Repotenciación de un sistema clasificador longitudinal de 2 grados de libertad mediante uso de componentes de mejor desempeño mecánico y aplicación de Lógica Difusa

Abstract

This project aims to enhance a 2-degree-of-freedom longitudinal classifier module to provide hands-on experience in the field of automatic control to students. The enhancement focuses on three main areas: strengthening the mechanical system, improving the control system, and implementing a detection system.

To strengthen the mechanical system, aluminum is used instead of PLA to improve the module's strength and durability. The beam-rod coupling is also redesigned to correct undesired angles and adapt it to the new opening system. Regarding the control system, the current state-space controller is replaced with a fuzzy logic controller. This choice is made due to its greater adaptability to variable and complex conditions, as well as its ability to address uncertainty and imprecision more effectively. Additionally, a detection system is incorporated using a high-resolution camera for object classification. This allows students to gain practical experience in the design, implementation, and analysis of advanced control systems. It is expected that this project will enrich students' education by providing them with valuable experience in the field of automatic control. By exploring both theoretical concepts and practical applications, students develop strong skills and deep knowledge that will prepare them to confidently and creatively tackle challenges in the workforce.