CN118815956A - A hydraulic reversing valve and control method thereof - Google Patents

Abstract

The present application relates to the field of reversing valves, and in particular to a hydraulic reversing valve and a control method thereof, which includes a detection module, a control module, a valve body, a valve core, a connector, a drive motor module, and a limit structure arranged at both ends of the valve body, wherein the valve body is hollow inside, and the drive motor module drives the valve core to make axial linear reciprocating motion through the connector, and the detection module is used to detect the phase current of the winding of the drive motor module and output a detection signal, and the control module is used to receive the detection signal and calculate the current value, and control the drive motor module to stop running when the current value is not within the set range. The present application can prevent the stepper motor from being continuously blocked and losing steps, thereby improving the stability of the hydraulic reversing valve.

Description

A hydraulic reversing valve and control method thereof

Technical Field

The present application relates to the field of reversing valves, and in particular to a hydraulic reversing valve and a control method thereof.

Background Art

The reversing valve is a directional control valve with more than two flow forms and more than two oil ports. It relies on the relative movement of the valve core and the valve body to realize the circulation, cut-off and hydraulic flow direction of the hydraulic oil.

The hydraulic reversing valve is mainly composed of valve body, valve core and stepper motor. The valve core of the reversing valve is driven by the stepper motor to make axial linear reciprocating motion. When the valve core is driven to move axially, the physical contact between the valve core and the limiting structure arranged at both ends of the valve body will cause the stepper motor to be blocked. The stepper motor is blocked when the rotor of the stepper motor rotates continuously in response to the pulse drive signal. The output shaft speed of the stepper motor is limited to 0 under the action of external force (such as the resistance caused by the valve core and the limiting structure arranged at both ends of the valve body). That is, the actual number of steps generated by the stepper motor during the rotor rotation is 0, and the stepper motor is blocked, which will cause the stepper motor to lose steps. The stepper motor loses steps when the actual number of steps generated by the stepper motor is less than the number of rotor rotations.

Summary of the invention

On the one hand, in order to prevent the stepper motor from being continuously blocked and losing steps, thereby improving the stability of the hydraulic reversing valve, the present application provides a hydraulic reversing valve.

The present application provides a hydraulic reversing valve, which adopts the following technical solution:

A hydraulic reversing valve comprises a detection module, a control module, a valve body, a valve core, a connecting piece, a drive motor module and limit structures arranged at both ends of the valve body, wherein the interior of the valve body is hollow, and the drive motor module drives the valve core to perform axial linear reciprocating motion through the connecting piece, the detection module is used to detect the phase current of the winding of the drive motor module and output a detection signal, and the control module is used to receive the detection signal and calculate the current value, and control the drive motor module to stop running when the current value is not within a set range.

By adopting the above technical solution, the detection module samples and detects the phase current of the winding of the drive motor module and outputs a detection signal. After receiving the detection signal, the control module calculates the current value and compares the current value with the set value. When the current value is not in the set range, it is determined that the stepper motor is stalled. At this time, the rotor of the stepper motor is controlled to stop running, thereby avoiding the stepper motor from being continuously stalled, thereby reducing the possibility of the stepper motor losing steps.

Preferably, the limiting structure includes a first stop block, a second stop block, a screw plug and a spring, the first stop block and the second stop block are respectively installed at two ends inside the valve body, a mounting hole is opened at one end of the valve body, the screw plug is installed at the mounting hole and the screw plug is used to close the mounting hole, the spring is located between the first stop block and the screw plug and one end of the spring is connected to the screw plug, the first stop block and the second stop block are both provided with a through hole, one end of the valve core passes through the through hole and abuts against an end of the spring away from the screw plug, and the other end of the valve core passes through the through hole and is connected to the drive motor module through a connecting piece.

By adopting the above technical solution, the design of the limit structure ensures the safe operation of the valve core. The combination of the first stopper, the second stopper, the screw plug and the spring can effectively stop the further movement of the valve core when the valve core reaches the set limit position during movement, thereby avoiding equipment damage or loss of control due to over-limit movement.

Preferably, the drive motor module includes a motor front cover, a stator assembly, a rotor assembly, and a motor rear cover. The motor front cover and the motor rear cover are respectively installed at both ends of the stator assembly, and the rotor assembly is installed at the center of the stator assembly. The rotor assembly is used to be driven by a connecting piece.

