Five-axis electro-hydraulic simulator dual motors synchronizing control

A low cost approach for dual hydraulic motors synchronization was presented, which was used in five-axis flight motion electro-hydraulic simulator. The controller contained main immune controller and synchronizing controller. The main immune controller, which used the displacement, velocity, pressure state of the master motor with immune algorithm fuzzy adaptability and robustness, was designed to satisfy the static and dynamic performance of the master motor. Its output was given to servo amplifiers of two motors. For synchronization drive control of dual motors, the synchronizing controller was designed by simply taking signals of two motors- pressure sensors and feed-forward them to the slave motor- servo amplifier, aiming at eliminating the pressure difference of two motors. Compared with taking two encoders to measure angle displacement difference or two tachometers to measure velocity difference, the proposed method is of low cost and easy for engineering. Simulation results show that it can achieve high synchronization accuracy even when parameters of the simulator are changed greatly.