现代电子技术Issue(19)：157-159,3.
液压四足机器人伺服阀驱动电路设计
Design of servo valve drive circuit for hydraulic quadruped robot
摘要
Abstract
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 Multisim. 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.关键词
四足机器人/液压驱动/功率放大/半实物仿真Key words
quadruped robot/hydraulic drive/power amplification/hardware-in-the-loop simulation分类
信息技术与安全科学引用本文复制引用
郭朝龙,李宏凯,李志,吉爱红,胡志东..液压四足机器人伺服阀驱动电路设计[J].现代电子技术,2013,(19):157-159,3.基金项目
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 （）
