Research on synchronous control of closed hydraulic walking system for tracked vehicles

In this paper, a synchronization control method is proposed to address the synchronization issue of the pump-controlled motor circuit of the hydraulic walking system. A double closed loop with fuzzy PID control method by applying this method is first utilized, which will reduce the error between each motor and the desired speed; then it is a cross-coupling synchronization method to reduce the speed error between two motors; finally, the purpose of synchronization of two motors will be realized. The simulation study showed that the synchronization accuracy will be effectively improved by employing this method. In addition, the tracking time can be shortened by 72% without overshoot when adjusting the speed of one side motor. After adding a sudden disturbance, the stability adjustment time is the shortest as well, and the overshoot is the smallest. Eventually, by using cross-coupling control, the synchronization error of motors on both sides will be reduced by 71%, and the error elimination time shortened by 21%. It meets the requirements of stability and synchronization control.