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摘要：
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以双缸液压同步控制系统的同步运动控制为研究对象，研究该系统在线性均变的斜坡偏载力、非线性变化的指数偏载力两种典型负载力，以及载荷幅度大的非线性正弦偏载力和线性三角全波负载力两种复杂变化的偏载力作用下的系统动态特性，通过机理建模的方法建立了双缸液压同步控制系统的整体数学模型，基于Matlab/Simulink软件环境，搭建了完整的双缸液压同步控制系统仿真模型，设置了模型中的主要参数，对该系统在几种典型负载力以及复杂负载力下的变化进行了仿真研究，并得到了不同负载力下双缸液压同步控制系统的动态特性，为液压同步控制系统控制性能的改善提供借鉴。
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For the synchronization motion control of hydraulic synchronization control system with double cylinders, the system dynamic characteristics under the action of two typical load forces of ramp partial load force with linear uniformly varying and index partial load force with nonlinearly varying, as well as two complex load forces of nonlinear sinusoidal partial load force with large-amplitude and linear triangular full-wave load force were studied, and the global mathematical model of hydraulic synchronization control system with double cylinders was built by mechanism modelling. Based on the Matlab/Simulink software environment, the whole simulation model of hydraulic synchronization control system with double cylinders was built, and the main parameters of the system were set up. Then, the changes of the system under several typical load forces and complex load forces were simulated and researched, and the dynamic characteristics of this system were obtained under several typical loading forces to provide reference for improving the control performance of hydraulic synchronization control system.
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基金项目：
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国家自然科学基金资助项目(51575471)；河北省自然科学基金重点项目(E2016203264); 流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201716)
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作者简介：
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作者简介：汪飞雪 (1980-)，男，博士，副教授
E-mail：fxwang@ysu.edu.cn
作者简介：曹晓明 (1990-)，男，博士研究生
E-mail: 18713520404@126.com
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