CN104454715B - A kind of secondary regulation system based on electrical control - Google Patents

Abstract

The invention discloses a secondary regulation system based on electrical control, which includes a hydraulic accumulator, an electric power storage unit, a driving motor, a first motor/generator, a second motor/generator, a first motor controller, a second Motor controller, inverter, first variable pump/motor, second variable pump/motor, reversing valve, shuttle valve, safety valve, controller, etc. The present invention uses variable variable pump/motor and electric motor/generator to replace traditional The hydraulic transformer or proportional reversing valve is used as the constant pressure source in the secondary regulation system to match the load pressure and flow. By adjusting the displacement of the variable pump/motor to match the hydraulic accumulator and the load pressure, by adjusting the motor/generator The rotational speed is used to control the speed of the actuator. In addition, the multi-quadrant operation of the electric/generator and the variable pump/motor realizes the situation where the driving load pressure is higher than the pressure of the hydraulic accumulator, which solves the problem that the traditional secondary regulation system is difficult to adapt to linear drive. Inadequacies of actuators and difficult to actuate load pressures higher than hydraulic accumulator pressure.

Description

A secondary regulation system based on electrical control

technical field

The invention relates to the technical field of drive systems, in particular to a secondary regulation system based on electrical control.

Background technique

In the face of global energy crisis, environmental pollution and other major problems, all kinds of machinery and equipment urgently need to cope with the pressure of energy conservation and environmental protection. The concept of green and environment-friendly machinery and equipment has gradually emerged, and efforts are being made to seek new solutions in technology. At present, the commonly used hydraulic system energy saving mainly includes several typical hydraulic control systems such as secondary adjustment technology, open center, load sensing, negative flow and positive flow control. Among them, the secondary regulation technology has already begun to be applied.

As early as 1977, Professor Nikolaus of the University of Defense Technology in Hamburg, Germany, proposed the concept of secondary hydrostatic regulation technology. We refer to the elements in the hydraulic system that can convert mechanical energy into hydraulic energy as primary elements, and the elements that convert mechanical energy and hydraulic energy into each other are called secondary elements. Secondary hydrostatic regulation technology is a kind of energy regulation technology with secondary components as the core.

The research on the secondary hydrostatic adjustment has experienced the control of different objects such as hydraulic direct speed control, hydraulic pilot speed control, machine-hydraulic speed control, electro-hydraulic speed control, electro-hydraulic rotation angle control, electro-hydraulic torque control, and the control of different objects and PID control. , Neural network control and other advanced control algorithms are combined to obtain better dynamic characteristics, effectively reduce the installed power of the system, and obtain a significant energy-saving effect.

However, since the research object of the secondary adjustment technology is the constant pressure network based on pressure coupling, a certain parameter of the hydraulic actuator must be able to be adjusted to match the load power. The hydraulic actuator in the constant pressure network is a hydraulic motor/pump with adjustable displacement, so this technology can be applied to the rotary drive, but because the speed control of the hydraulic pump/motor must be closed-loop control, due to the strong nonlinearity of the hydraulic system It is difficult to precisely control the speed of the hydraulic pump/motor, and there is a large impact at the moment of starting and braking. As for the hydraulic cylinder that does linear motion, since the cross-sectional area of the hydraulic cylinder cannot be changed, the secondary adjustment technology cannot be directly applied to the linear motion system. The current researchers generally adopt the following two schemes: one adopts the method of connecting the hydraulic transformer to realize the matching of the constant voltage oil source and the variable voltage load for linear motion, but the introduction of the hydraulic transformer will make the system structure complicated, which is not conducive to the actual production application; the other is to use the proportional directional valve for direct control, but due to the mismatch between the pressure of the hydraulic accumulator and the load pressure, it will inevitably lead to a large amount of throttling loss on the valve port of the proportional directional valve. At the same time, this scheme The medium proportional directional valve cannot be pressurized, requiring the hydraulic accumulator pressure to be higher than the load pressure.