By adopting the above technical solution, the compact installation between the stator assembly and the rotor assembly, and the driving of the rotor assembly through the connecting parts, ensure the high efficiency and reliability of the motor, which is particularly important for applications requiring precise drive and high speed, such as control systems that require fast response.

Preferably, the connecting member includes a connecting shaft, a lead screw and a sliding column body, one end of the connecting shaft is connected to the center of the rotor assembly and the rotor assembly is used to drive the connecting shaft to rotate, one end of the lead screw is threadedly connected to the connecting shaft, the other end of the lead screw is axially fixed to one end of the sliding column body, and the other end of the sliding column body is axially fixed to one end of the valve core passing through the through hole, and a locking member for allowing the sliding column body to move axially is provided on the front cover of the motor.

By adopting the above technical solution, the connecting shaft is directly connected to the center of the rotor assembly and is driven by the rotor assembly, ensuring transmission efficiency and accuracy. The design of the lead screw provides higher rotation accuracy and load capacity, and is suitable for applications that require precise control and high torque transmission; one end of the lead screw is threadedly connected to the connecting shaft, and the other end is axially fixed to the sliding column, ensuring the stability and reliability of the connection. This structure can withstand the rotational force from the rotor assembly and effectively transmit it to the sliding column.

Preferably, the locking member includes a locking rod, a locking hole is provided on the motor front cover, the locking rod is threadedly connected to the locking hole, the locking rod and the sliding column body are arranged perpendicular to each other, a limiting groove is provided on the sliding column body, and the locking rod is slidably connected to the limiting groove when the sliding column body slides axially along the valve body.

By adopting the above technical solution, when the sliding column slides axially along the valve body, the locking rod is slidably connected to the limiting groove, thereby realizing the axial sliding of the sliding column and further making the valve core slide axially along the length direction of the valve body.

Preferably, the valve body is provided with an oil inlet, an oil return port and two hydraulic actuator oil ports, and the valve body is provided with a first oil return chamber, a first working chamber, an oil storage chamber, a second working chamber and a second oil return chamber. The two hydraulic actuator oil ports are respectively connected to the first working chamber and the second working chamber, the first oil return chamber is connected to the second oil return chamber, the oil storage chamber is connected to the oil inlet, and the second oil return chamber is connected to the oil return port.

By adopting the above technical solution, different chambers (such as the first oil return chamber, the first working chamber, the oil storage chamber, the second working chamber and the second oil return chamber) are set in the valve body, and each chamber has a specific function and role. This partition design makes the functional division of the hydraulic system clear, helps to reduce the interference and cross-influence between hydraulic components, and improves the stability and reliability of the system, so that the directional control valve with multiple flow forms and more than two oil ports relies on the relative movement of the valve core and the valve body to realize the circulation, cut-off and hydraulic flow direction of the hydraulic oil.

On the second aspect, in order to prevent the stepper motor from being blocked or losing steps, thereby improving the stability of the hydraulic reversing valve, the present application provides a control method for the hydraulic reversing valve.

A control method for a hydraulic reversing valve, comprising:

Get the current parameters of the drive motor module;

Perform current abnormality determination based on current parameters;

Execute current abnormality judgment: compare the current parameter with the set range;

If the current parameter is not within the set range, the drive motor module is determined to be blocked and marked as abnormal;

The drive motor module is controlled to stop running according to the abnormal state.

By adopting the above technical solution, through real-time acquisition and analysis of current parameters, the system can promptly detect abnormal conditions of the drive motor module, such as stalling, and take timely measures to avoid equipment damage or production interruption, automatically perform current abnormality judgment and control, reduce potential risks caused by human misoperation or inadequate monitoring, improve system reliability and stability, and through preventive maintenance, reduce the maintenance cost and downtime caused by sudden failures, and improve the service life and overall efficiency of the equipment.

Preferably, the step of obtaining the set interval includes:

Obtain the winding internal resistance and winding inductance of the drive motor module;

Obtain the static current parameters based on the winding internal resistance and winding inductance of the drive motor module

Get the pulse frequency and level fluctuation amplitude;

The setting interval is obtained according to the static current parameter, the pulse frequency and the level fluctuation amplitude.

