Modelagem, simulação e implementação experimental de controladores de posição angular aplicados a um sistema eletromecânico

Abstract

This study aims to compare the percentage of similarity between the computational and experimental responses of a fixed system controlled by a controller. For this purpose, two types of controllers were used separately: a phase-lead controller and a PID controller, both of them were also compared in terms of performance. After studying the original system, a mathematical model was experimentally identified. Next, the mathematical model of the phase lead compensator was calculated using the root locus method. After this step, response simulations were performed using Matlab® software for step and ramp inputs. Subsequently, the phase-lead compensator model was replicated as an electrical circuit and integrated into the original system. Finally, performance data were collected for analysis using a data acquisition system. It is worth noting that the same procedure was followed for the PID controller, except for the step of obtaining the controller's mathematical model, which was built through simulation using Matlab®'s Simulink tool. Small variations were observed between the simulated and experimental results, with better performance achieved using the PID controller.