CN112283207B - Energy dual-redundancy system and control method thereof - Google Patents
Energy dual-redundancy system and control method thereof Download PDFInfo
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- CN112283207B CN112283207B CN202011223773.8A CN202011223773A CN112283207B CN 112283207 B CN112283207 B CN 112283207B CN 202011223773 A CN202011223773 A CN 202011223773A CN 112283207 B CN112283207 B CN 112283207B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0846—Electrical details
- F15B13/086—Sensing means, e.g. pressure sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
- F15B2211/8757—Control measures for coping with failures using redundant components or assemblies
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides an energy dual-redundancy system and a control method thereof. The intelligent oil filter comprises an essential oil filter, an overflow valve, a servo valve, a hydraulic cylinder and a displacement sensor, and further comprises a pressure sensor, an energy selection valve, a high-pressure hose, a controller and a double-threshold logic control strategy, so that the automatic switching and fault isolation of main and auxiliary oil paths of an energy part are realized, the structure is simple, the weight is light, the switching response is fast, meanwhile, the double-threshold logic control strategy is applied, the frequent switching and mistaken switching phenomena of the main and auxiliary oil paths are solved, the reliability of a servo system can be improved by one order of magnitude relative to an existing product, the requirement of high reliability of manned spaceflight lunar landing in China is met, and the intelligent oil filter belongs to the field of electro-hydraulic servo control systems.
Description
Technical Field
The invention relates to the field of servo control systems, in particular to an energy dual-redundancy system and a control method thereof.
Background
The electro-hydraulic servo system is widely applied to an active carrier rocket thrust vector control system due to simple structure, mature technology and quick dynamic response, the matching quantity of the electro-hydraulic servo system in each sub-stage engine servo system of the carrier rocket is usually even, and the energy source part of the electro-hydraulic servo system refers to an energy source adjusting section from an engine energy source outlet to a servo valve inlet section. The traditional carrier rocket servo system basically adopts a single-redundancy design scheme, so that the system becomes a single point of the system, and although the reliability can meet the requirements of conventional satellite launching and freight transportation, the high reliability requirement of manned lunar landing cannot be met.
In addition, the redundant design of the energy source section of the servo system is also studied, some are that two sets of electrohydraulic servo system servo valve inlet sections are interconnected by adopting a high-pressure hose to form energy redundancy, but the energy redundancy is only simple interconnection and does not realize fault isolation, once one path of energy fails, the other path of energy cannot work normally, although an energy source selection valve is installed at the servo valve inlet section, a single pressure point is arranged, an auxiliary oil path is switched when the pressure point is lower than the single pressure point, the pressure point is not switched when the pressure point is higher than the single pressure point, but the inlet pressure of the energy source part can possibly fluctuate at the pressure point when the energy source part fails, so that the energy source selection valve can be switched back and forth continuously, and the energy source cannot be normally provided for the electrohydraulic servo system. Therefore, a novel energy redundancy system and a control strategy thereof are required to be provided, so that the reliability of the system is improved, and the requirement of high reliability of manned spaceflight lunar landing in China is met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an energy dual redundancy system and a control method thereof.
The invention provides an energy dual redundancy system, which comprises: a controller 15, a main oil path and an auxiliary oil path;
the main oil passage includes: the hydraulic control system comprises a first overflow valve 2, a first energy source selection valve 4, a first servo valve 5 and a first hydraulic cylinder 7, wherein two ends of the first overflow valve 2 are respectively connected with a high-pressure loop and a low-pressure loop of a first energy source, a normally open inlet of the first energy source selection valve 4 is connected with the high-pressure loop of the first energy source, an oil outlet of the first energy source selection valve 4 is connected with an inlet of the first servo valve 5, an oil return port of the first servo valve 5 is connected with the low-pressure loop of the first energy source, an electromagnetic control end of the first servo valve 5 is connected with a controller 15, and control ports of the first servo valve 5 are respectively connected with two cavities of the first hydraulic cylinder 7;
the auxiliary oil passage includes: the hydraulic control system comprises a second overflow valve 9, a second energy source selection valve 11, a second servo valve 12 and a second hydraulic cylinder 14, wherein two ends of the second overflow valve 9 are respectively connected with a high-pressure circuit and a low-pressure circuit of a second energy source, a normally open inlet of the second energy source selection valve 11 is connected with the high-pressure circuit of the second energy source, an oil outlet of the second energy source selection valve 11 is connected with an inlet of the second servo valve 12, an oil return port of the second servo valve 12 is connected with the low-pressure circuit of the second energy source, an electromagnetic control end of the second servo valve 12 is connected with a controller 15, and control ports of the second servo valve 12 are respectively connected with two cavities of the second hydraulic cylinder 14;
the normally closed inlet of the second energy source selection valve 11 is connected to the high-pressure circuit of the first energy source by a first high-pressure hose 16, and the normally closed inlet of the first energy source selection valve 4 is connected to the high-pressure circuit of the second energy source by a second high-pressure hose 17;
the controller 15 controls opening and closing of the first energy source selection valve 4 or the second energy source selection valve 11 in accordance with the pressure of the high-pressure circuit of the first energy source or the second energy source.
