Synchronized position control of the lifting double cylinders of the segment erector under unbalanced load

To improve the synchronization control accuracy of the lifting double cylinders of the segment erector under the influence of unbalanced load in the actual assembling pipe piece task and to accelerate the efficiency of the pipe piece assembling, this paper proposes a cross-coupled synchronization position control strategy of the double cylinders based on the back-stepping sliding mode position control. The mathematical model of the lifting double-cylinder system is established by MATLAB/Simulink, the back-stepping sliding mode position controller is designed according to the state space equation of the deduced system, and the hydraulic cylinder speed control is realized by combining with the speed feed-forward compensation. Finally, the cross-coupling control strategy is added for the double-cylinder error compensation. The effectiveness of the control strategy designed in this paper is verified by simulation analysis.