Research On Force Synchronization Control And Control Strategy Of Double Hydraulic Cylinder

During the synchronous movement of the double hydraulic cylinder,there are some problems such as parameter uncertainty,unknown load disturbance and performance difference between the servo valves.These problems will cause the output force of the pistons of the hydraulic cylinders on both sides to be out of sync even under the same given input.The output power is out of sync will affect the loading performance of the system.Therefore,it is very necessary to study the force synchronous control of the double hydraulic cylinder system.Based on this background,this paper takes the large inertia electro-hydraulic servo system as the research object,and studies the synchronous control problem of the double hydraulic cylinder servo system.The main work is as follows:Firstly,the problem of synchronous control of electro-hydraulic servo system is studied.The system is subjected to force analysis,the classical mathematical model of electro-hydraulic servo system is established,and the single-cylinder nonlinear model is derived.The double-cylinder force synchronization model is established.Secondly,the full-closed-loop stability analysis of the electro-hydraulic servo system is carried out.The Bode diagram is used to judge the stability of the system.According to the steady-state characteristics of the system,lead and lag control controller is designed to optimize the control performance of the electro-hydraulic servo system.The improved PSO PID single-cylinder controller improves the transient and steady-state performance of the electro-hydraulic servo system.Then,taking into account the influence of nonlinear factors such as system dynamic uncertainty,parameter perturbation and friction leakage on the synchronous motion stability and synchronization accuracy of the double hydraulic cylinder,Analyse the load response stiffness of the dual-cylinder synchronous system under three operating conditions: the load elastic stiffness is far greater than the structural flexibility,the load stiffness and the structural flexibility are similar,and the load stiffness is far less than the structural flexibility.a fuzzy RBF neural network dual-cylinder controller is designed to compare the sinusoidal signals through different frequencies in order to verify the effectiveness of the controller.Finally,double hydraulic cylinder force synchronous motion test bench was built,and the control program based on fuzzy RBF neural network controller was written by C++Builder.The response characteristic curve of the sinusoidal input signal was obtained through experiments,and compared with the simulation results,The validity and correctness of fuzzy RBF neural networks was verified.