| The hydraulic synchronous control system is widely used in mechanical equipment in various fields such as aviation and aerospace,national defense and military industry,marine engineering,water conservancy engineering,and construction.The asymmetric hydraulic cylinder,due to its advantages of high output force,small space occupation,easy processing,and low price,is often used as the executing element of synchronous control systems.However,the unequal areas of the rod and non-rod cavities of the asymmetric hydraulic cylinder can cause pressure jumps during reversal,which can lead to system oscillations and even instability,severely reducing the synchronization control accuracy.To address this critical issue,this paper proposes the use of load-independent control technology to control the asymmetric hydraulic cylinder rsynchronous system.With the multiple control degrees of freedom characteristic of load-independent control technology,the pressure jumps during reversal of the asymmetric hydraulic cylinder can be effectively eliminated,thereby ensuring the synchronization control effect of the system.The specific research contents of this paper are as follows:(1)Analyzing the research background and significance of synchronous control systems,summarizing the current research status and development trends of synchronous control systems and load-independent control technology and proposing the use of load-independent control technology to control the non-symmetric cylinder synchronous system starting from the pressure jump phenomenon during reversal.(2)Based on the explanation of the working principle of load-independent control for non-symmetric cylinder synchronous systems,a time-varying nonlinear mathematical model was established for load-independent control single-cylinder system and dual-cylinder system.A method was studied to eliminate the pressure jump during reversal of the asymmetric hydraulic cylinder.By changing the control signal ratio of the proportional valve,match the area ratio of the asymmetric hydraulic cylinder.The analysis results show that load-independent control technology can effectively eliminate the pressure jumps during reversal of The asymmetric hydraulic cylinder,reduce system vibration,enable the system to operate smoothly,and effectively ensure the synchronization control effect of the dual-cylinder system.(3)A fuzzy adaptive control algorithm suitable for load-independent control of the asymmetric hydraulic cylinder synchronous system was designed,and joint simulation was performed using AMESim and MATLABSimulink.First,the position control response characteristics of the load-independent control single-cylinder system were studied.Secondly,the loadindependent control valve-controlled cylinder system was compared and analyzed with the traditional valve-controlled cylinder system,verifying that the former can eliminate pressure jumps during reversal of the non-symmetric cylinder.Finally,three schemes,namely master-slave synchronization control,equivalent synchronization control,and cross-coupling synchronization control,were used to simulate the load-independent control asymmetric cylinder synchronous system.(4)Based on ZYNQ SOC(system on chip),a digital controller for load-independent control of the asymmetric hydraulic cylinder synchronous system was designed,including hardware design,PCB design,and software design.(5)The experimental platform for load-independent control of the asymmetric hydraulic cylinder synchronous system was designed and built,and experimental verification was carried out for the closed-loop control of the load-independent control single-cylinder position and the load-independent control dual-cylinder synchronization control.The experimental results show that load-independent control technology can eliminate pressure jumps during reversal of the non-symmetric cylinder.Through comparative analysis,the cross-coupling synchronization control scheme can achieve the best synchronization control effect.When the dual-cylinder undergoes square wave motion synchronization tracking,the synchronization error can be controlled within-0.6 mm to 0.8 mm;when the dual-cylinder undergoes sine wave motion synchronization tracking,the synchronization error can be contr olled within ±1.1 mm. |
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