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

• 作者: Bin Yu Liang Ha Lingxiao Quan Wei Zhang
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: POSITION CONTROL SYSTEM FORCE CONTROL SYSTEM DIAGONAL Matrix Method DECOUPLING CONTROL
• 年，卷（期）: 2013,（3）
• 页码范围: 287-292
• 页数: 6页
• 分类号: TP2

摘要

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.