By adopting the above technical solution, by measuring the internal resistance and inductance of the winding, the static working state of the motor module can be accurately evaluated, thereby improving the accuracy and timeliness of fault detection. By setting the normal working range of static current parameters, pulse frequency and level fluctuation amplitude, the system can implement preventive maintenance strategies, reduce the possibility of sudden failures, and extend the life of the equipment. By measuring and analyzing the winding characteristics of the drive motor module in detail and setting a reasonable working range based on these data, the reliability, safety and economy of the equipment operation can be effectively improved.

Preferably, the method further comprises:

Get the pressure parameter value of the hydraulic actuator oil port;

Obtain the opening degree of the hydraulic actuator oil port according to the pressure parameter value;

Obtaining a first displacement of the valve core according to the opening degree of the hydraulic actuator oil port;

Obtaining a first target displacement;

A first control signal for controlling the driving motor module is output according to the first displacement amount and the first target displacement amount.

By adopting the above technical solution, through real-time monitoring and feedback, it is possible to achieve precise control of the opening degree of the hydraulic actuator oil port and the displacement of the valve core, thereby ensuring the stable operation of the hydraulic system. The parameter adjustment based on real-time measurement can quickly respond to changes in system requirements and improve the dynamic performance and response speed of the hydraulic system. By ensuring that the valve core and the hydraulic actuator oil port work in the correct position, the risk of unexpected failures and system failures can be reduced, thereby improving the safety and reliability of the equipment.

Preferably, the method further comprises:

Get the flow change within the set time;

Obtaining a second displacement of the valve core according to a flow rate change within a set time;

Obtaining a second target displacement;

A second control signal for controlling the driving motor module is output according to the second displacement amount and the second target displacement amount.

By adopting the above technical solution, through real-time monitoring and feedback of flow changes, the system can respond quickly to demand and enable the hydraulic system to achieve accurate flow adjustment within the set time; by real-time monitoring and adjustment of flow changes in the hydraulic system, the risk of system abnormalities or failures can be reduced.

In summary, the present application includes at least one of the following beneficial technical effects:

1. The detection module samples and detects the phase current of the winding of the drive motor module and outputs a detection signal. After receiving the detection signal, the control module calculates the current value and compares the current value with the set value. When the current value is not within the set range, it is determined that the stepper motor is blocked. At this time, the rotor of the stepper motor is controlled to stop running, thereby avoiding continuous blocking of the stepper motor and reducing the possibility of the stepper motor losing steps.

2. The design of the limit structure ensures the safe operation of the valve core. The combination of the first stopper, the second stopper, the screw plug and the spring can effectively stop the further movement of the valve core when it reaches the set limit position during movement, thereby avoiding equipment damage or loss of control due to over-limit movement;

3. Through real-time monitoring and feedback, the opening degree of the hydraulic actuator oil port and the displacement of the valve core can be accurately controlled, thereby ensuring the stable operation of the hydraulic system. Parameter adjustment based on real-time measurement can quickly respond to changes in system requirements and improve the dynamic performance and response speed of the hydraulic system. By ensuring that the valve core and the hydraulic actuator oil port work in the correct position, the risk of unexpected failures and system failures can be reduced, and the safety and reliability of the equipment can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a hydraulic reversing valve according to an embodiment of the present application.

FIG2 is a cross-sectional schematic diagram of a hydraulic reversing valve according to an embodiment of the present application.

FIG. 3 is a schematic bottom view of a hydraulic reversing valve according to an embodiment of the present application.

4 is another cross-sectional schematic diagram of a hydraulic reversing valve according to an embodiment of the present application, mainly showing an oil inlet, an oil return port and two hydraulic actuator oil ports.

FIG5 is a partial structural diagram of a hydraulic reversing valve according to an embodiment of the present application, mainly showing a motor drive module.

FIG. 6 is a structural block diagram of a hydraulic reversing valve according to an embodiment of the present application.

FIG. 7 is a flow chart of a control method of a hydraulic reversing valve according to an embodiment of the present application, mainly showing steps S100 - S500 .

FIG8 is a flow chart of a control method of a hydraulic reversing valve according to an embodiment of the present application, mainly showing SB1-SB5.

FIG9 is a flow chart of a control method of a hydraulic reversing valve according to an embodiment of the present application, mainly showing SC1-SC4.

