CN106438550B - A kind of hydraulic servo actuating system - Google Patents
A kind of hydraulic servo actuating system Download PDFInfo
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- CN106438550B CN106438550B CN201610813756.7A CN201610813756A CN106438550B CN 106438550 B CN106438550 B CN 106438550B CN 201610813756 A CN201610813756 A CN 201610813756A CN 106438550 B CN106438550 B CN 106438550B
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- hydraulic
- hydraulic actuator
- control valve
- pressure inlet
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Actuator (AREA)
Abstract
The present invention relates to solid engines flow regulating equipment field, disclose a kind of hydraulic servo actuating system, including monoblock type servo controller, at least two hydraulic actuators and integrated valve block, wherein, each hydraulic actuator is controlled by one group of hydraulic control valve group, and the hydraulic control valve group of each hydraulic actuator is arranged on the integrated valve block.Hydraulic servo actuating system provided by the invention, by the way that the control valve group of hydraulic actuator is integrated on same integrated valve block, it integrates integral using fluid, machinery, electronics, electromagnetism, information processing technology high concentration, simplified with structure, small volume, light weight, reliability are high, function admirable is stable and the advantages of working service simplicity, are more suitable for the installation requirements of small space.
Description
Technical field
The present invention relates to solid engines flow regulating equipment field, more particularly to a kind of hydraulic servo actuating system.
Background technology
With requirement more and more higher of the systems such as aerospace craft, carrier rocket to weight, solid engines are with its specific impulse
Height, small volume, in light weight, simple in construction, reliable operation, the advantage such as storage characteristics are good, production cost is low, turn into following space travel
The preferred power units of the systems such as device.One of the crucial execution unit of flow control device as solid engines, is mainly used to
Engine gas flow is controlled, to adjust the working condition of engine, its service behaviour and reliability directly affect solid punching press
The service behaviour and reliability of engine.
For solid engines small volume, it is in light weight the features such as, flow control device must adapt to the narrow and small installation of engine
The severe requirement of space, working environment, minimized, lighting, High Reliability Design.Traditional flow control device is using step
Stepper motor is as power source, the shortcomings of its low frequency performance is poor, precision is low, volume is big, it is impossible to meet that miniaturization, high reliability etc. are wanted
Ask.
The content of the invention
(1) technical problems to be solved
It is an object of the invention to provide a kind of hydraulic servo actuating system, solves the volume of existing traditional flow control device
The problem of big and reliability is low.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of hydraulic servo actuating system, and the system includes overall
Formula servo controller, at least two hydraulic actuators and integrated valve block, wherein, each hydraulic actuator is by one group of hydraulic control
Valve group is controlled, and the hydraulic control valve group of each hydraulic actuator is arranged on the integrated valve block；
The energy oil-feed pressure inlet and low pressure pressure inlet for being connected with system energy are additionally provided with the integrated valve block
And the fuel-displaced pressure inlet of the control for being connected with the oil pocket of each hydraulic actuator, wherein energy oil-feed pressure inlet and low pressure connect
Ozzle connects with every group of hydraulic control valve group, the control that every group of hydraulic control valve group is connected with the hydraulic actuator that it is controlled
Fuel-displaced pressure inlet connection；
The hydraulic actuator includes start cylinder and the piston rod coordinated with the start cylinder, on the piston rod
Be provided with displacement transducer, the hydraulic control valve group and displacement transducer of each hydraulic actuator with the monoblock type servo control
Device processed is electrically connected to form position feedback closed loop loop, and the monoblock type servo controller converses each work by displacement transducer
The speed of stopper rod, servo controller by position feedback closed loop loop, individually control respectively by the displacement to each piston rod and speed
System, realizes the synchronism of the action of each hydraulic actuator and the uniformity of position.
Further, it is provided with temperature sensor on the start cylinder.
Further, the hydraulic control valve group includes servo valve, hydraulic lock and the differential pressure pickup set gradually, its
In, the differential pressure pickup is positioned close to control the side of fuel-displaced pressure inlet.
Further, the hydraulic actuator is asymmetric hydraulic stem, the piston area of the hydraulic actuator rear end
More than the piston area of rod end, side is provided with fulcrum bearing in the rear end side in the pressurized strut body.
Further, the piston rod is hollow structure, and the mobile section of institute's displacement sensors is arranged on the piston rod
Inside, the fixing end of institute's displacement sensors, which is arranged in fulcrum bearing, fixes.
Further, the piston rod uses double sealing structure with start cylinder.
Further, pressure inlet is provided with the start cylinder of the hydraulic actuator, the pressure inlet is made with the hydraulic pressure
The fuel-displaced pressure inlet of control of hydraulic control valve group connection is connected and connected corresponding to dynamic device.
