Sistema didático de sintonia automática e auto-ajuste de controlador PID em controle de velocidade e de posição de motor CC

Abstract

This work presents a didactic system of auto-tuning and self-tuning of PID controllers in the control of speed and position of direct current (DC) motor. The DC motor is modeled through physical principles and simplified models are obtained by relating the input voltage to its speed or to its axis position. The didactic system is based on a circuit board that includes a dsPIC30F4011 and peripherals, and has a graphic interface program for Microsoft Windows 10 operating system. Adaptive control techniques of automatic tuning and self-adjusting are defined and applied to the didactic system. The result is an effective tool that performs model identification and tuning of controllers from open loop and closed loop responses. The whole process is concentrated in the graphic interface, unifying the information, the system command and the visualization of the results. The simplicity of the graphic interface allows the students to check and validate the results obtained. This makes the didactic system an effective tool in teaching and consolidating basic concepts of control theory, such as system identification and controller tuning.