TWI603017B - Earthquake resistance module of a hydraulic controller - Google Patents

Description

Shock control module for hydraulic controller

The invention relates to a vibration-damping module, in particular to a vibration-damping module of a hydraulic controller, which is arranged between a first fulcrum and a second fulcrum of a structure, by a damper assembly and a whole A hydraulically controlled controller assembly that allows the control unit of the controller assembly to control the central valve position to a suitable position when the distance between the first fulcrum and the second fulcrum becomes longer or shorter to offset the first The distance between the fulcrum and the second fulcrum produces a varying external force.

According to the location of Taiwan, at the junction of the Philippine Sea Plate and the Eurasian Plate, due to the collision between the plates, earthquakes often occur in various parts of Taiwan. According to the observations and statistics of the Central Meteorological Administration from 2001 to 2015, each year. There are about 26,000 earthquakes in Taiwan, including about 1000 earthquakes. If the earthquake reaches level 4 or above, it may cause the furniture to collapse, and even the walls will be cracked, and the structure of the building will be damaged. In the past major earthquakes, many buildings have collapsed and even a large number of people have suffered casualties. Therefore, in Taiwan, where earthquakes occur frequently, people are increasingly required to earthquake resistance in buildings. It also specifies the specifications for earthquake resistance.

In terms of the current seismic method, the general construction has three methods of earthquake resistance, isolation and vibration. No matter what kind of seismic method is used, it must be able to eliminate 25% of the seismic energy before it can be called effective earthquake resistance. , modern public buildings are generally used for isolation And the construction method of earthquake-prevention, the isolation method is to install one or several isolators between the floors to slow down the seismic energy transmitted from the stratum, and the seismic method is to install the "shock wall" or The "damper" can offset the seismic energy in the wall of each floor of the building, reduce the earthquake amplitude, and effectively protect the building structure from being damaged. The cost of the isolation method will be higher than that of the earthquake-making method. High, so the construction project is still based on the earthquake-making method.

The damper used in the seismic method requires a flexible response to the seismic activity by the controller, such as the Republic of China Patent Publication No. TW 593908 B "semi-active hydraulic damper", which provides a hydraulic damper. Semi-active control mode, wherein the directional control valve is a four-port three-position solenoid valve. After detecting the vibration magnitude and vibration direction by the vibration sensor, the solenoid valve is activated to allow the directional control valve to be pushed left or right to control each The switching of the valve position prevents the hydraulic oil from flowing to maintain the structure of the building. However, such a directional control valve using a solenoid valve is actuated by electric excitation and is usually used in conjunction with other electronic components, but complicated electronic components may cause delay in reaction time and a high probability of damage. In the case of low maintenance frequency, the damage of solenoid valves and other electronic components is not easy to detect. Therefore, when the earthquake suddenly comes, the damage of the circuit will make the damper unable to move effectively, which reduces the protection of the building structure. Therefore, how to improve the way of controlling the damper and reduce the damage rate of the controller is the direction of the inventor's research.

Nowadays, the inventor is in view of the fact that the above-mentioned existing hydraulic controller's seismic module still has many defects in actual implementation, so it is a tireless spirit, and with its rich professional knowledge and years of practical experience. The invention was assisted and improved, and the present invention was developed based on this.

The main object of the present invention is to provide a vibration control module for a hydraulic controller, which is a non-computer semi-active control technology applied to a building by a damper assembly. The damper and the fully hydraulically controlled controller assembly allow the control unit of the controller assembly to control the central valve position to the appropriate position as the distance between the various nodes becomes longer or shorter, allowing the damper to offset The distance between the nodes produces a varying external force.

In order to achieve the above-mentioned implementation, a shock control module of a hydraulic controller is disposed between a first fulcrum and a second fulcrum of a structure, and includes a controller assembly, a damper assembly, and a a loop unit, a first node and a second node are respectively disposed on opposite sides of the controller assembly, and a third node and a fourth node are respectively disposed on opposite sides of the damper assembly, and the first The node and the third node are fixed at the first fulcrum, and the second node and the fourth node are fixed on the second fulcrum, wherein the internal structure of the controller assembly and the damper assembly contains a hydraulic oil, and the circuit unit is connected to the A controller assembly and the damper assembly provide the hydraulic oil flow.

