Resumen-En este artículo se presenta la implementación de un método de medición de velocidad angular nuevo, cuando la información proviene de un encoder incremental. Parte del método es implementado en un dsPIC, mientras que el resto se programa en Simulink. La ventaja fundamental del método de medición es que produce una única aproximación cuando la velocidad es constante, en contraposición con los métodos convencionales, conocidos como a tiempo fijo y a espacio fijo, los cuales oscilan entre dos valores. Se presenta el control de velocidad de un motor, como ejemplo de aplicación, y se concluye que el método nuevo puede aplicarse para la aproximación de la razón de cambio, incluso cuando los datos no provienen de un encoder.Palabras clave-dsPIC, encoder, espacio fijo, medición de velocidad, tiempo fijo.Abstract-In this paper we present the implementation of a new method to measure angular speed when the data come from an incremental encoder. Part of the method is implemented in a dsPIC, whereas the remaining part was programmed in Simulink. The main advantage of the new method consists of having just one approximation at constant speed, whereas traditional methods oscillate between two values. The speed control of a motor serves as an application of the new method, which allows concluding that the proposed method can be used to estimate the rate of change of a variable even when the data do not come from an incremental encoder.
We present the design of a magnetic encoder to measure angular position. The proposed encoder includes two Hall sensors in quadrature in a fixed platform. In addition, and over the sensors, there are two permanent magnets in a shaft. The relative motion between the fixed and the movable components generate a voltage variation in the sensors, which serve to generate the approximation of the angular position. We detail the acquisition process and the linearization method, because we consider that these are the most important contributions of this work. Lastly, we show the application of the encoder in the position control of a direct current motor to show the performance of the encoder estimating fast and slow angular position changes.
En este artículo se propone la construcción de una estrategia de control de sistemas dinámicos nueva, basada en las emociones humanas. Se quiere emular las emociones porque psicólogos y neurocientíficos han demostrado que son indispensables en el proceso de toma de decisiones, y esta es la tarea de todo controlador. Se exponen cuatro campos de aplicación para esta invención, en los cuales la autonomía y la adaptación son esenciales. Además, ocho modelos computacionales de las emociones son referenciados, dado que involucran la cognición; se concluye que es necesario hacer ajustes para incluir uno de ellos en una estrategia de control. Por esto se formula, como aporte del artículo, el uso del modelo circumplejo del afecto; este etiqueta a la combinación de dos variables como una emoción humana.Palabras Clave:Modelos de las emociones humanas, los procesos de decisión, Circumplejo modelo de afecto, control autónomo. AbstractIn this paper we propose the design of a new control strategy for dynamic systems based on human emotions. Since psychologists and neuroscientists have demonstrated that emotions are indispensable in the Decision-Making-Process, and decision-making is the work of every controller, it is our desire to emulate emotions in the systems design. Here we deal with four areas of application for this invention in which autonomy and adaptability are essential. As well, eight emotion computational models are referenced. Given that these involve cognition, it is concluded as necessary to make adjustments to include one of these in a control strategy. For this reason, this article formulates the use of the Circumplex Model of Affect, a model which labels a human emotion as a variable. Keywords: Human Emotion Models, Decision-Making Processes, Circumplex Model of Affect, Autonomous Control.
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