1352045 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種液壓控制系統，特別是一種船舶 運輸裝置用以驅動穩定翼之液愿控制系統及利用其系統調 整穩定翼位置之方法。 【先前技術】 有鑑於近來能源價格高漲，許多依靠能源運作之機械 設備的能源成本也相繼提高，大多均朝向提升機械設備的 系統效能進行設計發展，試圖有效地提高能源之使用效 率以防止無效用油的浪費。傳統的船舶之穩定翼驅動裝 置多採用閥控液壓系統，閥控液壓系統包括電動機、液壓 泵、伺服閥及油壓缸，藉由控制此油壓缸内之工作用油（即 液壓油）’使得船舶於風浪中航行時，帶動穩定翼驅動裝置 作動’以發揮穩定翼抗橫搖的功用。 雖然閥控液壓系統可快速地對穩定翼驅動裝置之需求 進行反應，以迅速轉動穩定翼到達適當位置。然而，由於 液壓泵會固定地提供工作用油之液壓能量，而伺服閥會控 制工作用油之液壓流量，若伺服閥之閥口没有運作時，工 作用油會回流油箱，可能將所耗費的無效用油轉成熱量， 進而導致油溫上升，而且當液壓閥之閥口有阻流作用時， 也會產生高溫。如此一來，閥控液壓系統必須搭配冷卻器 與較大體積之油箱以協助降溫，如此，便無法改善伺服閥 控系統的重量及體積。 1352045 另外，當工作用油之油溫上升時，可能導致油質劣化， 如此’當工作用油被帶回油箱之際，其油質劣化所產生之 雜質將-併被帶回油箱中，造成油箱中之工作用油受到污 染，則可能阻塞伺服閥，如此，必須耗費許多人力進行曰 常維護保養。 如此，若能提供一種液壓控制系統的設計，既可快速 反f穩定翼轉動之角度，又可穩定卫作用油之油溫，避免 油箱内工作用油之污染’進而可省略冷卻器、過濾器或較 大體積油箱之需求，以精簡伺服閥控系統的重量及體積， 即成為虽待解決之一重要課題。 【發明内容】 本發明提供一種船舶運輸裝置之液壓控制系統，以依 據船舶穩定翼驅動裝置之負載需求，而提供適當需求之能 量以提高能源使用效率，以減低無效能量的損耗。 本發明之船舶運輸裝置之液壓控制系統，另可控制油 溫的攀升，進而可省略過濾器、冷卻器或較大體積油箱之 需求。 本發明姑舶運輸裝置之液壓控制系統，用以驅動船拍 運輸裝置之一穩定翼擺動。此系統包括一飼服電動機單 元、一致動模組、一可變速油泵模組及一電動機控制單元。 伺服電動機單元為可變工作轉速及轉向。電動機控制單元 連接伺服電動機單元，並依據船舶運輸裝置航行時所持續 發出之控制命令，持續調整伺服電動機單元之工作轉速及 6 1352045 轉向可變速&泵模組分别連接致動模組及飼服電動機單 元’並依擄伺服電動機單元持續調整之不同工作轉速，分 別提供不同㈣量之液㈣油至致動模組，以供致動模組 持續地使穩定翼擺動，平衡船舶運輸裝置之航行。 另外’電動機控制單元更包括一感應單元，感應單元 連接致動模組及電動機控制單元，並於穩定翼擺動時，持 續提供電動機控制單元修正敎翼擺動之所傳回之迴授信BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a hydraulic control system, and more particularly to a marine transportation device for driving a liquid wing control system for stabilizing a wing and a method for adjusting the position of the stabilizer wing using the system. [Prior Art] In view of the recent high energy prices, the energy costs of many mechanical equipment that rely on energy operation have also increased. Most of them are designed and developed to improve the system efficiency of mechanical equipment, trying to effectively improve the efficiency of energy use to prevent ineffective use. Waste of oil. The traditional stable wing drive of the ship adopts a valve-controlled hydraulic system. The valve-controlled hydraulic system includes an electric motor, a hydraulic pump, a servo valve and a hydraulic cylinder, by controlling the working oil (ie hydraulic oil) in the hydraulic cylinder. When the ship is sailing in the wind and waves, the stable wing drive device is actuated to exert the function of stabilizing the wing against the roll. While the valve-controlled hydraulic system reacts quickly to the need for a stabilizer wing drive to quickly rotate the stabilizer to the proper position. However, since the hydraulic pump will fixedly supply the hydraulic energy of the working oil, and the servo valve will control the hydraulic flow of the working oil, if the valve port of the servo valve is not operated, the working oil will return to the fuel tank, which may cost Ineffective oil is converted into heat, which in turn causes the oil temperature to rise, and when the valve port of the hydraulic valve has a flow blocking effect, high temperature is also generated. As a result, the valve-controlled hydraulic system must be equipped with a cooler and a larger tank to assist in cooling, thus reducing the weight and volume of the servo-valve control system. 