Modeling, Simulation and Control of Functional Electrical Stimulation Cycle Ergometer System

Abstract

The objective of the study is to determine the efficiency of Integral of the Time-Weighted Absolute Value of the Error (ITAE) and Integral of the Absolute of the Error (IAE) methods as a way of tuning controllers for a functional electrical stimulation cycle ergometer system. These systems provide aid for people with a damaged spinal cord. The methodology was to find a mathematical model to describe the behavior of the individual at different points of operation and to describe the cycle ergometer as a secondary system. Two models were obtained via experimentation. A proportional-integral-derivative (PID) action multi-controller for each operation points was tuned. The results were validated by simulation and experimentation respectively. Due to the actual physical aspects, the electromechanical system will be improved and will require further investigation in order to find a generic or auto tuning controller for an integrated system.