Split-type electro-hydraulic direct-drive hydraulic system for non-retractable fin stabilizer

Abstract

Disclosed is a split-type electro-hydraulic direct-drive hydraulic system for a non-retractable fin stabilizer, the system comprising: a hydraulic power unit and an actuating mechanism which are independently arranged, the actuating mechanism comprising symmetrically arranged fin-actuating cylinders (46); a bidirectional hydraulic pump (2), driven by a servo motor (1) and forming a closed-loop fin-actuating circuit, wherein the bidirectional hydraulic pump (2) driven by the servo motor (1), the hydraulic power unit, and the actuating mechanism constitute an electro-hydraulic direct-drive fin stabilizer apparatus; and a control loop, comprising a gyroscope, a controller, and the actuating mechanism, the gyroscope detecting a roll angular velocity of a vessel and generating a fin-actuating command signal, the controller comparing the command signal with a fin-angle feedback signal and outputting a speed command for the servo motor (1), and a servo driver controlling forward and reverse rotation of the servo motor (1) to drive the bidirectional hydraulic pump (2) to adjust displacement of the fin-actuating cylinders (46), thereby driving fin rotation. In the present invention, valve-controlled or pump-controlled hydraulic systems used in conventional fin stabilizers are replaced, thereby providing a fin stabilizer hydraulic system with integrated optimization, a lightweight design, high efficiency, high reliability, low noise, and reduced equipment installation space within a vessel.

Description

A split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system Technical Field

[0001] This invention belongs to the field of ship roll reduction technology, specifically relating to a split electro-hydraulic direct-drive non-retractable roll-damping fin hydraulic system, suitable for roll suppression of medium and large ships. Background Technology

[0002] When a ship is sailing or anchored at sea, it will roll due to the influence of wind and waves. Anti-roll fins, as the main device to reduce ship roll, have been widely used in actual ships and can effectively reduce the ship's roll angle when encountering large winds and waves.

[0003] Based on whether the fins can be retracted into the hull, anti-roll fin devices are divided into retractable anti-roll fins and non-retractable anti-roll fins.

[0004] The direct-drive volumetric control electro-hydraulic servo system is a novel type of electro-hydraulic servo system. It uses a servo motor as both the energy source and control element, driving a bidirectional fixed-displacement pump to move the load. By controlling the motor's speed and direction of rotation, it controls the flow rate and circulation direction of the hydraulic oil, thereby controlling the load's movement. Due to its high integration, high power-to-weight ratio, high reliability, high efficiency, and easy installation and maintenance, it can replace some traditional valve-controlled hydraulic systems in applications where rapid system response is not critical, improving system efficiency and reliability while reducing equipment weight and size.

[0005] Applying direct-drive electro-hydraulic servo technology to ship roll fin damping devices can achieve lightweight, high-efficiency, low-noise, reduced equipment size, and improved device reliability, thus developing an electro-hydraulic direct-drive roll fin damping device.

[0006] Electro-hydraulic direct-drive non-retractable anti-roll fins are available in two types: integral and split. The integral type integrates the pump, hydraulic cylinder, compensating oil tank, and hydraulic valve into a single unit, featuring an ultra-compact size and direct mounting on the actuator. It is particularly suitable for use as a low-power anti-roll fin on small vessels such as small ferries and yachts.

[0007] Split-type systems are suitable for medium to high-power anti-roll fin devices. Due to their high power and relatively large size, an integral structure mounted on the actuator would result in a bulky local volume, hindering the installation and maintenance of the actuator. Separating the hydraulic cylinder from the hydraulic unit makes the system simpler, and the miniaturized hydraulic unit is easier to place in any available space. It is also suitable for the retrofitting of anti-roll fins on older ships and the addition of zero-speed functionality. Therefore, split-type electro-hydraulic direct-drive hydraulic units are required for medium to large-sized anti-roll fin devices.

[0008] Traditional hydraulic systems for rocker fins mostly employ valve-controlled or pump-controlled solutions, which have the following drawbacks:

[0009] 1. Valve-controlled systems suffer from large throttling losses and low efficiency;

[0010] 2. The integrated design makes interior layout difficult;

[0011] 3. Lacks an emergency operation module for power outages.

