The rising trend of large-scale industrial equipment widens the range of the requirement of multi-axis drive system. These systems dynamically track the desired trajectory, which suffer from poor overall synchronization. A control algorithm using the hierarchical sliding mode control is proposed to achieve the synchronization tracking performance for the multi-axis drive system, which is composed of multiple servo valve-controlled hydraulic motors. In the first layer, adaptive backstepping tracking controller and the neural network synchronization controller based on the position average error are investigated to satisfy separately the tracking and synchronization requirement against the uncertainty factors. In the second layer, the global sliding surface based on the two first-layer sliding mode surfaces is defined, in which the switching control law is obtained to guarantee the asymptotic stability of the whole system. The proposed control algorithm can guarantee the overall synchronization accuracy during the dynamic tracking of each axis, which avoids the pull and drag phenomenon among the multiple axes. Finally, the performance of the proposed controller is evaluated by conducting the synchronization tracking experiment test on scraper conveyor, which is composed of three hydraulic motors, xPC control system and sensors.

大型工业设备的增长趋势扩大了多轴驱动系统要求的范围。这些系统动态地跟踪期望的轨迹，这会导致整体同步性差。提出了一种采用分层滑模控制的控制算法，以实现由多个伺服阀控制的液压马达组成的多轴驱动系统的同步跟踪性能。在第一层中，研究了基于位置平均误差的自适应反步跟踪控制器和神经网络同步控制器，以分别满足针对不确定性因素的跟踪和同步要求。在第二层中，定义了基于两个第一层滑动模式表面的全局滑动表面，其中获得了切换控制律，以保证整个系统的渐近稳定性。所提出的控制算法可以保证各轴动态跟踪时的整体同步精度，避免了多轴之间的拉拽现象。最后，通过在刮板输送机上进行同步跟踪实验测试，对所提出的控制器的性能进行了评估，刮板输送机由三个液压马达，xPC控制系统和传感器组成。