Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE

(ii)

The couple-tank as MIMO system

The coupled-tank can be configured as MIMO system if both Pump 1 and Pump 2 are switched on or operational. Then in this case the input to the pumps are manipulated variable 1 (MV 1) and 2 (MV 2) respectively.

LAB 3
ANALYSIS AND DESIGN MIMO SYSTEM
Objectives 1. To understand the concept of interactions in MIMO systems. 2. To determine the pairing strategy based on the measurement of process interaction. 3. To control MIMO systems using single-loop PID controllers.

A block diagram of the MIMO coupled-tank system is shown in Figure 1. From the block diagram, it can be seen that the interactions are provided by the two cross transfer function G12(s) and G21(s).The single variable feedback controllers are denoted by GC1(s) and GC2(s). For this configuration, the level of Tank 1 (CV1) is mainly controlled by the output of or MV1. The level of tank (CV2) is mainly controlled by the output of or MV2.

In some cases, the analysis of the interactions in the control loops suggest that the strategy of pairing the controlled variables and the manipulated variable should be changed. In this case, the MV1 is used to control CV2, while MV2 is used to control CV1. The block diagram of the pairing strategy is shown in Figure 2. Equipment

Coupled-Tank Liquid Level Computer-Controlled Laboratory Teaching Package CTS-001 Experiment and Operational Manual

Theory
C1

R1

GC1(s)

G11(s)

(i)

Introduction

G12(s)

G21(s)

In most practical control system problems, there are typically more than one variable to be controlled and manipulated. These kind of systems are known as multi-input multi-output (MIMO) system. When there are more than one control loops in a process, then the question of which manipulated variable should be controlled by which controller will arise. In this case, we are assuming that the controllers are single variable controller such as PID controller. A single-variable controller measures the one and only variable of interest, decides if its value is acceptable, applies a corrective effort if necessary, and then repeats.

M2(s) C2

R2

E2(s)

GC2(s)

G22(s)

Figure 1: A block diagram of a 2x2 MIMO system (pairing strategy : C1 controlled by M1 and C2 controlled by M2).

The routine works very well for process control problems with just one variable or with multiple variables that can be manipulated independently. However, in the case of MIMO processes, a change in one manipulated variable may cause a change in more than one controlled variable. This is because there is some interactions between the control loops. The art of control analysis and design of MIMO system is to identify and grade the interactions in order to formulate design strategies to minimize the interactions. Also, usually in MIMO system, it is worthwhile to analyse whether the interactions between the loops can be reduced or eliminated through the design of an appropriate control systems. The procedure of eliminating the interaction is known as decoupling. 2 1

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE

(iv) Decoupling
R1 GC2(s) G11(s) C1

The design objective is to reduce control loop interaction by inserting crosscouplers in the control loops. The cross-couplers are designed to compensate the undesirable process interactions. Figure 3 shows a block diagram of the control system when two cross-couplers are included. Cross-coupler D21(s) should be able to maintain CV2 constant when there is a disturbance which cause CV1 to change. Usually, this can be done by changing MV2 accordingly. Similarly D12(s) should be able to maintain CV1 constant when there is a disturbance which cause CV2 to change. Likewise, this can be done by changing MV1 accordingly.
G12(s) G21(s) C1 M2 R2 G12(s) E2 GC1(s) G22(s) C2

R1

GC1(s)

M11

M1

G11(s)

D21(s)

D12(s)

G21(s)

Figure 2: A block diagram of a 2x2 MIMO system (pairing strategy : C1 controlled by M2 and C2 controlled by M1).

(iii) How to define process interactions

C2

M22

M2

R2

GC2(s)

G22(s)

Figure 3: A decoupler design of a 2x2 MIMO control system

Process interactions can induce undesirable interactions between the control loops. For example if CV1 is paired with MV1 and CV2 is paired with MV2 (Figure 1), and a disturbance moves CV1 away from its set-point R1 the following events occur: x The controller for loop 1 (GC1 (s)) adjust MV1 so as to force CV1 back to the set-point. However M1 also affects CV2 via G21 (s). x So CV2 will change and this causes the loop 2 controller to adjust MV2 so as to bring CV2 back to its set-point R2. When MV2 changes, CV1 will also change through the transfer function G12 (s). The process interaction can be measured using Bristols Relative Gain Array (RGA) Method. The RGA is a ratio of open loop gain and closed loop gain. The relative gain array provides a measure of the process interactions. The pairing strategy would be to pair the controlled and manipulated variables so that the corresponding relative gains are positive and as close to one as possible. 4 3

(v)

Single loop controllers

For MIMO systems, tuning single loop controllers such as GC1(s) and GC2(s) will not be an easy task. This is because of the interactions within the process loops. One of the most used method of tuning is to make a set-point change in one loop

Part B:

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE Measurement of the Process Interactions

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE while the other is in manual. In this case the Ziegler-Nichols closed-loop tuning method can be used. Therefore, in order to tune GC1(s), loop 2 should be opened. In this case GC2(s) will not be functioning and MV2 is set to a certain value.

