Design And Implementation Of Control System About 3-DOF Hydraulic-driving One-leg Platform

Because legged robots has great advantage on terrain adaptability and dynamic performance than other moving method,so it is becoming the reach focus in field of robotics, the quadrupted robot is the most popular among them.In order to achieve the high load and high dynamic ability of quadruped robot, the reseachers choose the hydraulic actuation as the main driver and had got a great success.Hydraulic drive quadruped robot is a very complex system.So it is very difficult to develop a whole robot directly.As the same time,the researchers noticed that the control of quadruped robot comes down to the control of each leg. So one-leg system is the base and key to the control of a robot.This thesis does some research on control strategy and servo control system about the one-leg system that made by the laboratory.The main content of the paper is presented as follows:(1) Firstly,the paper shows the research background,as well as the the research process of one-leg system and hydra-servo control system,and then the main research content and the organization of this paper is introduced.(2) The kinematics model of one-leg system is established.The paper analysis the plantform of one-leg system and get the simplified model about it. Then the paper get the forward kinematics equation and the inverse kinematic equation by setting up the kinematics model by D-H method based on the pose matrix. At last the paper calculate the workspace of the one-leg system.(3) The formulation of control strategy.The paper design a PI controller as the strategy to realize the position /force servo control of the hydraulic cylinder and design a control strategy that based on virtual model to realize the active compliance of the one-leg.(4) The design of servo control system.The paper design a hydraulic servo control system that base on DSP,it involves the design of the hydraulic servo controller and the software of upper and downer computer which can communication through the CAN bus,which improve the static and dynamic performances.(5) Experimental verification.We have done some experiments to test the servo control system and the control strategy . The result proved that the controller that the paper designed meet the requirements and the control strategy is effective.(6)At last,the paper summarize the innovations and inadequacies of this research,and looking into the future work.