Decoupling Control Research on Test System of Hydraulic Drive Unit of Quadruped Robot Based on Diagonal Matrix Method

Lingxiao Quan, Wei Zhang, Bin Yu, Liang Ha

College of Mechanical Engineering, Yanshan University, Qinhuangdao, China.
College of Mechanical Engineering, Yanshan University, Qinhuangdao, China;Engineering Research Center of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao, China.

DOI: 10.4236/ica.2013.43033                

Abstract

The mathematical model of hydraulic drive unit of quadruped robot was built in this paper. According to the coupling characteristics between position control system and force control system, the decoupling control strategy was realized based on diagonal matrix method in AMESim^?. The results of simulation show that using diagonal matrix method can achieve the decoupling control effectively and it can achieve the decoupling control more effectively with the method of not offset pole-zero in the S coordinate. This research can provide theoretical basis for the application of test system of hydraulic drive unit.

Keywords

Position Control System; Force Control System; Diagonal Matrix Method; Decoupling Control

Conflicts of Interest

The authors declare no conflicts of interest.

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