Elaboración de un prototipo de puente grúa que simule el funcionamiento de uno de 5 toneladas

Abstract

The objective of this project is the implementation of a classifier module for carrying out control engineering practices. This system is based on a ball and beam model, which is one of the most widely used classical models for learning and designing controllers for unstable dynamic systems that are very complex to stabilize. For the implementation of this prototype, there is an artificial vision system that allows the classification of the spheres considering their color and defining the location of the container where it should be stored. The infrared sensor then measures how far the sphere is from the reference point, and the controller in LabVIEW decides the required tilt of the beams to bring the sphere closer to the selected container location. Finally, when the sphere is in a certain section in the vicinity of the reference, the order is given to open the beams and fall into the corresponding container. Finally, two controllers were designed and tuned: a proportional controller and a pole relocation controller using state feedback. For the design of these controllers, the linearized model of the plant was obtained and the calculations and simulations were carried out in MATLAB/Simulink. However, the tuning was done in LabVIEW with the prototype built where an Arduino board served as data acquisition card.