Implementação e Simulação de Nova Estratégia De Controle Distribuído Aplicado em Plantas Ball Balancer
Authors
Rafael Máximo da Silva
UNESP – Universidade Estadual Paulista “Júlio de Mesquita Filho”, Departamento de Engenharia Elétrica, Laboratório de Pesquisa em Controle, Ilha Solteira, São Paulo
Jean Marcos de Souza Ribeiro
UNESP – Universidade Estadual Paulista “Júlio de Mesquita Filho”, Departamento de Engenharia Elétrica, Laboratório de Pesquisa em Controle, Ilha Solteira, São Paulo
Distributed Control, Ball Balancer, Proportional, Integral, and Derivative Control (PID), SCADA software, Arduino
Abstract
In this work, a study was carried out on the application of distributed control in Ball Balancer systems in Matlab® and Simulink®, as well as the implementation in workbench with two Ball Balancer, using classical control techniques and a selection process through the analysis of a performance index. To obtain cooperative control of the plants, the possibility of switching between controllers at each sampling instant was considered, for the system that is in a worse condition concerning the desired point of operation. In the implementation, the Arduino Mega with Ethernet shield was used to control the two plants and communicate with the Elipse E3® supervisory. In order to visualize the graphs and adjust the gains of the PID controller, a graphic interface was made in Elipse E3®, which communicates with the Arduino through the Modbus TCP protocol.