Contents of the invention

In view of this, the present invention addresses the deficiencies in the prior art, and its main purpose is to provide a secondary regulation system based on electrical control, which has a relatively simple structure, can reduce throttling losses, and can be applied to load pressures higher than In the case of hydraulic accumulator pressure, it can also realize the adjustment of the drive torque and speed of the turntable.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A secondary regulation system based on electrical control, which includes a drive motor, a hydraulic pump, a safety valve, an inverter, a one-way valve, a power storage unit, a first motor controller, a first motor/generator, a first variable Pump/motor, reversing valve, first pressure sensor, shuttle valve, oil cylinder, second motor controller, second motor/generator, second variable pump/motor, reducer, turntable, hydraulic accumulator, second Pressure sensors, other actuator hydraulic drive systems and controllers;

The drive motor is mechanically connected to the hydraulic pump; the first variable pump/motor is mechanically connected to the first motor/generator; the second variable pump/motor, the input shaft of the reducer, and the second motor/generator are mechanically connected to each other connected; the output shaft of the reducer is mechanically connected with the turntable;

The outlet of the hydraulic pump is divided into two ways: the first way is connected to the safety valve; the second way is connected to the oil inlet of the one-way valve; the outlet of the one-way valve is divided into five ways: the first way is connected to the oil inlet of the first variable pump/motor The oil outlet of the first variable pump/motor is connected to the P port of the reversing valve; the second road is connected to the oil inlet of the second variable pump/motor, and the oil outlet of the second variable pump/motor is connected to the oil tank; the third The road is connected to the hydraulic accumulator; the fourth road is connected to the second pressure sensor; the fifth road is connected to other actuator hydraulic drive systems; the T port of the reversing valve is connected to the oil tank, the A port of the reversing valve and the oil port A1 of the shuttle valve It is connected with the rodless chamber of the oil cylinder, and the B port of the reversing valve is connected with the oil port A2 of the shuttle valve and the rod chamber of the oil cylinder;

The inverter, the power input end of the first motor controller and the power input end of the second motor controller are connected to the power storage unit, the power output end of the first motor controller is electrically connected to the first motor/generator, and the second The power output end of the motor controller is electrically connected to the second motor/generator;

The input signal of the controller includes the output signal of the first pressure sensor and the output signal of the second pressure sensor; the output signal of the controller includes the input signal of the first motor controller, the input signal of the second motor controller and the inverter input signal.

Preferably, both the first motor/generator and the second motor/generator are equipped with sensors for measuring rotational speed, and the sensors are rotary transformers or photoelectric encoders.

In the above solution, the reversing valve is one of a manual control reversing valve, an electromagnetic control reversing valve, an electro-hydraulic control reversing valve and a hydraulic control reversing valve.

In the above solution, the hydraulic drive system of other actuators includes a cylinder drive system for driving other oil cylinders to move linearly, and a turntable drive system for driving other turntables to make rotary movements.

Compared with the prior art, the present invention has obvious advantages and beneficial effects, as can be seen from the above-mentioned technical scheme:

The system is a single-pump multi-actuator load-sensing system based on differential pressure control of the hydraulic motor generator, which can not only ensure that the actuator obtains a flow rate proportional to the pilot operation signal, but also recover the consumption of the traditional load-sensing system in the constant differential decompression. The energy at the valve port; specifically:

1) The variable variable pump/motor and electric motor/generator are used as the adjustment units for the constant pressure source pressure and load pressure and flow in the secondary regulation system. Since the control of the variable variable pump/motor and electric motor/generator is displacement or speed control , to achieve no throttling loss in the hydraulic system;

2) When the actuator is moving in a straight line, adjust the displacement of the first variable pump/motor to match the difference between the pressure of the hydraulic accumulator and the load pressure, and adjust the speed of the first motor/generator to control the speed of the oil cylinder; When the load pressure is lower than the pressure of the hydraulic accumulator, the first electric motor/generator works in the power generation mode, and the first variable displacement pump/motor works in the motor mode. At this time, the differential hydraulic energy between the hydraulic accumulator pressure and the load pressure passes through The first variable pump/motor drives the first electric motor/generator and converts it into electrical energy and stores it in the power storage unit; similarly, when the load pressure is greater than the pressure of the hydraulic accumulator, the first electric motor/generator works in electric mode, and the first The variable displacement pump/motor works in the pump mode. At this time, the power storage unit releases electric energy, and the first variable displacement pump/motor is driven by the first electric motor/generator to deliver the hydraulic oil stored in the hydraulic accumulator to the linear drive cylinder to realize the boost function. ; Solve the problem that when the traditional secondary adjustment system is applied to the linear drive cylinder and the proportional reversing valve is used, there is a large amount of pressure differential throttling loss and cannot be applied to occasions where the load pressure is higher than the pressure of the hydraulic accumulator;