1352045 In addition, when the oil temperature of the working oil rises, the oil quality may deteriorate, so when the working oil is brought back to the tank, the impurities generated by the deterioration of the oil quality will be brought back to the tank, resulting in If the working oil in the fuel tank is contaminated, the servo valve may be blocked. Therefore, it takes a lot of manpower to perform maintenance. In this way, if a design of the hydraulic control system can be provided, the angle of the rotation of the wing can be quickly reversed, and the oil temperature of the oil can be stabilized, and the pollution of the working oil in the fuel tank can be avoided, and the cooler and the filter can be omitted. The need for a larger volume tank to streamline the weight and volume of the servo valve control system has become an important issue to be solved. SUMMARY OF THE INVENTION The present invention provides a hydraulic control system for a ship transport device that provides an appropriately required amount of energy to increase energy use efficiency in accordance with the load requirements of the ship's stabilizing wing drive to reduce the loss of reactive energy. The hydraulic control system of the ship transport device of the present invention can also control the rise of the oil temperature, thereby omitting the need for a filter, a cooler or a larger volume tank. The hydraulic control system of the autonomous transport device of the present invention is used to drive a stable wing swing of a ship-racing transport device. The system includes a feeding motor unit, an actuating module, a variable speed oil pump module, and a motor control unit. The servo motor unit is variable operating speed and steering. The motor control unit is connected to the servo motor unit, and continuously adjusts the working speed of the servo motor unit according to the control command continuously issued during the navigation of the ship transport device, and the 6 1352045 steering variable speed & pump module is respectively connected to the actuation module and the feeding device. The motor unit 'depends on the different operating speeds continuously adjusted by the servo motor unit, respectively providing different (four) amounts of liquid (four) oil to the actuation module for the actuation module to continuously swing the stability wing to balance the navigation of the ship transport device . In addition, the motor control unit further comprises a sensing unit, the sensing unit is connected to the actuation module and the motor control unit, and when the stabilizer is swung, the motor control unit is continuously provided to correct the return of the flap.
號’使得電動機控制單元另可依據迴授信號持續調整飼服 電動機單元之工作轉速及轉向。 、本發明更提供一種調整穩定翼位置之方法，適用於上 述之液壓控制系統，方法包括接收一第—訊息，其中第一 訊息包含要求穩定翼擺動至—第—擺動角度。依據第―訊 息調整-餘電動機單元之工作轉速及轉向。依據飼服電 動機單S之作轉速，提供—液壓量之液㈣油至一致動 模組’以驅動此穩定翼擺動。 當此穩定翼擺動後，取得一第二訊息，其中該第二訊 息包含該穩定翼實際擺動之一第二移動角度。當判斷第L 擺動角度與第二擺動角度不同時，依據第一移動角度與第 二移動角度之差異，再調整伺服電動機單元之工作轉速及 轉向，依據該伺服電動機單元之該工作轉速及轉向，提供 另一液壓量之液壓用油至致動模組，再驅動穩定翼擺動了 直到第一移動角度與第二移動角度相同為止。 如此’本發明藉由伺服電動機單元及可變速油聚模組 準確地提供液壓用油，故而省略液壓用油回流之需要。同 7 1352045 2 ’藉由舰電動機單元及可變轉速油泵模组本發明使 得穩定翼可快速地擺動至預定之位置，以快速反應穩定翼 之修正需求，進而提供船舶達到保持平穩狀態。 【實施方式】 以下將以圖示及詳細說明清楚說明本發明之精神，如 赛’、悉此技術之人員在瞭解本發明之實施例後，當可由本發 明所教示之技術，加以改變及修飾，其並不脫離本發明之 精神與範圍。 本發明提供一種船舶運輸裝置之液壓控制系統以及利 用此系統進行調整穩定翼位置之方法。