Desarrollo e implementación de un controlador difuso utilizando realimentación por visión artificial aplicado a un sistema de posicionamiento Ball and Plate por levitación …

Abstract:

A fuzzy control was developed using LabView software for the Ball and Plate system model 33-240 Feedback. This fuzzy controller serves as a system upgrade, which is implemented with a conventional PID controller. The objective is to control the position of a sphere on a point of the moving plate by changing its angles of inclination and measuring the position of the sphere by artificial vision. The measured variables are four, the rotation angles of the alpha and beta plate, and the coordinates X and Y of position of the sphere on the plate. The variables to be controlled are the voltages to four Thomson inductors located at each corner of the plate. The system is treated as two independent processes separating the rotation control of the plate with respect to its alpha and beta angles, and the control of the position of the sphere on the plate referred to its X and Y coordinates; hence the control of the system required the development of four fuzzy controllers. Finally, the performance comparison between the fuzzy controller and the conventional PID was performed using the integral of the absolute error IEA of each one, and verification of the best performance using the Wilcoxon test.

Año de publicación:

2017

Keywords:

Fuente:

google