3) When the actuator rotates, the driving torque of the turntable is adjusted by adjusting the displacement of the second variable pump/motor, and the speed of the turntable is controlled by adjusting the speed of the second motor/generator; the traditional secondary adjustment system is solved When the variable pump/motor is used to drive the turntable, it has the disadvantages of large start and brake impact and difficult control of the speed;

4) The power system uses a hydraulic accumulator as a voltage stabilizing source. There is no mechanical connection between the drive motor and the load. The fluctuation of the load will not affect the working state of the drive motor. The drive motor can work in a high-efficiency area according to the pressure of the hydraulic accumulator. At the same time, the driving motor only needs to output the average power of the load, which reduces the power level of the driving motor.

In order to more clearly illustrate the structural features and functions of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Accompanying drawing is the overall structural block diagram of preferred embodiment of the present invention.

Explanation of the accompanying drawings:

1. Drive motor 2. Hydraulic pump

3. Safety valve 4. Inverter

5. One-way valve 6. Power storage unit

7. The first motor controller 8. The first motor/generator

9. First variable pump/motor 10. Reversing valve

11. First pressure sensor 12. Shuttle valve

13. Oil cylinder 14. Second motor controller

15. Second electric motor/generator 16. Second variable displacement pump/motor

17. Reducer 18. Turntable

19. Hydraulic accumulator 20. Second pressure sensor

21. Hydraulic system of other actuators 22. Controller

detailed description

Please refer to shown in accompanying drawing 1, it has shown the specific structure of preferred embodiment of the present invention,

A secondary regulation system based on electrical control, which includes a drive motor (1), a hydraulic pump (2), a safety valve (3), an inverter (4), a one-way valve (5), an electric storage unit (6 ), the first motor controller (7), the first motor/generator (8), the first variable pump/motor (9), the reversing valve (10), the first pressure sensor (11), the shuttle valve (12 ), oil cylinder (13), second motor controller (14), second electric motor/generator (15), second variable displacement pump/motor (16), reducer (17), turntable (18), hydraulic energy storage Device (19), second pressure sensor (20), other actuator hydraulic drive system (21) and controller (22);

The driving motor (1) is mechanically connected with the hydraulic pump (2); the first variable pump/motor (9) is mechanically connected with the first electric motor/generator (8); the second variable pump/motor (16), The input shaft of the reducer (17) is mechanically connected with the second motor/generator (15); the output shaft of the reducer (17) is mechanically connected with the turntable (18);

The outlet of the hydraulic pump (2) is divided into two routes: the first route is connected to the safety valve (3); the second route is connected to the oil inlet of the check valve (5); the outlet of the check valve (5) is divided into five routes: the first The road is connected to the oil inlet port of the first variable pump/motor (9), and the oil outlet port of the first variable pump/motor (9) is connected to the P port of the reversing valve (10); the second road is connected to the second variable pump/ The oil inlet of the motor (16) and the oil outlet of the second variable pump/motor (16) are connected to the oil tank; the third road is connected to the hydraulic accumulator (19); the fourth road is connected to the second pressure sensor (20); The five-way is connected to other actuator hydraulic drive systems (21); the T port of the reversing valve (10) is connected to the oil tank, the A port of the reversing valve (10) and the oil port A1 of the shuttle valve (12) and the oil cylinder (13) The rodless cavity is connected, and the B port of the reversing valve (10) is connected with the oil port A2 of the shuttle valve (12) and the rod cavity of the oil cylinder (13);

The power input terminals of the inverter (4), the first motor controller (7), and the second motor controller (14) are connected to the power storage unit (6), and the power output terminals of the first motor controller (7) and The first motor/generator (8) is electrically connected, and the power output end of the second motor controller (14) is electrically connected to the second motor/generator (15);

The input signal of the controller (22) includes the output signal of the first pressure sensor (11) and the output signal of the second pressure sensor (20); the output signal of the controller (22) includes the input of the first motor controller (7) signal, the input signal of the second motor controller (14) and the input signal of the inverter (4).

As a preferred manner, both the first motor/generator (8) and the second motor/generator (15) are equipped with sensors for measuring rotational speed, and the sensors are rotary transformers or photoelectric encoders.

In the above solution, the reversing valve (10) is one of a manual control reversing valve, an electromagnetic control reversing valve, an electro-hydraulic control reversing valve and a hydraulic control reversing valve.