Further, three groups of hydraulic control valve groups are provided with the integrated valve block, three groups of hydraulic control valve groups there are three groups
Independent control passage and it is successively set on left end, centre and the right-hand member of the integrated valve block.
(3) beneficial effect
Hydraulic servo actuating system provided by the invention, by the way that the control valve group of hydraulic actuator is integrated into same collection
Into on valve block, it, which is integrated, uses fluid, machinery, electronics, electromagnetism, information processing technology high concentration integral, has structure essence
The advantages of letter, small volume, light weight, reliability height, function admirable stabilization and working service simplicity, it is more suitable for small space
Installation requirements, while disclosure satisfy that the engine of the systems such as aerospace craft and carrier rocket is overall to the extreme of hydraulic actuator
High temperature (more than 600 DEG C) environmental condition, small space demand (long stroke, short mounting distance) and it is long when (4800 seconds) work
It is required that.
Wherein, the quantity of hydraulic actuation component is identical with the quantity for the actuator that flow control device needs；Every group of hydraulic pressure
The position feedback closed loop that the control valve group and displacement transducer of actuator are electrically connected to form independent with the servo controller returns
Road, servo controller converses the speed of each piston rod by displacement transducer, and then passes through position feedback closed loop loop point
Other displacement and speed to each piston rod individually controls, and realizes the synchronism of each group hydraulic actuator and the uniformity of position；
Because the synchronous working of each group hydraulic actuation bar assembly is guaranteed, so as to be correspondingly improved integrated hydraulic servoactuation system
To the reliability of flow control device start.
Brief description of the drawings
Fig. 1 is the axial schematic diagram of the integrated valve block of hydraulic servo actuating system of the embodiment of the present invention；
Fig. 2 is the axial schematic diagram of the hydraulic actuator of hydraulic servo actuating system of the embodiment of the present invention；
Fig. 3 is Fig. 2 sectional view；
Fig. 4 is the schematic diagram of hydraulic servo actuating system of the embodiment of the present invention.
In figure：1- displacement transducers, 11- protection ring sets, 12- bolt seal rings, 2- piston rods, 21- bar portions, 22- pistons,
23- piston packing rings, 3- start cylinders, 31- pressure inlets, 32- connecting lugs, the left oil pockets of 4-, the right oil pockets of 5-, 6- fulcrum bearings, 7-
Temperature sensor, 8- integrated valve blocks, 81- servo valves (one), 82- servo valves (two), 83- servo valves (three), 84- hydraulic locks
(1), 85- hydraulic locks (two), 86- hydraulic locks (three), 87- differential pressure pickups (one), 88- differential pressure pickups (two), 89- pressure differences
Sensor (three), 810- control fuel-displaced pressure inlet.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The embodiment of the present invention is illustrated exemplified by applying on stepless adjustable jet, but the hydraulic servo of the present invention is made
Dynamic system is not limited to apply on stepless adjustable jet, at least two groups hydraulic actuation Component drivers in need Flow-rate adjustment machine
Structure can use the hydraulic servo actuating system of the present invention, wherein, quantity and the flow control device of hydraulic actuation component need
The quantity for the actuator wanted is identical, is adjusted because stepless adjustable jet is general using three groups of hydraulic actuators, so this reality
Apply that example provides is the form of three groups of hydraulic actuation components.
A kind of hydraulic servo actuating system of the present embodiment, including monoblock type servo controller and three groups of hydraulic actuators, three
Group hydraulic actuator is controlled by the hydraulic control valve group of three groups of independence respectively, and three groups of hydraulic control valve groups have the hydraulic pressure of three groups of independence
Control passage and left end, centre and the right-hand member for being successively set on integrated valve block 8, definition are the first hydraulic control valve positioned at left end
Group, it is middle for the second hydraulic control valve group, right-hand member for the 3rd hydraulic control valve group, as shown in figure 1, the first hydraulic control valve
Group includes servo valve (one) 81, hydraulic lock (one) 84, differential pressure pickup (one) 87, and the second hydraulic control valve group includes servo valve
(2) 82, hydraulic lock (two) 85, differential pressure pickup (two) 88, the first hydraulic control valve group include servo valve (three) 83, hydraulic lock
(3) 86, differential pressure pickup (three) 89.Be provided with simultaneously on integrated valve block 8 energy oil-feed pressure inlet that is connected with energy resource system and
Low pressure pressure inlet, and the fuel-displaced pressure inlet 810 of the control connected with every group of hydraulic control valve group is respectively arranged with integrated valve block 8,
Because a hydraulic actuator is provided with two oil suction chambers, so every group of hydraulic control valve group controls fuel-displaced pressure inlets with two
Connection, namely 3 groups of 6 fuel-displaced pressure inlets of control are set in integrated valve block so that the oil pocket of each hydraulic actuator with
Its corresponding hydraulic control valve group by controlling fuel-displaced pressure inlet to connect accordingly.
