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KEY WORDS: PID Controllers, Fuzzy Logic Controller, Water Level Control, SISO.
INTRODUCTION
Proportional Integral Derivative (PID) controllers are widely
used in industrial practice since last six decade. The invention
of PID control is in 1910 (largely owing to Elmer Sperrys
ship autopilot) and the straightforward Ziegler-Nichols (Z-N)
tuning rule in 1942 [1]. Today, PID is used in more than 90%
of practical control systems, ranging from consumer
electronics such as cameras to industrial processes such as
chemical processes. The PID controller helps to get our output
(velocity, temperature, position) where we want it, in a short
time, with minimal overshoot, and with little error [2]. It also
the most adopted controllers in the industry due to the good
cost and given benefits to the industry [3]. Many nonlinear
processes can be controlled using the well-known and
industrially proven PID controller [4]. A considerable direct
performance increase (financial gain) is demanded when
replacing a conventional control system with an advanced one
[4]. The maintenance costs of an inadequate conventional
control solution may be less obvious. The tricky part of
controller design is to figure out just how much of a corrective
effort the controller should apply to the process in each case.
Some situation requires tighter control of the process variable
than On-Off control can provide. Proportional control
provides better control because its output operate linearly
anywhere between fully ON and fully OFF [5]. As its name
implies, its output changes proportionally to the input error
signal. Proportional controller simply multiplies the error by a
constant to compute its next output.
Author: Pawan Kumar Kushwaha is currently
pursuing Master of Technology program in Electrical
Engineering in MMM. Engg. College, Gorakhpur
India, E-mail: pawankus@gmail.com
*Co-Author: Vinod Kumar Giri is Associate Prof. in
MMMEC Gorakhpur India.
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Proportional-Plus-Derivative Controller
When a derivative control action is added in series to
proportional control action, then this combination is termed as
proportional-derivative control action. Mathematically it can
be defined as
m (t) = K p e(t) + K p T d d/dte(t)
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
m (t) = K p e(t) + K p T d d/dte(t) + K p 1/Ti e(t)dt
2 Mathematical Modeling of Coupled Tank System
Before the process of designing controller begin, it is vital to
understand the mathematics of how the coupled tank system
behaves. In this system, nonlinear dynamic model are
observed. Four steps are taken to derive each of the
corresponding line arise perturbation models from the
nonlinear model. Fig 1 shows the schematic diagram of
coupled tank system.
Qi1, Qi2 = pump flow rate into tank 1 and tank 2 respectively
Qo1, Qo2 = flow rate of fluid out of tank 1 and tank 2
respectively
Each outlet drain can be modeled as a simple orifice.
Bernoullis equation for Steady, non-Viscous an
incompressible show that the outlet flows in each tank is
Proportional to the square root of the head of water in the tank.
Similarly, the flow between the two tanks is proportional to
the square root of the head differential.
Qo1 = 1H1
(3)
Qo2 = 2H2
(4)
Qo3 = 3H1 H2
(5)
(6)
(7)
For Tank 1
A1 d (H1+ h1) /dt = (Qi1 + q1) 1 (H1 + h1) - 3H1 H2
+ h1 h2 (8)
(2)
For Tank 2
A2 d (H2+ h2) /dt = (Qi2 + q2) 2 (H2 + h2) + 3H1 H2
+ h1 h2 (9)
Subtracting equations (6) and (7) from equation (8) and (9),
the equations that will be obtained are,
A1 dh1 /dt = q1 1( (H1 + h1 -H1) - 3(H1 H2 + h1
h2 - H1 - H2
(10)
Where
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(12)
Therefore,
Rewritten equation (20) and (21)
H1 + h1 - H1 h1/2H1
A1 dh1/dt = q1 qo1 3 (h1 h2 )/2H2 H1
A2 dh2/dt = q2 qo2 3 (h1 h2)/2H2 H1
(22)
(23)
(13)
(14)
(15)
A2dh2/dt = q2 2h2/2H2
(16)
Taking the level of fluid at tank 1 that will control, the output
variable h1 represents a small change in the steady state level
H1 and q1 is a small change in the steady state input flow rate
into tank 1, Qi1. H1 is also the steady state operating points
and isa constant. Performed Laplace transform on equation
(15) will become,
Fig 2: Block Diagram of Second Order Process
3 CONTROLLER DESIGN
From equation (17), the time constant of the tank 1 dynamics
can be expressed
(19)
After solving equations the value of T1, T2, K1, K2, K12, and
K21 are: 6.1459, 6.0109, 0.1921, 0.1878, 0.749, and 0.7325
respectively.
TF=
0.036 (25)
36.942 s2 + 12.1568s + 0.451
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The above table 1 shows the fuzzy rule base for tuning the
PID parameter of proportional gain Kp. There are total 49
rules in the above table.
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The above table 2 shows the fuzzy rule base for tuning the
PID parameter of proportional gain Ki. There are total 49 rules
in the above table.
Table 4: The fuzzy rules table of Kd
The above table 3shows the fuzzy rule base for tuning the PID
parameter of proportional gain Kd. There are total 49 rules in
the above table.
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REFERENCES
1.
2.
3.
4.
From the simulation results shown in fig (4, 5, 6, 7 & 8) it may
be concluded that PID controller eliminates the offset of the
proportional mode and still provides fast response. This can be
used for virtually any process condition including this water
level controller. The PID controller is one of the most
powerful but complex controller mode operations combines
the proportional, integral, and derivative modes. This system
can be used for any process condition including controlling
water level in a tank. The water level can be controlled
continuously without manual adjusting of the valve. The PID
algorithms will automatically response to the system so that
the system is stabilized near the set point.
5.
6.
7.
8.
10.
11.
12.
13.
14.
15.
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