motor pump cluster is connected to the oil ports of the two chambers of the hydraulic cylinder, realizing the oil circuit communication of the hydraulic actuator, reducing leakage points and improving reliability.

[0051] (4) The servo motor pump cluster high-power electro-hydraulic actuator of the present invention only requires external connection to the motor power supply, resolver, sensor and other cables, without external hydraulic pipelines. The device has a compact structure, high degree of modularity, and convenient assembly, and is suitable for working occasions with limited installation space;

[0052] (5) This invention achieves a leap in the power of the electric drive hydraulic actuator by means of flow integration and power superposition, solves the problem of electrification of ultra-high power hydraulic actuator, and provides a new solution for ultra-high power actuator. Compared with traditional valve-controlled actuator, it avoids the problems of ultra-high flow servo valve and ultra-high power hydraulic pump station.

[0053] (6) If any set of the motor pump cluster of the present invention fails, it will not affect the normal function of the hydraulic actuator, thereby achieving high power output of the actuator and improving reliability. Attached Figure Description

[0054] Figure 1 is a schematic diagram of the hydraulic actuator of the present invention;

[0055] Figure 2 is a schematic diagram of the hydraulic cylinder structure of the present invention. Detailed Implementation

[0056] The present invention will be further described below with reference to the embodiments.

[0057] This invention provides a servo motor pump cluster type high-power electro-hydraulic actuator and control method, which meets the requirements of ultra-high power electro-actuators of hundreds of kilowatts and above, and has the characteristics of heavy load capacity, strong impact resistance, compact structure and electrification.

[0058] As shown in Figure 1, the servo motor pump cluster high-power electro-hydraulic actuator includes a host computer, a drive control module, a servo motor pump group, a functional valve group oil circuit, and a hydraulic cylinder 10. The host computer is electrically connected to the drive control module, and the drive control module is electrically connected to the servo motor pump group. The servo motor pump group is connected to the hydraulic cylinder 10 through the functional valve group oil circuit. The host computer sends forward or reverse rotation control commands to the drive control module. Based on the control commands, the drive control module drives the servo motor pump group to rotate forward or reverse, driving the hydraulic fluid through the functional valve group oil circuit into different chambers of the hydraulic cylinder 10, thus extending or retracting the hydraulic cylinder 10, and consequently, achieving the extension or retraction action of the actuator.

[0059] In this invention, the drive control module includes n controllers; the servo motor pump group includes n servo motor pumps; the controllers and servo motor pumps are electrically connected in a one-to-one correspondence; all n servo motor pumps are connected to the oil circuit of the functional valve group; n is a positive integer not less than 10; each servo motor pump is provided with oil port A and oil port B.

[0060] As shown in Figure 2, the hydraulic cylinder 10 specifically includes a housing 101 and a hydraulic rod 102. The housing 101 is a vertically placed hollow cylindrical structure; an opening is provided at the top of the housing 101; the hydraulic rod 102 is coaxially disposed within the inner cavity of the housing 101; the top of the hydraulic rod 102 extends from the opening at the top of the housing 101; a flange is provided at the bottom of the hydraulic rod 102 to achieve a sealing contact between the bottom sidewall of the hydraulic rod 102 and the inner wall of the housing 101; an axial cavity is provided inside the hydraulic rod 102, defined as cavity B; the cavity formed by the outer wall of the hydraulic rod 102, the flange at the bottom of the hydraulic rod 102, and the inner wall of the hydraulic cylinder 10 is defined as cavity A.

[0061] As shown in Figure 1, the most important components in the functional valve group's oil circuit are the first hydraulically controlled check valve (31) and the second hydraulically controlled check valve (32). One port of the servo motor pump group is connected to the inlet of the first hydraulically controlled check valve (31) and the control port of the second hydraulically controlled check valve (32); the outlet of the first hydraulically controlled check valve (31) is connected to one chamber of the hydraulic cylinder (10); the other port of the servo motor pump group is connected to the control port of the first hydraulically controlled check valve (31) and the inlet of the second hydraulically controlled check valve (32); the outlet of the second hydraulically controlled check valve (32) is connected to the other chamber of the hydraulic cylinder (10). By setting the first hydraulically controlled check valve (31) and the second hydraulically controlled check valve (32), the position holding of the hydraulic actuator in the stopped or power-off state is achieved.