請參閱第丨圖所 不，第1圖係本發明船舶運輸裝置之液壓控制系統之電子 方塊圖。船舶運輸裝置之液壓控制系統丨用以驅動船舶運 輸裝置之一穩定翼50擺動。此系統至少具有一電動機控制 單元10、一伺服電動機單元20、一可變速油泵模組3〇及 一致動模組40。本發明主要是利用伺服電動機單元2〇 (servo motor)具可變工作轉速及轉向之特性，而控制可 變速油泵模組30提供對應之液壓動力到致動模組4〇，使 得致動模組40得以驅動一穩定翼50進行預設之擺動，進 而快速協助船舶運輸裝置於航行時達到平衡。 更進一步地說明，本發明之電動機控制單元1〇連接伺 服電動機單元20’可即時調整此伺服電動機單元2〇之工 作轉速及轉向。可變速油泵模組30分別連接致動模組4〇 及伺服電動機單元20，並依據伺服電動機單元2〇之工作 1352045 轉速及轉向，分別引導液壓用油之不同液壓量至致動模组 40中，使得致動模組40所連接之穩定翼5〇可因此而進行 不同方向之擺動。No. 'The motor control unit can continuously adjust the working speed and steering of the feeding motor unit according to the feedback signal. The present invention further provides a method of adjusting the position of a stabilizer wing, which is applicable to the above-described hydraulic control system, the method comprising receiving a first message, wherein the first message comprises requiring the stabilizer to swing to a -th swing angle. According to the first information adjustment - the operating speed and steering of the residual motor unit. According to the rotation speed of the feeding machine S, a hydraulic quantity (4) oil is supplied to the actuator module to drive the stabilizer to swing. When the stabilizing wing is swung, a second message is obtained, wherein the second message includes a second moving angle of the actual swing of the stabilizing wing. When it is determined that the Lth swing angle is different from the second swing angle, the operating speed and the steering of the servo motor unit are further adjusted according to the difference between the first moving angle and the second moving angle, according to the working speed and the steering of the servo motor unit. Another hydraulic amount of hydraulic oil is supplied to the actuation module, and the drive stabilizer is swung until the first movement angle is the same as the second movement angle. Thus, the present invention accurately supplies hydraulic oil by the servo motor unit and the variable speed oil collecting module, so that the need for hydraulic oil returning is omitted. The same as 7 1352045 2 ' by the ship motor unit and the variable speed oil pump module, the present invention enables the stabilizer to quickly swing to a predetermined position to quickly respond to the correction requirements of the stabilizer, thereby providing the ship to maintain a stable state. BRIEF DESCRIPTION OF THE DRAWINGS The spirit and scope of the present invention will be apparent from the following description of the embodiments of the present invention, which may be modified and modified by the teachings of the present invention. It does not depart from the spirit and scope of the invention. The present invention provides a hydraulic control system for a marine transport device and a method for adjusting the position of a stabilizer wing using the system. Referring to the drawings, Fig. 1 is an electronic block diagram of a hydraulic control system for a ship transport device of the present invention. The hydraulic control system of the ship transport device is used to drive the stabilizing wing 50 of the ship transport device to oscillate. The system has at least one motor control unit 10, a servo motor unit 20, a variable speed oil pump module 3A, and an actuating module 40. The