In one embodiment of the present invention, the damper assembly further includes a damper cylinder having a damper piston through which a damper slide rod is disposed, and one end of the damper slide rod has a convex damper outer portion of the cylinder block, and Extending to connect an elastomer and then to the third node.

In an embodiment of the present invention, the controller assembly further includes a control cylinder and a hydraulic valve device. The control cylinder has a control piston disposed inside the control slider, and the control slider has a convex control at one end thereof. The outside of the cylinder extends to the first node.

In an embodiment of the invention, the hydraulic valve device has a first control portion, a second control portion and a central valve position, the first control portion is connected to the central valve position, and the central valve position is further controlled by the second valve. Department connection.

In an embodiment of the invention, the first control unit and the second control unit are hydraulically controlled, each having an oil passage for hydraulic oil to flow, and a micro piston.

In an embodiment of the invention, the area of the micro-piston is 1/10 to 1/1000 of the area of the sub-piston.

In an embodiment of the invention, the central valve position can be a four-position three-position or four-position two-position valve position configuration. The four-position three-position can be a neutral valve position or a neutral stop valve position.

In an embodiment of the invention, the central valve position is selectively connectable to an accumulator and a fuel tank.

In an embodiment of the present invention, the loop unit has a first oil passage, a second oil passage, a third oil passage, a fourth oil passage, and an overflow valve device, and the first oil passage communication controller assembly One end and a relief valve device, the other end of the second oil passage communication controller assembly and the relief valve device; the third oil passage communication controller assembly and one end of the damper assembly, the fourth oil passage communication controller The other end of the assembly and the damper assembly.

(1) ‧ ‧ first point

(2) ‧‧‧second pivot point

(3) ‧ ‧ controller assembly

(31) ‧‧‧ first node

(32)‧‧‧second node

(33) ‧‧‧Control cylinder

(331)‧‧‧Control slider

(332)‧‧‧Control piston

(34)‧‧‧Hydraulic valve device

(341) ‧‧‧First Control Department

(342) ‧ ‧ Second Control Department

(343)‧‧‧Central valve position

(344)‧‧‧Micro Piston

(4) ‧‧‧damper assembly

(41) ‧‧‧ third node

(42) ‧‧‧ fourth node

(43)‧‧‧ damping cylinder

(431)‧‧‧damper slider

(432)‧‧‧damper piston

(433)‧‧‧ Elastomers

(5) ‧‧‧circuit unit

(51)‧‧‧First oil road

(52) ‧‧‧Second oil road

(53)‧‧‧ Third oil road

(54) ‧‧‧ fourth oil road

(55)‧‧‧Overflow valve device

(56) ‧‧‧ check valves

(6)‧‧‧Accumulator

(61)‧‧‧ Fuel tank

First Figure: Overall configuration of a preferred embodiment of the present invention

Second figure: partial configuration diagram of the controller assembly of the preferred embodiment of the present invention

Third: an embodiment of a preferred embodiment of the present invention

Fourth Figure: Central valve position pattern of the preferred embodiment of the present invention

Figure 5: Overall construction diagram of the double relief valve of the preferred embodiment of the present invention

Figure 6: Overall configuration of the accumulator according to a preferred embodiment of the present invention

Figure 7: Test curve of the preferred embodiment of the present invention (1)

Figure 8: Test curve of the preferred embodiment of the present invention (2)

Figure 9: Test curve of the preferred embodiment of the present invention (3)

Figure 11: Test curve of the preferred embodiment of the present invention (4)

Eleventh drawing: test curve of the preferred embodiment of the present invention (5)

The object of the present invention and its structural and functional advantages will be explained in conjunction with the specific embodiments according to the structure shown in the following drawings, so that the reviewing committee can have a more in-depth and specific understanding of the present invention.