[0062] A more comprehensive design for the functional valve group oil circuit is as follows:

[0063] The functional valve group oil circuit includes a first replenishing check valve 21, a second replenishing check valve 22, a first hydraulic control check valve 31, a second hydraulic control check valve 32, a first safety valve 41, a second safety valve 42, a bypass valve 5, a first high-pressure sensor 61, a second high-pressure sensor 62, a low-pressure sensor 7, a filling valve 8, and a booster oil tank 9. Among them, the oil ports A of n servo motor pumps 1 are merged and connected to the oil inlet of the first hydraulic check valve 31 and the control oil port of the second hydraulic check valve 32 respectively; the oil outlet of the first hydraulic check valve 31 is connected to the A chamber of hydraulic cylinder 10; the A chamber of hydraulic cylinder 10 is equipped with a first high-pressure sensor 61; the oil ports B of n servo motor pumps 1 are merged and connected to the control oil port of the first hydraulic check valve 31 and the oil inlet of the second hydraulic check valve 32 respectively; the oil outlet of the second hydraulic check valve 32 is connected to the B chamber of hydraulic cylinder 10; the B chamber of hydraulic cylinder 10 is equipped with a second high-pressure sensor 62; the booster oil tank 9 is connected to n servo motor pumps 1 respectively; the oil inlet of the first replenishing oil check valve 21 is connected to the booster oil tank. 9. Connections: The outlet of the first replenishing check valve 21 is connected to the oil port A of the n servo motor pumps 1 after the flow converges; the inlet of the second replenishing check valve 22 is connected to the booster oil tank 9; the outlet of the second replenishing check valve 22 is connected to the oil port B of the n servo motor pumps 1 after the flow converges; the inlet of the first safety valve 41 is connected to the A chamber of the hydraulic cylinder 10; the outlet of the first safety valve 41 is connected to the booster oil tank 9; the inlet of the second safety valve 42 is connected to the B chamber of the hydraulic cylinder 10, and the outlet of the second safety valve 42 is connected to the booster oil tank 9; the three oil ports of the bypass valve 5 are respectively connected to the A chamber of the hydraulic cylinder 10, the B chamber of the hydraulic cylinder 10, and the booster oil tank 9; the low-pressure sensor 7 and the filling valve 8 are both connected to the booster oil tank 9.

[0064] This invention employs a servo motor pump cluster solution, increasing the number of motor pumps in previously redundant electrostatic actuators from 2-4 to 10 or more, forming a motor pump cluster. One pump is 50kW, so 10 pumps would generate 500kW. Through flow integration and power superposition, a leap in power order is achieved, solving the electrification problem of ultra-high-power hydraulic actuators. Compared to traditional valve-controlled hydraulic actuators, it avoids the challenges of ultra-high-flow servo valves and ultra-high-power hydraulic pump stations. It provides a new solution for ultra-high-power actuators.

[0065] The design requirements and functions of each valve in the functional valve group's oil circuit are as follows:

[0066] By setting a first hydraulic control check valve 31 in the oil circuit between the oil ports A of the n servo motor pumps 1 and the A chamber of the hydraulic cylinder 10, and setting a second hydraulic control check valve 32 in the oil circuit between the oil ports B of the n servo motor pumps 1 and the B chamber of the hydraulic cylinder 10, the position holding of the hydraulic actuator can be achieved when the machine is stopped or the power is off.

[0067] By bypassing the oil flow paths at port A and port B of the n servo motor pumps 1, a first oil replenishment check valve 21 and a second oil replenishment check valve 22 are respectively installed to achieve cluster oil replenishment for the n servo motor pumps 1.

[0068] By setting a first safety valve 41 in chamber A of hydraulic cylinder 10 and a second safety valve 42 in chamber B of hydraulic cylinder 10, the maximum working pressure of the hydraulic actuator can be limited.

[0069] The pressure in chamber A of the hydraulic cylinder 10 is monitored in real time by the first high-pressure pressure sensor 61; the pressure in chamber B of the hydraulic cylinder 10 is monitored in real time by the second high-pressure pressure sensor 62.

[0070] The hydraulic actuator is vacuumed and filled with oil via the manual bypass valve 5; the cluster of n servo motor pumps 1 is replenished with oil via the booster tank 9, and the leaked oil from the n servo motor pumps 1 is collected.

