Diseño e implementación de esquemas PID clásicos y control difuso PD+I Takagi-Suggeno aplicados al sistema multivariable plato-bola

Abstract

The Plato-Ball system has a non-linear and unstable behavior. It is composed of a rigid ball that rolls on a base, a 5-wire resistive TouchScreen is also used, and it also functions as a sensor to obtain the position of the ball, a support structure for the base and a central pivot so that it can move. in any direction and two servomotors as final control elements to determine the inclination of the platform in each axis and to be able to control the desired position of the ball. The Plato-bola system has two inputs and two outputs, for this reason it is a MIMO system (multiple inputs - multiple outputs). Two controllers are designed for this system, a PID tuned by the Ziegler-Nichols method and a PD + I fuzzy control by Takagi-Suggeno. On the other hand, for the simulation and implementation of the controllers, Matlab's Simulink computer software is used, and an Arduino embedded card is used for data acquisition between the Plato-ball system and the computer software. It is important to mention that the control of the Plato-Ball system is carried out in a certain position or for the tracking of trajectories (square, circle and lemniscata). Likewise, to determine the performance of the classic PID controller AND PD + I fuzzy control from Takagi-Suggeno, the comparison is made using the quadratic error index (ISE) and performance specifications in the transient response (maximum overshoot (MP) and response time). establishment (ts)). Finally, in this work a graphical interface (APP DESIGNER) is presented that provides visual graphs and values of the different variables of the system.