As shown in Fig. 2 the hydraulic actuator includes start cylinder 3 and the piston rod coordinated with the start cylinder 3
2, displacement transducer 1 is provided with the piston rod 2, and the hydraulic control valve group and displacement transducer 1 of each hydraulic actuator are equal
The position feedback closed loop loop for being electrically connected to form independent with the servo controller.
As shown in figure 4, servo controller is connected with the control system of engine at work, the oil of the hydraulic actuator
Chamber is connected by corresponding hydraulic control valve group on integrated valve block 8 with energy resource system, the servo of hydraulic control valve group described in every group
Valve, hydraulic lock, differential pressure pickup are successively set in corresponding control passage；Wherein, servo valve, hydraulic lock are connected directly between each
On the two passes of hydraulic control valve group, the conducting of two oil circuits is controlled；Differential pressure pickup is arranged on the two of hydraulic control valve group
Between bar passage, for measuring the pressure difference of two oil pockets of hydraulic actuator, and the differential pressure pickup is positioned close to the liquid
Press the side of the oil pocket of actuator.Two ports of two oily passages, respectively controlled close to the side of differential pressure pickup with one
Oily pressure inlet connection is made, is connected respectively with energy oil-feed pressure inlet and low pressure pressure inlet close to one end of hydraulic valve.
Connect for convenience simultaneously, be provided with what can be connected with its oil pocket on the start cylinder 3 of each hydraulic actuator
Pressure inlet 31.
Hydraulic actuator in use, is passed through the He of mouthpiece tube 31 by the present embodiment hydraulic servo actuating system first
Control fuel-displaced pressure inlet 810 to be fixedly connected, then displacement transducer 1 and hydraulic control valve group are electrically connected with servo controller.Tool
Body running process is, servo controller according to control system input instruction, to every group of hydraulic control valve group in integrated valve block 8
Individually controlled, the high-voltage oil liquid that each hydraulic control valve group provides energy resource system is distributed to the single chamber of actuator two, liquid
Press actuator output certain effect power and the position of feedback piston bar 2 is to servo controller, thus each every group of valve locks pressure difference combination
Independent position closed loop loop is formed with a set of actuator；Meanwhile servo controller can each displacement transducer 1 displacement it is true
The speed of each piston rod 2 is recognized, so as to form the speed ring closed-loop path of piston rod 2 and servo controller, so as to pass through speed
Spend ring closed-loop path and ensure the synchronism of three tunnel actuator motions and the uniformity of position.
Wherein, the operation principle of servo controller is：Digital command is sent to servo controller by bus, through inner core
Exported after piece collection to main control chip.Linear movement pick-up and the feedback voltage of differential pressure pickup output, are number by AD conversion
Word amount, inputs to control circuit.Control signal draws controlled quentity controlled variable with feedback signal by control algolithm, compared with main control chip
Unit draws closed loop command signal, and closed loop output signal is input to actuator servo valve after power amplification, and driving servo valve enters
Row hydraulic power amplifies.
As a preferred embodiment of the present invention, temperature is provided with the start cylinder 3 of each servo actuator
Sensor 7, the temperature sensor 7 are used to be monitored the temperature of start cylinder 3, effectively the temperature in start cylinder 3 are entered
Row monitoring, avoids temperature from being impacted excessively to device.
As shown in figures 2 and 3, the hydraulic actuator is asymmetric hydraulic stem, and the piston area of rod end is more than rear end
Piston area, one end of hydraulic actuator is sealed end, and the other end of the start cylinder is the opening moved for piston rod 2
End, the opening bore of the openend are less than the internal diameter of the start cylinder 3；Axle of the piston rod 2 along the start cylinder 3
To setting, the piston rod 2 include close to the sealed end and the piston 22 that is arranged in the start cylinder 3 and with it is described
The bar portion 21 of piston connection, the external diameter of the piston 22 is adapted to the internal diameter of the start cylinder 3, the external diameter of the bar portion 21 and
The opening bore adaptation of the openend, the side of the piston 22 is located at the periphery of pressurized strut internal body portion with the bar portion 21
Side and the start cylinder-shaped form right oil pocket 5, institute into left oil pocket 4, the opposite side of the piston 22 with the start cylinder 3
Left oil pocket 4 and the right oil pocket 5 are stated respectively with being arranged on connecting with the corresponding pressure inlet 31 of oil circuit connection on start cylinder 3
Logical, institute's displacement sensors 1 are arranged in the bar portion 21.