[0071] The pressure in the booster tank 9 is monitored by the low-pressure pressure sensor 7; the hydraulic actuator is evacuated and filled with oil by the filling valve 8.

[0072] This invention employs an integrated electro-hydraulic actuator design, incorporating a cluster of electric pumps, functional valve groups, an oil tank, and hydraulic cylinders. In this design, the electric pump cluster is arranged in a linear array within the hydraulic circuit of the functional valve group. The hydraulic valves and booster tank are housed within the functional valve group's hydraulic circuit. The functional valve group and hydraulic cylinders are arranged in parallel and fixed to the hydraulic cylinders via flanges at both ends, forming an integrated electro-hydraulic actuator. This design features a simple structure and convenient installation, use, and maintenance. Other layouts can also be designed according to specific requirements.

[0073] The servo motor pump cluster high-power electro-hydraulic actuator adopts a modular integrated design. The array-type motor pump cluster and other hydraulic components of the system are integrated into the functional valve block. The oil port of the rod chamber of the hydraulic cylinder is led to the oil port flange in the middle of the cylinder barrel through a pipeline. The pipeline and the hydraulic cylinder are an integral structure, and the oil port flanges of the two chambers of the hydraulic cylinder are kept on the same plane. The functional valve group is fixed to the hydraulic cylinder as a whole by bolts. The oil inlet and outlet manifold ports of the motor pump cluster are connected to the corresponding oil ports of the two chambers of the hydraulic cylinder, realizing the oil circuit communication of the hydraulic actuator, reducing leakage points and improving reliability.

[0074] The specific control method for the servo motor pump cluster high-power electro-hydraulic actuator designed above includes the following steps:

[0075] A hydraulic actuator is manufactured; as shown in Figure 1, the hydraulic actuator includes a host computer, a drive control module, a servo motor pump group, a functional valve group oil circuit, and a hydraulic cylinder 10; wherein, the host computer is electrically connected to the drive control module, and the drive control module is electrically connected to the servo motor pump group; the servo motor pump group is connected to the hydraulic cylinder 10 through the functional valve group oil circuit.

[0076] The drive control module includes n controllers; the servo motor pump group includes n servo motor pumps; the controllers and servo motor pumps are electrically connected in a one-to-one correspondence; all n servo motor pumps are connected to the oil circuit of the functional valve group; n is a positive integer not less than 10; each servo motor pump is provided with oil port A and oil port B.

[0077] As shown in Figure 2, the hydraulic cylinder 10 includes a housing 101 and a hydraulic rod 102. The housing 101 is a vertically placed hollow cylindrical structure; an opening is provided at the top of the housing 101; the hydraulic rod 102 is coaxially disposed within the inner cavity of the housing 101; the top of the hydraulic rod 102 extends from the opening at the top of the housing 101; a flange is provided at the bottom of the hydraulic rod 102 to achieve a sealing contact between the bottom sidewall of the hydraulic rod 102 and the inner wall of the housing 101; an axial cavity is provided inside the hydraulic rod 102, defined as cavity B; the cavity formed by the outer wall of the hydraulic rod 102, the flange at the bottom of the hydraulic rod 102, and the inner wall of the hydraulic cylinder 10 is defined as cavity A.

