Diseño de un control auto sintonizado usando software de control LabVIEW para la planta QNET Vertical Take–Off and Landing (VTOL).

Abstract

The current research had like objective the design of an auto-tuning control using a control software LabVIEW for the plant QNET VERTICAL TAKE-OFF AND LANDING (VTOL). This system simulates the vertical take-off and landing of a one freedom degree airship, with the use of this software a virtual instrument that realize the control of flight system was developed with the application of a proportional integral derivative controller (PID), in order to fulfil this objective was obtained of analytic way a math model of the plant´s mechanical system, based on first and second Newton´s Law, for getting the controller values, the first method of tuning presented by Ziegler and Nichols in 1943 was used, once obtained the compensator parameters the auto-tuning of system was carried out using software tools, with the purpose of organizing the system´s performance QNET when it is flying, the controllers were evaluated using two integral criteria of error, integral of absolute error (IAE), integral of time by absolute error (ITAE), getting like result an increasing in the compensator efficiency in a 45%, the tests were focused on introduce different disturbances than modify the plant in real time. It was concluded that the system is able to do an auto-tuning in real time of the parameters of PID in order to improve the system response. It is recommended to evaluate this control algorithm over devices VTOL with more than one freedom degree.