Simulation Research on Load-Imitating Test Equipment for Hydraulic Drive Unit of a Quadruped Robot Based on Feed-Forward Decoupling Control

Abstract:

This paper establishes the simulation model of a load-imitating test equipment for a hydraulic drive unit of a quadruped bionic robot, analyzing load force changes during the work process of the hydraulic drive unit, and researching load-imitating characteristics. A Strategy based on feed-forward decoupling control is proposed to realize the decoupling between the position system and the force system of the load-imitating test equipment to improve load-imitating precision. The results show that control effect of feed-forward decoupling control is satisfactory, and this control strategy can effectively improve load-imitating precision of the test equipment. The research above can also provide theoretical foundation for test application of the hydraulic drive unit.

• Periodical: Applied Mechanics and Materials (Volumes 365-366)
• Pages: 839-846
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.365-366.839
• Online since: August 2013
• Authors: Ling Xiao Quan, De Zhi Tian, Bin Yu
• Keywords: Decoupling Control, Hydraulic Drive Unit, Load-Imitating Test Equipment, Quadruped Bionic Robot

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