Thrust Allocation-Based Synchronization Motion Control for a Dual-Hydraulic-Actuator-Driven Stage

Most of synchronization control schemes of the dual-hydraulic-actuator-driven (DHAD) stage adopt the cross-coupling frame. Although they can provide a satisfactory performance, the problem on mechanical coupling and internal force is still unsolved. In order to deal with these issues, we propose a novel multiinput multioutput (MIMO) system model for the DHAD stage. This model decouples the DHAD synchronization system with a linear motion and a previously omitted rotation movement around the mass center. A new thrust allocation approach is then designed to govern the internal force that further improves the synchronizing accuracy. Meanwhile, the adaptive robust control is introduced and used for the newly presented DHAD model with the strict stability analysis. Finally, the strong practicality and advanced synchronization performance of the proposed scheme are validated with abundant comparative experiments on the aero-engine hardware-in-the-loop (HIL) platform.