bachelorThesis
Desarrollo de bio controladores meta heurísticos con realimentación por visión artificial para un sistema RollingBall and Plate
Fecha
2021Autor
Alvear Guevara, Jairo Andres
Institución
Resumen
The Rolling/Ball and Plate system has two problems when calibrating the PID controller
that will govern the system. The first problem is that the system is non-linear and the
second one is that there is a high grade of uncertainty when developing the mathematical
model so it is possible to apply the conventional tailor-made solutions like Ziegler Nichols,
Root-Locus, and others and expect to have an optimal result. In this study, six relevant
bio-algorithms were developed in order to calibrate the Proportional, Integral and Derivative
(PID) controllers that always search for the optimal PID controller constant values. Once
the results were obtained, a statistical test was applied, finally the tuning of PID controllers
by meta-heuristic algorithms was tested in the plant 33-240 of the manufacturer National
Instruments with different input signals and their behavior was analyzed in order to compare
and obtain conclusions about the performance of each bioalgorithm.