多缸调平系统模糊相邻耦合同步控制研究

针对调平系统的多液压缸同步控制研究，提出了一种基于模糊相邻耦合的控制方法。首先对调平系统受力及多缸控制系统进行分析，建立控制对象的非线性数学模型。对相邻耦合控制器进行设计，使用补偿器将相邻两根液压缸位置同步误差融合到液压缸控制器中，对于难以通过常规方法精确获得的补偿系数，使用模糊PID控制算法获取。通过MATLAB仿真和实验对模糊相邻耦合的同步控制方法进行测试，并使用主从同步控制方法进行对比分析。结果表明，使用模糊相邻耦合同步控制时，四根液压缸误差波动较小，并且在液压缸加减速阶段能快速将误差降低，具有较好的同步控制性能。

Research on Fuzzy Adjacent Coupling Synchronization Control in Multi-cylinder Leveling System

A control method was studied based on fuzzy adjacent coupling for multi cylinder synchronous control of leveling system. Firstly, the leveling force system and multi cylinder control system were analyzed, a nonlinear mathematical model of the controlled objects was built. On the adjacent coupling controller design, a compensator was used to fuse the two adjacent hydraulic cylinder position synchronization error controller of hydraulic cylinder, and fuzzy PID control algorithm was used to get the exact compensation coefficient which was difficult to obtain by conventional method. Through the MATLAB simulation and experiments, the synchronous control method of fuzzy adjacent coupling was tested, and the control of the master slave coupling was used to compare and analyze the results. The results show that the error fluctuation of the four hydraulic cylinders is small, and the errors may be reduced quickly in the hydraulic cylinder plus deceleration phase, which has good synchronization control performance.