Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing

2013 ◽  
Vol 8 (1) ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Digital Signal Processor ◽  
Control Algorithm ◽  
Controller Design ◽  
Digital Signal ◽  
Bench Test ◽  
Level Control ◽  
State Controller ◽  
Finite State ◽  
Dsp Control ◽  
Bench Testing

This article outlines the controller design for a specific active transtibial prosthesis. The controller governs the power output of a DC motor attached to a four-bar mechanism and torsional spring. Active power reinforcement is used to assist the push off at later stages of the stance phase and achieve ground clearance during the swing phase. A two level control algorithm which includes a higher level finite state controller and lower level proportional-integral-derivative (PID) controllers is applied. To implement this control algorithm, a digital signal processor (DSP) control board was used to realize the higher level control and an off-the-shelf motor controller was used to realize the lower level PID control. Sensors were selected to provide the desired feedback. A dynamic simulation was performed to obtain the proper PID parameters which were then utilized in a bench test to verify the approach.

scholarly journals Controller Design and Preliminary Testing of a Powered Below-Knee Prosthetic Device

2012 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Digital Signal Processor ◽  
Controller Design ◽  
Digital Signal ◽  
Power Input ◽  
Dc Motor ◽  
Bench Test ◽  
Area Network ◽  
Level Control ◽  
Lower Limb Prosthesis ◽  
Dsp Control

A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DC motor, was previously designed and fabricated. To regulate the motor power input, a two level controller was proposed and built. The control algorithm includes a higher level finite state controller and lower level PID controllers. A digital signal processor (DSP) control board and MATLAB Simulink are used to realize the higher level control and a DC motor controller is used to realize the lower level PID control. Controller Area Network (CAN) communication was used to communicate between the two level controllers. To preliminarily test if the motor can generate required power, a bench test was performed. The results show that the motor needs to be overpowered to achieve the required moment.

Controller Implementation of a Powered Transtibial Prosthetic Device

2011 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Control Algorithm ◽  
Human Subjects ◽  
Pid Controllers ◽  
Current Sensor ◽  
Level Control ◽  
State Controller ◽  
Finite State ◽  
New Type ◽  
Absolute Encoder ◽  
A Current

A new type of powered transtibial prosthesis was designed and fabricated. This device has reasonable size, weight and strength for daily use. In order to test the device on human subjects, a control algorithm and a control system are required. A two level control algorithm, which includes a higher level finite state controller and lower level PID controllers, is proposed and the configuration of this system is presented in this paper. An absolute encoder, a current sensor and two sets of force-sensing resistors are used to provide the feedback; a dSPACE system and MATLAB Simulink are used to realize the higher level control, and a DC motor controller is used to realize the lower level PID controller.

scholarly journals A flexible user-interface for audiovisual presentation and interactive control in neurobehavioral experiments

F1000Research ◽  
2013 ◽  
Vol 2 ◽  
pp. 20
Author(s):  
Christopher T Noto ◽  
Suleman Mazhar ◽  
James Gnadt ◽  
Jagmeet S Kanwal
Keyword(s):  
User Interface ◽  
Data Acquisition ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Stimulus Presentation ◽  
Cost Effective ◽  
Level Control ◽  
Interactive Control ◽  
High Level ◽  
Behavioral Monitoring

A major problem facing behavioral neuroscientists is a lack of unified, vendor-distributed data acquisition systems that allow stimulus presentation and behavioral monitoring while recording neural activity. Numerous systems perform one of these tasks well independently, but to our knowledge, a useful package with a straightforward user interface does not exist. Here we describe the development of a flexible, script-based user interface that enables customization for real-time stimulus presentation, behavioral monitoring and data acquisition. The experimental design can also incorporate neural microstimulation paradigms. We used this interface to deliver multimodal, auditory and visual (images or video) stimuli to a nonhuman primate and acquire single-unit data. Our design is cost-effective and works well with commercially available hardware and software. Our design incorporates a script, providing high-level control of data acquisition via a sequencer running on a digital signal processor to enable behaviorally triggered control of the presentation of visual and auditory stimuli. Our experiments were conducted in combination with eye-tracking hardware. The script, however, is designed to be broadly useful to neuroscientists who may want to deliver stimuli of different modalities using any animal model.

H∞ Control law for line of sight stabilization in two-axis gimbal system

2020 ◽  
pp. 107754632097454
Author(s):  
M. Ashok Kumar ◽  
S. Kanthalakshmi
Keyword(s):  
Digital Signal Processor ◽  
Controller Design ◽  
Mathematical Formulation ◽  
Digital Signal ◽  
Line Of Sight ◽  
Experimental Frequency ◽  
Modeling Uncertainties ◽  
Air Vehicle ◽  
Sensitivity Problem ◽  
Air Vehicles

A two-axis gimbaled stabilization system in air vehicles must stabilize the line of sight of the payload toward a target against the external motion induced by air vehicle maneuvering and aerodynamic forces. The target tracking and pointing performances of the air vehicles are largely affected by air vehicle motion decoupling capability. In this work, the [Formula: see text] controller design is carried out for a two-axis gimbal system. The plant model is generated using experimental frequency response data and mathematical formulation of the system. The mixed sensitivity problem is posed and weighting functions are selected so that they not only fulfill all the design goals but also accommodate the modeling uncertainties. The stabilization loop is designed and implemented in digital signal processor-based hardware for only one axis (in azimuth).

scholarly journals A flexible user-interface for audiovisual presentation and interactive control in neurobehavioral experiments

