Cross-coupled active disturbance rejection synchronization control of load-side heterogeneous dual hydraulic cylinders for a temporary support device

Abstract To address the displacement asynchronization of dual hydraulic cylinders caused by load-side differences during the advancing process of a temporary support device in an excavation roadway, a synchronization-control model of load-side heterogeneous dual hydraulic cylinders is constructed. Differences in the equivalent resistance and comprehensive flexible stiffness of the left and right load sides are used to characterize load-side heterogeneity, and an AMESim/Simulink co-simulation model is established. To accommodate the different channel dynamics under heterogeneous conditions, an LADRC + CCC synchronization-control structure with asymmetric parameters is developed, and IPSO is employed for joint offline tuning of seven parameters, including the controller bandwidths, observer bandwidths, nominal input-channel gains, and cross-coupling gain. Simulation results show that IPSO-LADRC + CCC provides effective synchronization-error suppression under the no-disturbance step condition, load-side parameter variations, multiple disturbances, and cyclic extension–retraction operation. Under the no-disturbance step condition, the maximum synchronization error is 6.503 × 10 −3 m, corresponding to 0.813% of the 0.8 m target displacement, and no evident accumulation of synchronization error is observed during consecutive cycles. The results provide a simulation-based reference for synchronization control of load-side heterogeneous dual hydraulic cylinders.