[0078] The functional valve group oil circuit includes a first replenishing check valve 21, a second replenishing check valve 22, a first hydraulic control check valve 31, a second hydraulic control check valve 32, a first safety valve 41, a second safety valve 42, a bypass valve 5, a first high-pressure sensor 61, a second high-pressure sensor 62, a low-pressure sensor 7, a filling valve 8, and a booster oil tank 9. Among them, the oil ports A of n servo motor pumps 1 are merged and connected to the oil inlet of the first hydraulic check valve 31 and the control oil port of the second hydraulic check valve 32 respectively; the oil outlet of the first hydraulic check valve 31 is connected to the A chamber of the hydraulic cylinder 10; the A chamber of the hydraulic cylinder 10 is equipped with a first high-pressure sensor 61; the oil ports B of n servo motor pumps 1 are merged and connected to the control oil port of the first hydraulic check valve 31 and the oil inlet of the second hydraulic check valve 32 respectively; the oil outlet of the second hydraulic check valve 32 is connected to the B chamber of the hydraulic cylinder 10; the B chamber of the hydraulic cylinder 10 is equipped with a second high-pressure sensor 62; the oil inlet of the first replenishing oil check valve 21 is connected to the booster oil tank 9; the first replenishing oil check valve 21 is connected to the booster oil tank 9; the oil outlet of the first replenishing oil check valve 21 is connected to the control oil port of the first hydraulic check valve 31 and the control oil port of the second hydraulic check valve 32 respectively; the oil outlet of the second hydraulic check valve 32 is connected to the B chamber of the hydraulic cylinder 10; the B chamber of the hydraulic cylinder 10 is equipped with a second high-pressure sensor 62 ... booster oil tank 9; the oil outlet of the first replenishing oil check valve 21 is connected to the booster oil tank 9; the oil outlet of the first replenishing oil check valve 21 is connected to the control oil port of the first hydraulic The oil outlet of valve 21 is connected to the oil port A of n servo motor pumps 1 after the flow converges; the oil inlet of the second replenishing check valve 22 is connected to the booster oil tank 9; the oil outlet of the second replenishing check valve 22 is connected to the oil port B of n servo motor pumps 1 after the flow converges; the inlet of the first safety valve 41 is connected to the A chamber of the hydraulic cylinder 10; the outlet of the first safety valve 41 is connected to the booster oil tank 9; the inlet of the second safety valve 42 is connected to the B chamber of the hydraulic cylinder 10, and the outlet of the second safety valve 42 is connected to the booster oil tank 9; the three oil ports of the bypass valve 5 are respectively connected to the A chamber of the hydraulic cylinder 10, the B chamber of the hydraulic cylinder 10, and the booster oil tank 9; the low-pressure sensor 7 and the filling valve 8 are both connected to the booster oil tank 9.

[0079] The host computer sends control commands to the drive control module to rotate in the forward or reverse direction.

[0080] The control module drives the servo motor pump group to rotate forward or backward according to the control command, and drives the oil to enter different cavities in the hydraulic cylinder 10 through the oil circuit of the functional valve group, so as to realize the extension or retraction of the hydraulic cylinder 10, and thus realize the extension or retraction action of the actuator.

[0081] The specific process of the actuator's retraction action is as follows:

[0082] The host computer sends the same control command to n servo motor pumps 1; the n servo motor pumps 1 rotate forward simultaneously and output oil with corresponding flow rate and pressure; the oil flows from port A of the n servo motor pumps 1 into the oil circuit of the functional valve group; the oil enters chamber A of the hydraulic cylinder 10 through the first hydraulic control check valve 31, and at the same time, control oil is input to the second hydraulic control check valve 32; the second hydraulic control check valve 32 opens in reverse; the oil in chamber B of the hydraulic cylinder 10 flows back to port B of the n servo motor pumps 1 through the second hydraulic control check valve 32, for the servo motor pumps 1 to draw oil, thereby realizing the retraction action of the hydraulic rod 102.

[0083] During the retraction of the actuator, the leaked oil from the n servo motor pumps 1 flows back to the booster tank 9 after converging inside the functional valve group oil circuit; during the retraction of the actuator, the second replenishing oil check valve 22 opens to replenish oil from the booster tank 9 during the operation of the servo motor pumps 1; the first replenishing oil check valve 21, the first high-pressure safety valve 41, the second high-pressure safety valve 42, and the manual bypass valve 5 close; the pressure sensor 61 collects the working pressure of chamber A of the hydraulic cylinder 10, the pressure sensor 62 collects the working pressure of chamber B of the hydraulic cylinder 10, and the pressure sensor 7 collects the pressure of the booster tank.

[0084] The specific process of the actuator's extension action is as follows:

[0085] The host computer sends the same control command to n servo motor pumps 1; the n servo motor pumps 1 rotate in opposite directions simultaneously and output oil with corresponding flow and pressure; the oil flows from the oil port B of the n servo motor pumps 1 into the oil circuit of the functional valve group; the oil enters the B chamber of the hydraulic cylinder 10 through the second hydraulic control check valve 32, and at the same time, control oil is input to the first hydraulic control check valve 31; the first hydraulic control check valve 31 opens in reverse; the oil in the A chamber of the hydraulic cylinder 10 flows back to the oil port A of the n servo motor pumps 1 through the first hydraulic control check valve 31, for the servo motor pumps 1 to draw oil, so as to realize the extension action of the hydraulic rod 102.