Oil-feed in the left oil pocket 4 is readily appreciated that, the piston 22 drives the bar portion 21 and displacement transducer 1 to start
The sealed end of cylinder 3 moves, and the right oil-feed of oil pocket 5, the piston 22 drives the bar portion 21 and displacement transducer 1 to pressurized strut
External side movement.
As shown in figure 3, the piston rod 2 is hollow structure, side is provided with branch in rear end side in the pressurized strut body
Bearing 6, the mobile terminal of institute's displacement sensors 1 are arranged in piston rod 2, institute's displacement sensors 1 and described one end of bar portion 21
Axis hole side wall be tightly connected, the fixing end of institute's displacement sensors 1 is fixed in fulcrum bearing 6.
As a kind of alternative embodiment, institute's displacement sensors 1 pass through fixation kit and the axis hole of described one end of bar portion 21
Side wall is tightly connected, and the fixation kit includes being set in the protection ring set 11 on the outside of institute's displacement sensors, the protection ring
Set 11, which is arranged, to be fixed on the inside of the axis hole, and the protection ring set 11 is locked by bolt with the axis hole and is tightly connected.
It is optional as one kind, its circumferencial direction is provided with bolt seal annular groove, institute on the periphery of the protection ring set 11
State the bolt seal ring 12 for being provided with bolt seal annular groove and being adapted to the bolt seal annular groove, bolt seal annular groove and bolt
Sealing ring can set two groups of formation double sealing structures along the axial spacing of protection ring set 11.Effectively protected by bolt seal ring
Protection ring set 11 and the sealing of axis hole side wall are demonstrate,proved.
Optional as one kind, the outside of the piston 22 is provided with piston seal annular groove, the piston along its circumferencial direction
The piston packing ring 23 being adapted to the piston seal annular groove is provided with closure gasket groove.Piston packing ring 23 ensures that piston can be with
Two start chambers are completely isolated, avoid the connection of hydraulic oil in two chambers；The bar portion of piston rod is also using dual simultaneously
The form of sealing ring, into sealing structure, avoids oil leakage in left oil pocket with the start cylinder-shaped.
As the alternative embodiment of the present invention, the energy resource system can use kerosene medium.
The present embodiment hydraulic servo actuating system, three sets of hydraulic control valve groups are integrated on an integrated valve block, for pair
The pressure and flow of hydraulic actuator two cavity oil liquid are controlled, while monitor the cavity pressure of actuator two, while are detecting
The preferable position by actuator pistons rod lock before zero after pressure of uniting zero.
Hydraulic actuator uses the built-in single asymmetrical lighting design of rod of displacement transducer 1.On piston rod 2
Equipped with displacement transducer 1, piston rod 2 is followed to synchronize motion, and the movement position of piston rod 2 is fed back into SERVO CONTROL
Device, so as to form position-force control and speed control.Temperature sensor 7 is installed on actuator cylinder, can be to start barrel shell
Temperature is monitored.
The present embodiment hydraulic servo actuating system has the advantages that：
Using oil-immersed type displacement transducer-asymmetric cylinder technical scheme, the space of hydraulic actuator is significantly reduced
Size, to meet extremely harsh small zero-bit installation length-big range demands；
Using three road integrated forms " servo valve-sensor " integrated valve block and actuator separate type technical scheme, by pile-up valve
Block is individually arranged, to improve the resistance to elevated temperatures of hydraulic actuation system, meets high-temperature work environment requirement harsh on machine；
The sound state control strategy of asymmetric servo actuator is taken, to ensure the synchronism of three tunnel actuator, is completed same
Step control；
The hydraulic actuation is ensured using media compatibility, the encapsulant of high-low temperature resistant and multiple-sealed structure while is applicable
In a variety of working medias such as kerosene and chilli oil.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (5)
1. a kind of hydraulic servo actuating system, it is characterised in that including monoblock type servo controller, integrated valve block and at least two
Individual hydraulic actuator, wherein, each hydraulic actuator is controlled by one group of hydraulic control valve group, the hydraulic pressure control of each hydraulic actuator
Valve group processed is arranged on the integrated valve block；
Be additionally provided with the integrated valve block energy oil-feed pressure inlet for being connected with system energy and low pressure pressure inlet and
The fuel-displaced pressure inlet of control for being connected with the oil pocket of each hydraulic actuator, wherein energy oil-feed pressure inlet and low pressure pressure inlet
Connected with every group of hydraulic control valve group, the control that every group of hydraulic control valve group is connected with the hydraulic actuator that it is controlled is fuel-displaced
Pressure inlet connects；
The hydraulic actuator includes start cylinder and the piston rod coordinated with the start cylinder, is set on the piston rod
Have a displacement transducer, the hydraulic control valve group and displacement transducer of each hydraulic actuator with the monoblock type servo controller
Be electrically connected to form position feedback closed loop loop, and the monoblock type servo controller converses each piston rod by displacement transducer
Speed, by position feedback closed loop loop, the displacement to each piston rod and speed individually control servo controller respectively, real
The synchronism of action and the uniformity of position of existing each hydraulic actuator；
Temperature sensor is provided with the start cylinder；
The hydraulic actuator is asymmetric hydraulic stem, and the piston area of the hydraulic actuator rear end is more than the work of rod end
Area is filled in, side is provided with fulcrum bearing in the rear end side in the pressurized strut body；
The piston rod is hollow structure, and the mobile section of institute's displacement sensors is arranged on the piston rod inner, the displacement
The fixing end of sensor is arranged on fixed in fulcrum bearing.
