In view of the shortcomings on synchro motion of four cylinders in pattern drawing machine, an electro-hydraulic servo system with four cylinders was designed and its nonlinear dynamics model was presented. Then the theory of Taylor expansion to second order of output vector, optimal control and nonlinear disturbance observer design were introduced, and a nonlinear PID synchro controller for electro-hydraulic servo system with four cylinders was provided on the basis of tracking and synchronization index. The simulation and factual applications show that the proposed controller has better trscking and sychronization performance than that of conventional PID controller.

针对翻转起模机中四缸同步驱动起模过程存在的同步性能较差的问题,设计了四缸伺服同步驱动系统，建立了起模过程的非线性动力学模型。根据起模过程中的跟踪性能和同步性能指标要求，结合输出变量的二阶泰勒矢量展开、最优控制原理和非线性扰动观测器设计理论，提出了一种类似经典PID控制器结构的非线性PID同步控制策略。仿真和实际应用结果表明，该控制策略比常规PID同步控制策略具有更好的跟踪性能和同步驱动性能。

非线性PID同步控制, 四缸同步驱动, 电液伺服控制, 翻转起模机