Abstract
To improve synchronization accuracy of large equipment multi-axis electro-hydraulic actuators,dynamic mathematical model of the system was derived and a master-slave synchronization algorithm which constituted of a feedforward controller,a Kalman filter and a proportional-integral(PI) controller was proposed.Compared with differentiation of displacement signal plus filtering,Kalman filter could obtain smooth and less phase-lag velocity signal in noisy conditions;feedforward controller could accelerate the response of the system and PI controller helped to suppress the influence of model uncertainty and varying load.These two kinds of velocity estimation algorithm and three different controllers were evaluated within Matlab/Simulink.Simulation results show that this algorithm proposed in this paper responds quickly and is not sensitive to noise.Experimental results demonstrate that this controller has a good dynamic performance and can suppress noise and load variation effectively;synchronization error is limited within ±2 mm.
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