Diseño, construcción y estabilización de un sistema Bola-Balancín
Resumen
En este trabajo se presenta el diseño y la construcción de una plataforma experimental Bola-Balancín. Para el diseño mecánico se emplea la herramienta CAD SolidWorks, mientras que para la construcción física se utiliza una impresora 3D. Además, se aborda el problema de estabilización de dicha plataforma considerando desconocida la dinámica del sistema. La estrategia de control aplicada es la clásica ley de control PID, cuya sintonización se realiza empleando la segunda metodología propuesta por Ziegler-Nichols.
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Citas
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Chen, W., Sui, X., Xing, Y., 2012. Modeling and modulation of nonlinear ball- beam system controller based on matlab. In Fuzzy Systems and Knowledge Discovery (FSKD), 2388–2391.
Hauser, J., Sastry, S., Kokotovic, P., 1992. Nonlinear control via approximate input-output linearization: The ball and beam example. IEEE transactions on automatic control 37, 392–398.
Huang, J., Lin, C., 1995. Robust nonlinear control of the ball and beam system. In American Control Conference, Proceedings of the 1995 1, 306–310.
Laukonen, E., Yurkovich, S., 1993. A ball and beam testbed for fuzzy identification and control design. In American Control Conference, 665–669.
Maalini, P., Prabhakar, G., Selvaperumal, S., 2016. Modelling and control of ball and beam system using pid controller. In Advanced Communication Control and Computing Technologies (ICACCCT), 322–326.
Morioka, H., Wada, K., Sabanovic, A., 1995. Neural network based chattering free sliding mode control. Proceedings of the 34th SICE Annual Conference,1303–1308.
Valluru, S., Singh, M., Singh, S., 2016. Prototype design and analysis of con- trollers for one dimensional ball and beam system. In Power Electronics, Intelligent Control and Energy Systems (ICPEICES) 1, 1–6.
Vincenty, C., Beauchamp, G., 2014. Modelling the ball-and-beam system from newtonian mechanics and from lagrange methods. In Twelfth Latin Ameri- can and Caribbean Conference for Engineering and Technology.
Wang, L., Mendel, J., 1992. Fuzzy basis functions, universal approximation, and orthogonal least-squares learning. IEEE transactions on Neural Net- works 3, 807–814.
Ziegler, J., Nichols, N., 1942. Optimum settings for automatic controllers. Trans. ASME.
Chen, W., Sui, X., Xing, Y., 2012. Modeling and modulation of nonlinear ball- beam system controller based on matlab. In Fuzzy Systems and Knowledge Discovery (FSKD), 2388–2391.
Hauser, J., Sastry, S., Kokotovic, P., 1992. Nonlinear control via approximate input-output linearization: The ball and beam example. IEEE transactions on automatic control 37, 392–398.
Huang, J., Lin, C., 1995. Robust nonlinear control of the ball and beam system. In American Control Conference, Proceedings of the 1995 1, 306–310.
Laukonen, E., Yurkovich, S., 1993. A ball and beam testbed for fuzzy identification and control design. In American Control Conference, 665–669.
Maalini, P., Prabhakar, G., Selvaperumal, S., 2016. Modelling and control of ball and beam system using pid controller. In Advanced Communication Control and Computing Technologies (ICACCCT), 322–326.
Morioka, H., Wada, K., Sabanovic, A., 1995. Neural network based chattering free sliding mode control. Proceedings of the 34th SICE Annual Conference,1303–1308.
Valluru, S., Singh, M., Singh, S., 2016. Prototype design and analysis of con- trollers for one dimensional ball and beam system. In Power Electronics, Intelligent Control and Energy Systems (ICPEICES) 1, 1–6.
Vincenty, C., Beauchamp, G., 2014. Modelling the ball-and-beam system from newtonian mechanics and from lagrange methods. In Twelfth Latin Ameri- can and Caribbean Conference for Engineering and Technology.
Wang, L., Mendel, J., 1992. Fuzzy basis functions, universal approximation, and orthogonal least-squares learning. IEEE transactions on Neural Net- works 3, 807–814.
Ziegler, J., Nichols, N., 1942. Optimum settings for automatic controllers. Trans. ASME.
Publicado
2018-01-05
Cómo citar
López, B. A., Castillo, N. C., Cabrera, L. A., Vite, L., & Villafuerte, R. (2018). Diseño, construcción y estabilización de un sistema Bola-Balancín. Pädi Boletín Científico De Ciencias Básicas E Ingenierías Del ICBI, 5(10). https://doi.org/10.29057/icbi.v5i10.2936
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Artículos de investigación
