Implementação e Simulação de Nova Estratégia De Controle Distribuído Aplicado em Plantas Ball Balancer
Keywords: Distributed Control, Ball Balancer, Proportional, Integral, and Derivative Control (PID), SCADA software, Arduino
AbstractIn 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.