中文摘要：

针对核电厂重型模块安装时水平搬运和垂直吊装的需要，研制了模块举升液压系统及整车调平液压系统，重点解决举升过质心后液压缸进入负值负载状态下的液压系统回路设计问题，首先采用两级举升的方案增强了系统稳定性，接着选择带机械锁紧的后支腿液压缸避免了模块举升至过质心状态后给液压回路带来较高压力，消除了高压引起管路爆裂带来的安全隐患，同时通过举升角度的实时反馈加比例流量阀输出流量控制确保在举升时多级缸全程伸出速度的一致性。整个系统经实际试验考核，证明其使用效果较好，整个模块举升工作过程具有很好的鲁棒性与可靠性。

英文摘要：

Aimed at the requirements of conveying and lifting heavy module vertically and horizontally of nuclear power plant, the hydraulic system of module lifting vehicle and level regulating are developed. The key problem was solved of the hydraulic loop design when the lifting over the center of mass and cylinder under the negative load. Firstly, the two steps lifting scheme were adopted to im- prove the system stability. Then, the back outriggers and cylinders with machinery locking were chosen to avoid higher pressure of the hydraulic system when the module was lifted to the state of lifting over the center of mass, which eliminated hidden safety danger of bro- ken pipes caused by the high pressure. At the same time, the lifting angle was detected and fed back to the control system to adjust the flow output of propotional flow valve so as ensure consistency of stretch out speed in the whole journey of multi-stage cylinder at lifting. Through actural test verification of the system, the using results are shown good that the whole lifting process of the module has very strong robust and stability.