교차결합구조를 갖는 2축 전동실린더의 동기제어

Synchronous control of two axes motor cylinder based on cross coupled structure

A motor cylinder is used as an apparatus for transportation of a small scale load. It is, however, difficult for only one motor cylinder to transfer a large scale load such as a weir and a girder. The large scale load is transferred by two motor cylinders which are mounted on right and left of load itself. In this case, the displacement difference generated between two motor cylinders, namely, the synchronous error has a bad influence on the transportation. In this study, a synchronous control system is designed to restrain synchronous error. the control system is composed of two position controllers and one synchronous controller. Each position controller is designed to follow reference without overshoot. And the synchronous controller is designed to achieve stable and accurate synchronization. Finally, the simulation results show that the designed control system is effective for the skew disturbance which lead to synchronous error.