Referring to the first to fourth figures, the shock control of a hydraulic controller of the present invention The module is disposed between the first fulcrum (1) and the second fulcrum (2) of the structure, and includes a controller assembly (3), a damper assembly (4), and a loop unit ( 5), a first node (31) and a second node (32) are respectively disposed on opposite sides of the controller assembly (3), a third node (41) and a fourth node (42) The first node (31) and the third node (41) are fixed on the first fulcrum (1), and the second node (32) and the fourth node are respectively disposed on opposite sides of the damper assembly (4). (42) is fixed on the second fulcrum (2), wherein the controller assembly (3) and the damper assembly (4) contain a hydraulic oil inside, and the circuit unit (5) is connected to the controller assembly (3) and the damper assembly (4), providing the hydraulic oil to circulate.

The controller assembly (3) further includes a control cylinder (33) and a hydraulic valve device (34). The control cylinder (33) has a control piston (332) disposed with a control slider (331). One end of the control slider (331) has an outer portion of the protruding control cylinder (33) and extends to connect the first node (31). The hydraulic valve device (34) has a first control portion (341), a second control portion (342) and a central valve position (343). The first control portion (341) is connected to the central valve position (343). The central valve position (343) is further connected to the second control unit (342), and the first control unit (341) and the second control unit (342) are both hydraulically controlled, and each has an oil passage for the hydraulic oil to flow, and Individually provided with a micro-piston (344); wherein the area of the control piston (332) is 10 to 1000 times the area of the micro-piston (344); the central valve position (343) can be four-position three-position or four-position two-position The valve position configuration, the central valve position (343) can be a four-position three-position or four-position two-position valve position configuration, and as shown in the fourth figure, the four-port three-position can be a neutral or a neutral stop position.

Further, the damper assembly (4) further includes a damper cylinder (43) having a damper piston (432) through which a damper slide rod (431) is disposed, and one end of the damper slide rod (431) is provided Projecting the exterior of the damper cylinder (43) and extending to connect an elastomer (433) to the third node (41), wherein the elastomer (433) may be, for example, a steel tube, a spring steel sheet or a spring steel One of the circles.

Furthermore, the loop unit (5) has a first oil passage (51) and a second oil passage. (52), a third oil passage (53), a fourth oil passage (54) and a relief valve device (55), the first oil passage (51) is connected to one end of the controller assembly (3) and overflows Between the flow valve devices (55), the second oil passage (52) communicates between the other end of the controller assembly (3) and the relief valve device (55); the third oil passage (53) communicates with the controller assembly (3) And one end of the damper assembly (4), the fourth oil passage (54) is connected to the other end of the controller assembly (3) and the damper assembly (4).

Thereby, the vibration damping module of the hydraulic controller of the invention can be installed on the first fulcrum (1) and the second fulcrum (2) of the building, wherein the damper assembly (4) is a hydraulic damping. The controller assembly (3) can control the action of the central valve position (343) according to the change of the distance between the first node (31) and the second node (32) to offset the energy of the external force.

In addition, the scope of the invention may be further exemplified by the following specific examples, which are not intended to limit the scope of the invention.

The previous semi-active control system usually has a speed positive and negative value sensor (positive and negative value of speed increase and decrease), control computer (responsible for signal processing, predictive analysis, control law execution and control signal generation), switch controller (responsible for switching) The four important components, such as the solenoid valve and the electromagnet in the solenoid valve, achieve the purpose of controlling the damper by the electronic component. The action of the action is to first convert the force into deformation energy, and then the deformation energy can be deformed by the positive and negative speed sensors. Switching to electric energy, and controlling the computer will produce a series of calculations and switching actions, and finally the power generation force will push the directional control valve switch controller to make the solenoid valve actuate. These actions are the only places where semi-active control requires the supply of external energy (electricity), but it is also the main source of time delay for semi-active control. In the case of different seismic waves, the time delay of the control system can cause the damper to fail to respond, thereby reducing the effect of protecting the building structure.

