CONTROL OF HYDRAULIC ROTARY MULTI-MOTOR SYSTEMS BASED ON BILINEARIZATION

This paper proposes a control scheme, modeled following control concep t, for secondary controlled hydraulic systems with multiple motors. An MIMO bilinear model for the hydraulic system is developed and tested on a test stand, which shows a satisfactory approximation. With the he lp of this model, a control scheme based on the principle of model fol lowing control is developed. The derivation of the control law follows the application of Lyapunov theory, by which both the model following error and its integral are taken into account. Supported by a disturb ance observer, the control scheme allows nearly global system lineariz ation, stabilization and increase of system robustness. The applicatio n of the approach to the secondary controlled hydraulic system shows s atisfying performance.