摘要
随着机器人应用的扩展,液压四足机器人作为一种特种机器人,因其高度的机动性和大负载能力而受到人们的高度重视。在液压系统中,阀控动力系统通过控制伺服阀来调节流入执行元件中的液压油流量,从而控制液压执行元件。事实上,由于控制输入信号一般比较微弱,因此控制输入信号需要利用控制放大器处理和功率放大后才能用于控制伺服阀工作。提出了一种伺服阀驱动电路的设计方案,该驱动电路同时驱动一条腿的三个伺服阀工作,通过Multisim进行仿真分析后,研制了电路板。最后利用半实物仿真设备搭建测试系统的控制模型,并经该驱动板进行功率放大,结果表明该驱动电路运行稳定可靠,满足了设计要求。
With the extension of robots application, hydraulic quadruped robots as specialized robots have been paid more attentions for its high mobility and large load capacity. In the hydraulic system, valve controls dynamic system controls the hy- draulic actuators by adjusting the hydraulic oil flow through controlling the servo valve. Actually, for the control input is weak, it should be processed by control amplifier and the power is amplified before actual controlling the servo valve. A design of servo valve drive circuit was proposed, which drives three servo valves of one leg at the same time, and the printed circuit board is developed after the simulation analysis in Muhisim. The control model of the test system is built up with hardware-in-the-loop simulation device, and the power is amplified through the driver board. The result shows that the driver circuit runs steadily and cloud satisfy the design requirements.
出处
《现代电子技术》
2013年第19期157-159,共3页
Modern Electronics Technique
基金
国家自然科学基金资助项目(51205194)
国家自然科学基金重点资助项目(61233014)
国家973计划资助项目(2011CB302106)
关键词
四足机器人
液压驱动
功率放大
半实物仿真
quadruped robot
hydraulic drive
power amplification
hardware-in-the-loop simulation
