Abstract

This paper presents a nonlinear control algorithm to address the motion synchronization problem for a multi-cylinder electro-hydraulic (EH) system. A 2-step design approach is applied such that it utilized linear MIMO robust control technique to design an outer loop motion synchronization controller. A nonlinear SISO perturbation observer based pressure/force controller is designed for each of the lift cylinder as the inner loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 4-cylinder system are presented to verify the effectiveness of the proposed approach.

Volume Subject Area:
Electro-Hydraulics
Topics:
Cylinders, Synchronization, Control equipment, Design, Actuators, Control algorithms, Pressure, Robust control
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Copyright © 2001 by The American Society of Mechanical Engineers
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