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Design and Implementation of SISO and MI
Design and Implementation of SISO and MI
Design and Implementation of SISO and MI
Abstract
The paper deals with the study of SISO and MIMO processes using PID controller for a coupled tank process. The PID
controllers have found wide acceptance and applications in the industries. In spite of their simple structures, PID controllers are
proven to be sufficient for many practical control problems. This paper presents the PID controller design for controlling liquid
level of coupled tank system. These coupled tank systems form a second order system. Simulation study was carried out for this
process with more concern given to the heights of the tank & performance evaluating parameters are then determined.
Keywords: Coupled tank, MIMO, PID, SISO, Simulink
_______________________________________________________________________________________________________
I. INTRODUCTION
Characteristics of coupled tanks for SISO and MIMO are of great importance. SISO stands for single input single output &
MIMO stands for multiple inputs multiple outputs. This analysis is not possible without the use of proper controller. The
controller used is PID controller. This controller is simplest to deal with and used widely. PID stands for Proportional Integral
Derivative controller.
Proportional-Plus-Integral-Plus Derivative Controller The combination of proportional, integral and derivative control action
is called PID control action and the controller is called three action controllers. Mathematically,
Let H1and H2 be the fluid level in each tank, measured with respect to the corresponding outlet. Considering a simple mass
balance situation, the rate of change of fluid volume in each tank equals the net flow of fluid into the tank. Thus for each of tank
1 and tank 2, the dynamic equation is developed as follows.
√ √
i √ √
For Tank 2
i √ √
Subtracting equations (6) and (7) from equation (8) and (9), the equations that will be obtained are,
√ √ (√ √ )
√ √ (√ √ )
For small perturbations,
√ √ ( )
Therefore,
√ √
√
Similarly,
√ √
√
And
√ √ √
Simplifying equation (10) and (11) with these approximations, we get
√ √
√ √
s
√ √
s
√ √
Rewriting equations (15) and (16)
Where
√ √ √ √
√ √ √ √
√ √ √ √
For the second order configuration that shows on Figure 2, h2 is the process variable (PV) and q1 is the manipulated variable
(MV). Case will be considered when q2 is zero. Then, equation (17) and (18) will be expressed into a form that relates between
the manipulated variable, q1 and the process variable, h2 and the final transfer function can be obtained as,
Now, the value for each parameters of the equation (25), the equation for the second order configuration needed to be found.
Taking the values as,H1 = 17, H2 = 5, α1 = 0.78, α2 = 11.03, α3 = 11.03, A1 = 32 & A2 = 32
By solving equation (19), (20), (21), (22), (23) and (24 with those values α1, α2, α3, A1, A2, H1 and H2, the value of T1, T2, K1,
K2, K12, and K21 can be determined.
So the value of T1, T2, K1, K2, K12, and K21 are T1 = 6.1459, T2 = 6.0109, K1= 0.1921,K2 = 0.1878, K12= 0.749 & K21= 0.7325
By using the value that has been obtained from T 1, T2, K1, K2, K12, and K21 and put it in equation (25), the value of transfer
functions become:
Mathematical modelling is same as for SISO. Here, equilibrium conditions are used and the equations become:
in √ √ ( )
in √ √ ( )
Where, Ai= Cross sectional area of tank, ai= Cross sectional area of outlet hole, hi= Water level in tank i.
0 √ 0 √ 0 0
( )( )
( )( )
Table - 1
Coupled tank system Modelling parameters
System Parameters Value
Cross sectional area of coupled tank reservoir (A) 0.01389m2
2
Cross sectional area of the outlet (a i)
Range of the input signal (u i) 0 – 5 Volts
Maximum allowable height in tank (h i) 0.3 m
Constant relating control voltage with the water flow from the pump (n) 0.0024 m/V-sec
Substituting the parameters specified in the above table results in the following plant transfer function:
[ ]
From the above transfer function, we can easily derive the transfer function for a coupled tank system without interaction as
follows:
[ ]
Fig. 7: Block Diagram of PID Controller combines with plant for MIMO
From Figure 7, it is seen that the liquid will constantly overflow. This situation arises because this system is running without a
controller to control the Pump 1 speed, so the Pump 1 will continuously pump the liquid into the tank until it overflows. A PID
controller must be added as it controller element so that the liquid will not overflow and will indicate as required.
Here, the set point is set equal to 3. The proportional gain is set equal to 12, integral gain is set equal to 4 and derivative gain is
set equal to 7 to provide the desired response. The plot shows that the output voltage achieves the set point voltage at time equal
to 10 second. The output voltage have slightly overshoot before stabilize at time equal to 20 second.
We have given the set point and observed the influence of one on the other. Study of rise time, peak overshoot and settling
time was done.
Table – 2
Study of Rise Time, Peak Overshoot and Settling Time
System Rise Time (sec) Overshoot Settling Time (sec)
SISO (set point = 3) 20 17.5% 150
MIMO(set point = 1) 35 5% 180
MIMO(set point = 10) 40 5% 220
REFERENCES
[1] J. Gireesh Kumar &Veena Sharma, “Model Predictive Controller Design for Performance Study of a Coupled Tank Process”, ITSI Transactions on
Electrical and Electronics Engineering (ITSI-TEEE), ISSN (PRINT), 320 – 8945, Volume -1, Issue -3, 2013.
[2] MohdIzzat, BDzolkafle, “Implementation of PID Controller for Controlling the Liquid Level of the Coupled Tank System”, unpublished.
[3] M.Senthilkumar, Dr.S.Abraham Lincon, “Design of Stabilizing PI Controller for Coupled Tank MIMO Process”, International Journal of Engineering
Research and Development, Volume 3, Issue 10 (September 2012), PP. 47-55.
[4] Pawan Kumar Kushwaha and Vinod Kumar Giri, “Control Strategies for Water Level Control of Two Tank System”, IJBSTR Research paper Vol. 1 ,Issue
8, August 2013.
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