CN115076174A - Asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system - Google Patents
Asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system Download PDFInfo
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- CN115076174A CN115076174A CN202210855544.0A CN202210855544A CN115076174A CN 115076174 A CN115076174 A CN 115076174A CN 202210855544 A CN202210855544 A CN 202210855544A CN 115076174 A CN115076174 A CN 115076174A
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/40—Transmitting means with power amplification using fluid pressure
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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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
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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
- F15B13/027—Check valves
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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
- 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
- F15B15/088—Characterised by the construction of the motor unit the motor using combined actuation, e.g. electric and fluid actuation
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
- F15B2211/8757—Control measures for coping with failures using redundant components or assemblies
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Abstract
The invention relates to an asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system, which relates to the field of electro-hydraulic control and comprises a single-rod hydraulic cylinder actuating device, an electric cylinder actuating device and an airplane control surface control unit, wherein the single-rod hydraulic cylinder actuating device and the electric cylinder actuating device are connected with an airplane control surface; the single-outlet-rod hydraulic cylinder actuating device comprises an asymmetric hydraulic pump, a single-outlet-rod hydraulic cylinder and a first pressure oil tank, wherein a first oil port of the asymmetric hydraulic pump is connected with a rodless cavity of the single-outlet-rod hydraulic cylinder, a second oil port of the asymmetric hydraulic pump is connected with a rod cavity of the single-outlet-rod hydraulic cylinder, and a third oil port of the asymmetric hydraulic pump is connected with the first pressure oil tank; when the single-rod hydraulic cylinder actuating device is detected to be in fault, the single-rod hydraulic cylinder actuating device is set to be in a bypass state, and the electric cylinder actuating device is used as a driving device of an airplane control surface. The invention improves the energy efficiency of the actuating system and simultaneously reduces the quality of the actuating system.
Description
Technical Field
The invention relates to the technical field of electro-hydraulic control, in particular to an asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system.
Background
The aircraft technology is the centralized embodiment of national comprehensive strength, and the advancement of the aircraft technology has extremely important significance for enhancing the national comprehensive strength, the scientific and technical strength and the international competitiveness. Future military and civil aircraft are developed towards high maneuverability, high reliability and ultra high speed, which puts high demands on the control characteristics, weight and reliability of the aircraft actuation system.
At present, the traditional aircraft still takes the traditional hydraulic actuator powered by a central hydraulic source as a main part, and adopts a servo valve control technology to realize the motion control of the actuator through a throttling effect. Reducing or eliminating a centralized hydraulic system, improving the energy efficiency of the system, and reducing the mass of the actuating system, Electromechanical actuators (EMA), Electro-hydrostatic actuators (EHA), and Integrated actuator devices (IAP) may be used, but these three actuators all have disadvantages: (1) the electromechanical actuators cannot bear heavy load and load impact, so that the electromechanical actuators are only suitable for light load occasions, when a plurality of electromechanical actuators drive one rudder surface at the same time, the bypass function is difficult to realize, and the system has no safety margin; (2) the electro-hydrostatic actuator and the comprehensive actuator device adopt a symmetrical pump closed volume to directly drive a double-output-rod hydraulic cylinder and highly integrate design, so that the actuating system does not have the exchange of external oil and the temperature of the oil rises sharply, the leakage and the failure rate of the system are increased, the aircraft safety is influenced, the hydraulic cylinder is limited by the symmetrical pump to output symmetrical flow, the hydraulic cylinder needs to adopt the double-output-rod hydraulic cylinder, and the quality of the actuating system is difficult to further reduce.
Disclosure of Invention
The invention aims to provide an asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system, which improves the energy efficiency of an actuating system and reduces the quality of the actuating system.
In order to achieve the purpose, the invention provides the following scheme:
an asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system comprises a single-rod hydraulic cylinder actuating device, an electric cylinder actuating device and an airplane control plane control unit, wherein the single-rod hydraulic cylinder actuating device and the electric cylinder actuating device are connected with an airplane control plane; the actuating device of the single-rod hydraulic cylinder comprises an asymmetric hydraulic pump, a single-rod hydraulic cylinder and a first pressure oil tank, wherein a first oil port of the asymmetric hydraulic pump is connected with a rodless cavity of the single-rod hydraulic cylinder, a second oil port of the asymmetric hydraulic pump is connected with a rod cavity of the single-rod hydraulic cylinder, a third oil port of the asymmetric hydraulic pump is connected with the first pressure oil tank, the asymmetric hydraulic pump and the single-rod hydraulic cylinder form a closed hydraulic loop, and the first pressure oil tank is used for realizing oil exchange between the closed hydraulic loop and the first pressure oil tank; the single-rod hydraulic cylinder actuating device is a main driving device of the airplane control plane, the electric cylinder actuating device is a standby driving device of the airplane control plane, and the airplane control plane control unit is used for setting the single-rod hydraulic cylinder actuating device to be in a bypass state when detecting that the single-rod hydraulic cylinder actuating device fails, and taking the electric cylinder actuating device as a driving device of the airplane control plane.
