Experimental development of fuzzy controllers for thermal and pneumatic processes
In this project, a Fuzzy control system is proposed in an industrial process training module with two independent systems between them, one thermal and the other pneumatic. The control algorithm is developed in Python language v3.6 executed by a Raspberry Pi B+, both controllers depend on the error...
- Autores:
-
Hernández Mesa, Richard Samir
MORENO GARCIA, FRANCISCO ERNESTO
Castro Casadiego, Sergio
Medina Delgado, Byron
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2021
- Institución:
- UNIVERSIDAD FRANCISCO DE PAULA SANTANDER
- Repositorio:
- Repositorio Digital UFPS
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.ufps.edu.co:ufps/918
- Acceso en línea:
- http://repositorio.ufps.edu.co/handle/ufps/918
https://doi.org/10.17230/ingciencia.17.33.5
- Palabra clave:
- Raspberry Pi
control system
instrumentation
fuzzy
Python
sistema de control
instrumentación
- Rights
- openAccess
- License
- © 2018 OJS theme design by: openjournalsystems.com
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Experimental development of fuzzy controllers for thermal and pneumatic processes |
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Experimental development of fuzzy controllers for thermal and pneumatic processes |
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Experimental development of fuzzy controllers for thermal and pneumatic processes Raspberry Pi control system instrumentation fuzzy Python sistema de control instrumentación |
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Experimental development of fuzzy controllers for thermal and pneumatic processes |
| title_full |
Experimental development of fuzzy controllers for thermal and pneumatic processes |
| title_fullStr |
Experimental development of fuzzy controllers for thermal and pneumatic processes |
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Experimental development of fuzzy controllers for thermal and pneumatic processes |
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Experimental development of fuzzy controllers for thermal and pneumatic processes |
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Hernández Mesa, Richard Samir MORENO GARCIA, FRANCISCO ERNESTO Castro Casadiego, Sergio Medina Delgado, Byron |
| dc.contributor.author.none.fl_str_mv |
Hernández Mesa, Richard Samir MORENO GARCIA, FRANCISCO ERNESTO Castro Casadiego, Sergio Medina Delgado, Byron |
| dc.subject.proposal.eng.fl_str_mv |
Raspberry Pi control system instrumentation fuzzy Python |
| topic |
Raspberry Pi control system instrumentation fuzzy Python sistema de control instrumentación |
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sistema de control instrumentación |
| description |
In this project, a Fuzzy control system is proposed in an industrial process training module with two independent systems between them, one thermal and the other pneumatic. The control algorithm is developed in Python language v3.6 executed by a Raspberry Pi B+, both controllers depend on the error and change in error that are updated in times of 2 s and 1 s, for temperature and pressure respectively, communication with the plants uses A/D and D/A converters, the thermal Fuzzy was analyzed with three temperature references [50,100 and 150]°C, with a rise time of 191 s, 360 s and 505 s; steady state error of 5.5%, 0.7% y 0.7%, in the pneumatic system the speed of change between references is evaluated from 10 psi to 15 psi varying the activation of the compressor at the beginning of the experiments, the settling times obtained are 111 s and 106 s, with the compressor off the result is 116 s and 88 s, besides a maximum excess of 13% with inherent oscillations to the type system that are in an acceptable range. |
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2021 |
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2021-11-11T22:27:05Z |
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2021-11-11T22:27:05Z |
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2021-05-12 |
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Artículo de revista |
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eng |
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Ingeniería y Ciencia |
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Vol.17 No.33.(2021) |
