Diseño e implementación de un control por modos deslizantes dinámico para un sistema de dos entradas dos salidas, aplicación: Módulo de temperatura TCLAB

Abstract

This final degree project presents the design and implementation of a dynamic sliding modes control (DSMC) for a two input two output (TITO) system applied to the Temperature Control Lab (TCLAB) module. The module consists of an embedded Arduino system, an LED, two transistors acting as heaters and two temperature sensors. The reaction curve method is used to obtain the first order plus dead time model (FOPDT) and the interaction between the system variables is determined. Because of these interactions, an ideal dynamic decoupler in series is implemented. Once the system is decoupled, the DSMC control is designed and applied, and then compared to a proportional integral (PI) control and a sliding modes control (SMC). The tests applied on each one of the controls are: change of reference, modelling uncertainty and an external perturbation. Finally, to evaluate the performance of each control, the ISE, IAE and TVU performance indexes are considered; these are analyzed by means of radial curves