Preferably, the main oil circuit further comprises a first essential oil filter 1, an inlet of the first essential oil filter 1 is connected with the high-pressure circuit of the first energy source, and an outlet of the first essential oil filter 1 is respectively connected with the first relief valve 2, the first energy source selection valve 4 and the second energy source selection valve 11.
Preferably, the secondary oil circuit further comprises a second essential oil filter 8, an inlet of the second essential oil filter 8 is connected with the high-pressure circuit of the second energy source, and an outlet of the second essential oil filter 8 is respectively connected with the second relief valve 9, the second energy source selection valve 11 and the first energy source selection valve 4.
Preferably, the controller 15 controls the first energy source selection valve 4 and the second energy source selection valve 11 to open and close after a preset delay.
Preferably, the main oil passage further includes a first pressure sensor 3, the first pressure sensor 3 is connected to the high-pressure circuit of the first energy source, the auxiliary oil passage further includes a second pressure sensor 10, the second pressure sensor 10 is connected to the high-pressure circuit of the second energy source, and the first pressure sensor 3 and the second pressure sensor 10 are electrically connected to the controller 15, respectively.
Preferably, the main oil passage further includes a first position sensor 6 for detecting a displacement of a piston rod of the first hydraulic cylinder 7 and transmitting the detection result to the controller 15, and the sub oil passage further includes a second displacement sensor 13 for detecting a displacement of a piston rod of the second hydraulic cylinder 14 and transmitting the detection result to the controller 15.
According to the control method of the energy dual-redundancy system provided by the invention, the energy dual-redundancy system is adopted, and the control method comprises the following steps:
the controller 15 collects the pressure in the high-pressure circuit of the first energy source, and when the collected pressure is not greater than the set lower threshold value, the controller 15 controls the opening and closing of the first energy source selector valve 4 to disconnect the first energy source and connect the second energy source so that the second energy source simultaneously supplies energy to the first servo valve 5 and the second servo valve 12;
when the collected pressure is larger than the set upper threshold value, the controller 15 controls the opening and closing of the first energy selection valve 4 to disconnect the second energy, so that the first energy is recovered to provide energy for the first servo valve 5.
Preferably, the controller 15 controls the first energy selection valve 4 to open and close after a preset delay.
According to the control method of the energy dual-redundancy system provided by the invention, the energy dual-redundancy system is adopted, and the control method comprises the following steps:
the controller 15 collects the pressure in the high-pressure circuit of the second energy source, and when the collected pressure is not greater than the set lower threshold value, the controller 15 controls the opening and closing of the second energy source selector valve 11 to turn off the second energy source and turn on the first energy source, so that the first energy source simultaneously supplies energy to the first servo valve 5 and the second servo valve 12;
when the collected pressure is greater than the set upper threshold value, the controller 15 controls the second energy selection valve 4 to open and close, and the first energy is cut off, so that the second energy is recovered to provide energy for the second servo valve 12.
Preferably, the controller 15 controls the second energy selection valve 11 to open and close after a preset delay.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes the automatic switching and fault isolation of the main and auxiliary oil ways of the energy part, has simple structure, light weight and quick switching response, simultaneously solves the phenomena of frequent switching and miscutting of the main and auxiliary oil ways by applying a double-threshold logic control strategy, can improve the reliability of a servo system by one order of magnitude relative to the prior products, and meets the requirement of high reliability of manned spaceflight lunar landing in China.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides an energy dual redundancy system, which includes: a controller 15, a main oil path and an auxiliary oil path.
The main oil circuit includes: 1 is strained to first essential oil, first overflow valve 2, first energy selector valve 4, first servo valve 5 and first pneumatic cylinder 7, the high-pressure return circuit and the low pressure return circuit of the first energy are connected respectively to the both ends of first overflow valve 2, the normally open entry of first energy selector valve 4 is connected with the high-pressure return circuit of the first energy, the oil-out of first energy selector valve 4 is connected with the entry of first servo valve 5, the oil return opening of first servo valve 5 is connected with the low pressure return circuit of the first energy, the electromagnetic control end of first servo valve 5 is connected with controller 15, the control mouth of first servo valve 5 is connected with the two chambeies of first pneumatic cylinder 7 respectively. The first oil filter 1 has an inlet connected to a high-pressure circuit of the first energy source and an outlet connected to the first relief valve 2, the first energy source selector valve 4, and the second energy source selector valve 11, respectively.