invention mainly utilizes a servo motor unit (servo motor) with variable working speed and steering characteristics, and controls the variable speed oil pump module 30 to provide corresponding hydraulic power to the actuation module 4〇, so that the actuation module 40 is able to drive a stabilizing wing 50 to perform a predetermined swing, thereby quickly assisting the ship transport device to achieve balance during navigation. Further, the motor control unit 1 of the present invention is connected to the servo motor unit 20' to instantly adjust the operating speed and steering of the servo motor unit 2''. The variable speed oil pump module 30 is respectively connected to the actuation module 4〇 and the servo motor unit 20, and respectively guides different hydraulic quantities of the hydraulic oil to the actuation module 40 according to the working speed and steering of the servo motor unit 2〇1352045 Therefore, the stabilizing blades 5 connected to the actuation module 40 can be oscillated in different directions.
如此，當穩定翼50之負載需求較高，則伺服電動機單 元20加大工作轉速，加大液壓以提供穩定翼5〇較大之擺 動幅度；反之，當穩定翼50之負載需求較低，則伺服電動 機單元20減缓工作轉速，降低液壓以提供穩定翼5〇較小 之擺動幅度，如此本發明便可準確地提供適當需求之液壓 量，以提高能源使用效率，以減低無效能量的損耗。同時， 另可控制油溫的攀升，進而可降低安裝過濾器、冷卻器或 較大體積油箱31之需求。Thus, when the load demand of the stabilizer 50 is high, the servo motor unit 20 increases the operating speed, and increases the hydraulic pressure to provide a larger swing amplitude of the stabilizer wing 5; conversely, when the load demand of the stabilizer 50 is low, The servo motor unit 20 slows down the operating speed and lowers the hydraulic pressure to provide a smaller swinging amplitude of the stabilizing wing 5, so that the present invention can accurately provide the hydraulic quantity of the proper demand to improve the energy use efficiency and reduce the loss of the ineffective energy. At the same time, the oil temperature can be controlled to rise, which in turn reduces the need to install filters, coolers or larger volume tanks 31.
本發明之一較佳實施例中，請參閱第丨圖及第2圖所 示，第2圖係纟發明船舶職裝置之液壓控制系統於較佳 實施例之示意圖。致動模組40包括第一液壓缸41、第二 液壓缸42及穩定翼致動單元43,穩定翼致動單元43之一 側之兩端分別連接第-液壓缸41及第二液壓缸42，而另 側則連接上述之穩定翼50，如此，當第—液壓缸41之一 推桿川被推出時，穩定翼致動單元43即帶動穩定翼5〇 朝一第一方向擺動。反之，當第二液壓缸42之一推桿421 被推出時，穩定翼致動單元43即帶動穩 方向進行擺動。其中第二方向與第-方向之方向1反 可變速油泵模組30包括一用以儲存液壓用油之油箱 3卜-連接上述第-液壓缸41之第一油路32及一連接上 述第二液壓缸42之第二油路33。當可變速油果模組廳 9 由油箱31、第一油路32而、玄山 为蔽今 而达出一液壓量之液壓用油至第 :=41時'第-…便依據此液壓用油之液ί :推r推桿42]’以帶動穩定翼-朝對應方向擺動彳 之’虽可變速油泵模組3〇經由 七爾 丄由'由耘31、第二油路33送出 一液壓1之液壓用油至第-饬 蒱分访 主弟一液壓缸42時，第二液壓缸42 便依據此液壓用油之液壓詈抬 » A 成歷里推出其推桿421，以帶動穩定 翼50朝對應方向擺動。 其中可變速油栗模組3〇依據飼服電動機單力2〇之轉 向（如.正時針或逆時針）決定送出液愿用油至第一油路 32或第二油路33，換言之，可變速油泵模組30無法由油 知3!同時送出液壓用油至第一油路32及第二油路& 另外，可變速油泵模組3〇更包括第一釋壓閥32ι及第 二釋壓間331 ’第一釋壓閥321設於第一油路32上，而第 二釋壓閥331設於第二油路33±，減，第一釋壓間32ι 及第二釋屋閥3 3 1可分別於對應之第一油路3 2或第二油路 33中之壓力過大時，釋放出過多之壓力。 電動機控制單元1〇更包括一感應單元8〇。感應單元 8〇連接致動模組40及電動機控制單元1〇0感應單元8〇 例如為一可變電阻，並於每次穩定翼5〇擺動後，會持續提 供一迴授信號，此迴授信號包含有穩定翼5〇之實際擺動角 度’可提供電動機控制單元1〇修正該穩定翼5〇擺動至預 定位置之依據。 此較佳實施例中’船舶運輸裝置更包括一控制模組60 及一橫搖角感測器70。橫搖角感測器7〇可於船舶運輸裝 1352045 置於航行而橫移時， 船舶橫搖角度資訊/即時取件船舶運輸裝置目前運動之 妓备Γ制核且60分別連接上述之電動機控制單元10及橫 舶橫搖角度資叫控㈣_7G取得船 徑制杈組60便依據此船舶橫搖負卢眘 :翼7〇刀析广十昇，以求出船舶運輸裝置為達平衡，其穩 因應之穩定翼50擺動角度資訊(例如正N度 或負Μ度）。 & 由於橫搖角感測器70所取# 所取侍船舶秘搖角度資訊屬於 == 控制模組6〇需將船舶橫搖角度資訊轉換 =1:!，待分析與計算步驟完成時，再將穩定翼5。 