[0012] This invention solves the above problems through a split-type direct-drive design, closed-loop optimization, and an emergency manual mechanism. Summary of the Invention

[0013] The purpose of this invention is to provide a split electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system to replace the valve-controlled or pump-controlled hydraulic system used in traditional anti-roll fin systems, thereby achieving integrated optimization, lightweight design, high efficiency, high reliability, low noise, and reduced equipment space occupation of the anti-roll fin hydraulic system.

[0014] To achieve the above objectives, the specific technical solution of the present invention is as follows: a split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system, comprising:

[0015] An independently configured hydraulic unit and actuator, wherein the actuator includes symmetrically arranged rotary fin cylinders;

[0016] A servo motor-driven bidirectional hydraulic pump forms a closed-loop rotary fin circuit; the servo motor-driven bidirectional hydraulic pump, hydraulic unit, and actuator constitute an electro-hydraulic direct-drive anti-roll fin device.

[0017] The control loop consists of a gyroscope, a controller, and an actuator. The gyroscope detects the ship's roll rate and generates a fin-turning command signal. The controller compares the command signal with the fin angle feedback signal and outputs a servo motor speed command. The servo driver controls the forward and reverse rotation of the servo motor, drives the bidirectional hydraulic pump to adjust the displacement of the fin-turning cylinder, thereby driving the fin to rotate.

[0018] The oil replenishment circuit is driven by an auxiliary motor to assemble a double hydraulic pump and replenishes oil to the closed circuit through a check valve.

[0019] The unlocking circuit uses an electromagnetic reversing valve to control the spring compression of the locking mechanism to achieve mechanical unlocking.

[0020] An emergency hand-cranked pump and a manual directional valve are used to drive the rotary fin cylinder to reset in the event of a power outage.

[0021] Furthermore, the oil replenishment circuit also includes: an accumulator connected to the oil replenishment pipeline for stabilizing the oil replenishment pressure; a pressure controller that triggers an alarm when the oil replenishment pressure is lower than 0.6 MPa; and an overflow valve that sets the oil replenishment circuit pressure to 0.8–1.0 MPa.

[0022] Furthermore, the unlocking circuit includes: a dual hydraulic pump - the unlocking pump - charges the accumulator with liquid through a solenoid directional valve; a pressure switch - cuts off the power supply to the solenoid directional valve when the accumulator pressure reaches 5MPa; and an overflow valve - sets the maximum pressure of the unlocking circuit to 6MPa.

[0023] Furthermore, the rotating fin circuit also includes: back-to-back check valves that ensure the overflow valve pressure port is always connected to the high-pressure side of the circuit; and face-to-face check valves that introduce replenishment oil into the low-pressure side of the circuit.

[0024] Furthermore, the servo motor and bidirectional hydraulic pump are cooled by: the replenishing oil is diverted to the pump housing and motor housing via a throttle valve, and then flushed and cooled.

[0025] Furthermore, the hydraulic unit integrates: a level gauge, a temperature relay, an air filter, and a level control relay; when the oil temperature exceeds the set value or the level is too low, a shutdown protection is triggered.

[0026] Furthermore, the emergency hand pump achieves the following by switching the manual directional valve: driving the fin cylinder to reset to the zero position; the locking mechanism automatically locks; wherein, oil pressure is generated by shaking the emergency hand pump; switching the manual directional valve to different function positions drives the fin cylinder to reset.

[0027] Furthermore, when wave torque acts on the ship, the ship will roll. The gyroscope in the anti-roll fin will measure the ship's roll angular velocity, which will be converted into a fin-turning command signal after signal processing and amplification. The electro-hydraulic direct-drive anti-roll fin device drives the fin to rotate according to the fin-turning command signal through a servo driver, servo motor, bidirectional hydraulic pump, and actuator. Under the action of water flow, lift will be generated on the fin, forming a stabilizing torque on the ship, which cancels out the wave torque and reduces the ship's roll.

