2 research outputs found
MODIFIED INTERNAL MODEL CONTROL FOR A THERAPEUTIC ROBOT
We present the use of the modified internal model controller (MIMC) and the “Probability Tube” (PT) action representation for robot-assisted upper extremities training of hemiplegic patients. The robot-assisted training session has two phases. During the first "demonstration" phase the robot learns from the therapist the target path through examples. In the second "exercise" phase the robot assists a patient to follow the target path. During this process, the control limits the interface force between the robot and the hand to be below the preset threshold (F = 50 N). The system allows the assessment of the range of movement, the positional error between the target and the reached position, the amount of added assistance (the interface force between the hand and the robot). We demonstrate the operation in two hemiplegic patients. The patients and therapist suggested after the tests that the new system is straightforward and intuitive for clinical applications
Series pid pitch controller of large wind turbines generator
For this stable process with oscillatory dynamics, characterized with small
damping ratio and dominant transport delay, design of the series PID pitch
controller is based on the model obtained from the open-loop process step
response, filtered with the second-order Butterworth filter Fbw. Performance
of the series PID pitch controller, with the filter Fbw, is analyzed by
simulations of the set-point and input/output disturbance responses,
including simulations with a colored noise added to the control variable.
Excellent performance/robustness tradeoff is obtained, compared to the
recently proposed PI pitch controllers and to the modified internal model
pitch controller, developed here, which has a natural mechanism to compensate
effect of dominant transport delay. [Projekat Ministarstva nauke Republike
Srbije, br. III 47016