2角度貝訊轉成一屬類比電麼信號之控制命令，此控制 :令可供電動機控制單元10得知預定穩定翼5〇擺動之轉 動方向及轉動角度，以便電動機拎 制車7010立即調整飼服 ^機早U0之工作轉速及轉向。然而，控制模組6〇依 據此船舶橫搖角度資訊進行分析與計算之步驟可參考我國 發明專利第241973號。故，便不再於本說明書中加以賛述。 請參閱第3圖所示，第3圖係本發明調整穩定翼位置 之方法於較佳實施例之流程圖。當控制模組6〇於此實施例 中完成分析與計算之步驟後，而輸出—上述之控制命令 時’電動機控制單元10便依下列步驟進行： 步驟（301)接收控制模組60之一第—訊息（即控制 命令）： 每當橫搖角感測器70感測到，橫搖角度資訊 卩對船耗搖角度資錢行分析及計 :包括：龙由控制命令至電動機控制單元10，其中控制命 擺動-第-擺動角度。 方向、第二方向其中之-且 向 '(〇2 )調整词服電動機單元20之工作轉速及轉 佑播批：：中電動機控制單元10接收此控制命令時’便 :據控制命令’調整飼服電動機單元2。之工作轉速及轉 =使？服電動機單元2〇依據一種工作轉速及一種轉向 (如正時針或逆時針方向）進行工作。 步驟（ 303 )依據伺服電動機單元之工作轉速，提 ’、-液壓量之液壓用油至致動模組4〇: 2纟驟中▼變速油泵模組30可依據词服電動機單元 之工作轉速及轉向，提供對應液壓量之液㈣油至 油路32或第二油路33中。 '驟（304)依據該液壓用油，驅動穩定翼％擺動： 步驟中’依據可變速油汞模組3()所提供之液壓用 第二使得液壓用油經第一油路32或第二油路&以驅動 ，壓㈣或第二液壓虹42，使得第一液塵缸Μ或第 42可推動穩定翼致動單元43之其中一端，進而 見穩定翼50朝第-方向或第二方向擺動。 例如，當伽電動機單元2G以逆時針轉向及一工作轉 應，轉動時，可變速油栗模組⑼便由油箱Η中提供對 應液壓量之液壓用油至第-油路32中，使得此液壓用油於 12 _ ==中:驅動第一液壓’41，進而使得對應之穩 . / = κ 43貫現穩mo朝第—方向擺動。反之亦 •向、，以ΐ:::動機單元20係利用不同工作轉速及轉 U 4翼致動早7043雜動穩定翼5G朝第一方向 4第一方向擺動之方式。 信號t驟㈤）取得錢單元80之—第二訊息（即迴授 • 角声：穩疋翼50朝第一方向或第二方向移動-第-擺動 2後:Γ單元8°便依據穩定翼5°實際之擺動角度， J出：：授信號至電動機控制單元10，此迴授信號包括一 乐一擺動角度。 同；步隸（306)判斷第一擺動角度與第二擺動角度是否相 位署為使穩定翼5〇可更精確地擺動至控制命令所預定之 元ίο 盡7協助船抽運輸裝置達到平衡，電動機控制單 _ 伽電Π—擺動角度鮮二助肖度之差異，持續修正 服冤動機早几2〇之工作轉速。 時，m’當判斷出第一擺動角度與第二擺動角度相同 :驟(=定翼5g已位於控制命令所預定之位置，並回到 度並不相同時反，n判^出第一擺動角度與第二擺動角 ^ „ L 八衣穩疋翼50仍不位於控制命令所預定 之位置上’因此’進行步驟（307)。 = (307)持續修正健電動機單元20之工作轉速： 此步驟中，告笛^ ^ 均第—移動角度與第二移動角度不同時， 13 1352045 電動機控制單元ίο將依據第一移動角度與該第二移動角 度之差異，回步驟（ 302)而再次調整伺服電動機單元2〇 之工作轉速’直到第一移動角度與第二移動角度相同為止。 綜上所述，本發明之液壓控制系統丨藉由伺服電動機 單元20及可變速油泵模組3〇準確地提供液壓用油，故而 省略液壓用油回流之需要。同時，藉由伺服電動機單元2〇 及可變轉速油泵模組30，本發明使得穩定翼5〇可快速地 擺動至預定之位置，以快速反應船舶穩定翼5〇之修正需 求，進而提供船舶運輸裝置達到保持平穩狀態。 而且本發明所揭露如上之各實施例中，並非用以限定 本發明，任何熟習此技藝者，在不脫離本發明之精神和範 圍内，當可作各種<更動與潤#，因此本發明之保護範圍 當視後附之申請專利範圍所界定者為準。 【圖式簡單說明】 為讓本發明之上述和其他目的、特徵、優點與實施例 能更明顯易懂，所附圖式之詳細說明如下： 第1圖係本發明船舶運輸裝置之液壓控制系統之電子 方塊圖。 第2圖係本發明船舶運輸裝置之液壓控制系統於較佳 實施例之示意圖。 第3圖係本發明調整穩定翼位置之方法於較佳實施例 之流程圖。 【主要元件符號說明】 14 1352045 1 :液壓控制系統 41 :第一液壓缸 10 :電動機控制單元 42 :第二液壓缸 20 :伺服電動機單元 411、421 :推桿 30 :可變速油泵模組 43 :穩定翼致動單元 31 :油箱 50 :穩定翼 32 :第一油路 60 :控制模組 321 :第一釋壓閥 70 :橫搖角感測器 33 :第二油路 80 :感應單元 331 :第二釋壓閥 301-307 :步驟 40 :致動模組 15In a preferred embodiment of the present invention, reference is made to Figures 2 and 2, and Figure 2 is a schematic view of a preferred embodiment of a hydraulic control system for inventing a marine service. The actuation module 40 includes a first hydraulic cylinder 41, a second hydraulic cylinder 42 and a stabilizer wing actuation unit 43. The two ends of one side of the stabilizer wing actuation unit 43 are respectively connected to the first hydraulic cylinder 41 and the second hydraulic cylinder 42. The other side is connected to the above-mentioned stabilizer wing 50. Thus, when one of the first hydraulic cylinders 41 is pushed out, the stabilizer wing actuating unit 43 drives the stabilizer wing 5 to swing in a first direction. On the contrary, when one of the push rods 421 of the second hydraulic cylinder 42 is pushed out, the stabilizer wing actuating unit 43 drives the steady direction to swing. The reverse direction variable speed oil pump module 30 includes a fuel tank 3 for storing hydraulic oil, a first oil passage 32 connecting the first hydraulic cylinder 41, and a second connecting unit. The second oil passage 33 of the hydraulic cylinder 42. When the variable speed oil fruit module