Abstract
In this work, we present a simulation software that permits designing and testing several types of controllers based on both classical and modern control theory. It has been created using Easy JavaScript Simulations, since this software permits implementing interactive simulations of physical systems in a quick and intuitive way. This laboratory contains a SISO (Single-Input and Single-Output) and a MIMO (Multiple-Input and Multiple-Output) plant, which are hydraulic and nonlinear, thus the linear model (linearized equations) and the original model (nonlinerized equations) have been implemented. The user can choose any of these physical systems and they have the options to control them using either continuous-time or discrete-time controllers. All parameters of the plant are fully configurable by the user. After that, the controller can be designed and tested. This simulation software offers several configurations: (a) PID (Proportional, Integral and Derivative controller); (b) state feedback; (c) observer and state feedback; and (d) integral controller, observer and state feedback control. The evolution of the controlled system is visualized using an animation of the virtual plant and a graphical representation of the evolution of the most important variables. In this paper, the steps for the implementation of this simulation software are detailed.
Highlights
Laboratory exercises are a fundamental part of education curricula in scientific and technological fields, such as computer science, engineering, natural sciences and others [1]
We present a simulation software, implemented to ease the understanding of modern control techniques by the students
Easy Java/JavaScript Simulations (EJsS) offers a sequence of work panels that permit designing the model and its graphical user interface
Summary
Laboratory exercises are a fundamental part of education curricula in scientific and technological fields, such as computer science, engineering, natural sciences and others [1]. The plants included are linear and SISO systems, and only continuous-time control is allowed For this reason, the simulation software developed in the present paper includes new plants and control modes, in such a way that students can address more challenging problems. (c) Both plants are originally nonlinear systems; once the controller is designed, the student has the possibility of visualizing the behavior of the initially nonlinear system after adding the controller It can be seen in the work developed by Galan et al [28], since a hydraulic plant has been implemented and the behavior of the linear and original model are visualized. All parameters that define the plant are fully configurable They must linearize the model around a working point to obtain either the transfer function or the state-space representation, depending on the control technique to use. The previous sections contain the most relevant parts of the codes to carry out the implementation, the variables that appear are defined in Appendix A for a better understanding
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