LAAIRRIMLN [NO 0 COUPLED TANK SYS1M CONTENTS Obes tiv 8 Hquipment 4 4 Theory 4 4 Mostetinny w 4.1 Configuration! 7 4.1.1 Nom Linear Equations of Motion 7 & Specifications 8 & Simulation =_— 58 > Real-Tinie Implementation _ = a 8 Precautions pa a a, Results and Discussions oo # 1OReferences a 1.OBJECTIVE ~ ‘To study the model of couple tank system and design a controller to measure water level in the Coupled-Tank system. 2. EQUIPMENT REQUIRED - Coupled Tank System kit, mat lab, power supply. 3. THEORY ~ The Coupled-Tank specialty module is a benchtop "Two-Tank” plant consisting of a pump with a water basin and two tanks of uniform cross sections, Such an apparatus forms an autonomous closed and recirculating system. The two tanks, mounted on the front plate, are configured such that flow from the first (upper) tank can flow into the second (lower) tank: Flow from the second tank flows into the main water reservoir. In each one of the two tanks, liquid is withdrawn from the bottom through an outflow orifice (i.e. outlet), The outlet pressure is atmospheric. Both outlet inserts are ADVANCED CONTROL SYSTEMS LAB 54 iPstaat Neresw- FEO the oes Het ‘ebro, 1 Aina benHle MY the gi fs gornven, fle ca be tele 1 ey op vertically ti favo quick enaner veut Par cwnityuneallity perprone, 1p gy thrwil Ruleber tating with APPROMBIE Conia. Figure 6.1: Couple Tank System tovenable the pump to feed water in to one or both tanks, The selection of outputs the pump controls the flow ratio between the two outlets "Outi"and"Out2". The » level in each tank is measured using a pressure-sensitive sensor located at the butt: the tank. Additionally, a vertical scale (in centimeters) is also placed beside each tanh! visual feedback regarding each tank's water level, This single system can be contig: into three main types of experiments, as listed in Table 6.1 below. Each of which cir * configured with diverse parameter values (e.g. outlet diameters). ADVANCED CONTROL SYSTEMS LAB 55 | 'Nae Ee range t ne ain faim Toots willl } +23 Sena ' ted a The ew tad ; ek Ws at Bas ari rt | te i Tee | se a ue tang 4 igo ati ates ime PW t K cewarelias v5 dak | desired lo tadd co teach tte val eae | A enlitil W dmmagret Fr Fecrr iy | iret ii | ai se Ta? AN ean bet ern ry Tone 1 ath 00 ee A (init Wie ev enue Ca {es ad oe Um edt | erp vy Tne 1 not ne 2 ca bees Tee | ord aa | set ap te al ——<—— | sate seed ~ z | a f | - | | | | : , | [p) D=nfwralia ny Contgyerees #2 | fr} Comino 7 Contral Configuration 2 ‘fablebat Cou) pled-Tamnk Water Lovel od-Tank plant represented in Figure below. THE posite aids; with the ofigin at the bortuem of each Jacément isn" tank) as re presented Figure. 4, MODELING ‘A schematic of the Coup! cai level disp! directional vertic ink (hecorrespondingt? anempty: ROVANCED CONTROL sysTEMs LAB SE! 'ben Figure 6 2: Schematic of Coupled Tank in Configuration #1. AA CONFIGURATION 1 4.1.1. NONLINEAR EQUATION OF MOTION (EOM) It is suggested that the pump feeds into Tank 1 and that tank 2 is not consideccy etuler ta derive the mathematical made! of your Coupled-Tank systetn in configy Therefore, the input to the process is the veltage to the pump Vp and its ow pele : water level a tank 1, La, (Le. top tank). To design an appropriate level contra. porpose of the present modeling session is Lo provide you with the system's op; arsasfer function, G:{s}. The obtained Equation of Motion, EOM, should be a fun. the system's inputand output Equation of Mation are: In deriving the Tank 1 EOM the mass balance principle.can be applied:to the water e:.! tank 3, be, au. 4 =4L.¥) Where [denotes a function, In deriving the Tank 1 £0M the mass balance principle can be applied to the water level in (xr Aust = Fa Fos ‘ADVANCED CONTROL SYSTEMS LAB 57 | |where An is the arva of Tank1, Fj e e, Sec, Tew - . 