Nonlinear PID synchro control on broaching machine with dual cylinder

In view of the shortcomings on synchro-motion of slide carriage in hydraulic broaching machine driven by single cylinder, an electro-hydraulic servo system with dual cylinder is designed and its nonlinear model was presented. Then the theory of taylor expansion to second order of output vector, optimal control and nonlinear disturbance observer designing are introduced, and a nonlinear PID synchro controller for electro-hydraulic servo system with dual cylinder is provided on the basis of tracking and synchronization index. The simulation and factual application in hydraulic broaching machine show that the proposed controller has better tracking and synchronization performance than conventional PID controller. The nonlinear PID synchro-controller is effectively for electro-hydraulic servo system with dual cylinder in hydraulic broaching machine.