hall 9 is made up of the fuel tank 31, the first oil passage 32, and the Xuanshan, a hydraulic quantity of hydraulic oil is reached to the first:=41, the first ... is used according to the hydraulic pressure Oil liquid ί : Push r push rod 42] 'to drive the stable wing - swing in the corresponding direction 虽 'Although the variable speed oil pump module 3 〇 via the seven 丄 丄 by '耘 31, the second oil passage 33 sends a hydraulic pressure When the hydraulic oil of 1 to the first 饬蒱 饬蒱 饬蒱 饬蒱 饬蒱 主 主 主 主 主 主 主 主 主 主 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二50 swings in the corresponding direction. The variable speed oil pump module 3 is configured to send the liquid wishing oil to the first oil passage 32 or the second oil passage 33 according to the steering of the feeding motor single force 2 (for example, clockwise or counterclockwise), in other words, The shifting oil pump module 30 cannot be supplied with the hydraulic oil to the first oil passage 32 and the second oil passage & and the variable speed oil pump module 3 further includes the first pressure relief valve 32 and the second release. The pressure chamber 331 'the first pressure relief valve 321 is disposed on the first oil passage 32, and the second pressure relief valve 331 is disposed on the second oil passage 33±, minus, the first pressure relief chamber 32ι and the second release valve 3 3 1 may release excessive pressure when the pressure in the corresponding first oil passage 3 2 or second oil passage 33 is excessively large. The motor control unit 1 further includes a sensing unit 8A. The sensing unit 8 is connected to the actuation module 40 and the motor control unit 1〇0. The sensing unit 8 is, for example, a variable resistor, and continues to provide a feedback signal after each stabilization of the stabilizer 5〇. The number includes the actual swing angle of the stabilizer wing 5', which provides the basis for the motor control unit 1 to correct the swinging of the stabilizer wing 5 to a predetermined position. In the preferred embodiment, the ship transport device further includes a control module 60 and a roll angle sensor 70. The roll angle sensor 7〇 can be placed in the ship transporting equipment 1352045 when traversing, the ship roll angle information / the instant pick-up ship transport device is currently ready for movement and the core is connected to the above motor control Unit 10 and the cross-angle angle of the swing control (four) _7G to obtain the ship diameter system group 60 will be based on the ship roll negative Lu Shen: wing 7 sickle analysis of 10 liters, to find the ship transport device to reach equilibrium, its stability Corresponding to the stability of the wing 50 swing angle information (such as positive N degrees or negative twist). & Since the roll angle sensor 70 takes the ship's secret angle information to belong to == control module 6 does not need to convert the ship roll angle information = 1:!, when the analysis and calculation steps are completed, Stabilize the wing 5 again. 