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.

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 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.

Design and Implementation of Fuzzy PID Controller for Brushless DC Motor Control System

2013 ◽  
Vol 432 ◽  
pp. 472-477
Author(s):  
Wei Fan ◽  
Tao Chen
Keyword(s):  
Control System ◽  
Digital Signal Processor ◽  
Pid Controller ◽  
Fuzzy Controller ◽  
Digital Signal ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
Fuzzy Pid ◽  
Brushless Dc ◽  
Fuzzy Pid Controller

This paper presents a robust fuzzy proportional-integral-derivative (PID) controller for brushless DC motor (BLDCM) control system. The hardware circuit of the BLDCM control system is designed and implemented using a digital signal processor (DSP) TMS320LF2407A and a monolithic BLDCM controller MC33035 as the core. Furthermore, a fuzzy PID controller, which combines the advantages of good robustness of fuzzy controller and high precision of conventional PID controller, is employed in the hardware system, thereby yielding a digital, intelligent BLDCM control system. Experimental results have shown that the control system can run steadily and control accurately, and have convincingly demonstrated the usefulness of the proposed fuzzy PID controller in BLDCM control system.

scholarly journals Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Alejandro Rincón ◽  
Fredy E. Hoyos ◽  
Fabiola Angulo
Keyword(s):  
Controller Design ◽  
Digital Signal ◽  
Dc Motor ◽  
Second Order ◽  
Motor Speed ◽  
Adaptive Backstepping ◽  
Control Framework ◽  
Rapid Control ◽  
Time Varying Parameters ◽  
Rapid Control Prototyping

This paper shows the controller design for a second-order plant with unknown varying behavior in the parameters and in the disturbance. The state adaptive backstepping technique is used as control framework, but important modifications are introduced. The controller design achieves mainly the following two benefits: upper or lower bounds of the time-varying parameters of the model are not required, and the formulation of the control and update laws and stability analysis are simpler than closely related works that use the Nussbaum gain method. The controller has been developed and tested for a DC motor speed control and it has been implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform. The motor speed converges to a predefined desired output signal.

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).

Back-EMF Position Detection Technology for Brushless DC Motor

2014 ◽  
Vol 492 ◽  
pp. 49-55
Author(s):  
Hong Xing Wu ◽  
Zhi Yuang Qi ◽  
Ji Gui Zheng ◽  
Shou Ming Zhou
Keyword(s):  
Digital Signal Processor ◽  
Digital Signal ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
Position Sensor ◽  
Brushless Dc ◽  
Starting Position ◽  
Position Detection ◽  
Detection Technology ◽  
Sensor Control

Without position sensor control technology of brushless DC motor has become the focus of many experts and scholars at home and abroad. The article presented research of without speed and position sensor control for brushless DC motor, including brushless DC motor mathematical model, Back-EMF detection principle and starting position detection method, and designed a hardware control system based dedicated digital signal processor (DSP). For experimental study of the system based experimental prototype had shown: this method can achieve no load starting, load starting and load operation of without position sensor brushless DC motor.

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.

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