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120 |
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33(2021) |
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Hernandez-Mesa, R., Moreno-Garcia, F., Castro-Casadiego, S., & Medina-Delgado, B. (2021). Experimental Development of Fuzzy Controllers for Thermal and Pneumatic Processes. Ingeniería Y Ciencia, 17(33), 97-120. https://doi.org/10.17230/ingciencia.17.33.5 |
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Ingeniería y Ciencia |
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Atribución 4.0 Internacional (CC BY 4.0) |
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openAccess |
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24 páginas |
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Ingeniería y Ciencia |
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Hernández Mesa, Richard Samir7c84ff104f12ae63fbe2dec02b44d9e5600MORENO GARCIA, FRANCISCO ERNESTOf8c2cc4eb1abfe560e36dcd1b29aa7f2600Castro Casadiego, Sergio539e8559e348f010cc825d040aecc665600Medina Delgado, Byron77a81f47bf20466c22fcea2d1e82a7536002021-11-11T22:27:05Z2021-11-11T22:27:05Z2021-05-12http://repositorio.ufps.edu.co/handle/ufps/918https://doi.org/10.17230/ingciencia.17.33.5In this project, a Fuzzy control system is proposed in an industrial process training module with two independent systems between them, one thermal and the other pneumatic. The control algorithm is developed in Python language v3.6 executed by a Raspberry Pi B+, both controllers depend on the error and change in error that are updated in times of 2 s and 1 s, for temperature and pressure respectively, communication with the plants uses A/D and D/A converters, the thermal Fuzzy was analyzed with three temperature references [50,100 and 150]°C, with a rise time of 191 s, 360 s and 505 s; steady state error of 5.5%, 0.7% y 0.7%, in the pneumatic system the speed of change between references is evaluated from 10 psi to 15 psi varying the activation of the compressor at the beginning of the experiments, the settling times obtained are 111 s and 106 s, with the compressor off the result is 116 s and 88 s, besides a maximum excess of 13% with inherent oscillations to the type system that are in an acceptable range.En este proyecto, se propone un sistema de control Fuzzy en un módulode entrenamiento de procesos industriales con dos sistemas independientesentre sí, uno térmico y otro neumático, el algoritmo de control se desarro-lla en lenguaje Python v3.6 ejecutado por una Raspberry Pi B+, amboscontroladores dependen del error y cambio en el error que se actualizanen tiempos de 2 s y 1 s, para temperatura y presión respectivamente, lacomunicación con las plantas emplea conversores A/D y D/A, el Fuzzytérmico se analizo con tres referencias de temperatura [50,100 y 150]◦C,con un tiempo de subida de 191 s, 360 s y 505 s; error de estado estaciona-rio de 5.5 %, 0.7 % y 0.7 %, en el sistema neumático se evalúo la velocidadde cambio entre referencias de 10 psi a 15 psi variando la activación delcompresor al inicio de los experimentos, los tiempos de asentamiento quese obtienen son 111 s y 106 s, con el compresor apagado el resultado esde 116 s y 88 s, además de un sobrepaso máximo de 13 % con oscilacionesinherentes al tipo sistema que se encuentran en un rango aceptable.24 páginasapplication/pdfengIngeniería y CienciaColombiaIngeniería y CienciaVol.17 No.33.(2021)12033(2021)9717Hernandez-Mesa, R., Moreno-Garcia, F., Castro-Casadiego, S., & Medina-Delgado, B. (2021). Experimental Development of Fuzzy Controllers for Thermal and Pneumatic Processes. Ingeniería Y Ciencia, 17(33), 97-120. https://doi.org/10.17230/ingciencia.17.33.5Ingeniería y Ciencia© 2018 OJS theme design by: openjournalsystems.cominfo:eu-repo/semantics/openAccessAtribución 4.0 Internacional (CC BY 4.0)http://purl.org/coar/access_right/c_abf2https://publicaciones.eafit.edu.co/index.php/ingciencia/article/view/6555Experimental development of fuzzy controllers for thermal and pneumatic processesArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85Raspberry Picontrol systeminstrumentationfuzzyPythonsistema de controlinstrumentaciónA. C. Solé, Instrumentación industrial. Alfaomega, 2011, ch. 1, pp. 1–2.H. J. Ferreau, S. Almér, R. Verschueren, M. Diehl, D. Frick, A. 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 incorporada en las Obras Colectivas.

