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Abstract: On the subject of electro-hydraulic elevating system with multi-cylinder, a two-step nonlinear control algorithm is presented to address the motion synchronization problem after analysis of system modeling and actuator redundancy. The outer-loop controller of the proposed control algorithm is applied
to get desired load pressure for all cylinders designed by quantitative
feedback theory and actuators redundancy theory of linear multi-input
multi-output system. The other inter-loop controller which is composed
of n nonlinear load-pressure controllers for n simple-input simple-output nonlinear system with disturbance observer theory, is used to precisely track the de-sired load-pressure for every elevating cylinder with system disturbance. The elevating results with four cylinders show that this control strategy can effectively synchronize multi-cylinder motion.
Key words: Electro-hydraulic proportional control
Multi-cylinder synchronization
Nonlinear control Actuator redundancy
CLC No: TP271
Received 20051108, received in revised form 20060609
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