Research And Platform Design Of Hydraulic Synchronous Control System Based On Active Disturbance Rejection

This paper focuses on the study of a dual-cylinder synchronous control system and conducts research based on engineering practice.Due to the system’s parameters’ timevarying characteristics and external disturbances,such as offset load,it is challenging to achieve sufficient anti-interference ability to meet the hydraulic synchronization system’s control accuracy.Additionally,the hydraulic synchronization field requires data acquisition equipment to meet the demand for large-scale high-speed data acquisition while also completing real-time analysis and control.This paper addresses these issues by undertaking the following tasks:(1)An analysis is conducted of the causes of errors in hydraulic synchronization systems,and control strategies are compared.Based on requirements,a parallel synchronous control system is selected.A platform solution based on FPGA and ARM is established,suitable devices are chosen,and circuit design and PCB drawing are carried out.This includes LVDT interface circuit modules,sensor signal acquisition modules,SSI interface modules,servo drive circuit modules,servo current feedback modules,Ethernet modules,and programming and experimental simulations are conducted on SD card modules,ADC7606 modules,FSMC modules,PGA970 modules,SSI interface modules,and Ethernet modules.Results demonstrate that this function can be achieved.(2)This paper analyzes the hydraulic servo system and describes its components.Further derivation of formulas for the hydraulic servo system is conducted to obtain the system’s model and state-space equations,laying the foundation for subsequent research on position synchronization control based on active disturbance rejection.(3)The hydraulic synchronization system faces the challenge of internal disturbances,such as time-varying parameters,and external disturbances,such as offset load.To address this,active disturbance rejection control that does not rely on system models is adopted.This paper establishes single-cylinder position controllers and dual-cylinder synchronous controllers,conducting experimental verification.Results demonstrate that regardless of the existence of disturbances,active disturbance rejection control has strong robustness to the hydraulic synchronization system’s dynamic and nonlinear changes,effectively suppressing internal and external disturbances,improving the system’s control accuracy and stability.