PIDsim26012018.zip_ILC_machine learning

%% UPPER ARM MOVEMENT SIMULATION %% This file runs the Simulink model 'MAF_UpperArmPID.slx that demonstrates activation of the biceps %% and triceps brachii muscles (under the direction of FES stimulation), which causes the forearm to move downwards. %% It includes a PID controller to manage the FES stimulation. %% The program creates plots of the arm movement, muscle forces and the resultant angle of the elbow in Radians. %% CLEAR THE WORKSPACE %% To ensure that no previous variables are present. clear all close all clc %% SYSTEM SET-UP %% Firstly, the Arm parameters and Biceps and Triceps muscle activation transfer functions are loaded:- load ArmParameters.mat Inertia = 0.3; %needs checking... hLAD_BI = tf(1,[1/dyn_wn_BI^2 2/dyn_wn_BI 1]); %BICEPS linear activation dynamics hLAD_TR = tf(1,[1/dyn_wn_TR^2 2/dyn_wn_TR 1]); %TRICEPS linear activation dynamics hIRC_BI = myfun_ID([a1_BI,a2_BI,a3_BI],0:1:300); %BICEPS isometric recruitment curve hIRC_TR = myfun_ID([a1_TR,a2_TR,a3_TR],0:1:300); %TRICEPS isometric recruitment curve %% Theta_in values (the model range of input 'Set-points') to move the arm from 30Degrees to 180Degrees. %%Theta_in = 1:3.14 %% INITIAL CONDITIONS %% The arm movement has been set with a starting point of 30Degrees (0.5 Radians) as in practice, the %% human arm tends to only get this close physically, when the biceps muscle is fully activated. %% The input signal for the simulink model is set (in the Theta_in block) for moving the arm in a downwards %% action from 30Degrees (0.5Radians) to 180 Degrees (3.14 Radians) in steps of 1Degree (0.017 radians). %% Set the range of movement and time:- Time = 10; Ts = 1/50; t = 0:Ts:Time; %% Create the reference Theta_min = 0.15; Theta_max = 3.14; Theta_step = 2*(Theta_max - Theta_min)/(length(t)); Theta_in = [Theta_min:Theta_step:Theta_max (Theta_max-Theta_step):-Theta_step:Theta_min]; %figure; plot(t,Theta_in); xlabel('Time, s'); ylabel('Angle, rad'); title('reference') %%Steps = (Theta_Max - Theta_Min)/Time %% ACTIVATE THE SIMULINK MODEL %% Store the input (Set-point) and output (Elbow Angle) values so that later we can plot them. %% (This example includes a PID controller) % for i = 1:10 sim('MAF_UpperArm_PID_Degrees') figure; subplot(211); plot(t,Theta_in,'k',t,Theta_out','b',t,PID_out,'m'); legend('reference','theta_output','PID out'); xlabel('Time, s'); ylabel('Angle, rad'); title('output') subplot(212); plot(t,u_Biceps,'r',t,u_Triceps,'b'); xlabel('Time, s'); ylabel('Stim, microsecs'); legend('Biceps','Triceps'); % storagevec(i,:) = Theta_out; % end