Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos
Enviado: 15-12-2021
|Aceptado: 14-06-2022
|Publicado: 16-06-2022
Derechos de autor 2022 Revista Iberoamericana de Automática e Informática industrial
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
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Palabras clave:
Control de energía, Control de robots, Sistemas mecánicos, Estabilidad de Lyapunov
Agencias de apoyo:
Consejo Nacional de Ciencia y Tecnología (CONACyT)
Tecnológico Nacional de México
Resumen:
En este trabajo se presenta un tutorial sobre un método de diseño de controladores basado en el moldeo de energía más inyección de amortiguamiento para el control de una clase de sistemas mecánicos completamente actuados y subactuados. Se proporciona un marco teórico unificado que permite resolver diferentes objetivos de control como son: regulación de posición y regulación de velocidad para ambas clases de sistemas y, seguimiento de trayectorias para el caso de sistemas mecánicos completamente actuados. Además, la regulación de energía es formulada como un nuevo objetivo de control para generar oscilaciones controladas en ambas clases de sistemas mecánicos. En adición, se abordan algunos criterios de diseño como compensación de fricción dinámica, exclusión de medición de velocidad e inclusión de la dinámica de actuadores. Finalmente, como ejemplos de aplicación, se presentan recientes resultados publicados en la literatura sobre el diseño de controladores para robots manipuladores accionados por par, un péndulo con rueda inercial y un sistema carro-péndulo.
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