CONTROLE DE VELOCIDADE DE MOTOR EM MALHA FECHADA APLICADO EM UM ROBÔ SEGUIDOR DE LINHA VIRTUAL

Abstract

With the advancement of technologies and engineering, control systems haveevolvedmore and more over time, as their advances enable us to get close to the ideal performanceofvarious dynamic systems, enabling us to increase comfort, productivity and performanceinsystems present in our modern society. Many of the processes used in industry and even in new residential installations,criteria for the use of direct current motors, due to their ease and speed in controllingtheirspeed, rotation speed and constant torque, factors that make their control more efficient andfeasible. . Many machines that provide a very accurate rotation, adapting to a giventrend, usePID to not need manual adjustment at all times, since this value of defining a trendpointchanges all the time, this is of great value in various industrial applications. The construction of a DC motor takes into account its electrical and mechanicalaspects, making it possible to associate the equation of the two operations - throughTorque-in a closed-loop system, obtaining a single transfer function. Seeking to explain the control theories used in the study of transfer functions, the performanceprocesses of the PID drivers (Type of controller used in the process to be presented), andtheresponse of the direct current motor to this entire interconnected system, this studywill showthrough of the tools available in the MATLAB Software, as every theoretical part worksperfectly, as well as its importance in various processes used in the day of engineeringprofessionals. To exemplify a practical application, we will be implementing PIDcontrol inavirtualline follower robot, programmed in Phyton language, the Software that will be usedtopresentthe robot simulation environment is called COPPELIASIM, in its educational version