Diseño e implementación de un controlador de lazo cerrado mediante sistemas embebidos para el control de velocidad de los motores en una rueca mecánica.

Abstract

The present graduation work aimed to design and implement a closed loop controller by embedded systems for speed control of the motors on a mechanic spinning wheel. For this, the plant had to be mathematically modeled, which, in this case, are the motors to which control was applied, that is, depending on certain speeds angles expected in the motors, the armature voltage had to be modified by pulse width modulation (PWM). The plant was simulated in the Simulink tool of Matlab. To analyze its behavior, the plant was excited and the response was observed for later, and with the same computer tool, create a closed loop controller (PID) in cascade, which allowed modifying the response of the plant over time. It underwent the different disturbances to analyze its response and, with that, know if the controller was well tuned. The control algorithm was created where the parameters of the controller obtained by simulation to later carry out the pertinent tests. With the controller already implemented in the machine, the relevant comparisons were made with traditional spinning processes, with which it was possible to measure the economic, labor and physical benefits that would imply automating a spinning process, since an improvement was obtained up to 600% in the manual process and up to 300% in the mechanical process. With this, it was proved that the automation of this process leads to high efficiency in production and encourages to keep the development of technologies for this Andean activity.