Modelación matemática para un control robusto de la planta Festo MPS-PA Compact Workstation mediante la normativa IEC-61499

Abstract

In the present research work, the implementation of a GPC control with restrictions was carried out in a FESTO MPS-PA CompactWorkstation level plant through the modeling of function blocks, thus obtaining an industrial control application with decentralized logic which is one of the objectives of the IEC 61499 standard. The IDE used compatible with IEC 61499 was the 4DIAC IDE and the runtime environment (runtime) 4DIAC FORTE, in addition the BBB card was used for reading and writing data from sensors and actuators respectively. The mathematical model of the level plant represented as a transfer function was found by two methods: the first using linear differential equations and the second using experimental data of the response to the step of a first order system. Three types of restrictions were implemented: in the control increment ( Delta u(t)) to avoid unnecessary efforts in the actuator and the output restrictions (y(t)) and control (u(t)) that will prevent damage to the plant, the GQPA algorithm was used to optimize the objective function.