有效容错控制, 双液压缸同步控制, 定量反馈鲁棒控制, 交叉耦合PID控制

An effective fault tolerant control approach with system state diagnosis, crossing coupled PID theory and quantitative feedback theory was put forward to address synchronization motion control in electro-hydraulic servo system. The proposed controller firstly monitored synchronous errors in dual-cylinder motion, then switched the suitable controller among crossing coupled PID controller for "normal" system and quantitative feedback robust controller for "anormal" system. In this way, the presented controller can achieve the requirements of system tracking and robustness. Application in travelling crane with dual-cylinder shows that the provided approach with well capability of coordination and tracking response, can preferably address synchro motion control in electro-hydraulic servo system.