Algoritmos de control óptimo basados en WNCS aplicados a un levitador neumático

Abstract

This work shows the procedure carried out to implement the LQG, LQI and PID controllers through WNCS applied to a Pneumatic Levitator, and the comparison of the stabilization time between them, whose plant consists of a base made of wood with a hole in the middle, and in this a fan is located at the bottom part, which is responsible for sending air to a funnel placed in the upper part, which concentrates the air and expels it through a grill towards a plastic tube to raise a pressed paperboard piece located inside it to the height indicated by the user in an interface developed through an App of the Blynk platform, which has: a numerical text input to determine the desired setpoint ; a percentage meter of the PWM value that controls the fan; value that is delivered by the selected controller type; and a histogram that reflects the entered setpoint and the variation in the height of the paperboard piece over time. The system is implemented on a Raspberry Pi 4, where to realize all the processing of: the control algorithms; the data flow established with a NODE MCU development card, with which the plant communicates, and with the Blynk application.