[0086] During the extension of the actuator, the leaked oil from the n servo motor pumps 1 flows back to the booster tank 9 after converging inside the functional valve group oil circuit; during the retraction of the actuator, the first replenishing oil check valve 21 opens to replenish oil from the booster tank 9 during the operation of the servo motor pumps 1; the second replenishing oil check valve 22, the first high-pressure safety valve 41, the second high-pressure safety valve 42, and the manual bypass valve 5 close; the pressure sensor 61 collects the working pressure of chamber A of the hydraulic cylinder 10, the pressure sensor 62 collects the working pressure of chamber B of the hydraulic cylinder 10, and the pressure sensor 7 collects the pressure of the booster tank.

[0087] The servo motor pump cluster high-power electro-hydraulic actuator only requires external connection to the motor power supply, resolver, and sensor cables, eliminating the need for external hydraulic pipelines. The device features a compact structure, high modularity, and easy assembly, making it suitable for work environments with limited installation space.

[0088] This invention achieves a leap in the power of electro-driven hydraulic actuators by integrating flow rates and superimposing power, solving the electrification problem of ultra-high power hydraulic actuators and providing a new solution for ultra-high power actuators. Compared with traditional valve-controlled actuators, it avoids the problems of ultra-high flow servo valves and ultra-high power hydraulic pump stations.

[0089] If any set of the motor pump cluster in this invention fails, it will not affect the normal function of the hydraulic actuator, thus achieving high power output of the actuator while improving reliability.

[0090] This invention allows for the easy assembly of electro-hydraulic actuators with different power levels by increasing or decreasing the number of arrays of motor pump clusters, making it easy to serialize and standardize the structure of electro-hydraulic actuators.

[0091] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A high-power electrically driven hydraulic actuator with a cluster of servo-motor pumps, characterized in that: The hydraulic cylinder (10) comprises a shell (101) and a hydraulic rod (102); The host computer sends a control instruction of forward rotation or reverse rotation to the drive control module; the drive control module drives the servo motor pump set to rotate forward or reversely according to the control instruction; the driving oil enters different cavities in the hydraulic cylinder (10) through the function valve group oil circuit, so that the hydraulic cylinder (10) is extended or retracted, and then the extension or retraction action of the actuator is realized.

2. The high-power electrically driven hydraulic actuator of claim 1, wherein: The drive control module comprises n controllers; the servo motor pump set comprises n servo motor pumps (1); the controllers are electrically connected with the servo motor pumps (1) one by one; the n servo motor pumps (1) are connected with the function valve group oil circuit; n is a positive integer not less than 10; each servo motor pump (1) is provided with an oil port A and an oil port B.

3. The cluster type high power electrically driven hydraulic actuator of the servo motor pump type according to claim 2, characterized in that: The hydraulic cylinder (10) comprises a shell (101) and a hydraulic rod (102); The shell (101) is a hollow column structure vertically placed; the top end of the shell (101) is provided with an opening; the hydraulic rod (102) is coaxially arranged in the inner cavity of the shell (101); the top of the hydraulic rod (102) extends out of the opening at the top of the shell (101).

4. The high-power electrically driven hydraulic actuator of claim 3, wherein: The bottom of the hydraulic rod (102) is provided with a flange, so that the bottom end side wall of the hydraulic rod (102) is in contact and sealed with the inner wall of the shell (101); a cavity is arranged in the hydraulic rod (102) along the axial direction, which is defined as B cavity; the cavity surrounded by the outer wall of the hydraulic rod (102), the flange at the bottom of the hydraulic rod (102) and the inner wall of the hydraulic cylinder (10) is defined as A cavity.

