Comparación del rendimiento entre los reguladores P+I incremental, Fuzzy Mamdani Incremental y control de modelo interno para el mando de una planta Quanser.

Abstract

The design of three regulators was developed for the control of a National Instrument vertical flight plant, through controllers called P+I Incremental, Fuzzy Mamdani Incremental and the controller based on the internal model of the plant (IMC). The same that had the following activities. First, the modelling of the Quanser plant was performed through the response of the system to a step input, obtaining a second order transfer function, which was subsequently adjusted by means of the decreasing gradient technique. A classic controller was continuously designed to visualize the behaviour and stabilization of the plant, before its implementation the system was simulated with the different controllers to verify the behaviour of the Quanser plant during its stabilization, for which the control algorithms were programmed in the Labiew software, the same one that was in charge of sending through an Arduino serial port and this was in charge of receiving the PWM information and transmitting it to the driver of the Quanser plant motor, the loop was closed only when the sensor of the angular position sent to the data acquisition card and this sent back the information to the computer. The results obtained were evaluated by the integral criterion of the error square and compared to each other; it is concluded that the control based on the internal model requires a shorter stabilization time, when compared with the incremental integral proportional control and with the Fuzzy Mamdani Incremental control. To which it is recommended, take into account the structure of each of the controllers for its design.