Speed of a conveyor belt for cooking food according to the

mathematical model of an electric oven

In control theory, we can find different dynamic systems in which through a mathematical analysis we can
give a solution to real systems that cannot be directly verified in the physical plant, for this we need real-
time simulation software and our physical controller. The project seeks to control a motor connected to a
band, which will transport food that will later enter an oven for cooking, for this project we seek to control
the speed of the band, which acts directly in the cooking time of the food. The motor used is direct current
fed by armature, and an encoder for the reading of the speed in radians, took into consideration all the
parameters of the motor, as well as the load that induces the weight of the band and the food. After obtaining
the transfer function we proceed to perform a bode analysis and determine what is the behavior of our
system finding a settling time of 56 seconds and an error of 0.83, with the analysis of bode we see an infinite
gain and an infinite phase margin.

To improve the behavior of the system we proceed to perform a lead compensation, which will correct
our settling time, maintaining the phase margin, and shifting our gain junction to achieve the desired
settlement time, with this compensator we get an improvement in the settling time, reaching a settling time
of 2.18 s and its magnitude generated an error of 0.049, what our system requires is to have an error of 0,
for this we require the use of a PI control, the which is implemented to meet our requirements in a stable
state. After coupling the controller to our plant we can observe a settlement in 2.2s with an error of 0%.
Then the final result of the controller is a coupling of a phase advance controller plus a proportional control,
thanks to this you can achieve the desired parameters for our conveyor belt at the time of arming our control
circuit, it had to be approached as possible to the values of gain, poles and zeros with the potentiometers of
each control, for this several trimmers of 10kohm were used, in the simulation of HIL it is observed that
the behavior of the plant is very close to the calculated and simulated in Matlab, we can also say that our
system is robust since the input of a load disturbance system with an increase in voltage the system returns
to the reference, for our case we use two types of food, the one is chicken and in the other case it is the
pizza, in both cases it behaved in a correct way having a response in real time of the plant.

With the coupling of a controller we managed to reduce the settling time from 56 to 2.2s, this time is very
close to the 2s that we set as settling time, since the start of the band should not be too fast for our food do
not get out of the conveyor belt, and not too slow because it will take a long time to respond when there is
a disturbance, the HIL project was carried out successfully, there is a very small difference between the
controllers obtained based on calculations, and our implementation, in which there is a negligible
difference and its behavior is adequate for the requirements of our plant.

Author Kevin León