[0028] Furthermore, the controller processes the difference between the fin rotation command signal and the fin angle feedback signal and outputs a command signal to the servo driver. The servo driver controls the speed and direction of the servo motor, which in turn controls the speed and direction of the bidirectional hydraulic pump, thereby controlling the output flow and direction of the bidirectional hydraulic pump. The bidirectional hydraulic pump directly drives and controls the operation of the actuator, and feeds back the actual fin angle signal of the actuator to the controller, forming a position closed-loop control system.

[0029] The beneficial effects of this invention are: 1) The split-type electro-hydraulic direct-drive non-retractable fin damper hydraulic system of this invention simplifies the valve-controlled or pump-controlled hydraulic system used in traditional non-retractable fin dampers, eliminates control components such as servo valves or proportional valves, reduces throttling losses in the hydraulic system, and improves system efficiency; it simplifies the system, improves integration and reliability; and reduces the weight and cabin space occupied by the hydraulic unit. 2) The use of a split-type electro-hydraulic direct-drive non-retractable fin damper hydraulic unit makes the system more concise and compact, and the miniaturized hydraulic unit is easier to install on board the ship. Attached Figure Description

[0030] Figure 1 is a block diagram illustrating the control principle of the electro-hydraulic direct-drive anti-roll fin device of the present invention.

[0031] Figure 2 is a schematic diagram of the split electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system of the present invention.

[0032] In the diagram: 1. Servo motor; 2. Bidirectional hydraulic pump for speed control; 3. Cooler; 4. Return oil filter; 5. Auxiliary motor; 6. Dual hydraulic pump - replenishing pump; 7. Dual hydraulic pump - unlocking pump; 8. Filter; 9. Filter; 10. Check valve; 11. Relief valve; 12. Solenoid directional valve; 13. Check valve; 14. Level gauge; 15. Temperature relay; 16. Air filter; 17. Level control relay; 18. Pressure switch; 19. Accumulator; 20. Pressure test connector; 21. Pressure gauge; 22. Hand pump; 23. Relief valve; 24. Throttle valve. Throttling valve 25, pressure controller 26, pressure test connector 27, pressure test connector 28, pressure gauge 29, accumulator 30, check valve 31, check valve 32, check valve 33, check valve 34, solenoid relief valve 35, relief valve 36, solenoid directional valve 37, pressure test connector 38, pressure gauge 39, pressure test connector 40, pressure gauge 41, hydraulically controlled check valve 42, hydraulically controlled check valve 43, solenoid directional valve 44, manual directional valve 45, fin cylinder 46, fin cylinder 47, locking mechanism 48, fin angle feedback device 49. Detailed Implementation

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0034] As shown in Figures 1 and 2, the present invention discloses a split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system, which separates the hydraulic transmission system from the hydraulic cylinders. The hydraulic cylinders are mounted on the actuator and connected to the hull, and the hydraulic transmission system is designed as an independent hydraulic unit. The overall unit comprises a hydraulic unit, an actuator, fins, fin seats, and electrical control equipment.

[0035] The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic press unit consists of a servo motor, a bidirectional hydraulic pump for variable speed drive, an auxiliary motor, a double hydraulic pump, a solenoid directional valve, a relief valve, a check valve, a hydraulically controlled check valve, a cooler, a filter, and hydraulic accessories.

[0036] The anti-roll principle of the electro-hydraulic direct-drive fin stabilizer is as follows: When wave torque acts on the ship, the ship will roll. The gyroscope in the fin stabilizer measures the ship's roll angular velocity, which is then processed, amplified, and converted into a fin-turning command signal. Based on the fin-turning command signal, the electro-hydraulic direct-drive fin stabilizer drives the fin to rotate through a servo driver, servo motor, bidirectional hydraulic pump, and actuator. Under the action of water flow, lift is generated on the fin, forming a stabilizing torque on the ship that cancels out the wave torque, thus reducing the ship's roll.

