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Omer Sirin Thesis.pdf (10.34 MB)

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External Control Interface, Dynamic Modeling and Parameter Estimation of a Research Treadmill

Sirin, Omer
http://rave.ohiolink.edu/etdc/view?acc_num=csu1376562139

Abstract Details

2013, Master of Science in Biomedical Engineering, Cleveland State University, Fenn College of Engineering.
Treadmills providing linear continuous movement are used for robotic testing of prostheses in order to study their operating characteristics. However, traditional exercise treadmills are not able to simulate various conditions such as avoiding an obstacle, climbing, descending, reversing direction, or stopping instantly. The focus of this thesis is to examine control algorithms (position, speed and force) for the drive mechanism of a research treadmill to fulfill the gap in the situations described above. The system consists of a power supply, a computer with Matlab, and the treadmill that includes a DC motor, a pulley and belt. Also, an external encoder is installed on the motor to measure the position of the belt. The bond graph method is used to model the system to find the symbolic transfer function. Simultaneously, system identification techniques are used to estimate a numeric transfer function. Some parameters of the model are experimentally measured, and the rest are extracted by matching two transfer functions. Control algorithms such as proportional-integral-derivative and sliding mode are implemented in the system for simulation and real-time operation. The results demonstrate that this system is suitable for producing motion paths that traditional treadmills cannot, and it can handle difficult-to-model situations such as the synchronized movement of the treadmill with a prosthesis-testing robot.
Hanz Richter, PhD (Committee Chair)
Sridhar Ungarala, PhD (Committee Member)
Daniel Simon, PhD (Committee Member)
Biomedical Engineering
Control treadmill, PID control treadmill, SMC control treadmill

Recommended Citations

Citations

  • Sirin, O. (2013). External Control Interface, Dynamic Modeling and Parameter Estimation of a Research Treadmill [Master's thesis, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1376562139

    APA Style (7th edition)

  • Sirin, Omer. External Control Interface, Dynamic Modeling and Parameter Estimation of a Research Treadmill. 2013. Cleveland State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1376562139.

    MLA Style (8th edition)

  • Sirin, Omer. "External Control Interface, Dynamic Modeling and Parameter Estimation of a Research Treadmill." Master's thesis, Cleveland State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=csu1376562139

    Chicago Manual of Style (17th edition)

csu1376562139
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© 2013, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.