Diseño e implementación de una plataforma para el estudio comparativo de un controlador predictivo (MPC) con controladores PID y FUZZY, aplicado al control de velocidad de un motor DC.

Abstract

In the present work, a platform was developed for the comparative study of a predictive controller (MPC) with PID and FUZZY controllers, applied to the speed control of a DC motor. This platform was developed using the mathematical modeling of a DC motor, where the constant electrical properties and physical variables were analyzed, in order to obtain an abstract mathematical representation of the system, with which, the model was obtained in the state space and a function transfer in the domain s. Next, control subsystems were simulated to verify their behavior. In the DC motor, the controllers were applied in order to have a stable speed and preset by the user; The DC motor is coupled to an incremental encoder for speed measurement. The mathematical model of the DC motor implemented in a PC through the LabVIEW software allowed the MPC controller through the Arduino MEGA card to control the DC motor. In addition, this allowed comparing traditional controllers such as the PID and modern controllers such as the FUZZY, which were also designed and implemented. Finally, through a user interface developed in LabVIEW you can change the variables, adjust the SET, and in this way, see and compare the different responses of each controller. The behavior of the controllers on the motor was analyzed by means of two methods, with constant force on the axis and without force on the axis, allowing to establish the differences, effectiveness, performance between the controllers and, thus, obtain the most optimal behavior of the system in analysis. .