[0037] The working principle of the electro-hydraulic direct-drive anti-roll fin is as follows: The controller processes the difference between the fin rotation command signal and the fin angle feedback signal, and outputs a command signal to the servo driver. The servo driver controls the speed and direction of the servo motor, which in turn controls the speed and direction of the bidirectional hydraulic pump, thus controlling the output flow and direction of the bidirectional hydraulic pump. The bidirectional hydraulic pump directly drives and controls the operation of the actuator. The actual fin angle signal of the actuator is fed back to the controller, forming a position closed-loop control system. The actuator drives the fin to rotate, generating a certain fin angle, thereby reducing the ship's roll through hydrodynamics.

[0038] As shown in Figure 1, the control principle of the electro-hydraulic direct-drive anti-roll fin device of the present invention is as follows: When wave torque acts on the ship, the ship will roll. The gyroscope in the anti-roll fin will measure the ship's roll angular velocity, which is then amplified and converted into a fin-turning command signal. The controller, based on the difference between the fin-turning command signal and the fin angle feedback signal, processes the signal and outputs a command signal to the servo driver. The servo driver controls the speed and direction of the servo motor, thereby controlling the speed and direction of the bidirectional hydraulic pump, achieving control of the output flow and direction of the bidirectional hydraulic pump. The bidirectional hydraulic pump directly drives and controls the operation of the actuator. The actual fin angle signal of the actuator is fed back to the controller, forming a position closed-loop control system. The actuator drives the fin to rotate, generating a certain fin angle. Under the action of the water flow, lift is generated on the fin, forming a stabilizing torque on the ship, which cancels out the wave torque and reduces the ship's roll.

[0039] As shown in Figure 2, the split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system of the present invention includes a servo motor 1, a bidirectional hydraulic pump for variable speed drive 2, a cooler 3, a return oil filter 4, an auxiliary motor 5, a double hydraulic pump-replenishment pump 6, a double hydraulic pump-unlocking pump 7, a filter 8, a filter 9, a check valve 10, a relief valve 11, a solenoid directional valve 12, a check valve 13, a level gauge 14, a temperature relay 15, an air filter 16, a level control relay 17, a pressure switch 18, an accumulator 19, and a pressure sensor. Connector 20, pressure gauge 21, hand pump 22, relief valve 23, throttle valve 24, throttle valve 25, pressure controller 26, pressure test connector 27, pressure test connector 28, pressure gauge 29, accumulator 30, check valve 31, check valve 32, check valve 33, check valve 34, solenoid relief valve 35, relief valve 36, solenoid directional valve 37, pressure test connector 38, pressure gauge 39, pressure test connector 40, pressure gauge 41, hydraulic control check valve 42, hydraulic control check valve 43, solenoid directional valve 44, manual directional valve 45.

[0040] When the device starts working, the actuator locked in the zero position must first be unlocked. After the auxiliary motor 5 starts, it drives the double hydraulic pump-unlocking pump 7 to output hydraulic power, energizing the solenoid directional valve 12. The unlocking oil circuit and accumulator 19 are filled with oil to build up pressure. When the pressure exceeds the set value of 5MPa of the pressure switch 18, the pressure switch sends a signal, the solenoid directional valve 12 is de-energized, and the unlocking circuit maintains the pressure. The maximum pressure of the unlocking circuit is set by the relief valve 36. After the working pressure is established in the unlocking circuit, when the solenoid directional valve 44 is energized, the pressurized oil enters the locking mechanism 48, compressing the spring inside and unlocking the actuator. The maximum pressure at the pump port of the double hydraulic pump-unlocking pump 7 is set by the relief valve 11.

[0041] After the actuator is unlocked, the auxiliary motor 5 drives the dual hydraulic pumps 6 and 7 to operate. The dual hydraulic pump-replenishing pump 6 replenishes oil to the closed circuit through the filter 9 and the check valve 10. When the solenoid directional valve 12 is not energized, the dual hydraulic pump-unlocking pump 7 replenishes oil to the closed circuit through the filter 8, the solenoid directional valve 12 and the check valve 13 to establish a replenishing pressure of 0.8 to 1.0 MPa.

[0042] An accumulator 30 is installed in the oil replenishment circuit to store a certain amount of oil. During system operation, when the oil replenishment pressure drops, oil is output to stabilize the pressure. A pressure controller 26 is installed in the oil replenishment circuit. When the oil replenishment pressure is lower than 0.6MPa during system operation, a low-pressure alarm is issued to protect the normal operation of the closed-loop rotary fin circuit.

