Research On Synchronous Control Strategy Of Double Electric Cylinder Erection

The dual electric cylinder synchronous servo system has many advantages such as small size,large load,high control accuracy,easy layout,fast response speed,and easy maintenance.Therefore,it has a wide range of applications in the fields of national defense equipment,aerospace and civil heavy industry.However,the dual electric cylinder synchronous servo system is a complex nonlinear system,and its nonlinear characteristics and model uncertainty directly affect the control performance of the servo system.This paper aims at the coupling disturbance and parameter uncertainty in the double electric cylinder synchronous servo system.The following researches have been carried out in the following aspects:(1)The composition and working principle of the dual electric cylinder synchronous servo system are introduced,and the main parameters of the system are analyzed and calculated.Based on the non-linear mathematical model of the electric cylinder servo system,considering the relationship between the motion synchronization and the load force between the two electric cylinders,a mathematical model of the dual electric cylinder synchronous servo system based on force distribution was established,which more accurately revealed The physical characteristics of the actual system lay the foundation for the subsequent research on high-performance synchronous control algorithms.(2)The traditional PID control is combined with three classic synchronous control methods.By comparing the simulation results of the equivalent synchronization method,master-slave synchronization method and cross-coupling synchronization method based on the PID controller,we can know that the cross-coupling synchronization based on the PID controller Way has better control effect.(3)Aiming at the parameter uncertainty and time-varying disturbances in the system,an adaptive robust control method is designed to deal with the effects of these two kinds of uncertain nonlinearities on the control performance of the system;Introduced the finite-time expansion state observer,combined with the adaptive robust control method,designed an adaptive robust control method based on the finite-time expansion state observer,which improved the control performance of the dual electric cylinder synchronous servo system.(4)Considering the problem of dead zone widely existing in electromechanical servo systems,a new algorithm based on neural network to compensate for the dead zone inversion error is designed for the nonlinear factors such as parameter uncertainty,dead zone and time-varying disturbance.Adapt to the robust control method and prove that the control method can obtain excellent progressive stability performance.(5)The software and hardware design of the controller is based on the DSP28335 chip as the core processor,and the dual-cylinder synchronous control algorithm based on the PID controller is transplanted into the program for experimental verification.By comparing the experimental results,it is verified that the cross-coupling synchronization method based on the PID controller has better synchronization control effect.