Accordingly, referring to the first to fourth figures, the controller assembly (3) has a first node (31), a second node (32), a control cylinder (33), and a hydraulic valve device (34). In other words, the first node (31) and the second node (32) are respectively fixedly connected to the first fulcrum (1) and the second fulcrum (2) of the structure, and the inside of the control cylinder (33) is worn. Set a control slider a control piston (332) of (331), one end of the control slide bar (331) has a convex control cylinder (33) outside, and extends to connect the first node (31);

The first control unit (341) and the second control unit (342) of the hydraulic valve device (34) are hydraulically controlled, and each has an oil passage for hydraulic oil to flow, and a micro piston (344) is separately provided, and the first The control unit (341) and the second control unit (342) are disposed on two sides of the central valve position (343), and the central valve position (343) can be a four-port three-position or four-position two-position control valve. The hydraulic oil of the first control unit (341) or the second control unit (342) flows in, and pushes the central valve position (343) to the correct position; wherein the area of the control piston (332) is the micro piston (344) The area is 10 to 1000 times, so the control piston (332) can transmit energy to the micro piston (344) as long as it is affected by a little displacement, which has a large displacement magnification. The control unit of the whole hydraulic control eliminates the process of energy conversion, directly transmits the force of the hydraulic oil to the central valve position (343), and achieves the control effect, completely escaping the dependence of external energy (electricity). It can eliminate the loss of time delay and effectively control the amount of delay displacement to produce better shock-damping effect.

Furthermore, the damper assembly (4) is a hydraulic damper comprising a third node (41), a fourth node (42) and a damping cylinder (43), and a third node (41) And the fourth node (42) is respectively fixed on the first fulcrum (1) and the second fulcrum (2) of the structure, and the damper cylinder (43) has a damping piston disposed inside the damping cylinder (431). (432), one end of the damper slide bar (431) has a convex damper cylinder (43) outside, and is extended with an elastic body (433), and is connected with the third node (41), wherein the elastic body (433) It may for example be one of a steel tube, a spring steel sheet or a spring steel ring, and the fourth node (42) is arranged on the damping cylinder (43) opposite the other side of the third node (41).

In addition to the controller assembly (3) and the damper assembly (4), the entire configuration must be connected in series by the loop unit (5), so that the loop unit (5) has the first oil passage (51) connected. The second oil passage between the right oil chamber of the control cylinder (33) of the controller assembly (3), the first control portion (341) of the hydraulic valve device (34), and the relief valve device (55) 52) even Between the left oil chamber of the control cylinder (33) of the controller assembly (3), the second control portion (342) of the hydraulic valve device (34), and the relief valve device (55); the third oil passage (53) The central valve position (343) of the hydraulic valve device (34) of the communication controller assembly (3) and the right oil chamber of the damper cylinder (43) of the damper assembly (4), the fourth oil passage (54) The central valve position (343) of the hydraulic valve device (34) of the controller assembly (3) and the left oil chamber of the damper cylinder (43) of the damper assembly (4).

In addition, the relief valve device (55) of the circuit unit (5) is connected to the relief valve device (55) and the controller assembly (3) by the first oil passage (51) or the second oil passage (52). Between the completion of the valve position switching, after the loop unit (5) reaches the preset relief pressure, the pressure on the controller assembly (3) will not be increased, and the hydraulic oil can flow through the relief valve. The device (55) flows between the left and right chambers of the control cylinder (33) to perform a gradual pressure relief operation, so that the pressure of the central valve position (343) does not rise without any end.

