| In the electro-hydraulic servo system,the two-cylinder position and force synchronous control are widely used in some heavy-duty industrial and large-scale mechanical equipment,and with the development of the industry,in many cases,a single actuator can no longer meet the demand for load capacity,Multiple actuators are required to execute synchronously to meet load requirements.Therefore,we need to consider the synchronization performance of multiple actuators.How to improve their dynamic and static performance such as synchronization and stability is an important hotspot in this research field.This paper mainly studies the synchronous control problem of electro-hydraulic position servo system.Firstly,the system analyzes the force,establishes the mathematical model,analyzes two different two-cylinder modeling methods,and theoretically studies how to improve the synchronization control accuracy.Then,the simulation analysis is carried out on the single-cylinder system and the two-cylinder system.For the problem of the dynamic response difference of the single cylinder and the low precision of the synchronous control of the two cylinders in the simulation results,the fuzzy PID controller is used to re-simulate the system,and finally the experimental verification The effectiveness of the controller.The specific research contents are as follows:(1)In this paper,the synchronous control problem of electro-hydraulic position servo system is studied.Firstly,the force analysis of the system is carried out,and the mathematical model is established.Based on the research of the system synchronization control method,two different modeling methods for improving the control precision are obtained.In this way,the force control compensation control model and the flow compensation control model are respectively established to establish a compensation relationship between the two electro-hydraulic position servo system modeling.(2)Simulate the system according to two different modeling methods,firstly analyze the time domain and frequency domain of an electro-hydraulic servo system of the system,simulate and analyze the dynamic and static characteristics of the single cylinder and the synchronous control precision of the two cylinders.There is a problem of low synchronization control precision and poor dynamic response of single cylinder in the system.The fuzzy controller is designed to simulate the dynamic characteristics of the single cylinder and the synchronous control effect of the two cylinders.(3)Experimental research on the control precision and synchronism of the two-cylinder under different modeling modes,in the experimental bench injury,experimental research,using the same control method,based on two different modeling methods,A fuzzy PID controller is added to each branch to study and analyze the tracking accuracy and synchronization of the two cylinders.The control effect is compared with the simulation results,and the effectiveness of the controller is verified by experiments. |
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