2 angle Beixun is converted into a control command of analogy electric signal. This control: let the motor control unit 10 know the rotation direction and rotation angle of the predetermined stable wing 5 〇 swing, so that the motor brake 7010 can immediately adjust the feeding. Service machine machine early U0 working speed and steering. However, the control module 6 can be referred to the invention patent No. 241973 according to the step of analyzing and calculating the ship roll angle information. Therefore, it will not be praised in this manual. Referring to Figure 3, a third embodiment of the present invention is a flow chart of a preferred embodiment of the method of adjusting the position of the stabilizer. When the control module 6 performs the steps of analysis and calculation in the embodiment, and outputs the above-mentioned control command, the motor control unit 10 proceeds according to the following steps: Step (301) receives one of the control modules 60. - message (ie, control command): whenever the roll angle sensor 70 senses, the roll angle information 分析 analyzes and counts the ship's roll angle: includes: the dragon is controlled by the command to the motor control unit 10, Among them, the control swing-first-swing angle is controlled. In the direction and the second direction, and adjusting the operating speed of the motor unit 20 to '(〇2) and transferring the batch:: when the motor control unit 10 receives the control command, 'will: adjust the feeding according to the control command' Take the motor unit 2. Working speed and turn = make? The motor unit 2 is operated in accordance with a working speed and a steering such as a clockwise or counterclockwise direction. Step (303) according to the working speed of the servo motor unit, the hydraulic oil of the hydraulic quantity to the actuation module 4〇: 2纟中▼ The transmission oil pump module 30 can be operated according to the operating speed of the motor unit and Turning, the liquid (4) oil corresponding to the hydraulic quantity is supplied to the oil passage 32 or the second oil passage 33. 'Step (304) according to the hydraulic oil, driving the stabilizer wing % swing: in the step 'based on the hydraulic pressure provided by the variable speed oil mercury module 3 (), the hydraulic oil is passed through the first oil passage 32 or the second The oil circuit & drive, press (four) or second hydraulic rainbow 42 such that the first liquid cylinder Μ or the 42th can push one end of the stabilizing wing actuating unit 43, and thus see the stabilizing wing 50 toward the first direction or the second Swing in the direction. For example, when the gamma motor unit 2G rotates counterclockwise and responds to a work, the variable speed oil pump module (9) supplies the hydraulic oil corresponding to the hydraulic quantity to the first oil passage 32 from the oil tank ,, so that The hydraulic oil is in 12 _ ==: the first hydraulic pressure '41 is driven, so that the corresponding stability is stabilized. / = κ 43 The steady mo oscillates in the first direction. Conversely, the direction of the 向:::Motion unit 20 is a method of oscillating the first direction of the first direction 4 by using the different operating speeds and the U 4 wing to actuate the early 7043. The signal t (5)) obtains the second message of the money unit 80 (ie, feedback • angular sound: the steady flap 50 moves in the