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3, AUGUST 1994 21 1
Abstruct- This paper describes the laboratory environment the state equations. On the basis of a digital model, control
for experiments in digital control of a coupled tank system. algorithms can be developed, simulated, and installed in the
The control process consists of upper and lower containers with control software. The proposed model is an excellent tool
draining orifices.As the cross section of the lower container varies
with the level, the dynamic of the process changes extensivelywith for investigation of the nonlinear effects which influence
the selected steady-state operating level. Measurements of the the sensitivity of the proposed algorithms to changes in the
tank levels are available,while the flow rate into the upper tank is steady-state operating point. In the case of large magnitude
forced by a pump driven by an electric motor. A nonlinear model set point changes, more complex algorithms are necessary,
is employed to study various features of the process. The control providing an altemative to classical design of discrete con-
strategy is to stabilize the level in the lower tank by adjustment of
the flow rate into the upper tank. An IBM AT, equipped with an trollers.
universal analog input/output board is used to control the process. The laboratory offers the educational possibilities in other
The interactive real-time software frame, available under MS- fields connected with real-time digital control. A student can
DOS, uses selectable operating modes to analyze the performance write his own control algorithm and link it to the system
of different control algorithms. Digital state-feedback algorithm without a deep knowledge of the process interface, but the
is presented as an illustration.
selection of the sample periods can be carried out as a labora-
tory experiment. The effects of sampling can be demonstrated
clearly. Digital filtering algorithms can be included. Using the
I. INTRODUCTION experimental set-up, other experiments can be carried out:
DlA and A D conversion, signal transmission, and sensor
~ - __
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212 IEEE TRANSACTIONS ON EDUCATION, VOL. 31, NO. 3, AUGUST 1994
IBM PC Hardware
interrupt
/SCHEDULER\
oftware timer
Pump
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GREGA AND MACIEJCZYK: DIGITAL CONTROL OF TANK SYSTEM 213
0 b
t
control of the pump : pulse
width modulation
1 (4)
where: where:
S - area of upper tank,
T - radius of lower tank,
w - length of the lower tank. 1
bl = -
s
The levels of the water in the tanks can be selected as the
state variables:
U4 = -c,.aGI
4H20 . W . J r 2 - (T - H ~ o ) ~
A discrete model is easily obtained from (6) for the assumed
sampling period To and with the input supplied through a
zero-order hold:
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214 IEEE TRANSACTIONS ON EDUCATION, VOL. 37, NO. 3, AUGUST 1994
I
- ,
I
0 -
A
I
I
i-
I I
I I
I I
I I
I 1
I I
I I
I t
I . I . I I
-
LQ controller
- -
To sampling period
H zeroorder hold -
z disturbances
n=m+l
The objective function is:
where qc is the constant flow rate of the pump, and zn(lcTo)is
a (0, 1)-sequence establishing the fraction of pump operation K-1
in the sampling period (TO). J= AH~(~T,)QAH(~T,)
First "m" interrupts are not taken into account, modeling a 0
pump delay ( T ~ ) : + A% (kT0)RA%PTO (12)
m
m: z n ( k T o ) T p M ~ p , z l ( / ~=
~ 1
o ,). .. z m ( k ~ o=) 1 where Q , R are symmetric, positive definite matrices. In order
for a unique positive definite solution to exists, the ( A D B
, D)
(10) pair must be controllable. The calculation of the optimal
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GREGA AND MACIFJCZYK DIGITAL CONTROL OF TANK SYSTEM 215
LQcontroller: levels
40, I
5 ........;____.___._.__.__.___...........
i i j.............. ............... i ............................... j ...................... -
- .-.....i.......------ ........-.....
time [SI
time [SI
(b)
Fig. 5. Control experiment with the tank system: levels in the tanks and control variables.
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216 IEEE TRANSACTIONS ON EDUCATION, VOL. 31, NO. 3, AUGUST 1994
Authorized licensed use limited to: FORD MOTOR COMPANY. Downloaded on December 1, 2008 at 11:14 from IEEE Xplore. Restrictions apply.