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Assignment 1 (Middle)

This document describes the modeling and analysis of a coupled tank system. It contains: 1) Transfer functions for the system components including sensors, valves, and tanks. 2) The overall coupled tank transfer function as the product of the individual component transfer functions. 3) A block diagram of the closed-loop control system with the coupled tank transfer function. 4) Analysis of the open-loop response and calculation of the parameters J, a, and k that characterize the coupled tank transfer function based on experimental data.

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Karanvir Sk Singh
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73 views12 pages

Assignment 1 (Middle)

This document describes the modeling and analysis of a coupled tank system. It contains: 1) Transfer functions for the system components including sensors, valves, and tanks. 2) The overall coupled tank transfer function as the product of the individual component transfer functions. 3) A block diagram of the closed-loop control system with the coupled tank transfer function. 4) Analysis of the open-loop response and calculation of the parameters J, a, and k that characterize the coupled tank transfer function based on experimental data.

Uploaded by

Karanvir Sk Singh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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UTS

MODELLING OF A
COUPLED TANK SYSTEM
Assignment 1: 48660 Dynamics and Control

Name: Karanvir Singh


Student Id: 11757515

Contents
1.

Inputs & Outputs............................................................................................. 2

2.

Component Transfer Functions........................................................................3


2.1 Sensor 2....................................................................................................... 3
2.2 Valve............................................................................................................. 4
2.3 Tank One....................................................................................................... 4
2.4 Tank Two....................................................................................................... 5

3.

Coupled Tank Transfer Function.......................................................................5

4.

Closed-loop Control System Block Diagram.....................................................7

5.

Open Loop Response....................................................................................... 8

6.

J, a, k Calculations (Method 1).........................................................................9

Appendix 1..................................................................................................... 10-11

1. Inputs & Outputs


Flow in -m(t)+n(t) (L/min)

(mm)

Position (%)

(mm)

TANK 1

(mm)

TANK 2

(mm)

Flow in m(t)+n(t) (L/min)


VALVE 1

SENSOR

Amps

2. Component Transfer Functions


2.1 Sensor 2

Graph 1 Level (mm) vs Sensor Output (A)

From the Coupled tanks Calibration data 2014-08-21, we have that the Level, (y)
= -18951.458x + 377.16

x=

y377016
..(Transfer Function)
18951.458

Block Diagram:

y(mm)

2.2 Valve

Graph 2 Flow Rate (L/min) vs Valve Position (%)


From the Coupled tanks Calibration data 2014-08-21, we have that the flow rate,
(y) = 0.088x+1.356.

y=0.0869 x +1.2016

2.3 Tank One


Given:

m ( t ) +n(t )X 1 ( T ) =A 1

d H1
dt

X 1 ( T )= K 1 h1 (t )
By substituting:

m ( t ) +n(t )K 1 h1 (t)= A 1

d H1
dt

Laplace transformation:

M ( s ) + N (s)K 1 H 1 ( s)=s A 1 H 1(s)


Like terms:

M ( s ) + N ( s )=s A1 H 1 ( s ) + K 1 H 1 ( s )

s A 1+ K 1 H 1 ( s)
M ( s ) + N ( s )=

(Tank one continued next page)

Input=M ( s )+ N ( s ) , Output=H 1 ( s )rearranging for G ( s )=

Output
Input

M ( s ) + N (s)

H (s )
G ( s )1 = 1

2.4 Tank Two


Given:

m ( t ) +n(t )X 1 ( T ) =A 1

d H1
dt

X 2 ( T ) =K 2 H 2 ( t ) ,
By substituting:

K 1 H 1 (t )K 2 H 2 (t )= A2

d H2
dt

Laplace transformation:

K 1 H 1 ( s )K 2 H 2 ( s ) =s A 2 H 2 ( s )
Re-arranging terms:

K 1 H 1 ( s )=s A2 H 2 ( s ) + K 2 H 2 (s)
K 1 H 1 ( s )=(s A 2+ K 2) H 2 (s)

Input=H 1 (s ), Output =H 2 (s )rearranging for G ( s )=

G ( s )2=

H 2 (s)
K1
=
.(2)
H 1 ( s ) ( A2 s + K 2)

Output
Input

3. Coupled Tank Transfer Function


Multiplying equations 1 and 2:

G(s)=G ( s )1 G ( s )2
G(s)=

K1
1

( A 1 s + K 1 ) ( A2 s + K 2)

Result:
K1
A 1 s ( A2 s + K 2 ) + K 1 ( A2 sK 2 )

K1
A 1 A2 s 2 + A 1 K 2 s+ A2 K 1 s+ K 1 K 2

Substituting:

A 1=T 1 K 1 A 2 ,=T 2 K 2
K1
2

T 1 K 1 T 2 K 2 s +T 1 K 1 K 2 s +T 2 K 2 K 1 s + K 1 K 2

Dividing by

K1 :

1
T 1 T 2 K 2 s +T 1 K 2 s+ T 2 K 2 s+ K 2
2

T
T 1 T 2 K 2 s + sK 2 ( 1+T 2)+ K 2
1

Substituting the following:

J T1 T2 K2 ,

K 2 (T 1 +T 2 )

H 2 (s)
1
= 2
M ( s ) + N ( s) J s +as +k 2

M(s) +

Coupled Tanks

1
J s +as +k 2
2

H(s)

4. Closed-loop Control System Block Diagram

L/mi
n

Desired

Transfer Function:

Controller
(Valve Position)

G(s)=

a=

5.

Open Loop Response

Tank 2 Level (mm)

Flow 1 (L/min)

Open Loop Response


Graph 3 Open Loop Response

flow Valve
m(1)=2.1540.798
1.356 L/s
waterleveltank
h 2(2)=141.3664.952
136.414 mm

m(t)

h2

6. J, a, k Calculations (Method 1)
k 2=

m
h2

2.1540.798
141.3664.952

0.00994

L
/mm
min

Total time=800.2 s

Height:

h63 = h2 .63=136.414 .63=85.769 mm


h86 = h 2 .86=136.414 .86=117.081 mm

Corresponding Time:

t 63 =( t total time 0.63 )=800.2 0.63=504.126 s


t 86 =( t total time 0.86 )=800.2 0.86=688.172 s
T 1 t 86 t 63 =688.172504.126=184.046 s

Assuming

T 2=2 :

T 2 t 63 T 1T 2 504.126184.0462=320.08 s

Substituting:

L
min 2
J =k 2 ( T 1 T 2 )=0.00994 ( 184.046 320.08 ) =585.56
(s )
mm
L
min
a=k 2 ( T 1 +T 2 )=0.00994 ( 184.046+320.08 )=5.011
( s)
mm
G(s)=

1
1
=
2
J s + as+k 2 585.56 s +5.011 s+ 0.00994
2

H 2 (s)=

M ( s )+ N (s)
2
585.56 s +5.011 s +0.00994

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