Linear Controller Synthesis for Master System using Extended Physiological Proprioception in Upper-Limb Prosthesis

K. Iyer, N. Manjarekar
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Abstract

A Linear Controller is proposed for Master system in Upper-Limb Prosthesis using Extended Physiological Proprioception (EPP). The implemented design aims to provide fair tracking for the Master-Slave system. The control law is designed using a novel, Single-motor Master system using PID for different values of design parameters such as settling time and peak overshoot. A second order of system is used for the control synthesis. Simulation results show that control law works satisfactory, even in presence of non-linear friction due to lead-screw mechanism. A further comparison of simulation results between Single and Double motor Master system shows that Single Master scheme is superior in terms of energy consumption and torque requirement.
基于扩展生理本体感觉的上肢假肢主系统线性控制器综合
提出了一种基于扩展生理本体感觉(EPP)的上肢假肢主系统的线性控制器。实现的设计旨在为主从系统提供公平的跟踪。控制律设计采用新颖的单电机主控系统,采用PID控制不同的设计参数值,如稳定时间和峰值超调量。采用二阶系统进行控制综合。仿真结果表明,即使存在丝杠机构引起的非线性摩擦,该控制律也能取得满意的效果。通过对单、双电机Master系统仿真结果的进一步比较,表明单电机Master方案在能耗和转矩要求方面具有优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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