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

doi:10.4236/ica.2013.43033

Lingxiao Quan, Wei Zhang, Bin Yu, Liang Ha

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

Cite this paper: L. Quan, W. Zhang, B. Yu and L. Ha, "Decoupling Control Research on Test System of Hydraulic Drive Unit of Quadruped Robot Based on Diagonal Matrix Method," Intelligent Control and Automation, Vol. 4 No. 3, 2013, pp. 287-292. doi: 10.4236/ica.2013.43033.

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