Abstract-In this paper design of a closed loop FES system for torque control is presented. Snap power worker s used for measuring muscle torque. Using this system torque is proportional to angle of a flexion so by controlling angle of a flexion torque is controlled too. During functional electrical stimulation 3 parameters can be changed: pulse width, pulse amplitude and time between two impulses. In this paper pulse amplitude and frequency are constant and system is controlled by changing pulse width. PI regulator is used to minimize difference between desired trajectory and system output. Parameters of a PI controller are obtained by minimizing mean square error on simulated system. In this paper NARX Radial based neural network model of system is used for simulation. Result on a real system show that this type of control system can be used for torque control.

The article discusses the optimal layout of an autonomous vehicle traction system. In modern society, a special place is occupied by environmental issues. From year to year, a huge amount of statistics is published that reflect the scale of the damage that human products cause to the environment. Today, the main “pest” on the planet is surely cars with an internal combustion engine. At the same time, a complete rejection of motor transport, both in Russia and in the world, is impossible, because the life of modern man is inextricably linked with the constant movements, which are not always possible through urban electric transport. In recent years, many manufacturers of transport systems see the way out in autonomous electric transport systems development, which, in the future, will be able to replace vehicles with an internal combustion engine. In this article traction system variants, choice of electric motor optimal location, and also the control systems analysis which would correspond to requirements to the given technical process are considered.

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The right choice of an electric machine directly affects the quality indicators of the technological process. Positioning accuracy and movement repeatability are key parameters for the robot. A servo drive with position feedback is most suitable for these requirements. A robot based on DC servo drive was built for educational purposes. In order to determine the quality indicators of the drive control, an experimental setup was built, and software was developed for the experiment using computer vision. As a result of the obtained data analysis, significant shortcomings of this drive type were detected.

The paper presents a method for synthesis of a speed control system of induction motor drive and synthesis of output voltage control system for permanent magnet synchronous generator fed by three phase inverter with active rectifier. The mathematical model of a wind mill connected to the permanent magnet synchronous generator unit with output voltage control is considered. A structural and parametric synthesis of vector control systems can be implemented using a special localization method, which makes it possible to purposefully organize loops of slow and fast motions by establishing deep feedbacks. The developed localization method of control systems synthesis provides robust and stable operation of objects under study. The paper also examines difficulties in the differentiating filter designing. The approach of multimovement closed loops design is used to decompose the synthesis task. Deep feedbacks allow engineers to design control systems insensitive to disturbances and to compensate signal and parametric disturbances of control object. The proposed approach could be used for synthesis of wide range of nonlinear and unstable systems. The operability and robustness of proposed approach is discussed in this paper.