Projeto e implementação de um aparato para estudo e pesquisa em controle com base no sistema bola e barra

Abstract

The control theory of a Linear Time-Invariant System (LTI systems) consists of modeling the physical systems in mathematical terms, and based on these models elaborate strategies of control so that one or more variables of the system present behavior within the desired standards. In the control systems discipline, the teaching-learning process is a challenge for both teachers and students, mainly due to the lack of association with real systems. Therefore, the presence of equipment able to approximate the theory of practice can be of great help for assimilation and solidification of knowledge. Commercial tools can be found for this purpose but may be difficult to access. This work proposes the development of a didactic tool that can be used in the classroom, or in a self-taught way, and thus contributes to the teaching and learning of the discipline of Control Systems. The design consists of the ball and beam system, which is intrinsically unstable and non-linear, and aims to control the positioning of a ball on a bar. The apparatus relies on software where the user, in a guided manner, is introduced to the control theories and at the same time can implement PID controllers for the proposed plant. The project uses the free Arduino hardware platform to implement digital control algorithms. Statistical tests, through MANOVA and ANOVA, allowed to demonstrate the feasibility of using linearization in the system modeling process, as well as the possibility of using the H-Infinity technique in the PID controller design. Finally, it was verified the feasibility of constructing an equipment for study and research in Control Systems.