Synchronous Motion Control of Dual-Cylinder Electrohydraulic Actuators Through a Non-Time Based Scheme

Abstract

This paper presents a novel non-time based scheme for the synchronous motion control of dual-axis hydraulic systems. The technique, named Delayed Reference Synchronization Control (DRSC), is suitable for those applications where the time of execution of the task can be modified, while axis synchronization must be ensured. In practice, the DRSC allows achieving the synchronous motion by shifting in time the axis position reference on the basis of a scalar action reference parameter. Such a variable is computed on-the-fly on the basis of the sensed position and of the estimated disturbances due to fluid compressibility, leakage flow and external forces. A multi-loop scheme is obtained, which is suitable for implementation in industrial controller. The numerical results obtained demonstrate the stability and the effectiveness of the approach.