Explanation of the reference numerals: 100, valve body; 200, valve core; 310, first stopper; 320, second stopper; 330, screw plug; 340, spring; 400, drive motor module; 410, motor front cover; 420, stator assembly; 430, rotor assembly; 440, motor rear cover; 450, drive plate; 460, control plate; 470, socket; 510, connecting shaft; 520, lead screw; 530, sliding column; 540, locking rod; 610, oil inlet; 620, oil return port; 630, hydraulic actuator oil port; 640, first oil return chamber; 650, first working chamber; 660, oil storage chamber; 670, second working chamber; 680, second oil return chamber.

DETAILED DESCRIPTION

The present application is further described in detail below in conjunction with all the accompanying drawings.

The embodiment of the present application discloses a hydraulic reversing valve. Referring to FIG1 and FIG2 , the hydraulic reversing valve includes a valve body 100 , a valve core 200 , a connecting piece, a driving motor module 400 , and limit structures disposed at both ends of the valve body 100 .

2 and 3, the valve body 100 is provided with an oil inlet 610, an oil return port 620 and two hydraulic actuator oil ports 630 corresponding to the four letters PTAB respectively. The two hydraulic actuator oil ports 630 are used to communicate with the inlet and outlet of the hydraulic actuator (cylinder). The oil inlet 610 and the oil return port 620 are respectively connected to the oil supply source. Sliding holes are passed through both ends of the valve body 100. The sliding holes are formed with a first oil return chamber 640, a first working chamber 650, an oil storage chamber 660, a second working chamber 670 and a second oil return chamber 680 from left to right. The two hydraulic actuator oil ports 630 are respectively connected with the first working chamber 650 and the second working chamber 670, the first oil return chamber 640 is connected with the second oil return chamber 680, the oil storage chamber 660 is connected with the oil inlet 610, and the second oil return chamber 680 is connected with the oil return port 620 is connected, the valve core 200 is slidably arranged in the sliding hole, the limiting structure includes a first stop block 310, a second stop block 320, a screw plug 330 and a spring 340, the first stop block 310 and the second stop block 320 are respectively fixedly installed at both ends of the sliding hole, a mounting hole connected to the sliding hole is opened at one end of the valve body 100, the screw plug 330 is sealingly installed at the mounting hole, the spring 340 is located between the first stop block 310 and the screw plug 330 and one end of the spring 340 is connected to the screw plug 330, the spring 340 makes the valve core 200 have a tendency to move to the right, the first stop block 310 and the second stop block 320 are both provided with through holes, one end of the valve core 200 passes through the through hole and abuts against one end of the spring 340 away from the screw plug 330, and the other end of the valve core 200 passes through the through hole and is connected to the drive motor module 400 through a connecting piece.

2, 4 and 5, the drive motor module 400 includes a motor front cover 410, a stator assembly 420, a rotor assembly 430, a motor rear cover 440, a drive board 450, a control board 460 and a socket 470. The drive motor module 400 adopts a stepper motor. The drive board 450 is provided with a drive circuit for driving the rotor assembly 430 to rotate. The control board 460 is installed with a control module CPU. The socket 470 is connected to a DC12-24V power supply. The motor front cover 410 and the rear cover are fixed at both ends of the stator assembly 420 to ensure the structural stability of the entire motor module, which is of great significance for the motor to withstand mechanical vibration and external forces during operation, and helps to prolong the life of the motor. Long service life of the motor; the rotor assembly 430 is installed at the center of the stator assembly 420, and the rotor assembly 430 is used to be driven by the connecting piece. The motor front cover 410 and the motor rear cover 440 are connected by bolts. The installation of the front cover and the rear cover not only fixes the stator and rotor assembly 430, but also provides good sealing and protection. This structure can effectively prevent the external environment such as dust and water vapor from invading the internal components of the motor, and reduces the frequency of maintenance and cleaning; the design of the motor front cover 410 and the rear cover makes the installation and disassembly of the entire motor module simple and intuitive, and the stator and rotor assembly 430 can be easily accessed during maintenance, which is convenient for inspection, repair or replacement of damaged parts, saving maintenance time and cost.

