The Co-Simulation Research of Single Leg Hydraulic Control System on Legged Robot

Abstract

　The hydraulic quadruped bionic robot has great carrying capacity, moving performance and environmental adaptiveness, making the hydraulic robot become an important branch of the bionic robot systems. The hydraulic drive unit brings about the high performance and also enhances the difficulty in controlling the system at the same time: load disturbance can produce great influence for hydraulic drive control performance. In order to ensure the robot can keep good stability on various complex road environment, establishing a single leg control system to achieve the complex load characteristic test of the robot is needed, and the high performance control method should be studied. A single leg mechanical entity model of the hydraulic robot in ADAMS needs to be established and the hydraulic control system model of the hydraulic drive unit in MATLAB/Simulink, and through the collaborative simulation method to get single leg machine-fluid-electric combined with simulation model.