Bionic driving method of multi-actuator hydraulic synchronization system based on wild goose cluster flight principle

Heavy equipment is often driven synchronously by multi-actuator hydraulic system. However, when the load deviation of the actuators is large, such systems exhibit serious energy loss and inferior synchronization performance. Inspired by the cluster flight of wild goose, a bionic hydraulic actuator and a bionic driving method are proposed. Different from traditional two-chamber hydraulic actuator, the redundant freedom of the bionic hydraulic actuator is used to simulate the airflow vortex formed by wild goose. By doing so, the bionic actuators can provide or accept auxiliary driving force from other actuators according to different topology. In addition, the optimal load balance performance of multi-actuators can be realized by adjusting the auxiliary driving pressure between actuators. In this study, topology switching rules and auxiliary pressure control strategies are discussed. Numerical simulation results demonstrate that the proposed method can reduce the maximum load deviation by over 85% and the synchronization error by over 80% in typical cases.