TY - GEN
T1 - Electro-hydraulic control system and frequency analysis for a hydraulically driven six-legged robot
AU - Tong, Zhizhong
AU - Ye, Zhengmao
AU - Gao, Haibo
AU - He, Jingfeng
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/17
Y1 - 2016/11/17
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85006802829
U2 - 10.1109/AUS.2016.7748112
DO - 10.1109/AUS.2016.7748112
M3 - 会议稿件
AN - SCOPUS:85006802829
T3 - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
SP - 554
EP - 559
BT - AUS 2016 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/CSAA International Conference on Aircraft Utility Systems, AUS 2016
Y2 - 10 October 2016 through 12 October 2016
ER -