Optionally, the actuating device of the single-rod hydraulic cylinder further comprises a first servo motor, the first servo motor is respectively connected with the aircraft control surface control unit and the asymmetric hydraulic pump, and the first servo motor is used for controlling the running speed and the moving direction of the single-rod hydraulic cylinder according to a control instruction of the aircraft control surface control unit.
Optionally, the single-rod hydraulic cylinder actuating device further comprises a hydraulic circuit oil supplementing and pre-compressing unit, the hydraulic circuit oil supplementing and pre-compressing unit comprises a second servo motor, a one-way pump, a second pressure oil tank, an overflow valve and a hydraulic energy accumulator, an outlet end of the first one-way valve is connected to a pipeline between a first oil port of the asymmetric hydraulic pump and a rodless cavity of the single-rod hydraulic cylinder, an outlet end of the second one-way valve is connected to a pipeline between a second oil port of the asymmetric hydraulic pump and a rod cavity of the single-rod hydraulic cylinder, an inlet end of the first one-way valve and an inlet end of the second one-way valve are both connected to the first oil port of the one-way pump, a second oil port of the one-way pump is connected to the second pressure oil tank, and one end of the overflow valve is connected to the first oil port of the one-way pump, the other end of the overflow valve is connected with the second pressure oil tank, and the hydraulic accumulator is connected with a first oil port of the one-way pump; the second servo motor is respectively connected with the airplane control surface control unit and the one-way pump, and is used for driving the one-way pump to charge oil into the hydraulic accumulator and supplement the oil to the single-rod hydraulic cylinder actuating device.
Optionally, the electric cylinder actuating device includes a third servo motor, a speed reducing mechanism and an electric cylinder which are connected in sequence, the electric cylinder is connected with the airplane control surface mechanical hinge, and the third servo motor is used for controlling the operation speed and the movement direction of the electric cylinder according to the control instruction of the airplane control surface control unit.
Optionally, the third servo motor and the electric cylinder are connected to the speed reduction mechanism through a mechanical shaft, and the speed reduction mechanism adopts a gear reducer or a synchronous belt reducer.
Optionally, the single-rod hydraulic cylinder actuating device further comprises a mode switching valve, a first port of the mode switching valve is connected with a rod cavity of the single-rod hydraulic cylinder, a second port of the mode switching valve is connected with a rodless cavity of the single-rod hydraulic cylinder, and a third port of the mode switching valve is connected with the first pressure oil tank;
when the single-rod hydraulic cylinder actuating device works normally, the mode switching valve is used for cutting off the oil circuit connection between the closed hydraulic circuit and the first pressure oil tank; when the single-rod hydraulic cylinder actuating device fails, the mode switching valve is used for communicating the closed hydraulic circuit with the oil passage of the first pressure oil tank, so that the single-rod hydraulic cylinder is in a bypass state.
Optionally, the electric cylinder actuation device further comprises a first displacement sensor and a first stress strain gauge; the first displacement sensor is used for acquiring displacement signals of the electric cylinder, the first stress strain gauge is used for acquiring stress strain signals of the electric cylinder, and the first displacement sensor and the first stress strain gauge are both connected with the aircraft control surface control unit;
the single-rod hydraulic cylinder actuating device further comprises a first pressure sensor, a second displacement sensor and a second stress strain gauge; the first pressure sensor is used for acquiring a pressure signal of a rodless cavity of the single-outlet-rod hydraulic cylinder, the second pressure sensor is used for acquiring a pressure signal of a rod cavity of the single-outlet-rod hydraulic cylinder, the second displacement sensor is used for acquiring a displacement signal of the single-outlet-rod hydraulic cylinder, and the second stress strain gauge is used for acquiring a stress strain signal of a piston rod of the single-outlet-rod hydraulic cylinder; the first pressure sensor, the second displacement sensor and the second stress strain gauge are all connected with the aircraft control surface control unit.
Optionally, the aircraft control surface control unit comprises a speed displacement composite control module based on load force compensation;
the speed and displacement composite control module based on load force compensation comprises a speed control path, a displacement speed control change-over switch and a first load force compensation amount calculation unit;
the speed control path is used for calculating a speed feedforward quantity according to the set speed of the single-rod hydraulic cylinder, the pressure signal of the rodless cavity of the single-rod hydraulic cylinder and the pressure signal of the rod cavity of the single-rod hydraulic cylinder, and outputting a speed control signal after carrying out speed feedforward and feedback closed-loop calculation according to the set speed of the single-rod hydraulic cylinder, the real speed of the single-rod hydraulic cylinder and the speed feedforward quantity;
the displacement control path is used for outputting a first displacement control signal after displacement feedback closed-loop calculation according to the set displacement and the real displacement of the single-rod hydraulic cylinder; the real displacement of the single-rod hydraulic cylinder is obtained by differential calculation according to the displacement signal of the single-rod hydraulic cylinder;
the first load force compensation quantity calculation unit is used for calculating a first load force compensation quantity signal according to a pressure signal of a rodless cavity of the single-rod hydraulic cylinder, a pressure signal of a rod cavity of the single-rod hydraulic cylinder and a stress strain signal of a piston rod of the single-rod hydraulic cylinder amplified by the amplifier, and the first load force compensation quantity signal is used for superposing the speed control signal and the first displacement control signal to obtain a superposed speed control signal and a superposed first displacement control signal;
the displacement speed control change-over switch is used for selecting the first displacement control signal after superposition to control the single-rod hydraulic cylinder when the first displacement control signal after superposition is within a set displacement range, and selecting the speed control signal after superposition to control the output force of the single-rod hydraulic cylinder when the first displacement control signal after superposition is not within the set displacement range.
