Because these were elastic & inexpensive, Hydraulic Muscle Activator (HMA) has a lot of promise in portable and responsive rehabilitative equipment. The transducers' changing and continuous response, on the other hand, create modeling and management problems that are hard to grasp. Our study offers a novel portable ankle rehabilitative robotic, that globes only of its type, which is powered with Optimized HMAs (OHMA) run tandem. The goal of this paper is to provide an adaptive regulator that will help OHMA-driven gadgets conquer their problems. To properly anticipate that performance for OHMA, fuzzy feedback regulate operator is developed. To find the best combination input settings for imprecise controllers, a Genetic Algorithm (GA) Based is used. The propoed OHMA-driven gait training robots have been evaluated, and the iteration controllers are effective in tracing the complicated connection between length, velocity, and tension of the OHMA with great precision. Whenever provided several intended trajectories, empirical findings demonstrate that the microcontroller can follow them quite well.
The direct torque control method is a powerful control technique for specially induction motor drive due its fast dynamic torque response. It originates in the fact that torque and flux is directly controlled by instantaneous space voltage vector unlike. Field Oriented Control (FOC) and smooth control of drives are being utilized to perform real time simulation on the ac motor variables, such as electromagnetic torque, fluxes, mechanical speed, etc. For the reason, direct torque control gradually has been used in the field requiring fast response since its introduction in the mid-1980. Even though the direct torque control has several problems. These problems are: (I) low switching frequency and variation in speed; (2) the increase of the torque ripple in the low speed region; (3) the short control period (25 /ls) for the good performance. To solve the problems of Direct Torque Control,several studies were carried out. This paper improves one of the drawbacks of Direct Torque Control with the Hysteresis direct torque control. In some papers to avoid these problems 2 level inverter with induction motor has been used but it is very complicated and didn't show large improvement. In this paper, Hysteresis direct torque control method with 3 level inverter has been implemented and its effectiveness is compared with conventional direct torque control with 2 level inverter by using Matlab/Simulink.
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