Abstract
A kind of four degree-of-freedom (DOF) electrohydraulic lift system is studied in this paper, after analyzing the motion characteristics and the mathematic model of the hydraulic cylinders, a cross-coupled synchronization method with load force and synchronization error feedback had been proposed to solve the synchronization problem encountered when realizing the needed roll and pitch attitude of the lift system. In this paper, mathematic model of asymmetric hydraulic cylinder was established and the lift system had been simplified to a dual-cylinder system. By incorporating the load force and the displacement of each cylinder, a cross-coupled synchronized control method was proposed to fit each cylinder's tracking performance and multi-cylinder's trajectory synchronization property. The proposed method not only solved the synchronization problem when multi-cylinder had a same trajectory, but also could fit the coordinated synchronization need when different trajectories of multi-cylinder were desired. Simulations and experiments on a four DOF electrohydraulic lift system with load of 100 tons verified the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 228-234 |
| Number of pages | 7 |
| Journal | Journal of Beijing Institute of Technology (English Edition) |
| Volume | 22 |
| Issue number | 2 |
| Publication status | Published - Jun 2013 |
Keywords
- Hydraulic cylinder
- Lift system
- Trajectory synchronization