When an earthquake occurs, since the first node (31) and the third node (41) are disposed on the first fulcrum (1) of the building structure, the second node (32) and the fourth node (42) are disposed in the building. The second fulcrum (2) of the structure is shown in the third figure. The sloshing of the building causes a change in the distance between the first fulcrum (1) and the second fulcrum (2), and the first node (31) and the second node (32) are correspondingly displaced, and the present invention detects The point in time at which the relative motion direction between nodes changes. When the first node (31) starts to move away from the second node (32), the control slider (331) is pulled closer to the first node (31), and the pressure in the right oil chamber in the control cylinder (33) is raised. The first oil passage (51) will deliver hydraulic oil to the first control portion (341), and the first control portion (341) generates a pressure to push the central valve position (343) to the left, that is, to utilize the control piston (332) drives the micro piston (344) to change the position of the central valve position (343); at this time, the right oil chamber of the damper cylinder (43) of the damper assembly (4) is due to the central valve position (343) The positional change relationship allows hydraulic oil to flow from the left ventricle to the right ventricle but not from the right ventricle to the left ventricle. Therefore, the damping piston (432) can move to the left and cannot move to the right. Therefore, if the original elastomer (433) is in a compressed state, its elastomer (433) will elongate and recover. The original length, and the internal force is zeroed. Therefore, when the distance between the first fulcrum (1) and the second fulcrum (2) continues to increase, the elastic body (433) is immediately in an extended state, so that the force of the damper assembly (4) on the fulcrum of the structure is used to prevent the The distance between one point (1) and the second point (2) continues to increase resistance. In turn, the displacement between the third node (41) and the fourth node (42) is limited to protect the structure of the building.

When the first node (31) stops moving away from the second node (32) and starts to rotate to approach the second node (32), the pressure in the left oil chamber in the control cylinder (33) rises, second The oil passage (52) will deliver hydraulic oil to the second control portion (342), and the second control portion (342) generates a pressure to push the central valve position (343) to the right to make the damper assembly (4) The hydraulic oil of the damper cylinder (43) can only flow from the right ventricle to the left ventricle but not from the left ventricle to the right ventricle. Therefore, the damping piston (432) can move to the right and cannot move to the left. Therefore, if the original elastomer (433) is in an extended state, the elastomer (433) will shorten the original length and return the internal force to zero. Therefore, when the distance between the first fulcrum (1) and the second fulcrum (2) continues to decrease, the elastic body (433) is immediately in a shortened state, so the force of the damper assembly (4) against the fulcrum of the structure is to prevent the first fulcrum. (1) The distance from the second fulcrum (2) continues to decrease.

In the direction change, the control slider (331) can immediately drive the micro piston (344) to slide backward to complete the action of switching the central valve position (343), so that the hydraulic valve device of the controller assembly (3) is repeated. (34) When the direction of movement of the building structure is reversed, it will be switched quickly. Furthermore, in addition to the relief valve device (55) being provided between the first oil passage (51) and the second oil passage (52) in the controller assembly (3), as in the fifth diagram It is shown that a plurality of relief valve devices (55) are disposed between the third oil passage (53) and the fourth oil passage (54) in the damper assembly (4) to avoid the damper assembly (4). The pressure is too high.

In addition, the present invention also utilizes a vibration table to simulate the actual earthquake situation. The test is divided into three stages, and the lever type controller is used as a comparative example to compare with the present invention. First, the building is placed on a vibrating table, and the damping mode of the hydraulic controller of the present invention The first node (31) and the third node (41) of the group are disposed on the first pivot point (1) of the building, and the second node (32) and the fourth node (42) are fixedly disposed in the building. On the two fulcrums (2), the building is vibrated and shaken by a vibrating table to simulate the occurrence of an earthquake.

The first stage

Firstly, the hysteretic energy dissipation behavior of the present invention is observed. The parameters of the first stage test are displacement amplitude 10 mm, frequency is 0.1 Hz, 0.3 Hz, 0.5 Hz, respectively. The external force of the seismic controller of the present invention is 25 kN to observe the hydraulic controller. Hysteresis energy dissipation behavior of the damping module. The test results are shown in the seventh to ninth drawings. The present invention is tested under the conditions of displacement of 10 mm, frequency of 0.1 Hz, 0.3 Hz, and 0.5 Hz, respectively.