b.	Distribuir copias o fonogramas de las Obras, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública, incluyéndolas como incorporadas en Obras Colectivas, según corresponda.

c.	Distribuir copias de las Obras Derivadas que se generen, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública.
Los derechos mencionados anteriormente pueden ser ejercidos en todos los medios y formatos, actualmente conocidos o que se inventen en el futuro. Los derechos antes mencionados incluyen el derecho a realizar dichas modificaciones en la medida que sean técnicamente necesarias para ejercer los derechos en otro medio o formatos, pero de otra manera usted no está autorizado para realizar obras derivadas. Todos los derechos no otorgados expresamente por el Licenciante quedan por este medio reservados, incluyendo pero sin limitarse a aquellos que se mencionan en las secciones 4(d) y 4(e).

4. Restricciones.
La licencia otorgada en la anterior Sección 3 está expresamente sujeta y limitada por las siguientes restricciones:

a.	Usted puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra sólo bajo las condiciones de esta Licencia, y Usted debe incluir una copia de esta licencia o del Identificador Universal de Recursos de la misma con cada copia de la Obra que distribuya, exhiba públicamente, ejecute públicamente o ponga a disposición pública. No es posible ofrecer o imponer ninguna condición sobre la Obra que altere o limite las condiciones de esta Licencia o el ejercicio de los derechos de los destinatarios otorgados en este documento. No es posible sublicenciar la Obra. Usted debe mantener intactos todos los avisos que hagan referencia a esta Licencia y a la cláusula de limitación de garantías. Usted no puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra con alguna medida tecnológica que controle el acceso o la utilización de ella de una forma que sea inconsistente con las condiciones de esta Licencia. Lo anterior se aplica a la Obra incorporada a una Obra Colectiva, pero esto no exige que la Obra Colectiva aparte de la obra misma quede sujeta a las condiciones de esta Licencia. Si Usted crea una Obra Colectiva, previo aviso de cualquier Licenciante debe, en la medida de lo posible, eliminar de la Obra Colectiva cualquier referencia a dicho Licenciante o al Autor Original, según lo solicitado por el Licenciante y conforme lo exige la cláusula 4(c).

b.	Usted no puede ejercer ninguno de los derechos que le han sido otorgados en la Sección 3 precedente de modo que estén principalmente destinados o directamente dirigidos a conseguir un provecho comercial o una compensación monetaria privada. El intercambio de la Obra por otras obras protegidas por derechos de autor, ya sea a través de un sistema para compartir archivos digitales (digital file-sharing) o de cualquier otra manera no será considerado como estar destinado principalmente o dirigido directamente a conseguir un provecho comercial o una compensación monetaria privada, siempre que no se realice un pago mediante una compensación monetaria en relación con el intercambio de obras protegidas por el derecho de autor.

c.	Si usted distribuye, exhibe públicamente, ejecuta públicamente o ejecuta públicamente en forma digital la Obra o cualquier Obra Derivada u Obra Colectiva, Usted debe mantener intacta toda la información de derecho de autor de la Obra y proporcionar, de forma razonable según el medio o manera que Usted esté utilizando: (i) el nombre del Autor Original si está provisto (o seudónimo, si fuere aplicable), y/o (ii) el nombre de la parte o las partes que el Autor Original y/o el Licenciante hubieren designado para la atribución (v.g., un instituto patrocinador, editorial, publicación) en la información de los derechos de autor del Licenciante, términos de servicios o de otras formas razonables; el título de la Obra si está provisto; en la medida de lo razonablemente factible y, si está provisto, el Identificador Uniforme de Recursos (Uniform Resource Identifier) que el Licenciante especifica para ser asociado con la Obra, salvo que tal URI no se refiera a la nota sobre los derechos de autor o a la información sobre el licenciamiento de la Obra; y en el caso de una Obra Derivada, atribuir el crédito identificando el uso de la Obra en la Obra Derivada (v.g., "Traducción Francesa de la Obra del Autor Original," o "Guión Cinematográfico basado en la Obra original del Autor Original"). Tal crédito puede ser implementado de cualquier forma razonable; en el caso, sin embargo, de Obras Derivadas u Obras Colectivas, tal crédito aparecerá, como mínimo, donde aparece el crédito de cualquier otro autor comparable y de una manera, al menos, tan destacada como el crédito de otro autor comparable.

d.	Para evitar toda confusión, el Licenciante aclara que, cuando la obra es una composición musical:

i.	Regalías por interpretación y ejecución bajo licencias generales. El Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública o la ejecución pública digital de la obra y de recolectar, sea individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, SAYCO), las regalías por la ejecución pública o por la ejecución pública digital de la obra (por ejemplo Webcast) licenciada bajo licencias generales, si la interpretación o ejecución de la obra está primordialmente orientada por o dirigida a la obtención de una ventaja comercial o una compensación monetaria privada.

ii.	Regalías por Fonogramas. El Licenciante se reserva el derecho exclusivo de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, los consagrados por la SAYCO), una agencia de derechos musicales o algún agente designado, las regalías por cualquier fonograma que Usted cree a partir de la obra (“versión cover”) y distribuya, en los términos del régimen de derechos de autor, si la creación o distribución de esa versión cover está primordialmente destinada o dirigida a obtener una ventaja comercial o una compensación monetaria privada.

e.	Gestión de Derechos de Autor sobre Interpretaciones y Ejecuciones Digitales (WebCasting). Para evitar toda confusión, el Licenciante aclara que, cuando la obra sea un fonograma, el Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública digital de la obra (por ejemplo, webcast) y de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, ACINPRO), las regalías por la ejecución pública digital de la obra (por ejemplo, webcast), sujeta a las disposiciones aplicables del régimen de Derecho de Autor, si esta ejecución pública digital está primordialmente dirigida a obtener una ventaja comercial o una compensación monetaria privada.