Experiment

1. Before switching on the apparatus, check that there is sufficient water in the coupled-tank apparatus. The pump will be damaged if allowed to run dry. 2. Click to open CTS-002 software. On main menu, choose either Simulation or Real-time. Select the menu bar option Experiment. Select MIMO System option. (Constrict slightly the outflow from the tanks using the screws provided. The baffle should be opened). 3. Set both loops under manual control (open loop). To do this click Configure button on the PID controller panel and then choose whether Controller 1 or Controller 2 to be in closed loop or open loop. 4. Set the input voltage to Tank 1 at 2.4V and Tank 2 at 2.4V. The switch on the right-hand side of the Open-Loop Control label is for selection of either controller 1 or 2. 5. Click Run when you are ready. 6. To record your response, click Start Recording. 7. When both C1 and C2 reached steady-state level, increase M1, i.e input to Pump 1 to 2.8V (M2, i.e input to Pump 2 should remain constant). Observe the response. (C1 = level of Tank 1 and C2 = level of Tank 2) 8. When C1 and C2 have reached the steady-state level, click Stop and Stop Recording buttons. 9. Click SAVE and name the file to save the response, otherwise click RESET to repeat the experiment. 10. Repeat steps (4) (9), but this time increase M2 to 2.8V. (M1 should remain constant). Part A: Process Interaction

Part C:

Control of MIMO System using Single-loop PI/PID Controllers

1. Before switching on the apparatus, check that there is sufficient water in the coupled-tank apparatus. The pump will be damaged if allowed to run dry. 2. Click to open CTS-002 software. On main menu, choose either Simulation or Real-time. Select the menu bar option Experiment. Select MIMO System option. (Constrict slightly the outflow from the two tanks. The baffle should be opened). 3. Set the PI controllers for loop 1 and loop 2. For loop 1: Kp= 5.0 , KI = 0.2 . For loop 2: Kp= 5.0, KI = 0.2. 4. Set the set point of Tank 1 at 13 cm and Tank 2 at 15 cm. 5. Click Start Recording and Run when you are ready. 6. When both C1 and C2 reached steady state level, decrease the set-point of Tank 1 to 11 cm. Again observe the response of C1 and C2. (C1 = level of Tank 1 and C2 = level of Tank 2)

1. Before switching on the apparatus, check that there is sufficient water in the coupled-tank apparatus. The pump will be damaged if allowed to run dry. 2. Click to open CTS-002 software. On main menu, choose either Simulation or Real-time. Select the menu bar option Experiment. Select MIMO System option. (Constrict slightly the outflow from the two tanks using the screws provided. The baffle should be opened). 3. Set the PID controllers for loop 1 and 2 to: Kp = 3.0, KI= 0.3 and KD = 5.0. Use the switch on the right hand side of the label PID controller to select 1 or 2. 4. Set the set-point of Tank 1 at 50% (|15 cm) and Tank 2 at 13 cm. 5. Click Run when you are ready. 6. To record your response, click Start Recording. 7. Observe the response of both C1 and C2. (C1 = level of Tank 1 and C2 = level of Tank 2) 8. Increase the set-point of Tank 1 to 17 cm, (set point of Tank 2 remain at 13 cm), when both C1 and C2 have reached steady-state. 9. Again observe the response of both C1 and C2. Decrease the set point of Tank 1 back to 15 cm. 10. Click Stop and Stop Recording button when both C1 and C2 have reached steady state. 11. Click SAVE and name the file to save the response, otherwise click RESET to repeat the experiment. 12. To view the response, select Analysis from Graph on the menu bar. 13. Click Load and select the file name. 14. Click Plot to plot the response. 15. You can now analyze the response using the cursor provided. 16. Repeat steps (4-15) for changes in set-point of Tank 2. Set set-points of Tank 1 at 15 cm. Then increase set-point of Tank 2 to 15 cm.

Jabatan Kejuruteraan Elektrik & Elektronik EEE 3908: Control Engineering Laboratory 2 HARDWARE 7. Click Stop and Stop Recording button when both C1 and C2 have reached steady state. 8. Click SAVE and name the file to save the response, otherwise click RESET to repeat the experiment. (Name the file MIMO PI1.Dat). 9. To view the response, select Analysis from Graph on the menu bar. 10. Click Load and select the file name. 11. You can now analyze the response using the cursor provided. 12. Repeat steps (4) (11) for an increase in set-point of Tank 2 to 18 cm, and then when both C1 and C2 have reached steady-state level, decrease the set-point of Tank 2 to 16 cm. (Name the file MIMO PI2.dat). 13. Using your knowledge of PID controller actions, try to fine tune the controllers to obtain a better response. Exercise Part A 1. What happens when you increase the set-point of Tank 1 to 17 cm? 2. What happens when you increase the set-point of Tank 2 to 15 cm? 3. Explain your observations. Part B
wC1 wC 2 and from the response of the first M M wM 1 2 wM 1 2 experiment. (Please take note that the process variables obtained from the graph is in cm. Therefore to get the gain, you must convert it to voltage). wC1 wC 2 2. Calculate and from the response of the second M M wM 2 1 wM 2 1 experiment. 3. Develop the RGA for this system and determine the correct pairing strategy.

1. Calculate

Part C 1. From the response of the data file MIMO PI1.dot, state and explain your observation. In particular, make a reference to the control signal in the explanation. 2. From the response of the data file MIMO PI2.dot, state and explain your observation particularly when the set-point of Tank 2 has been decreased from 18 cm to 16 cm. 3. Draw some conclusion regarding your above observations. 4. How do you find tuning the PID controller for MIMO systems? 7