Design of a servo-mechanics, which allows the control of a crusher in laboratory scale

This work is aimed at controlling copper weight after the crushing process, since during this process 50% of the energy is consumed. For this purpose a laboratory-scale prototype has been designed and built at the National University of Loja (located in southern Ecuador), using as a model the Retch, German-made crusher, only that the one presented herein shows some design modifications, such as a double drum that serves as a counterweight. Once the prototype was running, we carried on open loop tests to obtain some experimental data to find the mathematical model of the crusher brand. Then four different control strategies were implemented (PID, Smith Predictor, MPC, L.Q.R.) using for this step inputs signal and the MATLAB^® program. Finally, it permits to select the strategy that was based on Smith s Predictor. Hereafter, the control loop is implemented and validated by means of a strain gauge, the Arduino^® MEGA board, the MATLAB^®/Simulink program and a step in motor, this control loop in real time.