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Electro-hydraulic control system and frequency analysis for a hydraulically driven six-legged robot

机译:电动液压控制系统及液压驱动的六足机器人的频率分析

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This paper presents a methodical design of the electro-hydraulic control system for a large scale hydraulically driven six-legged robot, which can walk on rough terrain. Considering the widely varying load during the locomotion cycles, the electro-hydraulic control system should be capable of effectively handling widely varying load and possess high control bandwidth. To address these issues, a two-stage and distributed control architecture is presented. The co-simulation framework is fabricated by the interface technology integrating Simulink, AMESim and ADAMS, in order to build the total dynamics modeling. Subsequently, the design of power system and numerical evaluation of frequency analysis are implemented. Finally, verification tests were conducted in the outdoor environment to prove the effectiveness of the proposed design.
机译:本文提出了一种用于大型液压驱动的六腿机器人的电动液压控制系统的方法设计,可以在粗糙的地形上行走。考虑到运动过程中的广泛变化负载,电液控制系统应该能够有效处理广泛的载荷并具有高控制带宽。为解决这些问题,提出了两阶段和分布式控制架构。共模框架由集成Simulink,Amesim和Adams的接口技术制造,以构建总动态建模。随后,实施了电力系统的设计和频率分析的数值评估。最后,在室外环境中进行了验证测试,以证明提出的设计的有效性。

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