Stroke is a leading cause of disability worldwide. In this paper, a novel robot-assisted rehabilitation system based on motor imagery electroencephalography (EEG) is developed for regular training of neurological rehabilitation for upper limb stroke patients. Firstly, three-dimensional animation was used to guide the patient image the upper limb movement and EEG signals were acquired by EEG amplifier. Secondly, eigenvectors were extracted by harmonic wavelet transform (HWT) and linear discriminant analysis (LDA) classifier was utilized to classify the pattern of the left and right upper limb motor imagery EEG signals. Finally, PC triggered the upper limb rehabilitation robot to perform motor therapy and gave the virtual feedback. Using this robot-assisted upper limb rehabilitation system, the patient's EEG of upper limb movement imagination is translated to control rehabilitation robot directly. Consequently, the proposed rehabilitation system can fully explore the patient's motivation and attention and directly facilitate upper limb post-stroke rehabilitation therapy. Experimental results on unimpaired participants were presented to demonstrate the feasibility of the rehabilitation system. Combining robot-assisted training with motor imagery-based BCI will make future rehabilitation therapy more effective. Clinical testing is still required for further proving this assumption.
Each wheel torque can be controlled independently, so four-wheel-drive electric vehicle can not only control the vehicle stability through hydraulic braking pressure regulation, but also through controlling the motor driving and braking force to generate yaw moment, which are different with the conventional vehicles. 4WD Evs have potential applications in control engineering. Both in-wheel motors and the EHB are actuators for vehicle stability control. In this paper, a vehicle co-simulation platform is constructed through the application of AMEsim and Simulink, additionally, a fuzzy controller is designed to generate yaw moment so as to compensate for deviations between CG slip angles and yaw rate. The simulation results show that the stability control system with motors and a mechanical load brake system can effectively improve the handling stability of the vehicle.
The most significant feature of EV with In-Wheel-Motor is that, the torque of each wheel can be controlled independently. [. When EVs turn, controlling torque of steering wheel independently can generate torque difference around the kingpin to reduce the driver's steering force and improve the steering Portability [. At first, the theory and structure of Driving Force Power Steering (DFPS) are discussed and a vehicle dynamic model is built with AMESim software. Based on the control strategy and algorithm a control model is built using Matlab/Simulink. At last, a simulation is performed. The results show that the DFPS system can provide steering power and assist steering efficiently.
Based on the study of the Matlab rapid prototyping technology, the rapid prototyping design approach is presented, which is widely applicable to all kinds of microcontroller. Through the modification of the system target file, the automatic code generation function of the Matlab could support more microcontrollers. The rapid prototyping of in-wheel motor controller is designed through this approach. Then the embedded C codes are generated according to the vector control algorithm model which is validated by simulation, and the rapid prototyping of in-wheel motor controller is achieved. The proposed approach is validated through the comparison to hand-written code.
Analysis and comparison with conventional brake systems and brake-by-wire-system with pedal stroke simulator, and the establishment of the pedal stroke simulator model with the AMESim software, joint Matlab/Simulink software to design single neuron adaptive intelligent PID control strategy of the pedal stroke simulator. Through simulation verification draw that this brake-by-wire-systems and the control strategy can achieve the requirements of brake pedal feel of conventional brake systems, and effectively improve comfort during braking.
Based on Motohawk rapid prototype development platform and “Development to Production (D2P)”development process, an integrated control system has been built, adapting to the principle and configuration of extended-range electric vehicle. This control system integrated traditional vehicle controller, drive motor controller, APU controller, engine controller and generator controller. The development of this control system is based on ControlCore underlying operation system and designed by Simulink/Stateflow software. Production-level automotive ECU has also been used as the hardware platform. This development method can significantly simplify the topology structure of control system, decrease the develop cycle of extended-range electric vehicle, and reduce the cost in development, production and aftermarket maintenance.
The electro-mechanical braking system of In-Wheel-Motor vehicle is analyzed by applying vehicle braking stability theory. Considering the properties of composite lectro-mechanical braking system, a regenerative braking system control strategy with ABS function for In-Wheel-Motor vehicle is proposed. In the strategy, the ABS function is achieved by adjust the motor torque. With using the new strategy, simulations are conducted on an in-wheel-motor vehicle model, and the road adhesion coefficient in the simulation is 0.2 and 0.8 respectively. The result shows that the control strategy proposed enhances the braking stability of In-Wheel-Motor vehicle.
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