Elaboração de um sistema de controle de velocidade longitudinal utilizando controladores PID e métodos heurísticos de sintonia

Abstract

It has a main purpose of obtaining a closed loop speed control of an internal combustion engine scale car. The challenges are explained based on bibliography review and also by applying theory in a real system, including the construction of a test base. The speed is measured by a digital sensor connected to a microcontroller, which performs the necessary calculations and drives the actuator which controls the scale model speed. From Hammerstein-Wiener models, tests have provided a non-linear model for the system. This model is then validated and used as base for the PID tuning via software. The tuning is perform by the Genetic Algorithm. The PID controllers are tested in the scale model and their performances are compared against each other. Therefore, this project enwraps knowledge in system identification, control and tuning using heuristic methods, electronics and mechanics.