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相关概念视频

Net Torque Calculations01:19

Net Torque Calculations

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When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to...
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Linear Approximation in Time Domain01:21

Linear Approximation in Time Domain

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Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
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Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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Work and Energy for Variable Forces01:10

Work and Energy for Variable Forces

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When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...
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The Swing Equation01:21

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The Swing Equation is a fundamental tool in power system dynamics, especially for analyzing the behavior of generating units like three-phase synchronous generators. This equation emerges from applying Newton's second law to the rotor of a generator, encompassing factors such as inertia, angular acceleration, and the interplay between mechanical and electrical torques.
In a steady-state operation, the mechanical torque (Τm) supplied to the generator is balanced by the electrical torque...
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Simplified Synchronous Machine Model01:30

Simplified Synchronous Machine Model

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The Synchronous Machine Model is a fundamental tool in analyzing and ensuring the transient stability of power systems. This model simplifies the representation of a synchronous machine under balanced three-phase positive-sequence conditions, assuming constant excitation and ignoring losses and saturation. The model is pivotal for understanding the behavior of synchronous generators connected to a power grid, particularly during transient events.
In this model, each generator is connected to a...
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相关实验视频

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一个适应式的汉默斯坦模型用于FES诱导的扭矩预测,基于可变的忘记因子递归最小方程算法.

Qinlian Yang, Yingqi Li, You Li

    IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
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    概括

    这项研究引入了一种适应式汉默斯坦模型,用于预测功能电刺激 (FES) 期间脚关节扭矩. 新模型有效地处理肌肉变化和疲劳,提高预测准确性和稳定性.

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    科学领域:

    • 生物医学工程 生物医学工程
    • 控制系统 控制系统
    • 康复机器人 康复机器人

    背景情况:

    • 对功能电刺激 (FES) 肌肉反应的准确建模对于开发有效的FES控制系统至关重要.
    • 传统的固定参数汉默斯坦模型很难解释肌肉固有的时间变化的性质和疲劳的影响.
    • 现有的适应模型经常使用固定的忘记因子,这些因子可能无法最佳地适应快速的生理变化.

    研究的目的:

    • 提出和验证一种适应式的汉默斯坦模型,用于预测由FES诱导的脚关节扭矩.
    • 增强模型应对肌肉特性和疲劳动态变化的能力.
    • 将拟议的自适应模型的性能与固定参数和传统的自适应模型进行比较.

    主要方法:

    • 开发了一个自适应的哈默斯坦模型,利用可变忘记因子递归最小方程 (VFFRLS) 算法进行参数更新.
    • 在健康个体 (短时间和长时间) 和中风患者身上使用FES进行了同度脚背伸扭矩实验.
    • 评估模型性能,使用合适度,根平均平方误差,峰值误差和成功率指标.

    主要成果:

    • 拟议的自适应汉默斯坦模型在预测FES诱导的脚扭矩方面显著提高了准确性和稳定性.
    • 基于VFFRLS的自适应模型超过了固定参数汉默斯坦模型和使用固定遗忘因子 (FFFRLS) 的自适应模型.
    • 适应性方法有效地弥补了FES期间肌肉特性变化和疲劳.

    结论:

    • 与VFFRLS相结合的适应式哈默斯坦模型提供了一种优越的方法来建模与传统方法相比,肌肉对FES的反应.
    • 这种增强的建模能力对于推进可靠和响应的FES控制系统的设计至关重要.
    • 该模型的适应性对个性化康复和辅助技术具有重大前景.