<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1405-7743</journal-id>
<journal-title><![CDATA[Ingeniería, investigación y tecnología]]></journal-title>
<abbrev-journal-title><![CDATA[Ing. invest. y tecnol.]]></abbrev-journal-title>
<issn>1405-7743</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Facultad de Ingeniería]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1405-77432019000400007</article-id>
<article-id pub-id-type="doi">10.22201/fi.25940732e.2019.20n4.043</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Control PI difuso de un sistema de levitación magnética mediante un sistema embebido]]></article-title>
<article-title xml:lang="en"><![CDATA[Fuzzy-PI control of a magnetic levitation system through an embedded system]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Almazan-Arvizu]]></surname>
<given-names><![CDATA[Ricardo Yahir]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Lozano-Hernández]]></surname>
<given-names><![CDATA[Yair]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Gutiérrez-Frías]]></surname>
<given-names><![CDATA[Oscar Octavio]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Villafuerte-Bante]]></surname>
<given-names><![CDATA[Mario]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma de la Ciudad de México  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Politécnico Nacional Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Instituto Politécnico Nacional Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af4">
<institution><![CDATA[,Instituto Politécnico Nacional Centro de Investigación en Computación ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2019</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2019</year>
</pub-date>
<volume>20</volume>
<numero>4</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1405-77432019000400007&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1405-77432019000400007&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1405-77432019000400007&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: En el presente trabajo, se presenta el diseño e implementación de un esquema de control, que tiene como objetivo realizar tareas de regulación y seguimiento de trayectoria en la posición de un sistema de levitación magnética que actúa mediante repulsión electromagnética, el cual consiste en una viga actuada por un cojinete magnético activo en configuración pendular. A pesar de que el controlador Proporcional Integral Derivativo (PID) presenta simplicidad aritmética, facilidad de uso, buena robustez y error igual a cero en estado estable (Pal &amp; Mudi, 2008), el modelo matemático del sistema de levitación magnética es altamente no lineal y está sujeto a incertidumbre o variación de sus parámetros. Por ello, el control PID no garantiza el cumplimiento de tareas de seguimiento de trayectoria (Precup &amp; Hellendoorn, 2011). En resumen, se utiliza un PI-Difuso debido a la dinámica no lineal del sistema y la histéresis presente en el electroimán. El diseño del controlador se realizó mediante la siguiente metodología: se analiza el modelo matemático y las características no lineales del sistema, se miden de forma experimental los universos de discurso del error, derivada del error y la acción de control. Los datos experimentales se utilizaron para la fuzzificación, defuzzificación, planteamiento de las reglas y ganancias del controlador. Las reglas implementadas se diseñaron para un PD-Difuso, por lo cual; se aplicó una integración numérica de la acción de control, obteniéndose un PI-Difuso. Por último, se realizó la implementación en la tarjeta STM32F407G-DISC, la cual se programó con MATLAB-Simulink. Los resultados experimentales demuestran que el controlador propuesto funciona incluso debajo de la horizontal, donde el comportamiento puede presentar singularidades o problemas físicos como imantación, cumpliendo así los objetivos planteados para un rango de -5 a 10 radianes, estos resultados se mantienen incluso en presencia de perturbaciones, demostrando la factibilidad del controlador.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: In the present work, the design and implementation of a control scheme is presented. The aim of the control scheme is to perform regulation and trajectory tracking tasks in the position of a magnetic levitation system, which acts by electromagnetic repulsion. Such levitation system consists of a beam operated by an active magnetic bearing in pendular configuration. Although the Proportional Integral Derivative (PID) controller shows arithmetic simplicity, ease of use, high robustness and error equal to zero in stable state (Pal &amp; Mudi, 2008), the magnetic levitation system mathematical model is highly non-linear and is subject to uncertainty or variation of its parameters. Therefore, the PID control does not guarantee the fulfillment of trajectory tracking tasks (Precup &amp; Hellendoorn, 2011). In summary, a diffuse PI is used due to the system non-linear dynamics and the hysteresis present in the electromagnet. The controller design was made with the following methodology: the mathematical model and the non-linear characteristics of the system are analyzed; the universes of error discourse (derived from error and control action) are experimentally measured. The experimental data was used for the fuzzification, defuzzification, statement of the rules and controller gains. The implemented rules were designed for a PD-Fuzzy in which a numerical integration of the control action was applied, obtaining a Fuzzy PI. Finally, the implementation was made on the STM32F407G-DISC card, which was programmed with MATLAB-Simulink software tools. The experimental results show that the proposed controller works even below the horizontal, where the behavior can show singularities or physical problems such as magnetization. In compliance with the stated objectives for a range of -5 to 10 radians, these results are maintained even in the presence of disturbances, demonstrating the feasibility of the controller.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Levitación magnética]]></kwd>
<kwd lng="es"><![CDATA[control PI difuso]]></kwd>
<kwd lng="es"><![CDATA[cojinete magnético]]></kwd>
<kwd lng="es"><![CDATA[sistema no lineal]]></kwd>
<kwd lng="es"><![CDATA[control de posición]]></kwd>
<kwd lng="en"><![CDATA[Magnetic levitation]]></kwd>
<kwd lng="en"><![CDATA[PI fuzzy control]]></kwd>
<kwd lng="en"><![CDATA[magnetic bearing]]></kwd>
<kwd lng="en"><![CDATA[non-linear system]]></kwd>
<kwd lng="en"><![CDATA[position control]]></kwd>
</kwd-group>
</article-meta>
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