Construção, instrumentação e controle de um bola viga modificado utilizando controle seguidor com realimentação de estados e atribuição de autoestrutura completa em tempo real

Abstract

This dissertation presents the construction, instrumentation and control of a modify ball and beam system, using tracking control with state feedback and complete eigenstructure assignment. In the present contribution, an acquisition system with wireless transmission and an acquisition board are coupled to an experimental ball and beam system in order to build a test bed for new advanced control strategies in real time. For this purpose, a cart substitutes the ball with an embedded microcontroller enabling the use of a linear encoder to measure the position and this is transmitted wirelessly. The built platform has two types of actuation, a servomotor RC and a DC motor. Both actuators were used to control the plant. The mathematical model of the ball and beam is obtained by the equations of Newton-Euler and is simplified based on hypotheses. The system is controlled using the hardware-in-the-loop technique with MATLAB / Simulink®.The eigenvalues are found using a genetic algorithm that limits the control action in a pre-established range. First the RC servomotor is used to control the system and to verify the mathematical model. On the second actuator two technics were used to control the position of the DC motor, the first one is the PID and the other is the cascade control. For both actuators the results obtained were satisfactory and provide sufficient accuracy.