first direction or the second direction - after the first swing 2: the unit 8° is based on the stable wing 5° actual swing angle, J out:: signal is sent to the motor control unit 10, and the feedback signal includes a leap-one swing angle. The same step; the step (306) determines whether the first swing angle and the second swing angle are phased. In order to make the stability wing 5 〇 can be more accurately oscillated to the predetermined unit of the control command ίο 7 to assist the ship to pump the transport device to reach the balance, the motor control single _ gamma Π 摆动 摆动 摆动 摆动 摆动 摆动 摆动 摆动 摆动 摆动 摆动 摆动When the motive is several seconds ahead of the working speed. When m' is judged that the first swing angle is the same as the second swing angle: (the fixed wing 5g is already at the position predetermined by the control command, and the return degree is not the same. In the opposite direction, n judges the first swing angle and the second swing angle ^ „ L The eight-stable flap 50 is still not at the position predetermined by the control command. Therefore, step (307) is performed. = (307) Continuous correction Working speed of the motor unit 20: In this step, Flute ^ ^ Average - When the moving angle is different from the second moving angle, the 13 1352045 motor control unit ίο will adjust the servo motor unit 2 according to the difference between the first moving angle and the second moving angle, returning to step (302). The working speed 'until the first moving angle is the same as the second moving angle. In summary, the hydraulic control system of the present invention accurately supplies the hydraulic oil by the servo motor unit 20 and the variable speed oil pump module 3〇. Therefore, the need for hydraulic oil returning is omitted. At the same time, with the servo motor unit 2 and the variable speed oil pump module 30, the present invention allows the stabilizer wing 5 to be swung to a predetermined position quickly to quickly react to the ship stabilizing wing 5 The present invention is not limited to the scope of the present invention. When it is possible to make various <changes and runes, the scope of protection of the present invention is defined by the scope of the appended patent application. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, advantages and embodiments of the present invention will become more <RTIgt; The electronic block diagram of the control system. Fig. 2 is a schematic view of a preferred embodiment of the hydraulic control system of the ship transport apparatus of the present invention. Fig. 3 is a flow chart of a preferred embodiment of the method for adjusting the position of the stabilizer wing of the present invention. Main component symbol description] 14 1352045 1 : Hydraulic control system 41 : First hydraulic cylinder 10 : Motor control unit 42 : Second hydraulic cylinder 20 : Servo motor unit 411 , 421 : Push rod 30 : Variable speed oil pump module 43 : Stable Wing actuation unit 31: fuel tank 50: stabilizer wing 32: first oil passage 60: control module 321: first pressure relief valve 70: roll angle sensor 33: second oil passage 80: induction unit 331: Two pressure relief valves 301-307: Step 40: Actuating module 15