Decoupling Control Research on Test System of Hydraulic Drive Unit of Quadruped Robot Based on Diagonal Matrix Method
Affiliation(s)
College of Mechanical Engineering, Yanshan University, Qinhuangdao, China;Engineering Research Center of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao, China. 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. College of Mechanical Engineering, Yanshan University, Qinhuangdao, China.
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.
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.
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.
References
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[1] L. H. Ding, R. X. Wang, H. S. Feng and J. Li, “Brief Analysis of BigDog Quadruped Robot,” China Mecha nical Engineering, Vol. 23, No. 5, 2012, pp. 505-514. [2] “BigDog—The Most Advanced Rough-Terrain Robot on Earth”. http://www.bostondynamics.com/robot_.bigdoghtml [3] R. Playter, M. Buehler and M. Raibert, “BigDog,” Pro ceedings of SPIE 6230, Unmanned Systems Technology VIII, 62302O, Orlando, 9 May 2006. [4] M. Buehler, R. Playter and M. Raibert, “Robots Step Out-Side,” International Symposium of Adaptive Motion of Animal and Machines, Ilmenau, September 2005, pp. 1-4. [5] M. Raibert, K. Blankepoor and G. Nelson, “Big-Dog, the Rough-Terrain Quadruped Robot,” Proceeings of the 17th World Congress of the International Federation of Auto matic Control, Seoul, 2008, pp. 6-9. [6] Q. Hua, “Study on the Key Technology of Electro-Hy draulic Load Simulator,” Beijing University of Aeronau tics and Astronautics, Beijing, 2001. [7] Y. H. Li, “Research on Method to Reject to Extraneous Moment of Load Simulator,” Machine & Hydraulics, No. 2, 1999, pp. 27-30. [8] Z. X. Jiao, Q. Hua and X. D. Wang, “Estimation for Per formance of Load Simulator,” Chinese Journal of Me chanical Engineering, Vol. 11, No. 38, 2002, pp. 26-29. [9] Z. X. Jiao, Q. Hua and X. D. Wang, “Hybrid Control on the Electro-Hydraulic Load Simulator,” Chinese Journal of Mechanical Engineering, Vol. 12, No. 38, 2002, pp. 34-38. [10] J. X. Gao, Q. Hua and Z. X. Jiao, “The Redundant Force of Electro-Hydraulic Loading System and the Compari son of Various Kinds of Compensation Methods,” Hy draulics Pneumatics & Seals, No. 5, 2003, pp. 1-6. [11] H. Hu, C. H. Han, J. G. Liu and Y. Wei, “On Multivari able Feedback Decoupling Control Systems,” Control Engineering of China, Vol. 11, No. 6, 2004, pp. 500-502. [12] N. Cherouvim and E. Papadopoulos, “Speed and Height Control for a Special Class of Running Quadruped Ro bots,” 2008 IEEE International Conference on Robotics and Automation, Pasadena, 19-23 May 2008, pp. 825-830. doi:10.1109/ROBOT.2008.4543307 [13] Q. G. Wang, “Decoupling with Internal Stability for Unity Output Feedback Systems,” Automatica, Vol. 28, No. 2, 1992, pp. 411-415. [14] Q. G. Wang and Y. S. Yang, “Transfer function Matrix Approach to Decoupling Problem with Stability,” Sys tems & Control Letters, Vol. 47, No. 2, 2002, pp. 103-110. [15] L. H. Liang, “Research on the Electro-Hydraulic Load Si mulator of Fin Stabilizer,” Harbin Engineering University, Harbin, 2003. [16] L. H. Liang, Q. Liu and L. L. Zhao, “Research on Feed forward Compensation Decoupling Control for the Elec tro-Hydraulic Load Simulator of Fin Stabilizer,” China Mechanical Engineering, Vol. 4, 2007, pp. 439-411. [17] L. B. Xian, G. Yang, X. Y. Fu and B. R. Li, “Study on the Position/Force Control of an Electro-Hydraulic Actuator Based on AMEsim/Simulink,” Machine Tool & Hydrau lics, Vol. 35, No. 5, 2007, pp. 205-207. [18] L. He, “Study on Control and Energy Saving Characteris tics of Hydraulic Secondary Regulated Inertia Loading System,” Yanshan University, Qinhuangdao, 2009.