Sintonización de un controlador PID robusto para un robot paralelo tipo delta usando el algoritmo de optimización del zorro Rüppell.

Nancy Josselyn Martínez López; Tayli Merlin Morales Mendoza; Omar Aguilar Mejia; Hertwin Minor Popocatl; Carlos Enríquez-Ramírez; Manuel Antonio Andrade-Soto

doi:10.29057/icbi.v14iespecial3.18098

Autores/as

Nancy Josselyn Martínez López Universidad Autónoma del Estado de Hidalgo https://orcid.org/0009-0009-9329-205X
Tayli Merlin Morales Mendoza Universidad Autónoma del Estado de Hidalgo https://orcid.org/0009-0000-3055-5267
Omar Aguilar Mejia Universidad Autónoma del Estado de Hidalgo https://orcid.org/0000-0001-6316-3518
Hertwin Minor Popocatl Universidad Popular Autónoma del Estado de Puebla https://orcid.org/0000-0001-6579-0072
Carlos Enríquez-Ramírez Universidad Politécnica de Tulancingo https://orcid.org/0000-0003-4963-9828
Manuel Antonio Andrade-Soto Universidad Autónoma de Nuevo León https://orcid.org/0000-0001-6179-7680

DOI:

https://doi.org/10.29057/icbi.v14iespecial3.18098

Palabras clave:

robots paralelos, algoritmo de optimización, control PID, seguimiento de trayectorias

Resumen

En este trabajo se utiliza un enfoque integrado para regular la trayectoria y posición de la plataforma móvil de un robot paralelo tipo delta (RPTD) de tres grados de libertad. El sistema de ecuaciones que describe la dinámica del sistema se obtiene a partir de la formulación lagrangiana, que considera los efectos de la inercia, el efecto Coriolis y la gravedad para generar el modelo matemático que describe la trayectoria de la plataforma móvil del RPTD. Se diseña un esquema de control basada en un controlador PID robusto, para cada articulación del RPTD, con parámetros óptimos calculados mediante algoritmos de optimización metaheurísticos. En el proceso para calcular las ganancias del PID robusto, la función objetivo está compuesta con restricciones no lineales para mejorar la robustes dinámica y la respuesta transitoria del esquema de control. El algoritmo de control PID robusto y el modelo matemático del RPTD se implementó en Matlab/Simulink para analizar su desempeño dinámico ante diferentes condiciones operativas. Los resultados muestran que el controlador PID robusto optimizado con la función objetivo tiene desempeño robusto en tareas del seguimiento a trayectorias complejas y cambios bruscos de dirección de la plataforma móvil cuando se aplica a manipuladores robóticos paralelos.

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