5. Representaciones, Garantías y Limitaciones de Responsabilidad.
A MENOS QUE LAS PARTES LO ACORDARAN DE OTRA FORMA POR ESCRITO, EL LICENCIANTE OFRECE LA OBRA (EN EL ESTADO EN EL QUE SE ENCUENTRA) “TAL CUAL”, SIN BRINDAR GARANTÍAS DE CLASE ALGUNA RESPECTO DE LA OBRA, YA SEA EXPRESA, IMPLÍCITA, LEGAL O CUALQUIERA OTRA, INCLUYENDO, SIN LIMITARSE A ELLAS, GARANTÍAS DE TITULARIDAD, COMERCIABILIDAD, ADAPTABILIDAD O ADECUACIÓN A PROPÓSITO DETERMINADO, AUSENCIA DE INFRACCIÓN, DE AUSENCIA DE DEFECTOS LATENTES O DE OTRO TIPO, O LA PRESENCIA O AUSENCIA DE ERRORES, SEAN O NO DESCUBRIBLES (PUEDAN O NO SER ESTOS DESCUBIERTOS). ALGUNAS JURISDICCIONES NO PERMITEN LA EXCLUSIÓN DE GARANTÍAS IMPLÍCITAS, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.

6. Limitación de responsabilidad.
A MENOS QUE LO EXIJA EXPRESAMENTE LA LEY APLICABLE, EL LICENCIANTE NO SERÁ RESPONSABLE ANTE USTED POR DAÑO ALGUNO, SEA POR RESPONSABILIDAD EXTRACONTRACTUAL, PRECONTRACTUAL O CONTRACTUAL, OBJETIVA O SUBJETIVA, SE TRATE DE DAÑOS MORALES O PATRIMONIALES, DIRECTOS O INDIRECTOS, PREVISTOS O IMPREVISTOS PRODUCIDOS POR EL USO DE ESTA LICENCIA O DE LA OBRA, AUN CUANDO EL LICENCIANTE HAYA SIDO ADVERTIDO DE LA POSIBILIDAD DE DICHOS DAÑOS. ALGUNAS LEYES NO PERMITEN LA EXCLUSIÓN DE CIERTA RESPONSABILIDAD, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.

7. Término.

a.	Esta Licencia y los derechos otorgados en virtud de ella terminarán automáticamente si Usted infringe alguna condición establecida en ella. Sin embargo, los individuos o entidades que han recibido Obras Derivadas o Colectivas de Usted de conformidad con esta Licencia, no verán terminadas sus licencias, siempre que estos individuos o entidades sigan cumpliendo íntegramente las condiciones de estas licencias. Las Secciones 1, 2, 5, 6, 7, y 8 subsistirán a cualquier terminación de esta Licencia.

b.	Sujeta a las condiciones y términos anteriores, la licencia otorgada aquí es perpetua (durante el período de vigencia de los derechos de autor de la obra). No obstante lo anterior, el Licenciante se reserva el derecho a publicar y/o estrenar la Obra bajo condiciones de licencia diferentes o a dejar de distribuirla en los términos de esta Licencia en cualquier momento; en el entendido, sin embargo, que esa elección no servirá para revocar esta licencia o que deba ser otorgada , bajo los términos de esta licencia), y esta licencia continuará en pleno vigor y efecto a menos que sea terminada como se expresa atrás. La Licencia revocada continuará siendo plenamente vigente y efectiva si no se le da término en las condiciones indicadas anteriormente.

8. Varios.

a.	Cada vez que Usted distribuya o ponga a disposición pública la Obra o una Obra Colectiva, el Licenciante ofrecerá al destinatario una licencia en los mismos términos y condiciones que la licencia otorgada a Usted bajo esta Licencia.

b.	Si alguna disposición de esta Licencia resulta invalidada o no exigible, según la legislación vigente, esto no afectará ni la validez ni la aplicabilidad del resto de condiciones de esta Licencia y, sin acción adicional por parte de los sujetos de este acuerdo, aquélla se entenderá reformada lo mínimo necesario para hacer que dicha disposición sea válida y exigible.

c.	Ningún término o disposición de esta Licencia se estimará renunciada y ninguna violación de ella será consentida a menos que esa renuncia o consentimiento sea otorgado por escrito y firmado por la parte que renuncie o consienta.

d.	Esta Licencia refleja el acuerdo pleno entre las partes respecto a la Obra aquí licenciada. No hay arreglos, acuerdos o declaraciones respecto a la Obra que no estén especificados en este documento. El Licenciante no se verá limitado por ninguna disposición adicional que pueda surgir en alguna comunicación emanada de Usted. Esta Licencia no puede ser modificada sin el consentimiento mutuo por escrito del Licenciante y Usted.
0000-0003-0962-9916539e8559e348f010cc825d040aecc6656000000-0003-0754-862977a81f47bf20466c22fcea2d1e82a753600 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