Research On Synchronization Control Of The Dual Hydraulic Driven Motors Based On Quantitative Feedback Theory

The flight simulator is significant equipment for the hardware-in-the-loop simulation; therefore, it is much necessary to do the research on it. As one of the simulator's key techniques, synchronization control makes great contributions to reducing the simulator's sizes and its frames'weight, improving the simulator's stiffness, increasing the simulator's natural frequences and accelerating the speed of its responses. Based on the quantitative feedback theory, this paper designs the equal-status and cross-coupling synchronizing controllers for the dual hydraulic-driven motors respectively, focusing on the synchronization control system of the three-axis hydraulic-driven flight simulator.This paper builds the mathematical model of mechanism dynamics of the dual hydraulic synchronizing-driven system, and then obtains the numerical QFT system templates of the two hydraulic driven motors by employing closed-loop power spectrum estimation method and acquires the parametrical models of these two motors, by applying Levy complex-curve and damped Gauss Newton fitting methods.In the process of designing the equal-status synchronizing controller, this paper builds the mathematical model of the equal-status synchronizing control system without mechanical coupling. Based on QFT, this paper designs the forward channel controllers for the dual hydraulic-driven motors in the range of -24°to -12°and 12°to 24°. This paper also adds the feed forward controllers to the two control channels to compensate the phase.In the process of designing the cross-coupling synchronizing controller, this paper builds the mathematical model of the cross-coupling control system without mechanical coupling. Based on the equal-status synchronizing controller and the stability of the cross-coupling synchronizing system, this paper designs the cross-coupling controller for the dual motors synchronizing system in the range of -24°to -12°and 12°to 24°by adding the coupling controller to the dual control channels.The experiments prove that the low speed demands of the dual hydraulic synchronizing system with the equal-status and cross-coupling synchronizing controllers, which have been designed based on QFT above, can be satisfied. Additionally, the synchronizing errors of this system are tolerable.