Diseño y construcción de un rotor de dos grados de libertad para pruebas de algoritmos de control

Abstract

The present graduation project focuses on the design and implementation of a two-degree-of-freedom rotor to be used as an educational tool in teaching control theory in engineering. With this objective in mind, an alternative design is proposed for the construction of the prototype, which has inputs and outputs that allow the application of control algorithms. For the development of the prototype, we start with the analysis of existing rotor models and the study of their components, through which parameters for the design are obtained. This is presented in Chapter 1, along with the theory of controllers that allows understanding how to stabilize the two-degree-of-freedom rotor. Chapter 2 presents the analysis of three design alternatives to evaluate the most viable option based on rating criteria, which enables obtaining a model that aligns with the project's objectives. Using Inventor software tools, the parts that will make up the rotor are designed and evaluated. A finite element analysis is performed to determine the feasibility of constructing the rotor with the proposed materials, which is presented in Chapter 3. Chapter 4 presents the obtained model, represented by a transfer function that shows the rotor's response to the input signals. Based on this, a control algorithm is designed and subjected to a series of tests to verify its proper functioning in the face of variations in reference values and physical disturbances. To conclude the document, the conclusions and recommendations obtained from the development of this graduation project are presented.