Generación de spline cúbico para el diseño de un gemelo digital de motor dc

Abstract

This project addresses the challenge of generating smooth and precise movements in embedded systems used in automatic control and robotics, where traditional PID controllers can produce abrupt signals that affect actuator accuracy and effort. To solve this, a cubic spline algorithm was designed in C++ capable of smoothing the PID output in real time, ensuring continuity in position, velocity, and acceleration. This algorithm was then integrated into a MATLAB/Simulink simulation environment using a digital twin of a DC motor. After empirically tuning the PID and validating the system in a V-Realm virtual environment with a controlled pendulum, the simulations showed that the cubic spline reduces vibrations and prevents saturation without compromising stability. Overall, this work proposes a practical and low-cost solution for improving motion control in industrial automation and robotics applications.