Optionally, the aircraft control surface control unit further includes a displacement control module based on load compensation, where the displacement control module based on load compensation is configured to perform displacement feedback closed-loop calculation according to the set displacement and the real displacement of the electric cylinder and then output a second displacement control signal, calculate a second load compensation amount signal according to the stress strain signal of the piston rod of the single-rod hydraulic cylinder amplified by the amplifier and the stress strain signal of the electric cylinder amplified by the amplifier, superimpose the second load compensation amount signal and the second displacement control signal, and control the output force of the electric cylinder by using the superimposed second displacement control signal; and the real displacement of the electric cylinder is obtained by differential calculation according to the displacement signal of the electric cylinder.
Optionally, the hydraulic control system further comprises a fault diagnosis module, wherein the fault diagnosis module is used for sending a mode switching signal when the single-rod hydraulic cylinder actuating device fails; and the mode switching valve enables the single-rod hydraulic cylinder to be in a bypass state according to the mode switching signal.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to an asymmetric pump control single-outlet-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system, which adopts an actuating system consisting of an asymmetric pump closed volume direct-drive single-outlet-rod hydraulic cylinder actuating device and a servo motor drive control electric cylinder actuating device, reduces a centralized hydraulic system, greatly improves the energy efficiency of the actuating system and reduces the quality of the actuating system, introduces a pressure oil tank into a third oil port of an asymmetric pump, reduces the quality of a pump control cylinder system, simultaneously realizes the exchange of oil in the closed hydraulic system and oil in an external oil tank, and is convenient for cooling the oil in the system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to the present invention;
FIG. 2 is a schematic diagram of a speed and displacement composite control module based on load force compensation according to the present invention;
description of the symbols:
1-1, a first servo motor; 1-2, a third servo motor; 16-1, a second servo motor; 2, an asymmetric hydraulic pump; 3, a first pressure oil tank; 16-5, a second pressure oil tank; 4-1, a first one-way valve; 4-2, a second one-way valve; 5-1, a first safety valve; 5-2, a second safety valve; 6, a mode switching valve; 7-1, a first pressure sensor; 7-2, a second pressure sensor; 8, a single-rod hydraulic cylinder; 9, an electric cylinder; 10, a speed reducing mechanism; 11-1, a first driver; 11-2, a second driver; 11-3, a third driver; 12, a three-phase alternating current power supply; 12-1, a first displacement sensor; 12-2, a second displacement sensor; 13-1, a first strain gauge; 13-2, a second stress strain gauge; 14, an aircraft control surface; 15, an airplane control surface control unit; a hydraulic circuit oil supplementing and pre-compacting unit; 16-2, a one-way pump; 16-3, a hydraulic accumulator; 16-4, an overflow valve; and 17, other working devices pump the cylinder control loop.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system, which improves the energy efficiency of an actuating system and reduces the quality of the actuating system.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of an asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system of the present invention, and as shown in fig. 1, the asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system comprises a single-rod hydraulic cylinder actuating device, an electric cylinder actuating device and an aircraft control surface control unit 15, wherein the single-rod hydraulic cylinder actuating device and the electric cylinder actuating device are both connected with an aircraft control surface 14. The single-rod hydraulic cylinder actuating device is a main driving device of the airplane control surface 14, the electric cylinder actuating device is a standby driving device of the airplane control surface 14, and the single-rod hydraulic cylinder actuating device and the standby driving device are connected to the same airplane control surface 14 to drive the control surface to move.
The single-outlet-rod hydraulic cylinder actuating device comprises an asymmetric hydraulic pump 2, a single-outlet-rod hydraulic cylinder 8 and a first pressure oil tank 3, a first oil port of the asymmetric hydraulic pump 2 is connected with a rodless cavity of the single-outlet-rod hydraulic cylinder 8, a second oil port of the asymmetric hydraulic pump 2 is connected with a rod cavity of the single-outlet-rod hydraulic cylinder 8, a third oil port of the asymmetric hydraulic pump 2 is connected with the first pressure oil tank 3, the asymmetric hydraulic pump 2 and the single-outlet-rod hydraulic cylinder 8 form a closed hydraulic loop, and the first pressure oil tank 3 is used for realizing oil exchange between the closed hydraulic loop and the first pressure oil tank 3 and reducing the temperature of oil in a system; the aircraft control surface control unit 15 is configured to set the single-rod hydraulic cylinder actuator to a bypass state when detecting that the single-rod hydraulic cylinder actuator fails, and use the electric cylinder actuator as a driving device for the aircraft control surface 14. The single-rod hydraulic cylinder actuating device further comprises a first servo motor 1-1, the first servo motor 1-1 is respectively connected with the airplane control surface control unit 15 and the asymmetric hydraulic pump 2, and the first servo motor 1-1 is used for controlling the running speed and the moving direction of the single-rod hydraulic cylinder 8 according to a control instruction of the airplane control surface control unit 15. The invention adopts a first servo motor 1-1 to drive a closed volume direct-drive single-rod hydraulic cylinder 8 of an asymmetric hydraulic pump 2.
