Sistema para el desarrollo de estrategias de control ON/OFF, PID y LQR aplicadas al helicóptero QUANSER 2 DOF del laboratorio de control de la facultad tecnológica

Abstract

In this project, a practical teaching system is carried out for three control strategies, ON / OFF, PID and LQR applied in the QUANSER 2 DOF Helicopter of the Francisco José de Caldas District University, Faculty of Technology in order to support the learning of the students throughout the career. For the development of this project, the plant's problems had to be solved first, since without their solution, no progress could be made. These problems were: the bad state of one of the motors and the lack of maintenance to the plant, with the solution of these problems, the communication between the control module and the PC is carried out, in order to verify the inputs (encoders) and outputs (motors), after this is the plant model that will be used to design the control strategies that will be implemented in the system, to verify that the design of the controllers is correct, these were simulated in order to carry out their subsequent implementation, in this way the user interface is prepared so that the student can interact with the variables of the controllers, since the system is proposed as a support tool in the teaching methodology, as an annex are the system user guides, maintenance, and lab practices.