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

A. Hernández-Méndez

Mexico

Universidad Tecnológica de la Mixteca

Instituto de Electrónica y Mecatrónica

J.F. Guerrero-Castellanos

https://orcid.org/0000-0003-4239-6149

Mexico

Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias de la Electrónica

José Fermi Guerrero-Castellanos received a B.S. degree in electronic science, from the Autonomous University of Puebla (BUAP), México in 2002 and the M.Sc and Ph.D degree in Automatic Control from the Grenoble Institute of Technology and Joseph Fourier University, Grenoble, France, in 2004 and 2008, respectively. Between January and June 2008, he was a Postdoctoral Researcher at GIPSA-Lab Laboratory, Grenoble, France. After spending one year at the University Polytechnic of Puebla, Mexico as an assistant Professor, he joined in 2009 the Faculty of Electronics at BUAP as a full professor, where he established and directs the ControlSystemsLaboratory. In 2016 he was a visiting research professor at the Laboratory of Image, Signal and Intelligent System (LISSI) - University of Paris-Est Créteil (UPEC).Between August 2013 and December 2017 he was the head of Renewable Energy Engineering at BUAP. He is a Member of Mexican Academy of Science (AMC), Mexican Association on Automatic Control(AMCA), IEEE and Member of the National System of Researchers (Researcher Level I), Mexico.His research interests include guidance and control of autonomous systems, wearable robots, microelectronics systems and control of renewable energy systems.

T. Orozco-Urbieta

Mexico

Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias de la Electrónica

J. Linares-Flores

Mexico

Universidad Tecnológica de la Mixteca

Instituto de Electrónica y Mecatrónica

G. Mino-Aguilar

Mexico

Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias de la Electrónica

G. Curiel

Mexico

Universidad Tecnológica de la Mixteca

Instituto de Electrónica y Mecatrónica

Enviado: 21-01-2021

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Aceptado: 07-04-2021

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Publicado: 30-09-2021

DOI: https://doi.org/10.4995/riai.2021.14989
Datos de financiación

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Palabras clave:

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

Agencias de apoyo:

Benemérita Universidad Autónoma de Puebla

PRODEP

Programa para el Desarrollo Profesional Docente.

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.
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