The mutual redundancy synchronous control system of the asymmetric pump-controlled single-rod hydraulic cylinder and the electric cylinder further comprises a hydraulic loop oil supplementing and pre-compressing unit 16, the single-rod hydraulic cylinder actuating device further comprises a first one-way valve 4-1 and a second one-way valve 4-2, the hydraulic loop oil supplementing and pre-compressing unit 16 comprises a second servo motor 16-1, a one-way pump 16-2, a second pressure oil tank 16-5, an overflow valve 16-4 and a hydraulic energy accumulator 16-3, the outlet end of the first one-way valve 4-1 is connected to a pipeline between a first oil port of the asymmetric hydraulic pump 2 and a rodless cavity of the single-rod hydraulic cylinder 8, the outlet end of the second one-way valve 4-2 is connected to a pipeline between a second oil port of the asymmetric hydraulic pump 2 and a rod cavity of the single-rod hydraulic cylinder 8, and the inlet end of the first one-way valve 4-1 and the inlet end of the second one-way valve 4-2 are both connected to the first oil port of the one-way pump 16-2 A second oil port of the one-way pump 16-2 is connected with a second pressure oil tank 16-5, one end of an overflow valve 16-4 is connected with a first oil port of the one-way pump 16-2, the other end of the overflow valve 16-4 is connected with the second pressure oil tank 16-5, and a hydraulic accumulator 16-3 is connected with a first oil port of the one-way pump 16-2; the second servo motor 16-1 is respectively connected with the airplane control surface control unit 15 and the one-way pump 16-2, and the second servo motor 16-1 is used for driving the one-way pump 16-2 to charge oil into the hydraulic accumulator 16-3, supplementing oil to the single-rod hydraulic cylinder actuating device and the pump control cylinder loop 17 of other working devices, and pre-compacting the non-working cavity of the single-rod hydraulic cylinder 8. The oil supplementing and pre-compression pressure values are set by the overflow valve 16-4. The single-rod hydraulic cylinder actuating device further comprises a first safety valve 5-1 and a second safety valve 5-2.
The outlet ends of two one-way valves are connected with two sides of a closed circuit, and the inlet ends of the two one-way valves are connected with an oil supplementing and pre-compacting unit 16 of the closed hydraulic circuit and used for supplementing oil in the closed hydraulic circuit and pre-compacting a non-working cavity of a single-rod hydraulic cylinder 8; the inlet ends of the two safety valves (the first safety valve 5-1 and the second safety valve 5-2) are connected with two sides of the closed hydraulic circuit, and the outlet ends of the two safety valves are connected with the first pressure oil tank 3 and used for limiting the highest working pressure in the closed hydraulic circuit.
The electric cylinder actuating device comprises a third servo motor 1-2, a speed reducing mechanism 10 and an electric cylinder 9 which are sequentially connected, wherein the electric cylinder 9 is in mechanical hinge connection with an airplane control plane 14, and the third servo motor 1-2 is used for controlling the running speed and the moving direction of the electric cylinder 9 according to a control command of an airplane control plane control unit 15. The third servo motor 1-2 and the electric cylinder 9 are connected to a speed reducing mechanism 10 through a mechanical shaft, and the speed reducing mechanism 10 adopts a gear speed reducer or a synchronous belt speed reducer. The single-rod hydraulic cylinder actuating device further comprises a mode switching valve 6, a first port of the mode switching valve 6 is connected with a rod cavity of the single-rod hydraulic cylinder 8, a second port of the mode switching valve 6 is connected with a rodless cavity of the single-rod hydraulic cylinder 8, and a third port of the mode switching valve 6 is connected with the first pressure oil tank 3; the working position of the mode switching valve 6 is controlled to select whether the single-rod hydraulic cylinder 8 is short-circuited or not, and whether the single-rod hydraulic cylinder actuating device is in a bypass state or not. The aircraft control surface control unit 15 drives the first servo motor 1-1 through the first driver 11-1, drives the third servo motor 1-2 through the second driver 11-2, and drives the second servo motor 16-1 through the third driver 11-3. A three-phase ac power supply 12 provides power to the first driver 11-1, the second driver 11-2 and the third driver 11-3.
When the single-rod hydraulic cylinder actuating device normally works, the mode switching valve 6 works at the left position as shown in fig. 2, and the mode switching valve 6 is used for cutting off the oil circuit connection between the closed hydraulic circuit and the first pressure oil tank 3; when the single-rod hydraulic cylinder actuating device fails, the mode switching valve 6 works at the right position as shown in fig. 2, and the mode switching valve 6 is used for communicating the closed hydraulic circuit with the oil circuit of the first pressure oil tank 3, so that the single-rod hydraulic cylinder 8 is in a bypass state and only moves along with the backup electric cylinder actuating device, and the safety margin of the actuating system is increased.
