中文摘要：

以中厚板全液压矫直机为控制对象，重点研究了4个AGC液压缸在不同工况下的协同作业性能。建立了液压滚切剪电液伺服系统的数学模型；针对全液压矫直机四回路电液伺服协同控制系统的非线性、时变、易受负载扰动等特点，选择模糊神经网络控制算法，提出了基于模糊神经网络控制器与偏差耦合控制结构相结合的四回路电液伺服协同控制方案，完成了4个AGC控制回路之间的存在系统耦合误差动态补偿；现场实验表明，该控制算法稳定性能高，收敛速度快；使用该方案之后，控制系统具有很好的协同控制精度，能够较好地实现全液压矫直机4个AGC液压缸协同跟踪控制。

英文摘要：

According to full hydraulic straightening machine of thick plate to control the object, research is focused on the four automatic gain control （ AGC） hydraulic cylinders in the collaborative performance under different working conditions. The mathemati-cal model of electro-hydraulic servo system for a hydraulic roll cutting shears was established. Aimed at the full hydraulic straightening machine of cooperative control system of nonlinear, time varying, load easy disturbance and other vulnerable features, by selecting the fuzzy neural network controllers algorithm, a strategy of cooperative control for the four electro-hydraulic servo is proposed, which was based on combination of fuzzy neural network control and adjacent coupling control. The existence between four AGC control loops of system dynamic coupling error compensation was completed. The experiments on site show that the control algorithm has good stabili-ty behaviour and a quick convergence rate. After used the strategy, the control system has very good accuracy of coordinated control, and can well realize the coordinated tracking control of four AGC cylinder of the full hydraulic straightening machine.