Coupling leveling controller design of electro-hydraulic multi-axis synchronous loading for hydraulic support test rig

Abstract：According to the complex condition,heavy loads,heavy uneven loads and high-precision motion synchronization characteristic of the vertical loading system for hydraulic support test rig,a mechanical hydraulic multi-physic model and mathematical model was established based on the analysis of the test rig hydraulic synchronic drive loading system design and work mechanism.Aiming at the system heavy uneven load,high inertia,strong coupling,strong nonlinearities,model parameter uncertainty and time-varying characteristics,cross-coupling leveling control algorithm was designed in order to minimize the four-cylinder position synchronization error and achieve precise synchronization driver control,which the four cylinders are controlled by four individual servo valves and each cylinder real-time tracks the platform vertical displacement dynamic and static output expect respectively with four independent synchronous position compensation feed forward velocity PID controllers.The results of AMESim multi-physic modeling and simulation analysis for 30 MN hydraulic support test rigs show that in the situation of the total load 21 600 kN,eccentric load 9 400 kN,the dynamic synchronous error of four plunger-type cylinders is less than 0.65 mm.Synchronization error index of various control strategies validate the rationality,effectiveness and robustness of the designed control system.