| The hydraulic quadruped robot is a kind of military robot for the complex ground environment in the future battlefield.It plays an important role in the national defense field.The hydraulic system is one of the core technologies to support the motion of quadruped robot,and the research of its energy saving strategy has an important application value and military significance.This subject takes the hydraulic system of quadruped robot as the study object.The energy saving strategy is carried on the basis of theoretical analysis of its motion mechanism.The modeling analysis is done on the kinematics,and the equations of motion of hydraulic cylinder can be derived by kinematics and inverse kinematics;Gait analysis is carried out on the quadruped robot and the foot trajectory planning is completed;By combining the results of theoretical analysis,the control system,dynamic model and hydraulic system model are constructed respectively by the three softwares,Matlab,ADAMS and AMEsim,which can be put up simulation platform of the quadruped robot;Simulation analysis of its platform is used in the working characteristics and the energy consumption of the existing constant pressure oil hydraulic system,which can clear research direction of the saving strategy.Aiming at the phenomenon of joint actuator pressure demand and supply pressure does not match of the quadruped robot,the variable supply pressure control strategy is adopted,and the control system model is constructed modularly as well as the method of pressure margin compensation is adopted according to the oil pressure calculation;The grouping supply strategy is put forward according to actual work demand of the quadruped robot,the group joint type grouping and leg grouping are introduced;finally oil pressure control simulation strategy is carried on joint independently oil supply,joint type grouping,grouping leg,which control characteristics effect and energy saving effect of quadruped robot is analyzed.According to the characteristics of the bilateral servo valve throttling loss serious,theoretical analysis of the separate meter-in and meter-out(SMIMO)control strategy is done,and energy saving research on SMIMO control strategies of variable supply pressure is studied,and analysis the energy saving effect and control characteristics of the simulation platform;From the conservation system flow especially the swing phase flow angle,the differential circuit and switching control servo valve hydraulic system are put forward,and the simulation analysis is carried.A single leg experimental platform of quadruped robot is built,and the two kinds of moving phases of the swinging phase and the supporting phase are tested separately according to the working characteristics of the experimental table.The control system which based on Simulink Real-Time is built,and proportional valve works as the oil source pressure regulating controller.Two kinds of experimental researches on control strategy,joint independent oil supply and single leg oil supply are respectively carried on by controlling two joint proportional pressure reduction valve signal of the same or not.By completing experimental study of the variable supply pressure control strategy,it is proved that the variable supply pressure control strategy has good control performance and energy saving effect. |
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