F1000Research ◽  
2014 ◽  
Vol 2 ◽  
pp. 20
Author(s):  
Christopher T Noto ◽  
Suleman Mazhar ◽  
James Gnadt ◽  
Jagmeet S Kanwal
Keyword(s):  
User Interface ◽  
Data Acquisition ◽  
Digital Signal Processor ◽  
Digital Signal ◽  
Stimulus Presentation ◽  
Cost Effective ◽  
Level Control ◽  
Interactive Control ◽  
High Level ◽  
Behavioral Monitoring

A major problem facing behavioral neuroscientists is a lack of unified, vendor-distributed data acquisition systems that allow stimulus presentation and behavioral monitoring while recording neural activity. Numerous systems perform one of these tasks well independently, but to our knowledge, a useful package with a straightforward user interface does not exist. Here we describe the development of a flexible, script-based user interface that enables customization for real-time stimulus presentation, behavioral monitoring and data acquisition. The experimental design can also incorporate neural microstimulation paradigms. We used this interface to deliver multimodal, auditory and visual (images or video) stimuli to a nonhuman primate and acquire single-unit data. Our design is cost-effective and works well with commercially available hardware and software. Our design incorporates a script, providing high-level control of data acquisition via a sequencer running on a digital signal processor to enable behaviorally triggered control of the presentation of visual and auditory stimuli. Our experiments were conducted in combination with eye-tracking hardware. The script, however, is designed to be broadly useful to neuroscientists who may want to deliver stimuli of different modalities using any animal model.

scholarly journals FPGA Implementation for Rapid Prototyping of High Performance Voltage Source Inverters

2021 ◽  
Vol 6 (4) ◽  
pp. 320-331
Author(s):  
Yukun Luo ◽  
Keyword(s):  
Rapid Prototyping ◽  
Power Electronics ◽  
Code Generation ◽  
Digital Signal Processor ◽  
High Performance ◽  
Controller Design ◽  
Digital Signal ◽  
Current Control ◽  
Voltage Source ◽  
High Level

Field-programmable gate array (FPGA) is a powerful platform that can play an essential role in high-performance digital control of power electronics systems. However, the FPGA system’s design is quite different from that of a traditional microprocessor or a digital signal processor (DSP). Instead of sequential programming using high-level languages, such as C/C++, FPGA controller implementation requires a hardware description language (HDL) such as Verilog and VHDL, which requires extensive verification and optimization during the design process. This paper proposes a systematic FPGA design methodology with optimum resource utilization for rapid prototyping of high-performance power electronics applications to facilitate the widespread adoption of FPGA technology in power electronics. The FPGA controller design is concurrent with the power stage and utilizes high-level synthesis (HLS) tools and Simulink code generation toolbox. This paper covers the detailed design, implementation, and experimental validation of two specific applications, i.e., an active power filter (APF) and a motor emulator (ME), demonstrating the generalized features of the methodology. Employing fundamentally different control structures, both application examples achieve ultra-high current control bandwidth leveraging SiC MOSFETs switching at no less than 100 kHz.

scholarly journals Implementation of the Predictive Current Control of Multi-Pulse Flexible Topology Thyristor Rectifier Under Unbalanced Source Voltages

2017 ◽  
Vol 11 (1) ◽  
pp. 14-22
Author(s):  
Zhang Damin ◽  
Wang Shitao ◽  
Kang Shaobo ◽  
Zhang Ji
Keyword(s):  
Control Strategy ◽  
Digital Signal Processor ◽  
Control Algorithm ◽  
Great Influence ◽  
Digital Signal ◽  
Current Control ◽  
Ideal Condition ◽  
Input Line ◽  
Front End ◽  
Current Controller

Predictive current control strategy has captured much concern recently in power converters. As for the multi-pulse flexible-topology thyristor rectifiers (m-PFTTR), the symmetry of the input line-to-line voltages has great influence upon the implementation of the control strategy. Existing literatures have mainly focused on the implementation under ideal condition, i.e., the input line-to-line voltages, being critical to the predictive current controller, were supposed to be symmetrical. In fact, the unbalance of the input line-to-line voltages usually exists in the windings of the zigzag transformer at front end and the A/D converter of the digital signal processor (DSP). This paper presents a new method to dynamically regulate the input line-to-line voltages to ensure the symmetry of each other. It is realized through the instantaneous correction of the bias values in the course of sampling, and the correction is embodied in the modified control algorithm. The paper includes analyses of the m-PFTTR as well as the control algorithm, simulation and experiments. Simulation and experimental results demonstrate the effectiveness of the presented method.

scholarly journals Small-Signal Analysis and Control of Soft-Switching Naturally Clamped Snubberless Current-Fed Half-Bridge DC/DC Converter

2020 ◽  
Vol 10 (17) ◽  
pp. 6130
Author(s):  
Koyelia Khatun ◽  
Vakacharla Venkata Ratnam ◽  
Akshay Kumar Rathore ◽  
Beeramangalla Lakshminarasaiah Narasimharaju
Keyword(s):  
Digital Signal Processor ◽  
Signal Analysis ◽  
Controller Design ◽  
Design Procedure ◽  
Digital Signal ◽  
Soft Switching ◽  
Small Signal ◽  
Small Signal Analysis ◽  
Current Controller ◽  
The Stability

This paper presents small-signal analysis of a soft-switching naturally clamped snubberless isolated current-fed half-bridge (CFHB) DC-DC converter using state-space averaging. A two-loop average current controller was designed and implemented on a digital signal processor. The complete design procedure is presented here. Simulation results using software PSIM 11.1 are shown to validate the stability of the control system and the controller design. Experimental results for the step changes in load current vividly demonstrated satisfactory transient performance of the converter and validated the developed small-signal model and the control design.

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