AUTHORS: Tassadit Chekari, Rachid Mansouri, Maamar Bettayeb
Download as PDF
ABSTRACT: In this paper, IMC-PID-FOF controllers are implemented on real time water level control of a coupled tank system. The 1DOF-IMC-PID-FOF controller is designed based on the IMC structure, the disturbance rejection is not considered in the controller design and the disturbance response has low performance. In the 2DOF-IMC-PID-FOF controller design, the disturbance rejection is considered, and solved separately from the set-point tracking problem. To do this, a complementary sensitivity function is defined and its time constant τt is a tuning parameter, used to adjust the speed of the disturbance response. In the experiment, set-point tracking and disturbance rejection tests are carried out to evaluate the performance of both 1DOF-IMC-PID-FOF and 2DOFIMC-PID-FOF controllers.
KEYWORDS: Two Degrees Of Freedom (2DOF) control, IMC control, Bode’s ideal transfer function, complementary sensitivity function, water level tank system.
REFERENCES:
[1] K.J. Astro¨m, T. Hgglund and K. J. Astrom, Advanced PID control, Research Triangle Park, NC: ISA-The Instrumentation, Systems, and Automation Society 461, 2006
[2] R. Vilanova and A. Visioli, PID control in the third millennium, London: Springer 2012
[3] M. Morari and M. Zafiriou, Robust Process Control, Prentice hall, Englewood Cliffs, USA, 1989
[4] M. Bettayeb and R. Mansouri, IMC-PIDfractional-order-filter controllers design for integer order systems, ISA Transactions, 53, n ◦ 5, 2014, pp. 1620–1628.
[5] K. H. Johansson, The quadruple-tank process: A multivariable laboratory process with an adjustable zero, IEEE Transactions on control systems technology 8, n ◦ 3, 2000, pp. 456–465.
[6] T. Chekari, R. Mansouri and M. Bettayeb, IMCPID Fractional Order Filter Multiloop Controller Design for Multivariable Systems Based on Two Degrees Of Freedom Control Scheme, International Journal of Control, Automation and Systems 16, n ◦ 2, 2018, pp. 689–701.
[7] T. Chekari, R. Mansouri and M. Bettayeb, Improved Internal Model Control-ProportionalIntegral-Derivative Fractional-Order Multiloop Controller Design for Non Integer Order Multivariable Systems, Journal of Dynamic Systems, Measurement, and Control 141, n ◦ 1, 2019, DOI: 10.1115/1.4041353.
[8] T. Chekari, Contribution a la commande multi- ` boucle fractionnaire des systemes multivari- ` ables, Ph.D. Thesis, University of TIzi-Ouzou. Algeria, 2019
[9] A. Oustaloup, La commande CRONE. Hermes, ` Paris, 1991
[10] I. Podlubny, Fractional Order Systems and PIαD µ Controllers, IEEE Transactions on Automatic Control 44, 1999, pp. 208–214.
[11] C. A. Monje, Y. Chen, B. M. Vinagre, D. Xue and V. Feliu, Fractional order Systems and Controls: Fundamentals and Applications, Springer Science & Business Media, 2010
[12] R. S. Barbosa, J. A. T. Machado and I. M. Ferreira, Tuning of PID controller based on Bode’s ideal transfer function, Nonlinear dynamics 38, n ◦ 1, 2004, pp. 305–321.
[13] T. N. L. Vu and M. Lee, Analytical design of fractional-order proportional-integral controllers for time-delay processes, ISA Transactions 52, n ◦ 5, 2013, pp. 583–591.
[14] D. Li,L. Liu, Q. Jin and K. Hirasawa, Maximum sensitivity based fractional IMCPID controller design for non-integer order system with time delay, Journal of Process Control 31, 2015, pp. 17–29.
[15] P. Roy and B. K. Roy, Fractional order PI control applied to level control in coupled two tank MIMO system with experimental validation Control Engineering Practice 48, 2016, pp. 119–135.
[16] F. G. Prakash and V. Alameluman gai, Design of Predictive Fractional Order PI Controller for the Quadruple Tank Process, WSEAS, Transactions on systems and control 10, 2015, pp. 85–94.
[17] S. A. Jagnade, R. A. Pandit and A. R. Badge, Modeling, Simulation and Control of Flow Tank System, International Journal of Science and Research, 2015, pp. 657–669.
[18] ”Feedback: Coupled Tanks Control Experiments (For use with MATLAB)” Manual: 33-041-S Ed02072013. Feedback Instruments Ltd, UK.