The auxiliary oil path includes: the hydraulic control system comprises a second essential oil filter 8, a second overflow valve 9, a second energy source selection valve 11, a second servo valve 12 and a second hydraulic cylinder 14, wherein two ends of the second overflow valve 9 are respectively connected with a high-pressure circuit and a low-pressure circuit of a second energy source, a normally open inlet of the second energy source selection valve 11 is connected with the high-pressure circuit of the second energy source, an oil outlet of the second energy source selection valve 11 is connected with an inlet of the second servo valve 12, an oil return port of the second servo valve 12 is connected with the low-pressure circuit of the second energy source, an electromagnetic control end of the second servo valve 12 is connected with a controller 15, and a control port of the second servo valve 12 is respectively connected with two cavities of the second hydraulic cylinder 14;
the normally closed inlet of the second energy source selecting valve 11 is connected to the high-pressure circuit of the first energy source through a first high-pressure hose 16, and the normally closed inlet of the first energy source selecting valve 4 is connected to the high-pressure circuit of the second energy source through a second high-pressure hose 17;
the controller 15 controls opening and closing of the first energy source selector valve 4 or the second energy source selector valve 11 in accordance with the pressure of the high-pressure circuit of the first energy source or the second energy source. The inlet of the second essential oil filter 8 is connected with the high-pressure loop of the second energy source, and the outlet is connected with the second overflow valve 9, the second energy source selection valve 11 and the first energy source selection valve 4 respectively.
The main oil circuit further includes a first pressure sensor 3, the first pressure sensor 3 is connected to the high-pressure circuit of the first energy source, the sub-oil circuit further includes a second pressure sensor 10, the second pressure sensor 10 is connected to the high-pressure circuit of the second energy source, and the first and second pressure sensors 3 and 10 are electrically connected to the controller 15, respectively. The main oil circuit further comprises a first position sensor 6 for detecting the displacement of a piston rod of the first hydraulic cylinder 7 and transmitting a detection result to the controller 15, and the auxiliary oil circuit further comprises a second displacement sensor 13 for detecting the displacement of a piston rod of the second hydraulic cylinder 14 and transmitting a detection result to the controller 15.
The working process of the invention is as follows: in the normal working process of the two sets of electro-hydraulic servo systems, the inlet of the servo valve is kept at rated working pressure by an overflow valve to form high-pressure energy, when the high-pressure energy of the main oil way breaks down and the pressure suddenly drops to be not more than the lower threshold value, the pressure sensor transmits a pressure signal to the controller, the controller detects that the pressure value of the high-pressure energy of the main oil way is lower than the lower threshold value, the electromagnetic energy selection valve is controlled to be switched to the auxiliary oil way in a delayed mode for a certain time, the high-pressure energy of the auxiliary oil way provides two paths of servo system energy, when the working pressure of the main oil way high-pressure energy source is recovered to the upper threshold value, the pressure sensor transmits a pressure signal to the controller, the controller detects that the pressure value of the main oil way high-pressure energy source is higher than the upper threshold value, the controller controls the electromagnetic energy source selection valve to delay a certain time to switch to the main oil way high-pressure energy source, and the two ways of energy sources respectively provide high-pressure energy sources for the servo system.