The connecting member includes a connecting shaft 510, a lead screw 520 and a sliding column 530. One end of the connecting shaft 510 is connected to the center of the rotor assembly 430 and the rotor assembly 430 is used to drive the connecting shaft 510 to rotate. The other end of the connecting shaft 510 is provided with a thread. One end of the lead screw 520 is threadedly connected to the connecting shaft 510. The two ends of the sliding column 530 are respectively provided with a first groove. One end of the sliding column 530 is axially fixed to the other end of the lead screw 520 through the first groove. The other end of the sliding column 530 is axially fixed to one end of the valve core 200 passing through the through hole through the second groove. A locking member for axially moving the sliding column 530 is provided on the front cover 410 of the motor. A skeleton oil seal is arranged between the motor front cover 410 and the connecting shaft 510 to prevent the hydraulic oil from entering the interior of the drive motor module 400. A plug seal is arranged at the rear end of the connecting shaft 510 to prevent the hydraulic oil from leaking out. A locking member for making the sliding column 530 move axially is arranged on the motor front cover 410. The locking member includes a locking rod 540. A locking hole is arranged on the motor front cover 410. The locking rod is threadedly connected to the locking hole. The sliding directions of the locking rod 540 and the sliding column 530 are arranged perpendicular to each other. A limiting groove is arranged on the peripheral wall of the sliding column 530. When the sliding column 530 slides axially along the valve body 100, the locking rod 540 is slidably connected to the limiting groove.

Referring to Figures 4 and 6, the detection module also uses a current sensor, which can detect the current size in the circuit and convert it into a voltage or digital signal output. In the hydraulic reversing valve, the current sensor will be installed in the circuit of the drive motor module 400 to monitor the phase current of the winding of the drive motor module 400. Once the current signal is detected, the sensor will convert it into a voltage signal or a digital signal, and then transmit it to the control module. The control module receives the detection signal and calculates the current value. When the current value is not in the set interval, the drive circuit is controlled to stop the drive motor module 400 from running. The set interval is pre-entered by the designer.

The present application discloses a control method for a hydraulic reversing valve. Referring to FIG. 7 , a control method for a hydraulic reversing valve includes:

Step S100: obtaining current parameters of the driving motor module 400;

Step S200: Execute current abnormality determination according to current parameters;

Step S300: Execute current abnormality determination: compare the current parameter with the set interval;

Step S400: If the current parameter is not within the set range, it is determined that the drive motor module 400 is locked and marked as an abnormal state;

Step S500: Control the driving motor module 400 to stop running according to the abnormal state.

Specifically, the system monitors the current value of the drive motor module 400 through the detection module in real time, obtains its current parameter data, and then compares the obtained current parameter with the preset setting range. If the current parameter exceeds the set normal working range, the system determines that the drive motor module 400 has an abnormal stall, and the system marks the drive motor module 400 as an abnormal state, indicating that its working state is abnormal. According to the abnormal state mark, the system executes a control strategy to stop or urgently stop the operation of the drive motor module 400 to prevent possible equipment damage or safety risks.

The method for obtaining the above-mentioned setting interval includes:

Step SA1: Obtain winding internal resistance and winding inductance of the drive motor module 400;

Step SA2: Obtaining static current parameters based on the winding internal resistance and winding inductance of the drive motor module 400

Step SA3: Obtain pulse frequency and level fluctuation amplitude;

Step SA4: Obtain the setting interval according to the static current parameter, pulse frequency and level fluctuation amplitude.

Specifically, the DC resistance of the winding of the drive motor module 400 is measured using a suitable measuring instrument (resistance meter). This can be achieved by applying a small voltage and measuring the current passing through, and using an LCR (inductance, capacitance and resistance) measuring instrument to measure the inductance of the winding of the drive motor module 400. This measurement usually involves applying a small voltage of known frequency to the winding and measuring the resulting current and phase change. Based on the measured winding internal resistance and inductance values, the expected current of the drive motor module 400 in a static state can be calculated. This usually involves using Ohm's law and the basic relationship of inductance to calculate and monitor the frequency of the pulse signal generated by the drive motor module 400. This can be achieved by capturing the time interval or frequency of each pulse, and evaluating the working state of the motor module by measuring the amplitude of the level change of the pulse signal. This can involve real-time monitoring of voltage or current, and analyzing its range of change, based on the measurement results of static current parameters, pulse frequency and level fluctuation amplitude, and based on the results of multiple experiments, determine the normal working range of the drive motor module 400. When it is detected that the parameters are out of the set range, the system can stop the device to prevent further damage.

