Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators

Iyer, K. Balakrishna; Keeling, David G.; Hall, Richard M.

doi:10.1109/icmre54455.2022.9734078

Cited by 4 publications

(6 citation statements)

References 8 publications

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“…The HiL simulation described in Iyer et al [43] provided a robust and reliable platform for the rapid development and testing of PI and Fuzzy-PI controllers. This setup allowed for the verification and fine-tuning of the controllers, particularly through the iterative creation and adjustment of optimal fuzzy membership functions, all within a low-risk environment before their potential deployment to the spinal joint simulator for displacement control testing.…”

Section: Resultsmentioning

confidence: 99%

“…The fuzzy-PI control system underwent an initial phase of development and thorough testing using a universal Hardware-in-the-Loop (HiL) setup [42]. This HiL environment was specifically designed to evaluate potential control algorithms prior to integrating them into the operational framework of the Leeds spine [42,43].…”

Section: Methodsmentioning

confidence: 99%

“…• Designed a novel HiL test bench: A Hardware-in-the-Loop (HiL) test bench was created to facilitate the development, rapid prototyping, and testing of prospective control algorithms against ISO standards [43].…”

Section: Methodsmentioning

confidence: 99%

“…During control prototyping on the HiL system [42,43], the PI controller struggled to overcome phase lag at higher frequencies (e.g., 2 Hz) as specified in ISO 18192-1 standards, requiring constant manual gain adjustments. To address these issues, the FuzzyPI controller was developed.…”

Section: Spine Wear Simulatormentioning

confidence: 99%

“…Developed and tested a PI control algorithm: Initially, a velocity-based PID control algorithm was developed and tested on the HiL test bench using speed profiles derived from the displacement curves of the ISO and hip ADL [43].…”

mentioning

confidence: 99%

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Verification and Validation of Advanced Control Systems for A Spinal Joint Wear Simulator

Iyer,

Keeling,

M Hall

2024

Preprint

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Wear simulation aims to assess wear rates and their dependence on factors like load, kinematics, temperature, and implant orientation. Despite its significance, there's a notable gap in research concerning advancements in simulator control systems and the testing of clinically relevant waveforms. This study addresses this gap by focusing on enhancing the conventional proportional-integral-derivative (PID) controller used in joint simulators through the development of a fuzzy logic-based controller. Leveraging a single-input-multiple-output (SIMO) fuzzy logic control system, the study aimed to improve displacement control, augmenting the traditional Proportional-Integral (PI) tuning approach. Implementation and evaluation of a novel Fuzzy-PI control algorithm were conducted on the Leeds spine wear simulator. The study also included testing of daily-living (DL) profiles, particularly from the hip joint, to broaden the scope of simulation scenarios. While both the conventional PI controller and the Fuzzy-PI controller met ISO tolerance criteria for the spine flexion-extension (FE) profile at 1Hz, the Fuzzy-PI controller demonstrated superior performance at higher frequencies and with DL profiles due to its real-time adaptive tuning capability. The Fuzzy-PI controller represents a significant advancement in joint wear simulation, offering improved control functionalities and a more accurate emulation of real-world physiological dynamics.

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Section: Resultsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Spine Wear Simulatormentioning

confidence: 99%

mentioning

confidence: 99%

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Verification and Validation of Advanced Control Systems for A Spinal Joint Wear Simulator

Iyer,

Keeling,

M Hall

2024

Preprint

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ATmega2560 MCU Space Vector Modulation Implementation on Three-phase Inverter and Validation via Typhoon HIL 402

Brandis

Pelin

Šimić

et al. 2022

2022 International Conference on Smart Systems and Technologies (SST)

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A novel and advanced control method based on Fuzzy-PI for joint wear simulators

Iyer,

Keeling,

Hall

2024

Open Res Europe

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Background This research presents a novel approach to improve the control performance of joint wear simulators that are used for testing prostheses. For this application, precise controller tuning and minimal tracking errors are essential to meet compliance standards like ISO 18192-1 or ISO 14242-3, and to test under realistic activities of daily living (ADL) scenarios. Methods To address these challenges, the authors propose employing a single-input-multiple-output (SIMO) fuzzy logic control system to augment the traditional proportional-integral (PI) tuning process for joint simulation. To facilitate the development and testing of potential controllers, we utilize a benchtop hardware-in-the-loop (HiL) simulation environment, which facilitated cost-effective rapid control prototyping (RCP). This HiL simulation mimicked joint motion and loading conditions akin to real spinal and hip wear simulators. The objectives of the study are to develop a robust controller for tribological applications and joint simulators and investigate the use of Fuzzy Logic as a possible enhancement of the control system. The Fuzzy-PI controller combines the conventional PI controller with Fuzzy Logic acting as a supervisor, enhancing overall control performance and robustness. The controller adapts to the system's operating range and performance characteristics through a combination of membership functions and control rules. Results Results indicate that for ISO profiles with a fixed 1Hz frequency, both the traditional PI controller and the Fuzzy-PI controller perform equally well. However, as the frequency of the ISO profile increases or when handling ADL profiles with multiple frequency components, the Fuzzy-PI controller outperforms the PI controller. This was attributed to Fuzzy-PI's real-time adaptive capability to tune PI gains as frequency demands changed through a profile, providing a more robust and superior performance, particularly in challenging scenarios. Conclusions In conclusion, the Fuzzy-PI controller represents a promising advancement for joint wear simulators, offering improved control capabilities and better simulation of real-world physiological conditions.

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Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators

Abstract: After the reviewing process, monitored by the Technical Program Committee, n ow we are pleased to inform you that your above paper has been accepted by ICMRE 2022 for presentation and will be included in conference proceedings.

Cited by 4 publications

References 8 publications

Verification and Validation of Advanced Control Systems for A Spinal Joint Wear Simulator

Verification and Validation of Advanced Control Systems for A Spinal Joint Wear Simulator

ATmega2560 MCU Space Vector Modulation Implementation on Three-phase Inverter and Validation via Typhoon HIL 402

A novel and advanced control method based on Fuzzy-PI for joint wear simulators

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