[11]徐艳翠。四足机器人液压驱动单元模糊滑模变结构控制研究[D]。秦皇岛：燕山大学，2013。

XU Yancui. Study on the Fuzzy Sliding Mode Control of the Hydraulic Driving Unit of Quadruped Robot [d]. Qinhuangdao: Yanshan University, 2013.

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液压马达直接驱动螺杆的塑化单元，结构简单，维护简单。

Plasticizing unit drove by hydraulic pressure motor, simple in structure and maintenance.

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该系统由转向电子控制单元(ecu)、全液压转向器、步进电机、步进电机驱动器、角位移传感器等组成。

This system consists of steering electronic control unit (ECU), all hydraulic steering, stepping motor, stepping motor driver and angular displacement sensor, etc.

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