Synchronization Control for Hydraulic Motors of Boom Refueling Experimental Platform

In this paper, the position synchronization control problem is investigated based on the boom refueling experimental platform. Two hydraulic motors are used to pull refueling boom by cables, but how to enhance the synchronization precision of two motors is a question needed to be considered. Firstly, motors models and geometric position relation of the platform are established based on the parameters of motors and the platform size. Next, a lot of experiments are conducted and hence, the motor dead zone and flow gain is determined through the analysis of experimental data. Besides, we also designed a dead zone compensation controller to weaken its impact on the system Then, we propose a state coordinated synchronization control law with auto disturbance rejection control. Finally, the simulation work and field test is carried out to verify the control performance of the controller. The proposed controller achieves good control performance and can satisfy the control requirements.