It can be known from the hysteresis curve that both the present invention and the comparative example have a delay amount in the energy dissipation process, but it does exhibit a similar energy dissipation effect under the semi-active control in the passive mode, and even in the absence of overflow. Under the condition, the energy dissipation behavior can still maintain the online elastic state and has a considerable energy dissipation area.

second stage

The test and comparison of the energy dissipation rate of the present invention and the comparative example are as follows. The test parameters of the second stage are displacement amplitudes of 10 mm, and the frequency portions are all from 0.1 Hz to 2.0 Hz. The external forces of the present invention are 20 kN and 36 kN, respectively. The test results of the second stage, as shown in the tenth figure, can be found that the present invention is subjected to the same simple harmonic-shaped forced displacement, and the energy dissipation rate at the action of 20 kN external force is about 30% to 75%, which is superior to the external force 36kN. The energy dissipation rate at the time of action is 20% to 45%. The energy dissipation rate of the comparative example subjected to the same simple harmonic shape forced displacement is about 15% to 42%. Overall, the energy dissipation rate of the present invention is significantly better than that of the comparative example.

The third stage

Referring to the sixth figure, the present invention can be equipped with a set of accumulators (6) and a fuel tank (61) for storing the energy of the earthquake. A reverse force in the direction of movement of the building structure is provided to increase the energy dissipation rate, and the fuel tank (61) is used to balance the amount of hydraulic oil flowing into the accumulator (6). In the third stage, the parameters tested in the present invention are displacement amplitudes of 20 mm and 25 mm, and the external forces received are 20 kN and 40 kN, respectively, and the accumulator (6) has a storage pressure of 30 kN; and the displacement amplitude of the comparative example is 15 mm, 20 mm, and frequency. Some of them are from 0.1 Hz to 2.0 Hz, and the energy dissipation rates of the two are also observed.

The test result of the third stage is as shown in the eleventh figure. The energy dissipation rate of the invention with the accumulator (6) is obviously the best, and the energy dissipation rate is about 55%~95%, and the performance is quite excellent, but not The energy dissipation rate of the present invention with the accumulator (6) can also reach about 55% to 82%, especially in the interval of high frequency reaction, and has a comparable energy dissipation rate with the embodiment of the accumulator (6). As for the energy dissipation rate of the comparative example, the increase with increasing amplitude is shown, but the overall energy dissipation rate is significantly lower than the present invention. Accordingly, it can be proved that the present invention can effectively offset the seismic energy during an earthquake.

It can be seen from the above description that the present invention has the following advantages compared with the prior art:

1. The vibration damping module of the hydraulic controller of the present invention, wherein the first node and the third node are disposed at a first fulcrum of the structure, and the second node and the fourth node are disposed at a second fulcrum of the structure, the building The swaying causes a change in the distance between the first fulcrum and the second fulcrum. The present invention detects the time point at which the relative movement direction between the nodes changes, so that the hydraulic valve device of the controller assembly reverses when the structure moves in the direction of motion. Switching quickly can offset the earthquake energy.

2. When the distance between the first node and the second node becomes longer or shorter according to the damping module of the hydraulic controller of the present invention, the first control unit or the second control unit of the hydraulic valve device receives the push of the hydraulic oil, so that The central valve position is smoothly actuated to move to the correct position, allowing the damper assembly to generate a force that prevents relative displacement of the third and fourth nodes, offsetting external forces that cause changes in the distance between the nodes.

3. The hydraulic valve device of the damping module of the hydraulic controller of the invention is fully hydraulically mounted The hydraulic damper can be controlled by hydraulic oil. Compared with the previous controller, a variety of electronic components are needed, and the damage is easily damaged. The damage rate of the fully hydraulic controller assembly is compared. Low, when the earthquake suddenly comes, it can effectively activate the damper to protect the structure of the building.

4. The control piston area of the vibration control module of the hydraulic controller of the invention is 10 to 1000 times of the area of the micro piston, so that the control piston can transmit energy to the micro piston as long as it is affected by a little displacement, and has a large The displacement magnification can effectively control the amount of delay displacement, making the overall reaction speed more sensitive to offset more seismic energy.