The electric cylinder actuating device also comprises a first displacement sensor 12-1 and a first stress strain gauge 13-1; the first displacement sensor 12-1 is used for acquiring displacement signals of the electric cylinder 9, the first stress strain gauge 13-1 is used for acquiring stress strain signals of the electric cylinder 9, and the first displacement sensor 12-1 and the first stress strain gauge 13-1 are both connected with the airplane control surface control unit 15. The single-rod hydraulic cylinder actuating device also comprises a first pressure sensor 7-1, a second pressure sensor 7-2, a second displacement sensor 12-2 and a second stress strain gauge 13-2; the first pressure sensor 7-1 is used for acquiring a pressure signal of a rodless cavity of the single-rod hydraulic cylinder 8, the second pressure sensor 7-2 is used for acquiring a pressure signal of a rod cavity of the single-rod hydraulic cylinder 8, the second displacement sensor 12-2 is used for acquiring a displacement signal of the single-rod hydraulic cylinder 8, and the second stress strain gauge 13-2 is used for acquiring a stress strain signal of a piston rod of the single-rod hydraulic cylinder 8; the first pressure sensor 7-1, the second pressure sensor 7-2, the second displacement sensor 12-2 and the second stress strain gauge 13-2 are all connected with an aircraft control surface control unit 15.
According to the invention, the pressure sensor is adopted to detect the flow of the two cavities of the single-rod hydraulic cylinder 8, the displacement sensor is adopted to detect the displacement of the single-rod hydraulic cylinder 8 and the electric cylinder 9, and the stress strain gauge is adopted to detect the stress strain of the hydraulic cylinder piston and the electric cylinder 9, so that a signal is provided for the airplane control surface control unit 15, and the airplane control surface control unit 15 can conveniently adopt a speed-displacement composite control method based on load force compensation to synchronously control the movement of the single-rod hydraulic cylinder 8 and the electric cylinder 9.
As shown in fig. 2, the aircraft control surface control unit 15 includes a speed and displacement composite control module based on load force compensation and a displacement control module based on load force compensation, where the speed and displacement composite control module based on load force compensation is used to control the single-rod hydraulic cylinder actuating device, and the displacement control module based on load force compensation is used to control the electric cylinder actuating device. The speed and displacement composite control module based on load force compensation comprises a speed control path, a displacement speed control change-over switch and a first load force compensation amount calculation unit.
The speed control path is used for calculating speed feedforward quantity according to the set speed of the single-rod hydraulic cylinder 8, the pressure signal of the rodless cavity of the single-rod hydraulic cylinder 8 and the pressure signal of the rod cavity of the single-rod hydraulic cylinder 8, and outputting a speed control signal after speed feedforward and feedback closed-loop calculation is carried out according to the set speed of the single-rod hydraulic cylinder 8, the real speed of the single-rod hydraulic cylinder 8 and the speed feedforward quantity. The displacement control path is used for outputting a first displacement control signal after displacement feedback closed-loop calculation according to the set displacement and the real displacement of the single-rod hydraulic cylinder 8; the actual displacement of the single-rod hydraulic cylinder 8 is obtained by differential calculation according to the displacement signal of the single-rod hydraulic cylinder 8.
As shown in figure 2, in the speed control path of the single-rod hydraulic cylinder 8 system, a differential solver I is used for inputting a set displacement signalx s Differential calculation is performed to obtain the set speed of the single-rod hydraulic cylinder 8v s (ii) a The single-rod hydraulic cylinder 8 actual displacement signal obtained by collection is subjected to differential solver IIx a Differential calculation is carried out to obtain the actual running speed of the single-rod hydraulic cylinder 8 through solutionv a (ii) a Velocity of the windThe feedforward quantity calculation module acquires the set speed of the single-rod hydraulic cylinder 8v s Actual rodless chamber pressurep A (pressure signal collected by the first pressure sensor 7-1) and the rod cavity pressurep B (pressure signal collected by the second pressure sensor 7-2), and calculating to obtain speed feedforward quantityv f (ii) a The speed controller collects the set speed of the single-rod hydraulic cylinder 8v s Actual running speed obtained by feedbackv a And the calculated velocity feedforward quantityv f Outputting a first speed control signal after performing speed feedforward and feedback closed-loop calculationu v I.e. according to speed feed-forward quantityv f Speed feed-forward is carried out according to actual running speedv a And carrying out speed feedback.
