Iyer, K, Keeling, D and Hall, R (2022) Application of Hardware-in-the-Loop Simulation for the Development and Testing of Advanced Control Systems for Joint Wear Simulators. In: Proceedings of 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE). 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 10-12 Feb 2022, Munich, Germany. IEEE , pp. 44-49. ISBN 978-1-6654-8377-3
Abstract
Hardware-in-the-loop (HIL) simulation is an advanced technique for developing and testing complex real-time control systems. This paper presents the benefits of HIL simulation to develop, test and validate advanced control algorithms used in an artificial joint wear simulator for the tribological testing of prostheses.A benchtop HIL setup is created for experimentation, controller verification, and validation purposes, allowing different control strategies to be tested rapidly in a safe environment. The HIL simulation attempts to replicate similar joint motion and loading conditions of that of the spinal wear simulator. The simulator contains a four-bar link powered by electromechanical actuators. As a result, the implant articulates with an angular motion specified in the international standards, ISO-18192-1, that defines fixed sinusoid motion and load profiles for wear testing of both lumbar and cervical disc implants.Using a PID controller, a velocity-based position control algorithm was developed to interface with the benchtop setup that performs HIL simulation. The simulation results strongly support the efficacy of the test setup using HIL simulation to verify and validate the accuracy and robustness of the prospective controller before its deployment into the spinal wear simulator. This method of testing controllers enables a wide range of possibilities to test advanced control algorithms that can potentially utilize real-world data of patients performing daily living activities that place adverse demands on the artificial joint.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | PID controller, hardware-in-the-loop (HIL) ,real-time simulation, wear simulator |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 01 Feb 2022 11:02 |
Last Modified: | 08 Aug 2023 01:24 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ICMRE54455.2022.9734078 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:183032 |