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壁面清洗机器人的行走系统是由双轮移动机构及其控制系统构成，依据控制系统的动态 结构图，运用ＭＡＴＬＡＢ软件对控制系统进行动态仿真与辅助分析，从而验证了控制系统的可靠性 与稳定性。
Wall-cleaning robot’s walking system is composed of two-wheel moving mechanism and its control system. According to the dynamic structure of the control system, MATLAB software is used to simulate and analyze the control system dynamically to verify the reliability and stability of the control system .