Position synchronization control method combined with force tracing control algorithm was put forward to keep the girder horizontal and supported by 4 cylinders averagely.

为使运输与吊装过程中箱形梁严格保持水平，设计中综合采用了位置同步控制和力跟踪控制算法，实现了4个油缸同步运动且受力平均。

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The electric-hydraulic servo system can control the synchronization of two cylinders. Combined with high synchronization cont rolaccuracy, and higy bending and repetitive positioning accuracy.

油缸同步采用电液伺服系统控制，配合国际水准的光栅尺。形成全闭环控制。同步控制精度极高。折弯精度、重复定位精度等也达到很高的等级。

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