SUMMARYIn this paper, mathematical models of kinematics, statics and inverse dynamics are derived firstly according to the mechanical structure of leg hydraulic drive system (LHDS). Then, all the above models are integrated with MATLAB/Simulink to build the LHDS simulation model, the model not only considers influence of leg dynamic characteristics on hydraulic system but also takes into account nonlinearity, variable load characteristics and other common problems brought by hydraulic system, and solves compatibility and operation time which brought by using multiple software simultaneously. The experimental results show the simulation model built in this paper can accurately express characteristics of the system.

中文翻译：

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LHDS机械结构、水力和控制的数学模型

摘要本文首先根据腿部液压驱动系统（LHDS）的机械结构，推导了运动学、静力学和逆动力学的数学模型。然后，将上述所有模型与MATLAB/Simulink集成，建立LHDS仿真模型，该模型不仅考虑了腿动力特性对液压系统的影响，还考虑了液压系统带来的非线性、变载荷特性等常见问题。 ，解决了同时使用多个软件带来的兼容性和运行时间。实验结果表明，本文建立的仿真模型能够准确地表达系统的特性。