[0043] When the solenoid directional valve 37 is energized, the hydraulic check valves 42 and 43 are opened. The servo motor 1 drives the bidirectional hydraulic pump 2 to operate, and the output oil enters the two symmetrically arranged hydraulic cylinders on the actuator, driving them to reciprocate. This reciprocating motion is then converted into fin movement by the actuator. By controlling the speed and direction of the motor, the flow rate and circulation direction of the oil in the fin circuit are controlled, thereby achieving precise control of the fin's speed and direction.

[0044] The hydraulic system uses two back-to-back check valves 33 and 34 to ensure that the pressure port of the relief valve 3 is always connected to the high-pressure side of the fin circuit. The pressure on the high-pressure side of the fin circuit is set by the relief valve 35. Two face-to-face check valves 31 and 32 allow replenished oil to smoothly enter the low-pressure side of the fin circuit. The pressure of the replenishment circuit is set by the relief valve 23.

[0045] In the system, cooling oil is supplied to the bidirectional pump housing and servo motor by connecting the replenishing oil to reduce the temperature of the hydraulic pump and servo motor. Throttling valves 24 and 25 are installed between the replenishing oil and the bidirectional hydraulic pump and servo motor to regulate the oil flow rate.

[0046] In the event of a system power failure, the actuator can be rotated and locked via the hand-cranked pump circuit. When the hand-cranked pump 22 is activated by cranking the handle, the manual directional valve 45 can be switched to rotate the fin upwards or downwards. When the fin reaches the zero position, the locking mechanism will engage, locking the fin in the zero position.

[0047] A cooler 3 is installed in the return oil circuit to remove heat from the hydraulic system and lower its temperature through heat exchange. A return oil filter 4 is installed in the return oil circuit to filter the return oil and clean the system.

[0048] The oil tank integrates a level gauge 14, a temperature relay 15, an air filter 16, and a level control relay 17. The level gauge observes the oil level in the tank. The temperature relay detects the oil temperature; when it reaches a set high temperature, it triggers an alarm and stops the equipment to protect it. The air filter filters impurities and dust from the air entering the tank. The level control relay monitors the oil level; when the oil level is too low, it triggers an alarm and stops the equipment to protect it.

[0049] Pressure test connectors 38 and 40 and pressure gauges 39 and 41 are installed on both sides of the fin-turning circuit to monitor the pressure on the high-pressure and low-pressure sides of the fin-turning circuit. Pressure test connector 27 and pressure gauge 29 are installed in the oil replenishment circuit to monitor the oil replenishment pressure. Pressure test connector 20 and pressure gauge 21 are installed in the unlocking circuit to monitor the unlocking circuit pressure.

[0050] The core inventive point of this invention:

[0051] (1) Split layout: The anti-roll fin direct drive volume control electro-hydraulic servo system is integrated into a hydraulic unit (including servo motor, bidirectional hydraulic pump and oil replenishment pump) and separated from the actuator to meet medium and high power requirements (compared to the existing integrated design).

[0052] (2) Invent a split electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system to replace the valve-controlled or pump-controlled hydraulic system used in traditional anti-roll fins, and realize the integrated optimization, lightweight, high efficiency, high reliability, low noise, and reduced equipment space occupation of the anti-roll fin hydraulic system.

[0053] (3) Integrated safety module: accumulators 19 and 30 maintain pressure, pressure switch 18 interlocks control, and hand pump 22 provides emergency operation, improving system reliability by 45%.

[0054] The technical effects of the present invention are as follows:

[0055] (1) The power of the electro-hydraulic direct drive anti-roll fin hydraulic press unit is 60% of that of the traditional hydraulic valve control system, saving at least 40% of the energy;

[0056] (2) The volume and weight of the electro-hydraulic direct drive anti-rolling fin hydraulic unit are 50% of that of the traditional hydraulic system, making it suitable for the retrofitting of old ships.

[0057] (3) The electro-hydraulic direct drive anti-roll fin hydraulic system has been greatly simplified, improving the reliability of the equipment.

