The Research And Development Of Controllable Energy System For Quadruped Bionic Robot

Quadruped bionic robot controllable energy system is a subsystem of quadruped robot,the different working state of robot will cause different para meter changes.Because of the quadruped robot in the process of carrying out,running,stopping and jumping,the engine load is fluctuating for a long time,and the demand of the energy system is changing.If this phenomenon is not suppressed,it will lead to engine failure,which influence on the robot energy system's reliability and stability seriously.At the same time,the pressure and temperature of hydraulic oil will change with the change of working state,this change also brings higher performance requirements to the energy control system.Therefore,a controllable energy system scheme based on classical PID control theory is proposed to control the engine speed,which ensures the system's rapidity,stability and flexibility.Finally,through the simulation platform and physical platform test verification,to ensure that the performance of the algorithm is consistent with the control system and the overall performance requirements of the robot.In this paper,a quadruped robot controllable energy system based on F2812 produced by TI company is proposed.The hardware construction of the system is completed according to the user manual.The classical PID control algorithm adopted in this paper is used as a quadruped robot controllable energy system which is the core control algorithm.The hardware system realizes the functions of communication and data acquisition.The PID control algorithm is used to extract the data collected by the capture unit,calculate the required engine valve opening in the current state of the robot,and then adjust the engine speed.Finally,through the unit,subsystem and machine test,it is verified that the controllable energy system has better stability.