Comunicación distribuida activada por eventos para la sincronización de velocidad angular de motores BLDC en red

A. Hernández-Méndez, J.F. Guerrero-Castellanos, T. Orozco-Urbieta, J. Linares-Flores, G. Mino-Aguilar, G. Curiel

Resumen

Este trabajo presenta el diseño e implementación de un control colaborativo descentralizado para la sincronización de velocidad angular de un conjunto de motores de corriente continua sin escobillas (BLDC) distribuidos espacialmente. Apoyándose de un control por rechazo activo de perturbaciones, actuando como un bucle interno, la dinámica del BLDC puede asimilarse a la de un integrador de primer orden y el cual será considerado un agente. Se propone entonces una estrategia de control colaborativo descentralizado con una comunicación activada por eventos, que resuelve el problema del consenso líder-seguidor del sistema multi-agente y, con ello, la sincronización de velocidades entre motores. La topología de comunicación entre agentes se modela usando un grafo conectado y no dirigido. La ley de control descentralizado incorpora una función de evento, que indica el instante en el que $i$-ésimo agente transmite la información de velocidad angular a su vecino. El intercambio asíncrono de información permite reducir el tráfico de datos en la red de comunicaciones, lo que permite aprovechar el ancho de banda. Al analizar la dinámica de la trayectoria del error del sistema, se establece que el vector de error del sistema multi-agente tiende de forma exponencial y permanece confinado a una vecindad del origen del espacio de estados de error. Aunque la estrategia está diseñada para n-agentes, se desarrolló una plataforma experimental compuesta por dos motores y un líder virtual, permitiendo validar la estrategia. Los resultados experimentales muestran un excelente desempeño del consenso de velocidad angular de ambos motores BLDC para tareas de regulación, mientras que el uso del ancho de banda es de solamente 1.25 % con respecto a una implementación de comunicación periódica.

Palabras clave

Rechazo a perturbaciones; control cooperativo; control basado en eventos; control de consenso; mecatrónica; teoría de control automático

Clasificación por materias

Rechazo a perturbaciones; Control de consenso; Control basado en eventos

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