In the energy failure process, the pressure fluctuation is large and frequent, the width of the upper threshold value and the lower threshold value must be wide enough, but the lower threshold value is too low to ensure the normal operation of the system, and the upper threshold value which is too high exceeds the lower limit of the fluctuation of the normal pressure value, so the upper threshold value and the lower threshold value must be obtained by test. In addition, the electromagnetic valve inevitably has a certain dead zone, and large and transient pressure fluctuation can occur in the switching process and directly exceeds an upper threshold value and a lower threshold value, so that the controller has to have certain delay in controlling the energy selection valve, the pressure fluctuation of the dead zone of the electromagnetic valve is avoided, and the phenomenon of error switching is avoided.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. An energy dual redundancy system, comprising: a controller (15), a main oil path and an auxiliary oil path;
the main oil passage includes: the hydraulic control system comprises a first overflow valve (2), a first energy source selection valve (4), a first servo valve (5) and a first hydraulic cylinder (7), wherein two ends of the first overflow valve (2) are respectively connected with a high-pressure loop and a low-pressure loop of a first energy source, a normally open inlet of the first energy source selection valve (4) is connected with the high-pressure loop of the first energy source, an oil outlet of the first energy source selection valve (4) is connected with an inlet of the first servo valve (5), an oil return port of the first servo valve (5) is connected with the low-pressure loop of the first energy source, an electromagnetic control end of the first servo valve (5) is connected with a controller (15), and a control port of the first servo valve (5) is respectively connected with two cavities of the first hydraulic cylinder (7);
the auxiliary oil passage includes: the hydraulic control system comprises a second overflow valve (9), a second energy source selection valve (11), a second servo valve (12) and a second hydraulic cylinder (14), wherein two ends of the second overflow valve (9) are respectively connected with a high-pressure circuit and a low-pressure circuit of a second energy source, a normally open inlet of the second energy source selection valve (11) is connected with the high-pressure circuit of the second energy source, an oil outlet of the second energy source selection valve (11) is connected with an inlet of the second servo valve (12), an oil return port of the second servo valve (12) is connected with the low-pressure circuit of the second energy source, an electromagnetic control end of the second servo valve (12) is connected with a controller (15), and a control port of the second servo valve (12) is respectively connected with two cavities of the second hydraulic cylinder (14);
the normally closed inlet of the second energy source selection valve (11) is connected to the high-pressure circuit of the first energy source by a first high-pressure hose (16), and the normally closed inlet of the first energy source selection valve (4) is connected to the high-pressure circuit of the second energy source by a second high-pressure hose (17);
the controller (15) controls opening and closing of the first energy source selection valve (4) or the second energy source selection valve (11) in accordance with a pressure of a high-pressure circuit of the first energy source or the second energy source;
the controller (15) controls the first energy selection valve (4) and the second energy selection valve (11) to open and close after a preset delay;
the first energy selection valve (4) and the second energy selection valve (11) are both two-position three-way valves.
2. The energy source dual redundancy system according to claim 1, wherein the main oil circuit further comprises a first essential oil filter (1), an inlet of the first essential oil filter (1) is connected to the high-pressure circuit of the first energy source, and outlets are connected to the first relief valve (2), the first energy source selection valve (4) and the second energy source selection valve (11), respectively.
3. The energy source dual redundancy system according to claim 1, wherein the secondary oil circuit further includes a second essential oil filter (8), an inlet of the second essential oil filter (8) is connected to the high-pressure circuit of the second energy source, and outlets thereof are connected to the second relief valve (9), the second energy source selection valve (11), and the first energy source selection valve (4), respectively.
4. The dual energy source redundancy system of claim 1, wherein the primary oil circuit further comprises a first pressure sensor (3), the first pressure sensor (3) being connected to the high-pressure circuit of the first energy source, the secondary oil circuit further comprises a second pressure sensor (10), the second pressure sensor (10) being connected to the high-pressure circuit of the second energy source, the first and second pressure sensors (3, 10) being electrically connected to the controller (15), respectively.
5. The dual energy redundancy system of claim 1, wherein the primary circuit further comprises a first position sensor (6) to detect the displacement of the piston rod of the first hydraulic cylinder (7) and transmit the detection result to the controller (15), and the secondary circuit further comprises a second displacement sensor (13) to detect the displacement of the piston rod of the second hydraulic cylinder (14) and transmit the detection result to the controller (15).
6. A control method of a dual energy redundancy system, characterized in that the dual energy redundancy system of claim 1 is adopted, and the control method comprises:
a controller (15) collects the pressure of a high pressure circuit of the first energy source, and when the collected pressure is not greater than a set lower threshold value, the controller (15) controls opening and closing of the first energy source selection valve (4) to disconnect the first energy source and connect the second energy source so that the second energy source simultaneously supplies energy to the first servo valve (5) and the second servo valve (12);
and when the acquired pressure is greater than the set upper threshold value, the controller (15) controls the opening and closing of the first energy source selection valve (4) to disconnect the second energy source, so that the first energy source is recovered to provide energy for the first servo valve (5).
7. The control method of a dual energy redundancy system according to claim 6, wherein the controller (15) controls the first energy selection valve (4) to open and close after a preset delay.
8. A control method of a dual energy redundancy system, characterized in that the dual energy redundancy system of claim 1 is adopted, and the control method comprises:
a controller (15) collects the pressure of the high pressure circuit of the second energy source, and when the collected pressure is not greater than a set lower threshold value, the controller (15) controls the opening and closing of the second energy source selection valve (11) to disconnect the second energy source and connect the first energy source so that the first energy source simultaneously supplies energy to the first servo valve (5) and the second servo valve (12);
and when the collected pressure is greater than the set upper threshold value, the controller (15) controls the opening and closing of the second energy source selection valve (11) to disconnect the first energy source and recover the second energy source to provide energy for the second servo valve (12).
9. The control method of a dual energy redundancy system according to claim 8, wherein the controller (15) controls the second energy selection valve (11) to open and close after a preset delay.
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