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Abstract: This article presents the development of a position controller for an autonomous robot.
This control uses the PID algorithm (proportional, integral, derivative). This prototype is capable
of following an object with a defined distance.
The prototype consists of three subsystems, a set with a sensor, a control unit and a system of
actuators, further a four-wheeled vehicle. The motors are powered by an array of transistors known
as H-bridge, which serves as interface between the controller and motors. It has been selected a
microcontroller platform Arduino as control unit.
Keywords: Robust control, PID control, adaptive control, Dc motors, Space state, Laplace.
1.
INTRODUCCIN
4.
2.
PLANTEAMIENTO DEL
PROBLEMA
()
+ =
(1)
(2)
3.
+ =
2 +(+)+ 2
(3)
Nomenclatura
Valor
Jm
0.0271
0.00776
Kt
0.55
Ke
0.82
Ra
1.1648
La
0.0068
5.
(5)
(6)
0
1
0
x1
] [x2 ] + [ 01 ] u
jm Ra +bla
x3
j l
jm la
m a
(7)
x1
y = [0 0 k t ] [x2 ]
(8)
x3
Las ecuaciones (7) y (8) representan la ecuacin de
espacios de estados de la planta que es un motor DC.
Sustituyendo los parmetros dentro de las ecuaciones
de espacios de estados se obtienen los siguientes
resultados. Obteniendo gracias a esta conversin las
ecuaciones (5) y (6) con sus respectivas matrices A,
B y C:
0 0.0010
0
= [0
0
0.0010 ] (1 103)
0 2.5556 0.1722
(9)
(10)
= [0
(11)
0 1]
(12)
6.
CONCLUSIONES
REFERENCIAS
[1] M. S. A. Alvarado, Modelo matemtico de un
motor de corriente continua separadamente
excitado: Control de velocidad por corriente de
armadura, Guayaquil, Ecuador, 2012.