Modeling of The Modified Quadruple-Tank Process: A. Numsomran, V. Tipsuwanporn, K. Tirasesth
Modeling of The Modified Quadruple-Tank Process: A. Numsomran, V. Tipsuwanporn, K. Tirasesth
Modeling of The Modified Quadruple-Tank Process: A. Numsomran, V. Tipsuwanporn, K. Tirasesth
|
| |
|
|
= +
+
= +
+ +
= +
=
( )
1 1
1
1
) ( )
p
k
t u t
A
+
(1)
Where
: A Cross section area of tank
2
( ) cm
:
i
a Cross section area of the outlet hole
2
( ) cm
:
x
a Cross section area of the connection hole between tank1
and tank2
2
( ) cm
( ) :
i
h t Water level ( ) cm
:
j
u Voltage input of pump ( ) volt
:
i
| Outlet valve ratio
:
x
| Connected valve ratio
:
j
Inlet valve ratio
:
pi
k Gain of pump
3
( / / sec) cm volt
: g Specific gravity
2
(981 / ) cm s
The pumps generate a flow proportional to the applied
voltage: ( ) ( )
, pump j pi j
q t k u t = . The flow that split up by the
valves to tank1 is ( )
1 1 1 p
k u t , tank2 is ( )
2 2 2 p
k u t , tank3 is
( ) ( )
2 2 2
1
p
k u t and tank4 is ( ) ( )
1 1 1
1
p
k u t .
Linearization
We represent the system by a state space form:
, x Ax Bu y Cx Du = + = + .From the equation (2), that the
system as ( ) , h f h u =
(
(
(
(
(
(
(
( ( (
(
( ( (
(
( ( ( (
( = + ( ( ( (
(
( ( ( (
(
( ( (
(
( ( (
(
(
(
(
(
(
< <
(2)
where the time constant
i
T such that
1
2
i i
i
i
a g
T A
h
|
= and
1 2
1
,
2
x x
x
a g
s
T A
h h
|
=
Transfer Matrix
The Laplace transform of (2) yields to the transfer matrix
of the four tank system.
( ) ( )
( )
( )
( )
( )
( )
1 1 1
,
2 2
Y s U s
G s C sI A B G s
Y s U s
( (
( ( = =
( (
( )
( ) ( )
( ) ( )
11 12
21 22
g s g s
G s
g s g s
(
( =
(
- 820 -
( )
( )
( ) ( ) ( )
( ) ( )
( ) ( )
1 /
1 1 1 1 1 2 1
1 1 /
4 2 2
11
2
/
1 2
1 /
1 1
1 /
2 2
T k T T k T A
p p x
A
T s T s T T
x
g s
T T T
x
T s T T
x
T s T T
x
| |
|
+
|
+ + +
|
\ .
=
| |
|
+ +
|
+ +
|
\ .
( )
( )
( )
1 /
2 2 2 2 2
2
1
2
1
3
12
2 1 2
1 1
2 1
1
T k k A
T
p p
T s T
x
A T
T s
x
g s
T T T T
x
T s T s
T T T T
x x x
| |
| |
|
|
+ + +
|
|
+
|
\ .
\ .
=
| | | | | |
| | |
+ + + +
| | |
\ . \ . \ .
< <
( )
( )
( )
1 /
1 1 1 1 2 1
1
1
1
1
2
4
21
1 2 1
1 1
1 2
2
T k T k A
T T
p p
x
T s
A T T
T s
x
g s
T T T T
x
T s T s
T T T T
x x x
| | | |
| |
| |
|
+ + +
| |
|
+
| |
\ .
\ . \ .
=
| | | | | |
| | |
+ + + +
| | |
\ . \ . \ .
< <
( )
( )
( )
1 /
2 2 2 2 1 2 2
1
1 1
3 1
22
2
/
1 2 2
1
2
1
1
1
T k T T k T A
p p x
A T
T s T s
T
x
g s
T T T T
x
T s
T T
x
T s
T
x
| |
|
|
|
+
| | |
| | + + +
| |
\ . \ .
=
| |
|
| | |
| |
+ +
| | | |
\ .
| | + +
| |
\ . \ .
(3)
3. Further Analysis of the System
A. Relative Gain Array (RGA)
For 2x2 systems, the relative gain array show how inputs
and outputs of the system are coupled. It has the following
form.
With
( ) ( )
( ) ( ) ( ) ( )
11 22
11 22 12 21
0 0
0 0 0 0
g g
m
g g g g
=
(4)
With equation (4) m can be found as:
( ) ( )
( ) ( )
2 1 1 2
1 2 1 2
1
x x
x x
T T T T
m
T T T T
+ +
=
+ + +
(5)
For big value of m , the dominating elements of the
transfer matrix are the diagonal elements. Output 1 is
effected mostly by input1, output2 by input2. If m is small,
output 1 depends mainly on input2, and output 2 on input
1. To know which input mainly affects which output is
important for design of PI controllers for the MIMO
system.
