Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton
Abstract
:1. Introduction
- Providing a visual representation of main properties of the system by separating the system formation from dynamic modeling equations;
- Monitoring the coherence and consistency of the topological structure of the dynamic system;
- Providing a hierarchical dynamic model of the system.
2. Dynamic Model
2.1. Block Diagram Model
2.2. Bond Graph Model
3. Kalman Filter Observer Design
4. System Identification
5. Simulation Results
5.1. Comparison between Block Diagram and Bond Graph Models
5.2. Implementation of Kalman Filter Observer and Performance Analysis
6. Conclusions
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
Abbreviations
LQR | Linear Quadratic Regulator |
DC | Direct Current |
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Symbol | Quantity | Unit |
---|---|---|
Torque generated by brush-less DC motor | ||
Friction between brushless DC motor and gearbox | ||
Angular position of brushless DC motor | ||
Angular velocity of brushless DC motor | ||
Angular acceleration of brushless DC motor | ||
Inertia of brushless DC motor | ||
Inertia of gearbox transmission | ||
Gearbox stiffness | ||
Gearbox ratio | ||
Gearbox damping | ||
Gearbox friction | ||
Angular position of torque sensor internal ring | ||
Angular velocity of torque sensor internal ring | ||
Angular acceleration of torque sensor internal ring | ||
Inertia of torque sensor internal ring | ||
Torque sensor damping | ||
Torque sensor stiffness | ||
Angular position of torque sensor external ring | ||
Angular velocity of torque sensor external ring | ||
Angular acceleration of torque sensor external ring | ||
Inertia of torque sensor external ring | ||
Equivalent damping between trunk and exoskeleton | ||
Equivalent stiffness between trunk and exoskeleton | ||
Angular position of human trunk | ||
Angular velocity of human trunk | ||
Angular acceleration of human trunk | ||
Human trunk inertia | ||
Human hip damping |
Energy Domain | Effort Variable | Flow Variable |
---|---|---|
Electrical | Voltage | Current |
Mechanical | Force | Velocity |
Hydraulic | Pressure | Volume flow |
Thermal | Temperature | Entropy flow |
Component | Model |
---|---|
Brushless DC Motor | Maxon-EC 90 flat, 90 Watt |
Gearbox | Harmonic Drive, SHD-25-160-2SH-SP |
Torque Sensor | ME, TS110a ± 100 Nm |
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Shojaei Barjuei, E.; Caldwell, D.G.; Ortiz, J. Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton. Designs 2020, 4, 53. https://0-doi-org.brum.beds.ac.uk/10.3390/designs4040053
Shojaei Barjuei E, Caldwell DG, Ortiz J. Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton. Designs. 2020; 4(4):53. https://0-doi-org.brum.beds.ac.uk/10.3390/designs4040053
Chicago/Turabian StyleShojaei Barjuei, Erfan, Darwin G. Caldwell, and Jesús Ortiz. 2020. "Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton" Designs 4, no. 4: 53. https://0-doi-org.brum.beds.ac.uk/10.3390/designs4040053