Publication: Sistema avanzado de prototipado rápido para control en exoesqueletos y dispositivos mecatrónicos
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2014-12
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2014-12-15
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Abstract
La necesidad de automatizar sistemas complejos da origen a la ingeniería de control. Utilizando el principio de realimentación, se pretende conseguir que las variables de interés del sistema se acerquen a un comportamiento deseado.
En un principio se utilizaron sistemas de control basados en lógica combinacional mediante relés y electrónica analógica para tratar magnitudes más alá de la lógica binaria, estos sistemas adolecían de una gran falta de fiabilidad. Con la aparición del microprocesador, se abrieron las posibilidades del control digital. Con el paso de las décadas, la necesidad de controlar sistemas grandes y complejos en plazos de tiempo cada vez más cortos, provocó la aparición de lenguajes de programación de muy alto nivel, basados en gráficos, que fueron adaptados para su utilización en sistemas de control. Son los denominados hardwares de control de prototipado rápido, más conocidos como Rapid Control Prototyping hardware (RCP).
El objetivo de la presente tesis doctoral es proponer y hacer realidad una solución alternativa al uso de RCP comerciales, sin menoscabo de la capacidad computacional y de entrada/salida. Igualando o superando la facilidad, capacidad de programación e interfaces de intercambio de datos. De forma que se tenga un RCP totalmente compatible con las herramientas de desarrollo de más alto nivel utilizadas en ingeniería por un coste tan extremadamente reducido que permita disponer del RCP en gran número.
Las contribuciones presentadas en esta tesis han sido probadas y optimizadas, por lo que se dispone de la plataforma RCP con actuación en tiempo real.
Se está empleando en multitud de Trabajos Fin de Grado, Tesis de Máster y Tesis Doctorales, no ya sólo en esta escuela, también en escuelas extranjeras.
One of the most challenging fields of engineering is system control, which was established with the aim of automating complex systems without human interaction. Thus, by means of the feedback theory, it is intended to modify the most critical system variables to obtain the desired behavior. Event most of the applications are linear control-based, there exist some occasions where it becomes necessary to apply other approaches for obtaining reasonable results. During the last years, a new type of elements named intelligent materials have been discovered and developed. They yield very interesting properties although they are extremely difficult to control with classical techniques. Even they have a limited number of applications due to their complexity, the actual increase in computer power make them attractive. In such a way, the continuous improvement of their size and performance have converted these intelligent materials into a future reference. The aim of this dissertation is to suggest solutions to several problems controlling SMA actuators. Due to their high hysteresis, a novel methodology for their identification, adjustment and implementation in the control loop is presented improving the conventional linear methods. Thus, several experimental results and comparisons among several control methods are presented. Furthermore, the initial state search problem in the SMA actuator has been solved. The presented contributions of this thesis have been tested and fully optimized in order to be installed in a real time actuation platform. In such a way, a new field of applications and future works is established suggesting a wide range of new possibilities.
One of the most challenging fields of engineering is system control, which was established with the aim of automating complex systems without human interaction. Thus, by means of the feedback theory, it is intended to modify the most critical system variables to obtain the desired behavior. Event most of the applications are linear control-based, there exist some occasions where it becomes necessary to apply other approaches for obtaining reasonable results. During the last years, a new type of elements named intelligent materials have been discovered and developed. They yield very interesting properties although they are extremely difficult to control with classical techniques. Even they have a limited number of applications due to their complexity, the actual increase in computer power make them attractive. In such a way, the continuous improvement of their size and performance have converted these intelligent materials into a future reference. The aim of this dissertation is to suggest solutions to several problems controlling SMA actuators. Due to their high hysteresis, a novel methodology for their identification, adjustment and implementation in the control loop is presented improving the conventional linear methods. Thus, several experimental results and comparisons among several control methods are presented. Furthermore, the initial state search problem in the SMA actuator has been solved. The presented contributions of this thesis have been tested and fully optimized in order to be installed in a real time actuation platform. In such a way, a new field of applications and future works is established suggesting a wide range of new possibilities.
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Keywords
Control automático, SMA, Prandtl-Ishlinskii, Bouc-Wen, HYPER, Histéresis, Evolución diferencial, Control engineering, Differential Evolution