Referring to FIG. 8 , the hydraulic reversing valve can also be adjusted by detecting the pressure, and the specific steps include:

Step SB1: Obtain the pressure parameter value of the hydraulic actuator oil port 630;

Step SB2: Obtaining the opening degree of the hydraulic actuator oil port 630 according to the pressure parameter value;

Step SB3: obtaining a first displacement of the valve core 200 according to the opening degree of the hydraulic actuator oil port 630;

Step SB4: obtaining the first target displacement;

Step SB5: Outputting a first control signal for controlling the driving motor module 400 according to the first displacement amount and the first target displacement amount.

Specifically, a pressure sensor or a measuring instrument is used to measure the pressure value of the hydraulic actuator oil port 630 in the hydraulic system. These sensors can be installed around the oil port or directly connected to the hydraulic pipeline. According to the preset control algorithm or logic or the results of multiple experiments, that is, the designer can obtain the relationship between the displacement of the valve core 200 and the pressure value of the hydraulic actuator oil port 630 through multiple experiments, and convert the measured pressure value into the opening degree of the hydraulic actuator oil port 630. The opening degree can be determined by the displacement of the valve core 200. Through the sensor or position feedback device, the displacement of the valve core 200 can be monitored in real time, the first target displacement pre-set in the system or received from the controller, and the first target displacement input by the staff from the upper computer, that is, the target value of the required movement of the valve core 200, the actual measured displacement of the valve core 200 is compared with the target displacement, and a control voltage or current signal is generated according to the error (deviation), and the drive motor module 400 is controlled to adjust the valve core 200 to the target displacement.

Referring to FIG. 9 , the hydraulic reversing valve can also be adjusted by detecting the hydraulic oil flow rate. The specific steps include:

Step SC1: Obtain the flow rate change within a set time;

Specifically, a flow sensor or measuring instrument is used to monitor the flow changes of the hydraulic system within a set time period. The flow sensor can be installed in the pipeline to measure the amount of hydraulic oil flowing through in real time.

Step SC2: obtaining a second displacement of the valve core 200 according to the flow rate change within a set time;

Specifically, based on the real-time measured flow change, through a preset control algorithm or logic or the results of multiple experiments, that is, the designer can obtain the relationship between the displacement of the valve core 200 and the flow of the hydraulic actuator oil port 630 through multiple experiments, and convert the flow change into an adjustment requirement for the displacement of the valve core 200 to adjust the output flow of the hydraulic system.

Step SC3: obtaining the second target displacement;

Specifically, the second target displacement pre-set in the system or received from the controller can also be received from the host computer and input by the staff, that is, the target value of the desired valve core 200 movement, which is used to control the system to achieve the desired flow adjustment within the set time.

Step SC4: outputting a second control signal for controlling the drive motor module 400 based on the second displacement and the second target displacement.

Specifically, the actual measured displacement of the valve core 200 is compared with the second target displacement, and a corresponding control signal is generated according to the error (deviation). This signal is used to control the drive motor module 400 to adjust the valve core 200 to the target displacement, thereby achieving the preset flow change target.

The implementation principle of a hydraulic reversing valve and its control method in an embodiment of the present application is as follows: the detection module samples and detects the phase current of the winding of the drive motor module 400 and outputs a detection signal. After receiving the detection signal, the control module calculates the current value and compares the current value with the set value. When the current value is not in the set range, it is determined that the stepper motor is stalled. At this time, the rotor of the stepper motor is controlled to stop running, thereby avoiding the stepper motor from being continuously stalled, thereby reducing the possibility of the stepper motor losing steps.