B. Zeros of the system
The zeros of the transfer matrix(3) are defined as the zeros
of ( ) det G s
( ) G s has four zeros. To find them we have to find the
zeros from the solutions of numerator of ( ) G s is equal zero.
From the fig. 3 explain the relation between the zeros position
on s-plane and valve ratio value
1 2
, that take the value of
1 2
+ in ( ) 0, 2 .
Figure 2. Zero of ( ) G s related with flow ratio
1 2
0 2 < + <
The zeros of ( ) G s can be located either in the left or in the
right half-plane. The system is minimum phase (both zeros are
in the left half-plane) for
1 2
1 2 < + < and the system is non-
minimum phase for
1 2
0 1 < + < .We found that the zero at
origin occur when
1 2
1 + = .
4. MODIFIED QUADRUPLE-TANK PROCESS
TRANSFORMATION
As we explain that the modified quadruple tank apparatus is
created for adapting as several process styles which can help
students for understanding control limitations due to
interactions, model uncertainties, non minimum phase
behavior, unpredictable time variations, understanding their
limitation of controller design and implementing a fully
multivariable control system. In this section will explain about
conditions and transfer matrix for each modified quadruple
tank process transformation styles.
- 821 -
A. Quadruple-tank non interacting process
Condition If
1 2
0 , 1 < < and 0
x
| = then plant model will be
a Quadruple-tank non interacting process
Transfer Matrix It has the schematic diagram of the model as
Fig. 3 and plant transfer matrix as equation (6).The plant
transfer matrix has 2 zeros and 4 poles. It is in the mode of
minimum phase when
1 2
+ take the value in ( ) 1, 2 . It is in
the mode of non minimum phase when
1 2
+ take the value
in ( ) 0,1 .
( )
( )
( ) ( )
( ) ( )
( )
( )
1 11 12 1
2 21 22 2
H s G s G s U s
H s G s G s U s
( ( (
=
( ( (
( ( (
<
(6)
where
( )
( )
1 1
11
1
1
/
1
p
T k A
G s
T s
=
+
( )
( )
( ) ( )
1 3
1 2
12
2
1 1
/ 1
p
T s T s
T k A
G s
+ +
=
<
( )
( )
( ) ( )
2 1
21
4 2
1
/
1 1
1
p
T k A
G s
T s T s
=
+ +
<
( )
( )
2
2 2 2
22
1
/
p
T s
T k A
G s
+
=
1
u
2
u
1
T
2
T
3
T
4
T
1
R
2
R
3
R
4
R
1
(1 )
1
2
2
(1 )
Figure 3 Schematic diagram of the quadruple-tank process.
B. Couple-tank interacting process
Condition If
1 2
, 1 = and 0 1
x
| < < then plant model will
be a Couple-tank interacting process
Transfer Matrix It has the schematic diagram of the model as
Fig. 4 and plant transfer matrix as equation (7).The plant
transfer matrix has 1 zeros and 4 poles.
( )
( )
( ) ( )
( ) ( )
( )
( )
1 11 12 1
2 21 22 2
H s G s G s U s
H s G s G s U s
( ( (
=
( ( (
( ( (
< (7)
where
( )
1 1
11
2
1 2 1
1
2
2
/
/
1
1
p
x
x
x
Tk A
G s
TT T T
T s
T T
T s
T
=
+ +
+ +
| |
|
| |
|
|
| | |
\ .
| |
\ . \ .
( )
2 2
12
2 1 2
2 1
1
/
1 1
p
x x x
T k A
G s
T T T T
T s T s
T T T T
=
+ + + +
| | | | | |
| | |
\ \ . \ . .
< <
( )
1 1
21
1 2 1
1 2
2
/
1 1
p
x x x
Tk A
G s
T T T T
T s T s
T T T T
=
+ + + +
| | | | | |
| | |
\ . \ . \ .
< <
( )
2
1 2 2
2
1
1
2 2
22
/
1
1
/
x
x
x
p
TT T T
T s
T T
T s
T
T k A
G s
+ +
+ +
=
| |
|
| |
|
|
| | |
\ .
| |
\ . \ .
1
u
2
u
1
T
2
T
3
T
4
T
1
R
2
R
3
R
4
R
1
(1 )
1
2
2
(1 )
x
R
Figure 4 Schematic diagram of the couple-tank interacting
process.
