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Cascade Control of a Hydraulic Prosthetic Knee

Hui, Xin
http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543

Abstract Details

2016, Master of Science in Mechanical Engineering, Cleveland State University, Washkewicz College of Engineering.
A leg prosthesis test robot with hydraulic knee actuator is modeled and tested with closed loop control simulation. A cascade control architecture is designed for the system, the outer loop is controlled by a robust passivity-based controller (RPBC) and the inner loop is controlled by an optimization method. The control algorithm provides knee angle tracking with an RMS error of 0.07 degrees. The research contributes to the field of prosthetics by showing that it is possible to find effective closed loop control algorithm for a newly proposed hydraulic knee prosthesis. The simulations demonstrate the efficiency of RPBC's ability to control complex, nonlinear and multivariable system with plant variability and parameter uncertainty. Dynamic equations for the hydraulic knee actuator are derived from bond graph, an optimization method is used to solve the inversion problem. Low-pass filters are implemented to eliminate signal chatter. Necessary modifications of knee actuator parameters are discussed and recommended to achieve better tracking performance.
Hanz Richter, Ph.D. (Committee Chair)
Daniel Simon, Ph.D. (Committee Member)
Antonie van den Bogert, Ph.D. (Committee Member)
107 p.
Biomechanics; Mechanical Engineering
Hydraulic knee actuator; Robust passivity based control; Cascade control; Robot; Trans femoral prosthesis

Recommended Citations

Citations

  • Hui, X. (2016). Cascade Control of a Hydraulic Prosthetic Knee [Master's thesis, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543

    APA Style (7th edition)

  • Hui, Xin. Cascade Control of a Hydraulic Prosthetic Knee. 2016. Cleveland State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543.

    MLA Style (8th edition)

  • Hui, Xin. "Cascade Control of a Hydraulic Prosthetic Knee." Master's thesis, Cleveland State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=csu1459772543

    Chicago Manual of Style (17th edition)

csu1459772543
709
© 2016, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.