1, Fy and Fer are the in flow rate and out fave rat spectively. The volumetric in flow rate to tank 1 is ass Fal : ics SOc aa is assumed to be directly propartional FireKpVp Applying Bernoulli's equation fo nd F small orifice be expressed by the following saan the out flows velocity from tank!, vei.can vo=V2eL: Ly = L1o + Lin, Vp =Vpa + Vor a xlue f(Li.Vp) Where f denotes a function. a the Ainear equation of motion, the system's open-loop transfer function in the Laplace domain can be defined by the following relationship: Liits) GilS)= Fens) ‘The desired open-loop transfer function forthe Coupled-Tank's tank 1 system is the following: GU9=Fer where Kec: is the open-loop transfer function DC gain, and 1; is the time constant 5, SPECIFICATIONS In configuration#1, tank41 using the pump voltage. a control is designed to regulate the water level (or height) of The control is based on a Proportional-Integral-Feed forward scheme (PI-FF). Given 2 #1cm square wave level set point (about the operating point), the Jevel in tank 1 should satisfy the following design performance requirements: 1. Operating level in tank 1 at 5 em: Lao = 15cm. Il Percent overshoot less than 1096: Po: ¢ 11%. Il. 2% settling time less than 5 seconds: ts 5.0s. Iv, Nosteady-state error: ess = cm. 6, SIMULATION ‘The simulink diagram shown in figure is used to perform tank 1 level control simulation exercises in this laboratory. 2 ADVANCED CONTROL SYSTEMS LAB ser omwulink model used to simulate PI-FF control on Coupled Tanks «.., configuration Begure 63 Follow this procedure | Enter the proportional, iitegral, and feed forward gain control Bains. ‘To generate'a step reference, go to the Signal Generator block ang Set following: 3). Signal type = square b) Amplitude =1 €) Frequency = 0.02 Hz IL Set the Amplitude (cm) gain block to 1 to generate a square wo. between! cm. 1. Open the pump voltage Vp and tank level response scopes, ¥. Start the simutation. By default, the simulation runs for 60 Seconds. The « Shauld be displaying responses, (a Tank 1 Lovet (0) Pump Voting Figure6.4: Simulated closed-loop configuration control response ADVANCED CONTROL SYSTENS LAB 59 |7. REAL-TIM , IMPLEMENTATION The q tanks 1 Sitiulini diagram shown in Pijgure, (b) Pomp Vonage (a) Tank V Laval Figure 6.5: Measured closed-loop tank 1 control response A first-order low-pass filter with a cut-olf frequency of 2,5Hz is added to the output signal of the tank! level pressure sensor: This filter is necessary to attenuate the high- frequency noise content of the level measurement. Introducing a short delay in the signals, low-pass filtering allows for higher controller gains in the closed-loop system, and therefore for higher performance. Follow this procedure ‘| L Ml. mM, vi. Vil. VIL. Make sure your PC and amplifier are powered ON. Open the Simulink model file (.mdl) found under the Quick Start folder on your hard drive Double-click on the IIL Initialize bloc! your system (c.g. Q2-USB), Click on the Build Model button on the Simulink model toolbar. Once the made! cade has been compiled, click on connect to target button, Click on the Rua button to start the QUARC real-time model. to those shown in the figure. By Default, the water trolled between 13 and 17 cm and water level in kand choose the board that is installed on The scopes should look similar level in Tanks 1 should be con ‘Tanks 2 should float between 5 cm to 20.cm. Click on the Simulink Stop button to stop the running model. ADVANCED CONTROL SYSTEMS LAB 60 | 7°’Figure 66. Measured closed-loop tink control response a PRECAUTIONS (Strictly to be followed) Pump input «/-24 V5.0 Peak, 3 A continuous Make sure the circuit board docs not Bel wel, Depending on the duration of your experiment, the punip mipht Bet he "you are using the Quanser Voll PAQ, make sure the Rain on the set 03 RESULTS AND Discussions don your Measurements, let US now esponses to following paints: Flot the graph af tank level he graph of purmp voltage. 10. REFERENCES ' Quanser Ine QuaRe User M, W {Quanser Ine. QUARC Install discuss the results that YOU obtained » anual lation Guide, 2009, ADVANCED CONTROL systems LAB 61 |r