In a displacement control path of a single-rod hydraulic cylinder 8 system, a set displacement signal is acquired through a displacement controller Ix s And the actual displacement signal of the single-rod hydraulic cylinder 8x a Outputting a first displacement control signal after displacement feedback closed-loop calculationu x . The first load force compensation amount calculation unit is used for calculating the stress strain signal of the piston rod of the single-rod hydraulic cylinder 8 according to the pressure signal of the rodless cavity of the single-rod hydraulic cylinder 8 (the pressure signal acquired by the first pressure sensor 7-1), the pressure signal of the rod cavity of the single-rod hydraulic cylinder 8 (the pressure signal acquired by the second pressure sensor 7-2) and the stress strain signal amplified by the amplifier
Calculating a first load compensation signalu hf And the first load force compensation quantity signal is used for superposing the speed control signal and the first displacement control signal to obtain a superposed speed control signal and a superposed first displacement control signal.
The single-rod hydraulic cylinder 8 mainly adopts speed closed-loop control in the motion process.
The displacement speed control conversion is used for acquiring a speed control signal and a displacement control signal of the single-rod hydraulic cylinder 8, and has the functions of switching speed control and displacement control, and the switching state is compared and selected according to the self set displacement range and the signal of the displacement controller I: in the dynamic operation process of the single-rod hydraulic cylinder 8, the displacement speed control change-over switch selects speed control, and when the displacement control signal output by the displacement controller I is within the set displacement range of the displacement speed control change-over switch, closed-loop displacement control is selected to achieve the purpose that the single-rod hydraulic cylinder 8 can quickly and stably reach a target set position.
The displacement speed control change-over switch is used for selecting the first displacement control signal after superposition to control the single-rod hydraulic cylinder 8 when the first displacement control signal after superposition is within the set displacement range, and selecting the speed control signal after superposition to control the output force of the single-rod hydraulic cylinder 8 when the first displacement control signal after superposition is not within the set displacement range.
As shown in fig. 2, the load force compensation amount calculation module i (first load force compensation amount calculation unit) calculates and outputs a load force compensation amount signal by acquiring pressure signals of a rod cavity and a rodless cavity of the single-rod hydraulic cylinder 8 and an amplified stress strain signal of a piston rod of the single-rod hydraulic cylinder 8, and the obtained load force compensation amount is superposed with a speed control signal output by the speed controller and a displacement control signal output by the displacement controller i, so that when the single-rod hydraulic cylinder 8 is controlled, an external load is balanced, external disturbance is suppressed, and higher control performance is obtained.
The speed displacement composite control module based on load force compensation comprises a strain signal amplifier I which is used for amplifying a tiny stress signal generated by a stress strain gauge on the single-rod hydraulic cylinder 8, so that the stress strain signal can be utilized.
The displacement control module based on load force compensation is used for carrying out displacement feedback closed-loop calculation according to the set displacement and the real displacement of the electric cylinder 9 and then outputting a second displacement control signal, calculating a second load force compensation quantity signal according to the stress strain signal of the piston rod of the single-rod hydraulic cylinder 8 amplified by the amplifier and the stress strain signal of the electric cylinder 9 amplified by the amplifier, superposing the second load force compensation quantity signal and the second displacement control signal, and controlling the output force of the electric cylinder 9 by adopting the superposed second displacement control signal; the actual displacement of the electric cylinder 9 is obtained by differential calculation from the displacement signal of the electric cylinder 9.
As shown in fig. 2, the displacement control module based on load force compensation comprises a displacement controller ii, a strain signal amplifier ii and a load force compensation amount calculation module ii. The displacement controller II is used for acquiring displacement signals set by the electric cylinder 9x s And the actual displacement signal of the electric cylinder 9x e Outputting displacement control signal after displacement feedback closed-loop calculationx c (second displacement control signal) to control the electric cylinder 9 to accurately reach the set target position. The strain signal amplifier ii is used for amplifying a minute stress signal generated by the stress strain gauge on the electric cylinder 9, so that the stress strain signal can be utilized. The load force compensation quantity calculation module II acquires the amplified stress-strain signal of the piston rod of the single-rod hydraulic cylinder 8 and the amplified stress-strain signal of the electric cylinder 9 by the strain signal amplifier II
Calculating and outputting load force compensation quantity signalu ef And the displacement control signal is superposed with the displacement control signal output by the displacement controller II and is used for controlling the output force of the electric cylinder 9, so that the output force of the electric cylinder 9 is the same as the output force of the hydraulic cylinder, and the force fighting when the electric cylinder 9 and the hydraulic cylinder drive the same airplane control surface 14 is inhibited. The speed and displacement composite control module based on load force compensation further comprises a fault diagnosis module, and the fault diagnosis module is used for sending a mode switching signal when the single-rod hydraulic cylinder actuating device fails; the mode switching valve 6 enables the single-rod hydraulic cylinder 8 to be in a bypass state according to the mode switching signal, so that the purpose of short-circuiting the single-rod hydraulic cylinder 8 is achieved, and an actuation system of the airplane has safety margin.