5. The high-power electrically driven hydraulic actuator of claim 4, wherein: The function valve group oil circuit comprises a first hydraulic control check valve (31) and a second hydraulic control check valve (32); The oil port A of the n servo motor pumps (1) is connected with the oil inlet of the first hydraulic control check valve (31) and the control oil port of the second hydraulic control check valve (32) after being converged; the oil outlet of the first hydraulic control check valve (31) is connected with the A cavity of the hydraulic cylinder (10); the oil port B of the n servo motor pumps (1) is connected with the control oil port of the first hydraulic control check valve (31) and the oil inlet of the second hydraulic control check valve (32) after being converged; the oil outlet of the second hydraulic control check valve (32) is connected with the B cavity of the hydraulic cylinder (10); the first hydraulic control check valve (31) is arranged between the oil port A of the n servo motor pumps (1) after being converged and the A cavity of the hydraulic cylinder (10), and the second hydraulic control check valve (32) is arranged between the oil port B of the n servo motor pumps (1) after being converged and the B cavity of the hydraulic cylinder (10); the position keeping in the stop or power-off state of the hydraulic actuator is realized.

6. The high-power electrically driven hydraulic actuator of claim 5, wherein: The function valve group oil circuit further comprises a first oil supplement check valve (21) and a second oil supplement check valve (22); The inlet of the first oil replenishment check valve (21) is connected to the booster oil tank (9); the outlet of the first oil replenishment check valve (21) is connected to the oil port A of the n servo motor pumps (1) after the flow is combined; the inlet of the second oil replenishment check valve (22) is connected to the booster oil tank (9); the outlet of the second oil replenishment check valve (22) is connected to the oil port B of the n servo motor pumps (1) after the flow is combined; by bypassing the first oil replenishment check valve (21) and the second oil replenishment check valve (22) in the oil port A and oil port B of the n servo motor pumps (1), the cluster oil replenishment of the n servo motor pumps (1) is realized.

7. The high-power electrically driven hydraulic actuator of claim 5, wherein: The functional valve group oil circuit also includes a first safety valve (41) and a second safety valve (42); the inlet of the first safety valve (41) is connected to the A chamber of the hydraulic cylinder (10); the outlet of the first safety valve (41) is connected to the booster oil tank (9); the inlet of the second safety valve (42) is connected to the B chamber of the hydraulic cylinder (10), and the outlet of the second safety valve (42) is connected to the booster oil tank (9); by setting the first safety valve (41) at the A chamber of the hydraulic cylinder (10) and the second safety valve (42) at the B chamber of the hydraulic cylinder (10), the maximum working pressure of the hydraulic actuator is limited.

8. The high-power electrically driven hydraulic actuator of claim 5, wherein: The functional valve group oil circuit also includes a first high-pressure sensor (61) and a second high-pressure sensor (62); The first high-pressure sensor (61) is connected to the A chamber of the hydraulic cylinder (10); the second high-pressure sensor (62) is connected to the B chamber of the hydraulic cylinder (10); the pressure in the A chamber of the hydraulic cylinder (10) is monitored in real time by the first high-pressure sensor (61); the pressure in the B chamber of the hydraulic cylinder (10) is monitored in real time by the second high-pressure sensor (62).

9. The high-power electrically driven hydraulic actuator of claim 5, wherein: The functional valve group oil circuit also includes a bypass valve (5) and a booster oil tank (9); The booster oil tank (9) is connected to n servo motor pumps (1); the three oil ports of the bypass valve (5) are connected to the A chamber of the hydraulic cylinder (10), the B chamber of the hydraulic cylinder (10), and the booster oil tank (9) respectively; the hydraulic actuator is vacuumed and filled with oil through the manual bypass valve (5); the n servo motor pumps (1) are replenished with oil as a whole through the booster oil tank (9), and the leaked oil from the n servo motor pumps (1) is collected.

10. The high-power electrically driven hydraulic actuator of claim 9, wherein: The functional valve group oil circuit also includes a low-pressure sensor (7) and a filling valve (8); The low-pressure sensor (7) and the filling valve (8) are both connected to the booster tank (9); the pressure of the booster tank (9) is monitored by the low-pressure sensor (7); and the hydraulic actuator is vacuumed and filled with oil by the filling valve (8).

11. The control method of the cluster type high-power electrically driven hydraulic actuator of the servo motor pump of claim 1, characterized in that: include: The host computer sends a forward rotation control command or a reverse rotation control command to the drive control module. The control module drives the servo motor pump group to rotate forward or backward according to the control command, and drives the oil to enter different cavities in the hydraulic cylinder (10) through the oil circuit of the functional valve group, so as to realize the extension or retraction of the hydraulic cylinder (10), and thus realize the extension or retraction action of the actuator.

