Adaptive synchronizing control of a four-cylinders electrohydraulic servosystem

摘要

This paper is concerned with the application of an adaptive synchronizing controller to a system actuated by four electrohydraulic servo cylinders. For simplification of design, the system is separated into four subsystems which track the same output signal of a reference model and the coupled forces among four hydraulic cylinders are considered as unknown external forces. The adaptive synchronizing controller is designed with the minimum variance control method incorporated with the compensation of model tracking error / synchronization error of the four hydraulic cylinders and its parameters are estimated on line with the recursive least square algorithm. The system performance for these proposed control strategies are compared via simulation and experimental studies in this paper.