[0058] Verification of the technical effects of this invention:

[0059] In a field test on a 5,000-ton vessel, SANY's roll angle decreased from ±15° to ±3°, achieving a roll reduction efficiency of 80%.

[0060] The hydraulic unit weighs 300 kg less than the traditional system and requires 1.2 m less installation space. 3 .

Claims

1. A split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system, comprising: An independently configured hydraulic unit and actuator, wherein the actuator includes symmetrically arranged rotary fin cylinders; A servo motor-driven bidirectional hydraulic pump forms a closed-loop rotary fin circuit; the servo motor-driven bidirectional hydraulic pump, hydraulic unit, and actuator constitute an electro-hydraulic direct-drive anti-roll fin device. The control loop consists of a gyroscope, a controller, and an actuator. The gyroscope detects the ship's roll rate and generates a fin-turning command signal. The controller compares the command signal with the fin angle feedback signal and outputs a servo motor speed command. The servo driver controls the forward and reverse rotation of the servo motor, drives the bidirectional hydraulic pump to adjust the displacement of the fin-turning cylinder, thereby driving the fin to rotate. The oil replenishment circuit is driven by an auxiliary motor to assemble a double hydraulic pump and replenishes oil to the closed circuit through a check valve. The unlocking circuit uses an electromagnetic reversing valve to control the spring compression of the locking mechanism to achieve mechanical unlocking. An emergency hand-cranked pump and a manual directional valve are used to drive the rotary fin cylinder to reset in the event of a power outage.

2. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The oil replenishment circuit also includes: an accumulator, connected to the oil replenishment pipeline, used to stabilize the oil replenishment pressure; The pressure controller triggers an alarm when the replenishment pressure is lower than 0.6 MPa; the relief valve sets the replenishment circuit pressure to 0.8–1.0 MPa.

3. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The unlocking circuit includes: a dual hydraulic pump, one of which charges the accumulator with liquid through a solenoid directional valve; a pressure switch that cuts off the power to the solenoid directional valve when the accumulator pressure reaches 5MPa; and a relief valve that sets the maximum pressure of the unlocking circuit to 6MPa.

4. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The rotating fin circuit also includes: back-to-back check valves to ensure that the pressure port of the overflow valve is always connected to the high-pressure side of the circuit; and face-to-face check valves to introduce replenishment oil to the low-pressure side of the circuit.

5. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The servo motor and bidirectional hydraulic pump are cooled by: replenishing oil being diverted to the pump housing and motor housing via a throttle valve, which then flushes and cools them.

6. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The hydraulic unit integrates: a level gauge, a temperature relay, an air filter, and a level control relay; it triggers a shutdown protection when the oil temperature exceeds the set value or the level is too low.

7. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, The emergency hand pump is achieved by switching the manual directional valve: driving the fin cylinder to reset to the zero position; the locking mechanism automatically locks; wherein, oil pressure is generated by shaking the emergency hand pump; switching the manual directional valve to different function positions drives the fin cylinder to reset.

8. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 1, characterized in that, When wave torque acts on a ship, the ship will roll. The gyroscope in the anti-roll fin will measure the ship's roll angular velocity, which will be converted into a fin-turning command signal after signal processing and amplification. The electro-hydraulic direct-drive anti-roll fin device drives the fin to rotate according to the fin-turning command signal through a servo driver, servo motor, bidirectional hydraulic pump, and actuator. Under the action of water flow, the fin will generate lift, forming a stabilizing torque on the ship, which cancels out the wave torque and reduces the ship's roll.

9. The split-type electro-hydraulic direct-drive non-retractable anti-roll fin hydraulic system according to claim 8, characterized in that, The controller processes the difference between the fin rotation command signal and the fin angle feedback signal and outputs a command signal to the servo driver. The servo driver controls the speed and direction of the servo motor, which in turn controls the speed and direction of the bidirectional hydraulic pump, thereby controlling the output flow and direction of the bidirectional hydraulic pump. The bidirectional hydraulic pump directly drives and controls the operation of the actuator, and feeds back the actual fin angle signal of the actuator to the controller, forming a position closed-loop control system.

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