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Motion synchronization for dual-cylinder electrohydraulic lift systems

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2 Author(s)
Hong Sun ; Varian Med. Syst., Palo Alto, CA, USA ; Chiu, G.T.-C.

This paper presents a nonlinear control algorithm to address the motion synchronization problem for a dual-cylinder electrohydraulic (EH) lift system. A two-step design approach is applied that utilized linear multiple input-multiple output (MIMO) robust control technique to design an outer-loop motion synchronization controller. A nonlinear single input-single output (SISO) perturbation observer-based pressure-force controller is designed for each of the lift cylinders as the inner-loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 2-cylinder lift system verified the effectiveness of the proposed approach

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Mechatronics, IEEE/ASME Transactions on  (Volume:7 ,  Issue: 2 )