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Design and Investigation of Advanced Control Schemes for Quadruple Conical Tank System View project
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Abstract—Multi Inputs Multi Output (MIMO) processes that can be used to do such performance analysis on
are very common in industrial environment. These loops laboratory scale [4]. Fig. 1. shows a schematic diagram
comprise multiple measurement (sensor) and manipulating of quadruple tank system it is a simple system with four
(control) signals. The quadruple tank system is popular test
bench setup to demonstrate various properties of MIMO interconnected tanks provided with the inflows by two
process. Major challenge faced while designing a control pumps. Inflows are inputs and height of water in lower
system for MIMO processes is the interaction (or coupling) two tanks are considered as outputs. This will make the
between inputs and outputs. In such cases conventional system as multivariable system with two inputs and two
multi loop PID control works when the coupling is less or outputs.
weak. When interactions increases then the conventional
multi loop PID control fails. Hence, need arises to provide
control solutions for highly coupled system and one of
the most primitive approach is to implement decoupler
control. Thus, attempt is made to understand and realize
the problem for controlling a highly coupled process with
help of quadruple tank system. Design of decoupler using
LabVIEW and its validation are the prime work of the
presented paper.
Index Terms—Decoupler Design, LabVIEW, MIMO
Coupled Process, PID Control, Quadruple Tank System
I. I NTRODUCTION
.
Fig. 2: Block diagram of close loop multivariable system with decoupler control
keeping inputs outputs strongly coupled classical PID due to Gp12 should cancel at the Y1 summer.
control fails as control action resulted from h1 will
manipulate pump 2 rather than pump 1 and control
action resulted from h2 will manipulate pump 1 rather (Gp12 + Gp11 T12 )U22 = 0
than pump 2 making system un controllable [9]. Hence,
need arises of applying advance control algorithms like Hence, ideal decoupler is given by,
decoupler control in order control such processes as the
decouplers have been proven successful to remove the
T12 = Gp12 /Gp11
coupling effect between input and output [10].
Fig. 2. shows block diagram of multi PID control
with decoupler. In this scheme the important task is These ideal decouplers acts very similar to ideal
to design decouplers. The decoupler, T12 and T21 are feed forward controllers. These decoupler designed
lead-lag type compensators by its structure. T21 is are nothing but lead-lag compensator. There are two
designed so as to cancel Y21 which arises from the approach to implement decouplers
undesirable process interaction betweenU1 & h2 .
This cancellation will occur at the Y2 summer if i. Static Decoupler
decoupler output U2 satisfies ii. Dynamic Decoupler
0.003448s+0.001157
II. E MPIRICAL MODELLING T21 = Gp12 /Gp11 = 0.001281s+3.613∗10−05
Fig. 6: Response of strongly coupled quadruple tank with (a) Conventional PID control, (b) Static decoupler control,
(c) Dynamic decoupler control
outputs are multiplied by respective decoupler and then appropriate technique to control aforementioned system.
are added to simultaneous controller outputs [15] their Fig. 6. (c) shows responses of quadruple tank system by
sum is realized and control action is h2 and h1 in form implementing dynamic decoupler control this response
of voltage supply to pump 2 and pump 1 respectively by much stable than that of conventional PID control but
obtaining its value in real-time after proper conditioning Static decoupler shows better transient response and less
by using appropriate hardware peripheral like NI DAQ oscillations at steady state implying that this control
6009 [16]. transfer functions are being written and strategy works but its not the most appropriate technique
supplied by PID controllers outputs. to control aforementioned system. The dynamic decou-
Fig. 5. shows the block diagram implemented in Lab- pler implementation needs accurate modeling. It seems
VIEW to realize dynamic decouplers where control and that in the present work the accuracy of the model cannot
simulation toolbox [17] is employed in order to realize achieved. In case of model mismatch situation, the static
decoupler transfer functions in real-time. Dynamic de- decoupler is more appropriate design.
couplers requires transfer functions to be realized hence
control and simulation toolbox is employed where Here V. C ONCLUSION
controller outputs are provided to dynamic decouplers
transfer functions and then are added to simultaneous It clearly seen that conventional PID control fails
controller outputs their sum is realized and control action with high coupled system. Responses of static and dy-
is h2 and h1 in form of voltage supply to pump 2 and namic decoupler controlled systems are relatively stable
pump 1 respectively by obtaining its value in real-time and oscillate within a small region which is makes
after proper conditioning by using appropriate hardware it marginally stable. Ideally dynamic decoupler shall
peripheral provide more stable response than static decoupler. But
in this case response of static decoupler shows better
response than dynamic decoupler. Possible reason for
IV. R ESULTS AND DISSCUSSIONS this contradiction to theory is inaccurate modeling of
Fig. 6. (a) shows responses of quadruple tank sys- the process. The accuracy of model is very vital for
tem by implementing Conventional PID control with the successful implementation of dynamic decoupler. In
Kp1 = 5, Ki1 = 0.001 Kd1 = 0.100 & Kp2 = 5, the present setup the model mismatch is very much
Ki2 = 0.001, Kd2 = 0.100, it can be seen that h1 expected, hence, the dynamic decoupler shows a re-
tends to zero while h2 tends to uncontrolled values sponse with relatively more oscillations and overshoot
implying that tank 1 runs dry while tank 2 overflows than that of static decoupler based design. Another
making it an completely unstable system, This shows observation is that the control algorithm is implemented
primary limitation of conventional multiple PID loops on windows based LabVIEW platform. It has been
in control of MIMO process with strong coupling. Fig. observed that the control action takes some finite time
6. (b) shows responses of quadruple tank system by im- in execution. Such situation leads to time delay in the
plementing static decoupler control this response much control loop and contributes to instability of the system.
stable than that of conventional PID control and dynamic Dedicated real time control platform can surely improve
decoupler control implying using LabVIEW it is most the control performance. Dynamic and static decouplers
NIRMA UNIVERISTY JOURNAL OF ENGINEERING AND TECHNOLOGY VOL. 5, N0. 2, JULY-DEC 2016 12
have been successfully designed for strongly coupled Hasan Vhora received the B.Tech. degree
MIMO system. The decoupler control scheme has been in Instrumentation and Control Engineering
from Dharmsinh Desai University, Nadiad,
implemented using LabVIEW platform. The controlled India, in 2014 and is currently pursuing
variable response shows the improved performance in M.Tech. degree in Instrumentation and Con-
comparison to conventional PID controller based system. trol Engineering (Control and Automation)
from Nirma University, Ahmedabad, India.
His area of interests are Control Engineering
ACKNOWLEDGMENT and Process Control.