In the above solution, the hydraulic drive system of other actuators includes a cylinder drive system for driving other oil cylinders to move linearly, and a turntable drive system for driving other turntables to make rotary movements. The present invention is described in detail by taking the turntable and the oil cylinder as examples. In fact, a machine may be composed of multiple oil cylinders or multiple turntables, but the principle is the same as that of the present invention.

Concrete working principle of the present invention is as follows:

(1) Working rules of power source

Obtain the pressure _pa of the hydraulic accumulator 19 through the second pressure sensor 20, set the working pressure range _pamax and _pamin of the constant pressure source of the secondary adjustment system (ie, the hydraulic accumulator 19), and _pamax is greater than _pamin . When p _a < p _amin , the controller 22 outputs an enable signal to make the inverter 4 output, start the drive motor 1 to work, the hydraulic pump 2 outputs hydraulic oil to charge the hydraulic accumulator 19, and the pressure of the hydraulic accumulator 19 When p _a >p _amax , the controller 22 outputs a non-enabling signal so that the inverter 4 does not output, the drive motor 1 stops working, and the hydraulic pump 2 does not output hydraulic oil. Due to the effect of the check valve 5, the hydraulic pressure The high-pressure hydraulic oil in the accumulator 19 will not flow back to the hydraulic pump 2 .

(2) Working principle of linear drive

When the constant pressure source (hydraulic accumulator 19) of the secondary adjustment system drives the oil cylinder 13 for linear motion, the reversing valve 10 can work in different positions through various control methods (electromagnetic, electro-hydraulic or manual, etc.) , to realize different modes such as extending, stopping and retracting the piston rod of the oil cylinder 13. When the oil cylinder 13 works in the stop mode, the first motor/generator 8 does not work. When the oil cylinder 13 works in the extended or retracted mode, the shuttle valve 12 transmits the maximum load pressure at this time to the first pressure sensor 11, so that the controller 22 obtains the maximum pressure p _lmax of the oil cylinder 13 when it is extended or retracted , the pressure pa of the hydraulic accumulator 19 is obtained through the second pressure sensor 20; the pressure difference between the front and rear of the first variable pump/motor 9 Δp _m1 = _{p a -p lmax} , according to the target speed of the oil cylinder 13 (set artificially ) and the parameters of the oil cylinder 13 can calculate the target flow Q _m1 of the first variable pump/motor 9, ignoring the energy loss between the first motor/generator 8 and the first variable pump/motor 9, the first motor/generator 8 The working power p _e1 =△p _m1 *Q _m1 ; according to the universal characteristic curve of the first motor/generator 8 _, the highest efficiency point (T _et , n _et ), therefore, the target rotational speed of the first motor/generator 8 can be output to the first motor control 7 through the controller 22 and set as n _et , and the displacement q _m1 of the first variable pump/motor 9 is: q _m1 = T _et /△p _m1 , where T _et and _net represent the torque and speed corresponding to the highest efficiency operating point, respectively.

(3) Working principle of rotary drive

1) Taking the drive of the turntable 18 as an example, set the target speed signal n _et of the turntable 18, multiply this signal by the reduction ratio i of the reducer 17 to obtain the target speed n _et2 of the second motor/generator 15, the second motor/generator The target rotational speed of the motor 15 can be output to the second motor controller 14 through the controller 22 and set as _net2 ,

2) The main function of the second variable displacement pump/motor 16 is to dynamically adjust the displacement according to the speed difference Δn _e2 of the second motor/generator 15 and the pressure of the hydraulic accumulator 19, and then control the acceleration and deceleration torque of the turntable 18.

△n _e2 =n _et2 -n _et , when △n _e2 is larger, that is, greater than △n _e2c1 , it means that the difference between the actual speed of the second motor/generator 15 and the target speed is relatively large, and at this time, the controller 22 Adjust the variable device of the second variable pump/motor 16, and set the displacement of the second variable pump/motor 16 to the maximum value q _m2max to ensure the quick response of the second motor/generator 15; similarly, when △n _e2 hour, that is, when it is less than Δn _e2c2 , it means that the actual speed of the second motor/generator 15 is close to the target speed. At this time, the controller 22 adjusts the variable device of the second variable pump/motor 16 to turn the second variable pump/motor 16 The displacement can be set to a small value q _m2min , and when the speed difference △n _e2 is between △n _e2c1 and △n _e2c1 , use △n _e2 to dynamically modify the displacement of the second variable pump/motor 16 , that is, the greater the difference of Δn _e2 , the greater the displacement of the second variable pump/motor 16. Therefore, the displacement control rule of the second variable pump/motor 16 is as follows:

${\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; ;</span>{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&Greater\; Equal;</span>{\mathrm{<span\; class="notranslate">\; no</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; max</span>}}\frac{{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; ;</span>{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; ;</span>{\mathrm{<span\; class="notranslate">\; \&Delta;\; n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&Delta;n</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

Wherein, Δn _e2c1 and Δn _e2c2 are judgment thresholds of the speed difference of the second motor/generator 15 , wherein Δn _e2c1 is greater than Δn _e2c2 .

The braking working principle of the turntable 18 refers to the driving working principle. At this time, the second motor/generator 15 works in the power generation mode, and the second variable pump/motor 16 works in the pump mode, converting the braking kinetic energy of the turntable 18 into hydraulic energy for storage Part of the converted electrical energy is stored in the electricity storage unit 6 in the hydraulic accumulator 18 .

The above descriptions are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention in any way, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are still valid. It belongs to the scope of the technical solutions of the present invention.

Claims (4)

1. A secondary regulation system based on electrical control, which includes a drive motor (1), a hydraulic pump (2), a safety valve (3), an inverter (4), a one-way valve (5), and a power storage unit (6), first motor controller (7), first motor/generator (8), first variable displacement pump/motor (9), reversing valve (10), first pressure sensor (11), shuttle valve (12), oil cylinder (13), second motor controller (14), second motor/generator (15), second variable pump/motor (16), reducer (17), turntable (18), hydraulic Accumulator (19), second pressure sensor (20), other actuator hydraulic drive system (21) and controller (22); The driving motor (1) is mechanically connected with the hydraulic pump (2); the first variable pump/motor (9) is mechanically connected with the first electric motor/generator (8); the second variable pump/motor (16), The input shaft of the speed reducer (17) and the second motor/generator (15) are mechanically connected to each other; the output shaft of the speed reducer (17) is mechanically connected to the turntable (18); The outlet of the hydraulic pump (2) is divided into two routes: the first route is connected to the safety valve (3); the second route is connected to the oil inlet of the check valve (5); the outlet of the check valve (5) is divided into five routes: the first The road is connected to the oil inlet port of the first variable pump/motor (9), and the oil outlet port of the first variable pump/motor (9) is connected to the P port of the reversing valve (10); the second road is connected to the second variable pump/ The oil inlet of the motor (16) and the oil outlet of the second variable pump/motor (16) are connected to the oil tank; the third road is connected to the hydraulic accumulator (19); the fourth road is connected to the second pressure sensor (20); The five-way is connected to other actuator hydraulic drive systems (21); the T port of the reversing valve (10) is connected to the oil tank, the A port of the reversing valve (10) and the oil port A1 of the shuttle valve (12) and the oil cylinder (13) The rodless cavity is connected, and the B port of the reversing valve (10) is connected with the oil port A2 of the shuttle valve (12) and the rod cavity of the oil cylinder (13); The inverter (4), the power input terminal of the first motor controller (7) and the power input terminal of the second motor controller (14) are connected to the power storage unit (6), and the power supply input terminal of the first motor controller (7) The power output terminal is electrically connected to the first motor/generator (8), and the power output terminal of the second motor controller (14) is electrically connected to the second motor/generator (15); The input signal of the controller (22) includes the output signal of the first pressure sensor (11) and the output signal of the second pressure sensor (20); the output signal of the controller (22) includes the input of the first motor controller (7) signal, the input signal of the second motor controller (14) and the input signal of the inverter (4). 2. A secondary regulation system based on electrical control according to claim 1, characterized in that: said first motor/generator (8) and said second motor/generator (15) are equipped with The sensor for measuring the rotational speed is a rotary transformer or a photoelectric encoder. 3. A secondary regulating system based on electrical control according to claim 1, characterized in that: the reversing valve (10) is a manual control reversing valve, an electromagnetic control reversing valve, an electro-hydraulic control reversing valve One of valves and hydraulically controlled reversing valves. 4. A secondary adjustment system based on electrical control according to claim 1, characterized in that: said other actuator hydraulic drive system (21) includes a cylinder drive system for driving other cylinders to move linearly and for A turntable drive system that drives other turntables to perform rotary motion.