The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A hydraulic reversing valve, characterized in that it comprises a detection module, a control module, a valve body (100), a valve core (200), a connecting piece, a drive motor module (400) and limit structures arranged at both ends of the valve body (100), the valve body (100) is hollow inside, the drive motor module (400) drives the valve core (200) to perform axial linear reciprocating motion through the connecting piece, the detection module is used to detect the phase current of the winding of the drive motor module (400) and output a detection signal, the control module is used to receive the detection signal and calculate the current value, and control the drive motor module (400) to stop running when the current value is not within a set range. 2. A hydraulic reversing valve according to claim 1, characterized in that: the limiting structure comprises a first stopper (310), a second stopper (320), a screw plug (330) and a spring (340), the first stopper (310) and the second stopper (320) are respectively installed at two ends of the valve body (100), one end of the valve body (100) is provided with a mounting hole, the screw plug (330) is installed at the mounting hole and the screw plug (330) is used to close the mounting hole. The spring (340) is located between the first stopper (310) and the screw plug (330), and one end of the spring (340) is connected to the screw plug (330). Both the first stopper (310) and the second stopper (320) are provided with through holes. One end of the valve core (200) passes through the through hole and abuts against one end of the spring (340) away from the screw plug (330). The other end of the valve core (200) passes through the through hole and is connected to the drive motor module (400) via a connecting piece. 3. A hydraulic reversing valve according to claim 1, characterized in that: the driving motor module (400) comprises a motor front cover (410), a stator assembly (420), a rotor assembly (430), and a motor rear cover (440), the motor front cover (410) and the motor rear cover (440) are respectively installed at two ends of the stator assembly (420), the rotor assembly (430) is installed at the center of the stator assembly (420), and the rotor assembly (430) is used to be driven by a connecting piece. 4. A hydraulic reversing valve according to claim 3, characterized in that: the connecting member comprises a connecting shaft (510), a lead screw (520) and a sliding column (530), one end of the connecting shaft (510) is connected to the center of the rotor assembly (430) and the rotor assembly (430) is used to drive the connecting shaft (510) to rotate, one end of the lead screw (520) is threadedly connected to the connecting shaft (510), the other end of the lead screw (520) is axially fixed to one end of the sliding column (530), the other end of the sliding column (530) is axially fixed to one end of the valve core (200) passing through the through hole, and a locking member for axially moving the sliding column (530) is provided on the motor front cover (410). 5. A hydraulic reversing valve according to claim 4, characterized in that: the locking member comprises a locking rod (540), a locking hole is provided on the motor front cover (410), the locking rod is threadedly connected to the locking hole, the locking rod (540) and the sliding column (530) are arranged perpendicular to each other, a limiting groove is provided on the sliding column (530), and when the sliding column (530) slides axially along the valve body (100), the locking rod (540) is slidably connected to the limiting groove. 6. A hydraulic reversing valve according to claim 1, characterized in that: an oil inlet (610), an oil return port (620) and two hydraulic actuator oil ports (630) are provided on the valve body (100), and a first oil return chamber (640), a first working chamber (650), an oil storage chamber (660), a second working chamber (670) and a second oil return chamber (680) are provided in the valve body (100), and the two hydraulic actuator oil ports (630) are respectively connected to the first working chamber (650) and the second working chamber (670), the first oil return chamber (640) is connected to the second oil return chamber (680), the oil storage chamber (660) is connected to the oil inlet (610), and the second oil return chamber (680) is connected to the oil return port (620). 7. A control method for a hydraulic reversing valve, applied to the hydraulic reversing valve according to any one of claims 1 to 6, characterized in that it comprises: Obtaining current parameters of the drive motor module (400); Perform current abnormality determination based on current parameters; Execute current abnormality judgment: compare the current parameter with the set range; If the current parameter is not within the set range, it is determined that the drive motor module (400) is blocked and marked as an abnormal state; The driving motor module (400) is controlled to stop running according to the abnormal state. 8. A control method for a hydraulic reversing valve according to claim 1, characterized in that: the step of obtaining a set interval comprises: Obtaining the winding internal resistance and winding inductance of the drive motor module (400); Obtaining static current parameters based on the winding internal resistance and winding inductance of the drive motor module (400) Get the pulse frequency and level fluctuation amplitude; The setting interval is obtained according to the static current parameter, the pulse frequency and the level fluctuation amplitude. 9. A control method for a hydraulic reversing valve according to claim 1, characterized in that: the method further comprises: Get the pressure parameter value of the hydraulic actuator oil port (630); The opening degree of the hydraulic actuator oil port (630) is obtained according to the pressure parameter value; Obtaining a first displacement of the valve core (200) according to the opening degree of the hydraulic actuating oil port (630); Obtaining a first target displacement; A first control signal for controlling the driving motor module (400) is output according to the first displacement amount and the first target displacement amount. 10. A control method for a hydraulic reversing valve according to claim 1, characterized in that: the method further comprises: Get the flow change within the set time; Obtaining a second displacement of the valve core (200) according to a flow rate change within a set time; Obtaining a second target displacement; A second control signal for controlling the driving motor module (400) is output according to the second displacement amount and the second target displacement amount.