In summary, the vibration-damping module of the hydraulic controller of the present invention can achieve the intended use efficiency by the above-disclosed embodiments, and the present invention has not been disclosed before the application, and has completely complied with the patent. The rules and requirements of the law.爰Issuing an application for a patent for invention in accordance with the law, and asking for a review, and granting a patent, is truly sensible.

The illustrations and descriptions of the present invention are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; those skilled in the art, which are characterized by the scope of the present invention, Equivalent variations or modifications are considered to be within the scope of the design of the invention.

(3) ‧ ‧ controller assembly

(31) ‧‧‧ first node

(32)‧‧‧second node

(33) ‧‧‧Control cylinder

(331)‧‧‧Control slider

(332)‧‧‧Control piston

(34)‧‧‧Hydraulic valve device

(341) ‧‧‧First Control Department

(342) ‧ ‧ Second Control Department

(343)‧‧‧Central valve position

(344)‧‧‧Micro Piston

(4) ‧‧‧damper assembly

(41) ‧‧‧ third node

(42) ‧‧‧ fourth node

(43)‧‧‧ damping cylinder

(431)‧‧‧damper slider

(432)‧‧‧damper piston

(433)‧‧‧ Elastomers

(5) ‧‧‧circuit unit

(51)‧‧‧First oil road

(52) ‧‧‧Second oil road

(53)‧‧‧ Third oil road

(54) ‧‧‧ fourth oil road

(55)‧‧‧Overflow valve device

(56) ‧‧‧ check valves

Claims (8)

A shock control module of a hydraulic controller is disposed between a first fulcrum and a second fulcrum of the structure, and includes a controller assembly, a damper assembly and a circuit unit, A first node and a second node are respectively disposed on opposite sides of the damper assembly, and a third node and a fourth node are respectively disposed on opposite sides of the damper assembly, and the first node and the third node are respectively a node is fixed on the first fulcrum, the second node and the fourth node are fixed on the second fulcrum, wherein the controller assembly and the damper assembly internal system contain a hydraulic oil, the circuit The unit is connected to the controller assembly and the damper assembly to provide the hydraulic oil circulation; the controller assembly further includes a control cylinder and a hydraulic valve device, wherein the control cylinder has a control slide inside a control piston of the rod, one end of the control slide protrudes from the outside of the control cylinder and extends to connect to the first node; the hydraulic valve device has a first control portion, a second control portion and a central portion Valve position, the first Based system portion is connected to the central valve position, the center valve position and then connected to the second control unit. The shock damper assembly of the hydraulic controller according to the first aspect of the invention, wherein the damper assembly further comprises a damper cylinder, wherein the damper cylinder is internally provided with a damper piston through which a damper slide rod is disposed. One end of the damper slide protrudes from the outside of the damper cylinder and extends to connect an elastic body to the third node. The vibration damping module of the hydraulic controller according to claim 1 or 2, wherein the first control unit and the second control unit are hydraulically controlled, and each has an oil passage for the hydraulic oil to flow, and is provided There is a miniature piston. The shock-damping module of the hydraulic controller according to claim 3, wherein the area of the micro-piston is 1/10 to 1/1000 of the area of the control piston. The vibration damping module of the hydraulic controller according to claim 3, wherein the central valve position is a four-position three-position or four-position two-position valve position configuration. The vibration damping module of the hydraulic controller according to claim 3, wherein the central valve position is selectively connected to an accumulator and a fuel tank. The shock-damping module of the hydraulic controller according to claim 1, wherein the circuit unit has a first oil passage, a second oil passage, and a a third oil passage, a fourth oil passage, and an overflow valve device, the first oil passage communicating with one end of the controller assembly and the relief valve device, the second oil passage connecting the other end of the controller assembly and The relief valve device. The vibration damping module of the hydraulic controller according to claim 7, wherein the third oil passage communicates with the controller assembly and one end of the damper assembly, and the fourth oil passage communicates with the controller assembly And the other end of the damper assembly.