Adaptive velocity synchronization compound control of electro-hydraulic load simulator

This paper investigates suppression of actuatorʹs motion disturbance problem in hardware-in-the-loop (HIL) experiment. A compound control scheme consists of a synchronization controller and a torque PI controller is developed. The structure of the synchronization controller is developed to match with the dynamics of actuator system. To cope with the parameter uncertainties problem, the parameters of the synchronization controller are obtained through adaptive update law. The tracking performance and global stability are proven using Lyapunov theorem. Co-simulations are performed to make the comparison between the traditional scheme and the improved method. Finally, the developed method is implemented on test rig, and compared with actuator velocity feed-forward compensation method.