C. Couple-tank non interacting process
Condition If
1 2
, 1 = and 0
x
| = then plant model will be a
Couple-tank non interacting process
Transfer Matrix It has the schematic diagram of the model as
Fig. 5 and plant transfer matrix as equation (8).The plant
transfer matrix has 0 zeros and 2 poles.
1
u
2
u
1
T
2
T
3
T
4
T
1
R
2
R
3
R
4
R
1
(1 )
1
2
(1 )
Fig. 5. Schematic diagram of the couple-tank non interacting
process.
( )
( )
( )
( )
( )
( )
1 11 1
2 22 2
0
0
H s G s U s
H s G s U s
( ( (
=
( ( (
( ( (
< (8)
where
- 822 -
( )
( )
1 1
11
1
/
1
p
T k A
G s
T s
=
+
( )
( )
2 2
22
2
/
1
p
T k A
G s
T s
=
+
D. SISO Loop Second Order Non Interacting Process
Condition If
2
0 u = ,
1
0 = and 0
x
| = then plant model
will be a SISOLoopSecondOrderNonInteracting
Transfer Matrix It has the schematic diagram of the
model as Fig. 6 and plant transfer matrix as equation
(9).The plant transfer matrix has 0 zeros and 2 poles.
1
u
2
T
3
T
2
R
3
R
1
(1 )
1
4
R
4
T
1
T
1
R
x
R
2
(1 )
2
2
u
Fig. 6. Schematic diagram of the 2-tank second order non
interacting process.
( )
( ) ( )
( )
1 1
21 2
0 0
0
0
H s U s
G s H s
( ( (
=
( ( (
(
< (9)
where
( )
( )( )
2 1
21
2 4
/
1 1
p
T k A
G s
T s T s
=
+ +
E. SISO Loop Second Order Interacting Process
Condition If
2
0 u = ,
1
1 = and 0 1
x
| < < then plant
model will be a SISO Loop Second Order Interacting
Process
Transfer Matrix It has the schematic diagram of the
model as Fig. 7 and plant transfer matrix as equation
(10).The plant transfer matrix has 0 zeros and 2
poles.(G21)
Fig. 7. Schematic diagram of the couple-tank non interacting
process.
( )
( )
( )
( )
( )
1 11 1
2 21
0
0 0
H s G s U s
H s G s
( ( (
=
( ( (
( (
< (10)
where
( )
1 1
11
1
2
1 2 1
2
2
/
1
/
1
p
x
x
x
T k A
G s
T s
TT T T
T
T
T s
T
=
+ +
| |
|
| |
\ .
+ +
|
\ .
( )
1 1
21
1 2
1 2 1
2
/
1 1
p
x
x x x
T k A
G s
T s T s
T T T T
T T T T
=
+ + + +
| | | |
| |
\ . \ .
< <
F. SISO Loop Third Order Interacting Process
Condition If
1
0 u = ,
2
0 = and 0 1
x
| < < then plant model
will be a SISO Loop Third Order Interacting Process
Transfer Matrix It has the schematic diagram of the model
as Fig. 8 and plant transfer matrix as equation (11).The plant
transfer matrix has 0 zeros and 3 poles. (G22)
Fig. 8. Schematic diagram of the couple-tank non interacting
process.
( )
( )
( )
( ) ( )
1 12
2 2 22
0 0
0
H s G s
U s H s G s
( ( (
=
( ( (
( (
< (11)
where
( )
( )
2 2
2
3
2 1 2
2 1
1
12
/
1
1
1 1
p
x
x
x x
x
x
k A T
T s T
T T s
T T T T
T s T s
T T T T
G s
+ +
+
+ + + +
=
| |
|
\ .
| | | | | |
| | |
\ . \ . \ .
< <
- 823 -
( )
( )
2
1 2 2
2
1
1
1 2 2
1
3 1
22
/
1
1
/
1 1
x
x
x
p x
x
TT T T
T s
T T
T s
T
TT k T A
T
T s T s
T
G s
+ +
+ +
| |
+ + +
|
\ .
| |
|
| |
|
|
| | |
\ .
| |
|
\ . \ .
=
5. CONCLUSION
The value of General form modeling concept for Modified
Quadruple-Tank process is ability in transform its transfer
matrix to several different styles just only assign the value of
inlet and outlet valve ratio. By the several model of
transformed Modified Quadruple-Tank , it can be used to
teach students in the skills of Understanding control limitation
due to interactions, model uncertainties, nonminimum phase
behavior, and unpredictable time variations, Design
decentralized controllers, and understanding their limitations,
Implementing decouplers to reduce the effect of interactions,
and understanding their limitations. Selecting the best control
structure, based on the characteristics o the multivariable
process.
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