DOI:
https://doi.org/10.14483/22484728.17594Publicado:
2021-11-29Número:
Vol. 15 Núm. 2 (2021)Sección:
Visión InvestigadoraDiseño e implementación de controlador LQG en sistema Ball & Beam
Design and implementation of LQG controller in Ball & Beam system
Palabras clave:
Control, Filtro de Kalman, LQR, Ruido, Optimo (es).Palabras clave:
Control, Kalman filter, LQR, Noise, Optimum (en).Descargas
Resumen (es)
El sistema Ball & Beam es uno de los casos de estudio más completos dentro la ingeniería de control, debido a que es un sistema no lineal y naturalmente inestable. En el presente artículo se propone realizar un controlador optimo LQG para el sistema Ball & Beam de Quanser, compuesto por un regulador cuadrático lineal (LQR) y un estimador cuadrático lineal (filtro de Kalman) por medio del cual se estimaron todos los estados del sistema, logrando mitigar las problemáticas generadas por la alta sensibilidad al ruido del sensor. Partiendo de la representación en espacio de estados del sistema Ball & Beam de Quanser y utilizando el software Matlab/Simulink y su módulo QUARC se diseñó, simulo e implemento un controlador optimo LQG en el sistema Ball & Beam de Quanser. Finalmente, los resultados de la simulación e implementación muestran que el controlador LQG es efectivo para controlar el sistema Ball & Beam a pesar del ruido que presenta la señal de realimentación.
Resumen (en)
The Ball & Beam system is one of the most complete case studies in control engineering, because it is a non-linear and naturally unstable system. In this article we propose to make an optimal LQG controller for Quanser's Ball & Beam system, composed of a linear quadratic regulator (LQR) and a linear quadratic estimator (Kalman filter) with which the noise of the system's ball position signal was eliminated, managing to mitigate the problems generated by the high sensitivity to sensor noise. Starting from the state space representation of the Quanser Ball & Beam system and using the Matlab/Simulink software and its QUARC module, an optimal LQG controller was designed, simulated and implemented in the Quanser Ball & Beam system. Finally, the simulation results and implementation show that the LQG controller is effective in controlling the Ball & Beam system despite the noise presented by the feedback signal.
Referencias
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Derechos de autor 2021 Visión electrónica
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