Controle digital de posição com redução de ordem da planta aplicado a uma cúpula de observatório astronômico

Abstract

This work proposes the application of a digital position control method in a brushed permanent magnet direct current motor (PMDCM), applied to an astronomical observatory dome using a classic discrete time controller. A literature review on servomechanisms, from its basic components to the control system is presented, aiming to contextualize the proposed theme. The following are the methodological procedures that include the PMDCM mathematical modeling, system order reduction process, control design for this system and electric motor drive. The controller was designed using the Geometric Root Location tuning (GRT) method, using as a design tool the sisotool of the MATLAB® software. The validation of the mathematical model and the computer simulation of the controller was performed using the PSIM® software. While the preliminary activation of the MCCIP was performed in the PROTEUS® software. Finally, the parametric values obtained in the tests, the control loop simulation results for position traceability and the controller behavior in the developed prototype are presented. As a final result, the controller proved to be properly designed, even with the actuator experiencing minimal limitation problems in controller effort due to voltage drop on the brushes.