对一款用于轮椅应用的低成本微控制器上实施的模糊控制系统的统计评估
Luis F F Souza1,2, João G C Passos3, Augusto S Cerqueira1
1Electrical Engineering Department, UFJF, Juiz de Fora, Brazil.
Disability and rehabilitation. Assistive technology
|November 7, 2025
概括
为辅助技术优化模糊控制系统需要平衡代步骤 (IS) 和微控制器选择. 中间的IS值为头部控制轮椅提供了最好的速度准确性权衡.
科学领域:
- 工程 工程师 工程师 工程师
- 计算机科学 计算机科学
- 控制系统 控制系统
背景情况:
- 模糊控制系统为头部控制轮椅等辅助技术提供了低成本,高效的解决方案.
- 实际实施对设计参数如代步骤 (IS),微控制器架构和会员功能重叠敏感.
研究的目的:
- 为了统计评估Arduino Mega和Due微控制器上的模糊控制系统性能.
- 调查代步骤 (IS),微控制器架构和会员功能重叠对系统准确性和处理时间的影响.
主要方法:
- 在Arduino Mega和Due微控制器上实现了一个模糊的控制系统.
- 使用根平均平方误差 (RMSE) 和处理时间评估系统性能.
- 利用重心 (COG) 方法去模糊,并分析了不同IS和会员功能重叠的影响.
主要成果:
- 较小的IS值提高了精度,但导致了较长的处理时间 (>700ms).
- 中间的IS值 (0.1,1) 提供了最佳的速度精度权衡 (RMSE < 0.13%,处理时间 < 260ms).
- 在低IS值时,Arduino Due显示出优越的处理速度;在更高IS值时,Arduino Mega是一个具有成本效益的选择.
结论:
- 为优化低成本系统中模糊控制参数提供经验指导.
- 这些发现对于要求实时响应和准确性,如辅助轮椅等应用至关重要.
- 参数调整对于在资源受限的嵌入式系统中高效的模糊逻辑实现至关重要.
相关概念视频
01:22Controller Configurations
342
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
342
01:26PD Controller: Design
599
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
599
01:26Feedback control systems
681
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
681
01:25Control Systems: Applications
1.1K
Electrical engineering plays a pivotal role in our daily lives, with control systems at the heart of many applications, from home appliances to sophisticated space shuttles. Control systems manage and regulate the behavior of devices and processes, ensuring they function safely, correctly, and efficiently.
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The...
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The...
1.1K
01:17Open and closed-loop control systems
1.5K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.5K
01:24PI Controller: Design
1.1K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.1K