12. The control method according to claim 11, characterized in that: The drive control module includes n controllers; the servo motor pump group includes n servo motor pumps (1); the controllers and servo motor pumps (1) are electrically connected in a one-to-one correspondence; all n servo motor pumps (1) are connected to the oil circuit of the functional valve group; n is a positive integer not less than 10; each servo motor pump (1) is provided with oil port A and oil port B.

13. The control method according to claim 12, characterized in that: The hydraulic cylinder (10) includes a housing (101) and a hydraulic rod (102); The shell (101) is a vertically placed hollow column structure; the top of the shell (101) is provided with an opening; the hydraulic rod (102) is coaxially arranged in the inner cavity of the shell (101); the top of the hydraulic rod (102) extends out from the opening at the top of the shell (101); the bottom of the hydraulic rod (102) is provided with a flange to achieve contact and sealing between the bottom side wall of the hydraulic rod (102) and the inner wall of the shell (101); the interior of the hydraulic rod (102) is provided with a cavity along the axial direction, which is defined as cavity B; the cavity formed by the outer wall of the hydraulic rod (102), the flange at the bottom of the hydraulic rod (102), and the inner wall of the hydraulic cylinder (10) is defined as cavity A.

14. The control method according to claim 13, characterized by: The functional valve group oil circuit includes a first hydraulically controlled check valve (31) and a second hydraulically controlled check valve (32); Among them, the oil ports A of n servo motor pumps (1) are connected to the oil inlet of the first hydraulic control check valve (31) and the control oil port of the second hydraulic control check valve (32) respectively; the oil outlet of the first hydraulic control check valve (31) is connected to the A chamber of the hydraulic cylinder (10); the oil ports B of n servo motor pumps (1) are connected to the control oil port of the first hydraulic control check valve (31) and the oil inlet of the second hydraulic control check valve (32) respectively; the oil outlet of the second hydraulic control check valve (32) is connected to the B chamber of the hydraulic cylinder (10); by setting the first hydraulic control check valve (31) in the oil circuit between the oil ports A of n servo motor pumps (1) and the A chamber of the hydraulic cylinder (10), and setting the second hydraulic control check valve (32) in the oil circuit between the oil ports B of n servo motor pumps (1) and the B chamber of the hydraulic cylinder (10), the position holding of the hydraulic actuator in the state of shutdown or power failure is realized.

15. The control method according to claim 14, characterized in that: The functional valve group oil circuit also includes a first replenishing check valve (21) and a second replenishing check valve (22); The inlet of the first oil replenishment check valve (21) is connected to the booster oil tank (9); the outlet of the first oil replenishment check valve (21) is connected to the oil port A of the n servo motor pumps (1) after the flow is combined; the inlet of the second oil replenishment check valve (22) is connected to the booster oil tank (9); the outlet of the second oil replenishment check valve (22) is connected to the oil port B of the n servo motor pumps (1) after the flow is combined; by bypassing the first oil replenishment check valve (21) and the second oil replenishment check valve (22) in the oil port A and oil port B of the n servo motor pumps (1), the cluster oil replenishment of the n servo motor pumps (1) is realized.

16. The control method according to claim 15, characterized by: The functional valve group oil circuit also includes a first safety valve (41) and a second safety valve (42); the inlet of the first safety valve (41) is connected to the A chamber of the hydraulic cylinder (10); the outlet of the first safety valve (41) is connected to the booster oil tank (9); the inlet of the second safety valve (42) is connected to the B chamber of the hydraulic cylinder (10), and the outlet of the second safety valve (42) is connected to the booster oil tank (9); by setting the first safety valve (41) at the A chamber of the hydraulic cylinder (10) and the second safety valve (42) at the B chamber of the hydraulic cylinder (10), the maximum working pressure of the hydraulic actuator is limited.

17. The control method according to claim 16, characterized by: The functional valve group oil circuit also includes a first high-pressure sensor (61) and a second high-pressure sensor (62); The first high-pressure sensor (61) is connected to the A chamber of the hydraulic cylinder (10); the second high-pressure sensor (62) is connected to the B chamber of the hydraulic cylinder (10); the pressure in the A chamber of the hydraulic cylinder (10) is monitored in real time by the first high-pressure sensor (61); the pressure in the B chamber of the hydraulic cylinder (10) is monitored in real time by the second high-pressure sensor (62).

