Diseño e Implementación de Controladores: Retos en la integración

Alberto Caballero-García; Miriam Natalia González-Altamirano; Juan Eduardo Velázquez-Velázquez; Rosalba Galván-Guerra

doi:10.29057/icbi.v11iEspecial4.11405

Alberto Caballero-García Instituto Politécnico Nacional, UPIIH https://orcid.org/0009-0007-4112-1334
Miriam Natalia González-Altamirano Instituto Politécnico Nacional, UPIIH https://orcid.org/0009-0009-3133-2722
Juan Eduardo Velázquez-Velázquez Instituto Politécnico Nacional, UPIIH https://orcid.org/0000-0001-9660-1182
Rosalba Galván-Guerra Instituto Politécnico Nacional, UPIIH https://orcid.org/0000-0002-1945-2125

DOI: https://doi.org/10.29057/icbi.v11iEspecial4.11405

Keywords: Control, Observer, Implementation, Ball and Beam system, Underactuated system

Abstract

When mechatronic systems are controlled, a synergy arises between modeling, simulation, control, programming, and electronics. However, the problems and challenges of such integration and their solutions should be discussed more. In this paper, through the analysis of a benchmark underactuated system, known as the ball-beam system, which consists of controlling the position of a sphere through the inclination of a horizontal beam, it is shown how the union of these techniques allow to move from a theoretical problem to its application, considering the presence of low-cost devices, using only output information and the differences in performance when implementing discrete control algorithms compared to continuous control algorithms. The use of this case of study help to understand fundamental concepts such as feedback, signal processing, and conditioning as a basis for more complex cases.

Downloads

Download data is not yet available.

References

Åström, K. J., & Hägglund, T. (2009). Control PID avanzado. Madrid: Pearson.

Åström, K. J., & Murray, R. M. (2021). Feedback systems: an introduction for scientists and engineers. Princeton university press.

Auslander, D. (1996). What is mechatronics? IEEE/ASME Transactions on Mechatronics, 5-9.

Davis, G. U. (2006). The role of case studies for the integration of sustainable development into the education of engineers. World Transactions on Engineering and Technology Education.

Golnaraghi, F., & Kuo, B. C. (2017). Automatic Control Systems. McGraw-Hill Education.

Kaltjob, P. O. (2020). Control of Mechatronic Systems: Model-Driven Design and Implementation Guidelines.

Khalil, H. K. (2015). Nonlinear control (Vol. 406). New York: Pearson.

Mani Maalini, P. V., Prabhakar, G., & Selvaperumal, S. (2016). Modelling and Control of Ball and Beam System using PID Controller. International Conference on Advanced Communication Control and Computing Technologies.

Nise, N. S. (2020). Control systems engineering. John Wiley & Sons.

Ogata, K. (1996). Discrete Time Control Systems. Prentice-Hall, Inc.

Prokhorov, D. V. (2000). Neurocontroller Alternativ oller Alternatives for "F es for "Fuzzy" Ball-and-Beam Systems " Ball-and-Beam Systems with Nonuniform Nonlinear Frictrion. Electrical and Computer Engineering Faculty Research & Creative Works.

Sira-Ramirez, H., Marquez, R., Rivas Echeverría, F., & LLanes , S. O. (2005). Control de sistemas no lineales: Linealización aproximada, extendida, exacta. Pearson Prentice Hall.

Slotine, J. E., & Li, W. (1991). Applied nonlinear control (Vol. 199, No. 1, p. 705). Englewood Cliffs, NJ: Prentice hall.

Thorton, S., & Marion, J. (2021). Classical dynamics of particles and systems. Cengage Learning.

Valluru, S., Singh, M., & Singh, S. (2016). Prototype Design and Analysis of Controllers for One Dimensional Ball and Beam System. . 1st IEEE International Conference on Power Electronics. Intelligent Control and Energy Systems.

Waijung Blockset. (s.f.). Obtenido de https://waijung1.aimagin.com/

Williams , R. L., & Lawrence, D. A. (2007). Linear state-space control systems. John Wiley & Sons, Inc.