Research On Synchronous Control Of Multiple Electro-hydraulic Servo Actuators

In recent years,electro-hydraulic servo actuators have been widely used in various fields.Due to the higher requirements on the load capacity of large-scale equipment in the industry,an electro-hydraulic servo actuator cannot independently complete driving tasks for objects with complex mechanical structures,huge size or large mass.Two or even more servo actuators coordinate synchronized drives to meet industrial needs.With the improvement of industrial level and the development of human science and technology,the precision requirements of coordinated and synchronized control of multielectro-hydraulic servo actuators in various fields are getting higher and higher.This paper combines multi-electro-hydraulic servo actuators with multi-agents.Using algebraic graph theory and linear matrix inequality as research tools,this paper focuses on the synchronization of multi-electro-hydraulic servo actuators with fixed topology,switching topology and load disturbance.The research work in this paper mainly includes the following aspects:1.By analyzing the transmission control principle of the electro-hydraulic servo system,a nonlinear model of the electro-hydraulic servo system is established.The Lie derivative feedback linearization technique is used to linearize the nonlinear model.Then,the linearized system is configured with poles with negative real parts through state feedback,and finally a linear mathematical model of the electro-hydraulic servo system is obtained.2.Aiming at the fixed topology network,the synchronous control of multi-electrohydraulic servo actuator system is studied.Based on the node interaction information,a synchronous control law is designed for each electro-hydraulic servo actuator.The Lyapunov energy function is constructed to analyze the stability of the system,and the linear matrix inequality(LMI)is used to give the parameter design method of the synchronous controller.The controller coefficient matrix that stabilizes the system is obtained.Finally,simulations verify the effectiveness of the synchronization control algorithm.3.Aiming at the switching topology network,the synchronous control of multielectro-hydraulic servo actuator system is studied.Based on the node interaction information,a synchronous control law based on switching topology is designed for each electro-hydraulic servo actuator.Through stability theory and linear matrix inequality(LMI)method,sufficient conditions for system stability and synchronization are obtained.Finally,simulations verify the effectiveness of the synchronization control algorithm.4.Aiming at the problem of synchronous control of multi-electro-hydraulic servo actuators under load disturbance,a synchronous control law with disturbance compensation is designed for each electro-hydraulic servo actuator,and the disturbance is observed by the disturbance design observer.Combining stability theory,algebraic graph theory,and linear matrix inequality(LMI),sufficient conditions for system synchronization are obtained.Finally,simulations verify the effectiveness of the synchronization control algorithm.5.The electro-hydraulic servo-driven 2-DOF manipulator platform is used to verify the synchronization control algorithm designed in this paper under fixed topology,switching topology,and load disturbance.The experiments verify the rationality and effectiveness of the synchronization control algorithm designed in this paper.