Higher Diploma Research on “Modeling and Control of an Active Knee Orthosis”
A Higher Diploma Research was discussed in Department of Electrical Engineering / College of Engineering at University of Mosul entitled "Modeling and Control of an Active Knee Orthosis" submitted by (Amina Shabel Mahmood Mohamed Ali), Supervised By Assist. Prof. Dr. Mohamed Obaid Mustafa on Tuesday Jan. 31, 2023.
The project presented a non-linear dynamic model. This included determining the mathematical relations between the body velocity and the force on the knee, which act on the spring system inside the prosthetic limb. Then, this was mathematically related to the knee torque and angular velocity, which led to a model for the movement of the prosthetic leg. This model was entered into Simulink, where it became the total velocity of our body is the input and the movement of our leg becomes the result. Within this dynamic model, one important factor was the spring constant (k) inside the prosthetic knee. Our focus in this project was to improve the value of k (k) in a way that increases the accuracy of each step and the mechanical efficiency of the prosthesis. We simulated our model through a set of k values, based on the Curve found in the fourth chapter, which included a comparison between the distance efficiency and the mechanical efficiency.
In this way, we determined the optimal k value, after comparing it with the literary values, where it was 91.1, and this is all in addition to using the PID controller as a control system. Through it, the angular velocity was controlled, and satisfactory results were obtained in terms of output and system response. It was found that the PID controller is better than the PI
Controller In terms of the speed of the system response.