Synchronistic control and the choiceof the synchro-error

摘要

Multiple actuators are widely used in high-power hydraulic servo system. In order to improve the dynamic and static performance, increase load ability of the system, multiple actuators must work synchronistically. So it needs synchronistic control. I this paper, some theoretical analysis and research are done about synchronistic control of multiple actuators. There are active synchronization and passive synchronization in the synchronistic driving of multiple actuators. Passive synchronization can not improve the system's performance, especially dynamic performance. The analysis described herein emphatically is about active synchronization. The most improtant thing of synchronistic control is the choice of synchro-error, the choice determines the system's performance. The effects on the system's performance of synchro-errors of position, velocity, acceleration and various combinations of them are described. The synchro-error of force (belongs to synchro-error of acceleration) is most important among these synchro-errors, to put forth multiple actuators' force simulataneously can guarantee synchronistic driving system to acquire satisfactory performance.