2. hydraulic servo actuating system as claimed in claim 1, it is characterised in that the hydraulic control valve group includes setting successively
Servo valve, hydraulic lock and the differential pressure pickup put, wherein, the differential pressure pickup is positioned close to control the one of fuel-displaced pressure inlet
Side.
3. hydraulic servo actuating system as claimed in claim 2, it is characterised in that the piston rod is with start cylinder using double
Resealing structure.
4. hydraulic servo actuating system as claimed in claim 1, it is characterised in that on the start cylinder of the hydraulic actuator
Pressure inlet is provided with, the fuel-displaced pressure inlet of control of pressure inlet hydraulic control valve group connection corresponding with the hydraulic actuator connects
Connect and connect.
5. hydraulic servo actuating system as claimed in claim 2, it is characterised in that three groups of liquid are provided with the integrated valve block
Pressure control valve group, three groups of hydraulic control valve groups have the control passage of three groups of independence and are successively set on a left side for the integrated valve block
End, middle and right-hand member.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610813756.7A CN106438550B (en) | 2016-09-09 | 2016-09-09 | A kind of hydraulic servo actuating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813756.7A CN106438550B (en) | 2016-09-09 | 2016-09-09 | A kind of hydraulic servo actuating system |
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| CN106438550A CN106438550A (en) | 2017-02-22 |
| CN106438550B true CN106438550B (en) | 2018-02-13 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108999827A (en) * | 2018-08-09 | 2018-12-14 | 洛阳市荆山液压元件有限公司 | Multi-way valve for hydraulic pressure elevator of tractor |
| CN114136254B (en) * | 2021-11-01 | 2024-04-09 | 庆安集团有限公司 | Anti-torsion structure of external linear displacement sensor with rotatable actuator piston rod |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201133390Y (en) * | 2007-12-19 | 2008-10-15 | 中国重型机械研究院 | Cylinder valve integrated servo-vibration hydraulic cylinder device |
| CN101608644B (en) * | 2009-03-06 | 2014-02-12 | 上海人豪液压技术有限公司 | Combination hydraulic integrated control valve block system |
| CN201810604U (en) * | 2010-07-02 | 2011-04-27 | 西安华科航空液压有限公司 | Integrated servo actuator |
| DE102012002921A1 (en) * | 2012-02-14 | 2013-08-14 | Liebherr-Aerospace Lindenberg Gmbh | servo valve |
| CN103233932B (en) * | 2013-04-19 | 2015-04-29 | 燕山大学 | High integration hydraulic driving unit structure |
| CN104196784B (en) * | 2014-08-25 | 2016-04-13 | 湖北三江航天红峰控制有限公司 | A kind of cabin section integration electrohydraudic servomechanism |
| CN104295558B (en) * | 2014-10-13 | 2017-02-15 | 山东大学 | Highly integrated hydraulic servo oil cylinder having buffering and overload protection functions |
| CN104401483B (en) * | 2014-11-07 | 2017-03-15 | 北京精密机电控制设备研究所 | A kind of electromechanical servo system |
| CN104698984B (en) * | 2015-02-17 | 2017-10-03 | 北京精密机电控制设备研究所 | The electromechanical servo system of thruster vector control |
| CN104879341B (en) * | 2015-05-08 | 2017-03-08 | 湖北航天技术研究院总体设计所 | A kind of length-adjustable hydraulic servo actuator |
| CN206144886U (en) * | 2016-09-09 | 2017-05-03 | 北京精密机电控制设备研究所 | Servo system of actuating of hydraulic pressure |
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