Diseño e implementación de un sistema de control por retroalimentación de variables de estado para una plataforma Ball and Plate

Rosnnel David Moncada Diaz; Oscar Oswaldo Rodriguez Diaz

doi:10.24054/rcta.v1i43.2824

Authors

Rosnnel David Moncada Diaz Universidad Pedagógica y tecnológica de Colombia https://orcid.org/0009-0001-7681-1083
Oscar Oswaldo Rodriguez Diaz Universidad Pedagógica y tecnológica de Colombia https://orcid.org/0000-0001-8894-6105

DOI:

https://doi.org/10.24054/rcta.v1i43.2824

Keywords:

Control, LQR PI Vectorial, Ball and plate

Abstract

This article will show the modeling, development and implementation of a PI-Vector LQR control system for an electromechanical plant with two freedom axes, in this case a “Ball and Plate”. A PI-vector LQR controller greatly improves the system's response times, thus allowing its steady-state errors to be drastically reduced and providing a rapid response to applied external disturbances. This is optimal for this application since it is necessary to have quick and precise control actions that will keep the ball in the desired reference position. This will be achieved through the acquisition of data from a two-axis resistive piezoelectric sensor, which delivers the data of the current position of the ball to an Arduino Mega whose function is to apply the implemented algorithms of reading, to later send the control actions to two MG-995 servo motors that will be responsible for altering the position of the ball by balancing it in the two axes of freedom. The Matlab software and its simulation tool Simulink will be used to obtain the different controller constants and simulate the control loop.

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