Research Of Position Synchronization Control For Dual Swing Electro-hydraulic Servo Motor

With rapid development of modern hydraulic technology, large-scale hydraulic servo unit is required in more and more projects to drive the swing mechanism, and the compactness and quality of servo units have an important influence on the overall performance of the mechanism. This scheme can effectively reduce total mass of the mechanism and shrink structure size of the mechanism, so as to make it convenient for engineering layout. Thus it has positive effect on compactness of the system structure design. Meanwhile, due to the design of bi-motor synchronization system, symmetry between system load and structure is realized, which can effectively improve the dynamic performance and load-carrying situation of the system. As for the influence of factors including high load, high frequency response, time-varying characteristic of parameter, and control object mode change caused by friction and leakage, the key point of this driving scheme lies in how to control bi-motor synchronization.At first, this paper discusses the development of domestic and foreign hydraulic servo synchronization technology, a variety of control theory applied in hydraulic position synchronous servo system and its research progress. Due to the bi-motor position synchronization control system is actually made up of two typical single channel position servo system, the synchronization performance with each group of valve-controlled motor institutions is closely related to the performance, so this article established a unilateral valve-controlled motor dynamic mechanism model, and analyzes the stability of the valve-controlled motor system, frequency characteristic and accuracy. On this basis, considering the rigid connection, established the linear model of dual electro-hydraulic servo motor position synchronous system, and simplified the coupling effect of double motor model reasonably, in order to analyze the system. In order to be more in line with the conditions, added in the nonlinear Lugre friction factor, established the nonlinear model of dual electro-hydraulic servo motor position synchronous system.Secondly, after the comparison and analysis of several common hydraulic synchronization schemes, put forward a fuzzy complex cross-coupling synchronization scheme, based on Mamdani fuzzy inference system. This control scheme has a PID controller in each subchannel and a fuzzy controller between the two subchannels used for synchronization error compensation. In the process of subchannel controller design, designed a kind of single channel state synchronous tracker based on modern control theory. Then proved the design of fuzzy complex cross-coupling controller has high robustness and synchronization accuracy by comparing various synchronization scheme simulations. Finally the swing bi-motor position synchronous test system’s software and hardware design are completed, then under the rigid connection, experiments on the master-slave synchronization mode, equivalent type synchronous mode and complex cross-coupling synchronization mode are verified respectively. The experimental results show that fuzzy complex cross-coupling control strategy and control structure adopted in this paper is effective. This research topic provides the research of overloading hydraulic servo drive system with technical support, and also provides certain theory reference value and practical application value.