Implementación de un módulo de levitador neumático mediante control pid para el Laboratorio de Control y Manipulación Automática de la Facultad de Mecánica

Abstract

In the present work, the construction and implementation of a pneumatic levitator module using Derivative Integral Proportional Control (PID) was carried out for the Automatic Control and Manipulation Laboratory of the Faculty of Mechanics. In this, information was collected about the control and stabilisation of pneumatic levitation by means of the lambda tuning method, this being the starting point will allow the control of the positioning of a sphere, which will be suspended in the air. For the development of this work, a square aluminum profile structure was designed and built as a base for the assembly of the system´s elements. In addition, a transparent plastic duct was included in the system where the sphere that will be the levitating object is located, which makes use of 2 Sharp sensors: the first one measure the distance in which the sphere is located and the second one sends a signal which will be the reference point to which the sphere is to be positioned (SetPoint). For the programming of the PID control and signal processing, the LabVIEW version 2018 software was used and for obtaining and processing the sensor signals through linear regression, MATLAB R20l7b was used. A mathematical and technical analysis was carried out to stabilize the system, which will help to determine the distance as a function of the sensor input voltage. After the calculations, the system stabilization was obtained, which was less sensitive to changes, but more robust. The myRIO card helped to mitigate the noise caused by the components, resulting in a compact system stabilization.