The invention relates to an asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system, which comprises a hydraulic cylinder actuating device used as a main driving device and an electric cylinder actuating device used as a backup driving device. The hydraulic cylinder actuating device adopts an asymmetric hydraulic pump closed volume direct-drive single-rod hydraulic cylinder, and realizes oil exchange between a closed hydraulic circuit and an external oil tank by using a third oil port of the asymmetric pump; the electric cylinder actuating device adopts a servo motor to drive the electric cylinder through a speed reducing unit; in addition, pressure sensors, displacement sensors and stress strain gauges are respectively adopted to detect the pressure of two cavities of the single-rod hydraulic cylinder, the displacement and stress strain of the hydraulic cylinder and the electric cylinder, and after the signals are collected and calculated by an airplane control surface control unit, speed-displacement composite control based on load force compensation is carried out on the hydraulic cylinder actuating device, and displacement composite control based on load force compensation is carried out on the electric cylinder device. When the hydraulic cylinder actuating device breaks down, the station of the mode switching valve can be controlled to be in a bypass state. The invention is different from the traditional hydraulic actuator which is used on the existing airplane and provides power by a centralized hydraulic source, adopts the asymmetric pump closed volume direct-drive single-rod hydraulic cylinder actuating device and the servo motor to drive and control the electric cylinder actuating device, can reduce the centralized hydraulic system, greatly improves the energy efficiency of the actuating system and reduces the quality of the actuating system; meanwhile, the system is different from an electro-hydrostatic actuator (EHA) and an integrated actuator device (IAP), an asymmetric pump control single-rod hydraulic cylinder system is adopted to replace a symmetric pump closed volume direct-drive double-rod hydraulic cylinder system, a pressure oil tank is introduced into a third oil port of an asymmetric pump, the quality of the pump control cylinder system is reduced, meanwhile, the exchange of oil in a closed hydraulic system and oil in an external oil tank is realized, and the cooling of the oil in the system is facilitated; in addition, the speed-displacement composite control method based on load force compensation can enable the actuation system to better balance loads, inhibit external disturbance and force dispute when two cylinders drive the same airplane rudder face, and improve the reliability of the flight control system.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An asymmetric pump control single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system is characterized by comprising a single-rod hydraulic cylinder actuating device, an electric cylinder actuating device and an airplane control plane control unit, wherein the single-rod hydraulic cylinder actuating device and the electric cylinder actuating device are connected with an airplane control plane; the single-outlet-rod hydraulic cylinder actuating device comprises an asymmetric hydraulic pump, a single-outlet-rod hydraulic cylinder and a first pressure oil tank, wherein a first oil port of the asymmetric hydraulic pump is connected with a rodless cavity of the single-outlet-rod hydraulic cylinder, a second oil port of the asymmetric hydraulic pump is connected with a rod cavity of the single-outlet-rod hydraulic cylinder, a third oil port of the asymmetric hydraulic pump is connected with the first pressure oil tank, the asymmetric hydraulic pump and the single-outlet-rod hydraulic cylinder form a closed hydraulic loop, and the first pressure oil tank is used for realizing oil exchange between the closed hydraulic loop and the first pressure oil tank; the single-rod hydraulic cylinder actuating device is a main driving device of the airplane control surface, the electric cylinder actuating device is a standby driving device of the airplane control surface, and the airplane control surface control unit is used for setting the single-rod hydraulic cylinder actuating device to be in a bypass state when detecting that the single-rod hydraulic cylinder actuating device breaks down, and taking the electric cylinder actuating device as a driving device of the airplane control surface.
2. The asymmetric pump-controlled single-outlet-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 1, wherein the single-outlet-rod hydraulic cylinder actuating device further comprises a first servo motor, the first servo motor is respectively connected with the aircraft control surface control unit and the asymmetric hydraulic pump, and the first servo motor is used for controlling the running speed and the moving direction of the single-outlet-rod hydraulic cylinder according to a control command of the aircraft control surface control unit.
3. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 1, further comprising a hydraulic circuit oil supplementing and pre-compressing unit, wherein the single-rod hydraulic cylinder actuating device further comprises a first check valve and a second check valve, the hydraulic circuit oil supplementing and pre-compressing unit comprises a second servo motor, a check pump, a second pressure oil tank, an overflow valve and a hydraulic accumulator, an outlet end of the first check valve is connected to a pipeline between a first oil port of the asymmetric hydraulic pump and a rodless cavity of the single-rod hydraulic cylinder, an outlet end of the second check valve is connected to a pipeline between a second oil port of the asymmetric hydraulic pump and a rod cavity of the single-rod hydraulic cylinder, an inlet end of the first check valve and an inlet end of the second check valve are both connected to the first oil port of the check pump, a second oil port of the one-way pump is connected with the second pressure oil tank, one end of the overflow valve is connected with a first oil port of the one-way pump, the other end of the overflow valve is connected with the second pressure oil tank, and the hydraulic accumulator is connected with the first oil port of the one-way pump; the second servo motor is respectively connected with the airplane control surface control unit and the one-way pump, and is used for driving the one-way pump to charge oil into the hydraulic accumulator and supplement the oil to the single-rod hydraulic cylinder actuating device.
4. The asymmetric pump control single-outlet-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system as claimed in claim 1, wherein the electric cylinder actuator comprises a third servo motor, a speed reducing mechanism and an electric cylinder which are connected in sequence, the electric cylinder is mechanically hinged with the aircraft control surface, and the third servo motor is used for controlling the operation speed and the movement direction of the electric cylinder according to the control instruction of the aircraft control surface control unit.
5. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system as claimed in claim 4, wherein the third servo motor and the electric cylinder are connected to the speed reduction mechanism through a mechanical shaft, and the speed reduction mechanism adopts a gear reducer or a synchronous belt reducer.
6. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 1, wherein the single-rod hydraulic cylinder actuating device further comprises a mode switching valve, a first port of the mode switching valve is connected with the rod cavity of the single-rod hydraulic cylinder, a second port of the mode switching valve is connected with the rodless cavity of the single-rod hydraulic cylinder, and a third port of the mode switching valve is connected with the first pressure oil tank;
when the single-rod hydraulic cylinder actuating device works normally, the mode switching valve is used for cutting off the oil circuit connection between the closed hydraulic circuit and the first pressure oil tank; when the single-rod hydraulic cylinder actuating device fails, the mode switching valve is used for communicating the closed hydraulic circuit with the oil passage of the first pressure oil tank, so that the single-rod hydraulic cylinder is in a bypass state.
7. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 4, wherein the electric cylinder actuator further comprises a first displacement sensor and a first stress strain gauge; the first displacement sensor is used for acquiring displacement signals of the electric cylinder, the first stress strain gauge is used for acquiring stress strain signals of the electric cylinder, and the first displacement sensor and the first stress strain gauge are both connected with the aircraft control surface control unit;
the single-rod hydraulic cylinder actuating device further comprises a first pressure sensor, a second displacement sensor and a second stress strain gauge; the first pressure sensor is used for acquiring a pressure signal of a rodless cavity of the single-outlet-rod hydraulic cylinder, the second pressure sensor is used for acquiring a pressure signal of a rod cavity of the single-outlet-rod hydraulic cylinder, the second displacement sensor is used for acquiring a displacement signal of the single-outlet-rod hydraulic cylinder, and the second stress strain gauge is used for acquiring a stress strain signal of a piston rod of the single-outlet-rod hydraulic cylinder; the first pressure sensor, the second displacement sensor and the second stress strain gauge are all connected with the aircraft control surface control unit.
8. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 7, wherein the aircraft control surface control unit comprises a speed displacement composite control module based on load force compensation;
the speed and displacement composite control module based on load force compensation comprises a speed control path, a displacement speed control change-over switch and a first load force compensation amount calculation unit;
the speed control path is used for calculating a speed feedforward quantity according to the set speed of the single-rod hydraulic cylinder, the pressure signal of the rodless cavity of the single-rod hydraulic cylinder and the pressure signal of the rod cavity of the single-rod hydraulic cylinder, and outputting a speed control signal after carrying out speed feedforward and feedback closed-loop calculation according to the set speed of the single-rod hydraulic cylinder, the real speed of the single-rod hydraulic cylinder and the speed feedforward quantity;
the displacement control path is used for outputting a first displacement control signal after displacement feedback closed-loop calculation according to the set displacement and the real displacement of the single-rod hydraulic cylinder; the real displacement of the single-rod hydraulic cylinder is obtained by differential calculation according to the displacement signal of the single-rod hydraulic cylinder;
the first load force compensation quantity calculation unit is used for calculating a first load force compensation quantity signal according to a pressure signal of a rodless cavity of the single-rod hydraulic cylinder, a pressure signal of a rod cavity of the single-rod hydraulic cylinder and a stress strain signal of a piston rod of the single-rod hydraulic cylinder amplified by the amplifier, and the first load force compensation quantity signal is used for superposing the speed control signal and the first displacement control signal to obtain a superposed speed control signal and a superposed first displacement control signal;
the displacement speed control change-over switch is used for selecting the first displacement control signal after superposition to control the single-rod hydraulic cylinder when the first displacement control signal after superposition is within a set displacement range, and selecting the speed control signal after superposition to control the output force of the single-rod hydraulic cylinder when the first displacement control signal after superposition is not within the set displacement range.
9. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 7, wherein the aircraft control surface control unit further comprises a displacement control module based on load force compensation, the displacement control module based on load force compensation is used for performing displacement feedback closed-loop calculation according to the set displacement and the real displacement of the electric cylinder and then outputting a second displacement control signal, calculating a second load force compensation quantity signal according to the stress strain signal of the single-rod hydraulic cylinder piston rod amplified by the amplifier and the stress strain signal of the electric cylinder amplified by the amplifier, superposing the second load force compensation quantity signal and the second displacement control signal, and controlling the output force of the electric cylinder by adopting the superposed second displacement control signal; and the real displacement of the electric cylinder is obtained by differential calculation according to the displacement signal of the electric cylinder.
10. The asymmetric pump-controlled single-rod hydraulic cylinder-electric cylinder mutual redundancy synchronous control system according to claim 6, further comprising a fault diagnosis module, wherein the fault diagnosis module is configured to send a mode switching signal when the single-rod hydraulic cylinder actuating device fails; and the mode switching valve enables the single-rod hydraulic cylinder to be in a bypass state according to the mode switching signal.
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