Graphical Interface to Synthesize and Implement a Control Algorithm in an Embedded System with a Bionic Application

摘要

The increase in bionic prosthetic designs in recent decades has motivated research related to the implementation of direct current motors (DC) in limb prostheses. The development of a graphical interface using MATLAB® is proposed, to design a DC motor controller allowing the implementation of actuators in bionic projects, but not limited to them. Using this interface, the designer obtains the transfer function of a DC motor with the support of an Arduino microcontroller and simulations carried out in Simulink, without the need to design the control system completely or to program it in the microcontroller. The control design is performed by two methods: the analytical method of pole assignment and the Ziegler-Nichols empirical method. The results show that both methods work for the control of the DC motor, these algorithms were implemented in the interface of the application to calculate the control constants (K_p, K₁, K_d), the variable to control (speed or position), as well as the type of control (P, PI, PD, PID).