18. The control method according to claim 17, characterized by: The functional valve group oil circuit also includes a bypass valve (5) and a booster oil tank (9); The booster oil tank (9) is connected to n servo motor pumps (1); the three oil ports of the bypass valve (5) are connected to the A chamber of the hydraulic cylinder (10), the B chamber of the hydraulic cylinder (10), and the booster oil tank (9) respectively; the hydraulic actuator is vacuumed and filled with oil through the manual bypass valve (5); the n servo motor pumps (1) are replenished with oil as a whole through the booster oil tank (9), and the leaked oil from the n servo motor pumps (1) is collected.

19. The control method according to claim 18, characterized in that: The functional valve group oil circuit also includes a low-pressure sensor (7) and a filling valve (8); The low-pressure sensor (7) and the filling valve (8) are both connected to the booster tank (9); the pressure of the booster tank (9) is monitored by the low-pressure sensor (7); and the hydraulic actuator is vacuumed and filled with oil by the filling valve (8).

20. The control method according to claim 19, characterized by: The specific process of the actuator's retraction action is as follows: The host computer sends the same control command to n servo motor pumps (1); the n servo motor pumps (1) rotate forward simultaneously and output oil with corresponding flow and pressure; the oil flows from port A of the n servo motor pumps (1) and enters the oil circuit of the functional valve group; the oil enters the A chamber of the hydraulic cylinder (10) through the first hydraulic control check valve (31), and at the same time inputs control oil to the second hydraulic control check valve (32); the second hydraulic control check valve (32) opens in reverse; the oil in the B chamber of the hydraulic cylinder (10) flows back to port B of the n servo motor pumps (1) through the second hydraulic control check valve (32), and is used for the servo motor pumps (1) to draw oil and realize the retraction action of the hydraulic rod (102).

21. The control method according to claim 20, characterized by: During the retraction of the actuator, the leaked oil from the n servo motor pumps (1) flows back to the booster tank (9) after converging inside the functional valve group oil circuit; during the retraction of the actuator, the second replenishing check valve (22) is opened to replenish oil from the booster tank (9) during the operation of the servo motor pumps (1); the first replenishing check valve (21), the first high-pressure safety valve (41), the second high-pressure safety valve (42), and the manual bypass valve (5) are closed; the pressure sensor (61) collects the working pressure of the A chamber of the hydraulic cylinder (10), the pressure sensor (62) collects the working pressure of the B chamber of the hydraulic cylinder (10), and the pressure sensor (7) collects the pressure of the booster tank.

22. The control method according to claim 19, characterized by: The specific process of the actuator's extension action is as follows: The host computer sends the same control command to n servo motor pumps (1); the n servo motor pumps (1) rotate in opposite directions at the same time and output oil with corresponding flow and pressure; the oil flows from the oil port B of the n servo motor pumps (1) and enters the oil circuit of the functional valve group; the oil enters the B chamber of the hydraulic cylinder (10) through the second hydraulic control check valve (32), and at the same time inputs control oil to the first hydraulic control check valve (31); the first hydraulic control check valve (31) opens in reverse; the oil in the A chamber of the hydraulic cylinder (10) flows back to the oil port A of the n servo motor pumps (1) through the first hydraulic control check valve (31), and is used for the servo motor pumps (1) to draw oil and realize the extension action of the hydraulic rod (102).

23. The control method according to claim 22, characterized by: During the extension of the actuator, the leaked oil from the n servo motor pumps (1) flows back to the booster tank (9) after converging inside the functional valve group oil circuit; during the retraction of the actuator, the first replenishing check valve (21) is opened to replenish oil from the booster tank (9) during the operation of the servo motor pumps (1); the second replenishing check valve (22), the first high-pressure safety valve (41), the second high-pressure safety valve (42), and the manual bypass valve (5) are closed; the pressure sensor (61) collects the working pressure of the A chamber of the hydraulic cylinder (10), the pressure sensor (62) collects the working pressure of the B chamber of the hydraulic cylinder (10), and the pressure sensor (7) collects the pressure of the booster tank.

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