Identificación y control de un prototipo a escala de laboratorio para trituración de cobre (Identification and control of a laboratory-scale prototype for crushing copper)

José Leonardo Benavides Maldonado (, Abelardo del Pozo Quintero (, Vilma Estefanía Salinas Nalvay (

1Universidad Nacional de Loja (UNL), docente de Control Automático, becario SENESCYT de Doctorado PhD
2Instituto de Cibernética Matemáticas y Física (ICIMAF)
3Universidad Nacional de Loja (UNL), investigadora de redes de segurida informática

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2016
Volume: 14,   Issue: 2 
ISSN: 1548-0992

Ecuador is a small country located in the northwestern region of South America. Colombia this limited to the north, south and east by Peru and west by the Pacific Ocean. Its area is 283,561〖Km〗^2, is the fourth smallest country in South America, is a country rich in mineral resources such as copper. The presence of wealth and openness for your exploitation (copper) through national and multinational companies has allowed increasing interest to specialize and train students in these areas in the country. The actual demand for specialization and innovation in this area, has made students UNL (National University of Loja), develop a prototype laboratory scale of the first copper process as is the crushing as that is where it consumes about 50% of the total energy which deals in obtaining copper. This prototype developed with SolidWorks® and AutoCad® is jaw type, based on mark Retch of fabrication German with the respective adjustments such as adding an extra side drum as a counterweight. For offline control we require several proposals as PID controllers (Proportional, Integral and Derivative), MPC (Model of predictive control), LQR (Lineal Quadratic Regulator) and Linear Observers with MATLAB®, and real-time control of Arduino® card for easy programming and low coste.

Index Terms:
Control PID, control MPC, control LQR, control con Observadores lineales, identificación Modelado, simulación.   

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