Design And Study Of Four-legged Hydraulic Robot Servo Driver Based On DSP

The mobile robot field is an important and active research field, because ofthe improvement of technologies,people have to look away from the conventionalwheeled and tracked robot to legged robot．compared to wheeled, tracked robot,the robot can adapt to the walking environment more complex, Almost all ofthe land environment．if the hydraulic drive is used, robot’s sensitivity and loadcapacity will be greatly improved, this also makes the robot’s value will begreatly improved, so, the research of hydraulic robot control system haveattracted much attention.In this thesis, aiming at robot’s leg hydraulic system, the writer designed ahigh precision and high speed control system based on TMS320F28335,communication with upper control system by used of CANBUS, and realizedforce and position servo control for four hydraulic cylinder in a leg.First, the thesis describes the theoretical knowledge of hydraulic servocontrol system．Second, make a overall scheme based on system’s performanceand target．DSP28335is adopted as the core controller, add analog-to-digitalconversion chip AD7606and digital-to-analog conversion chip AD5754, torealize eight sensor signal acquisition and four analog signal output． AndCANBUS realize receiving of command and feedback． The PID controlalgorithm is adopted and introduce thought of Feedforward． Last, make asimulation to test in simulink environment.According to experiment result, the control system has reached desiredeffect．control algorithm also meet requirement,with good following character,reliability and flexibility.