Documente Academic
Documente Profesional
Documente Cultură
INTRODUCTION
Horizontal cylindrical tank is unique in its shape,
as its area varies with increase in height. Many process industries use horizontal tank for storage of oil or
chemical liquid since it has a wide surface area. Level
control of tanks is necessary to maximize productivity
and efficiency and to ensure safety. Poor operations
include overfilling of the tanks due to which catastrophic reactions may take place.
Traditionally, a nonlinear process has to be
linearized first before an automatic controller can be
effectively applied. This is typically achieved by
adding a reverse nonlinear function to compensate for
the nonlinearity. There was a proposal in 2005 [1]
which showed the level control of a horizontal tank
implemented using Fuzzy-PID Cascade controller.
The application of a neural network trained for a
given set of inputs and output was published in 1993
[2] which was used for level control in petrochemical
tanks.
In this paper, the first section describes the
process and the identification of transfer function. In
the second section, we will discuss the conventional
control technique and its tuning method. The third
section illustrates the training of a neural network and
its implementation as a controller. Finally the Fuzzy
logic control (FLC) technique is discussed and the
most effective control method is established based on
the comparison of Integral Absolute error (IAE).
Diameter
Length
Height above the ground
Inflow
0.3m
0.45m
1.2m
120LPH
Proceedings of the International Conference on Trends in Industrial Measurements and Automation (TIMA-2013),
Department of Instrumentation Engineering, MIT Campus, Anna University, Chennai-44.
Page 137
r(R-H)
= ((2HR-H2)-1/2) [(
) + 6HR-2H2-2R2]
(1)
= q1 - q2
Substituting for
from (1)
(2)
14-18
10.33
1.01
0.97
18-22
15.43
1.28
0.118
22-26
21.55
1.53
0.185
26-30
28.7
1.79
0.274
A. SYSTEM IDENTIFICATION
System identification process is carried out using
the system identification function ident in MATLAB.
The input (inflow) and output (level) data from the
real time process in open loop arrangement applied to
the ident tool to obtain the transfer function of the
system. We obtained the transfer function for
maximum inflow as
We verified the real time transfer function to be
same as that of the simulation results. Hence the
estimated transfer function is used in the following
sections for designing the controllers.
IV. CONVENTIONAL CONTROLLER
We designed PI controller for each of the
seven regions defined in table II using gain
scheduling. The gain scheduling is achieved by tuning
the PI parameters (i.e. Proportional gain, integral time,
derivative time) using Ziegler Nichols tuning rules.
The controller is designed in such a way that
depending upon the input set value, the PI values for
the corresponding region is fired. This closed loop
system is implemented in LabVIEW and the response
curve is obtained.
A.
1.15
0.25
0.196
6-10
3.19
0.51
0.176
10-14
6.25
0.77
0.138
Proportional
gain (Kp)
58.55
25.62
13.64
7.16
7
9.123
11.54
Integral
gain (Ki)
0.038
0.028
0.031
0.026
0.033
0.032
0.028
Proceedings of the International Conference on Trends in Industrial Measurements and Automation (TIMA-2013),
Department of Instrumentation Engineering, MIT Campus, Anna University, Chennai-44.
Page 138
Fig X : Closed loop response curve using FLC for step input set
values of 12cm, 20cm, 15cm
Fig VIII : Closed loop control using Neuro Controller for a set value
of 12cm, 20cm, 15cm
Fig XI: Real time Hardware setup of the nonlinear horizontal tank
system
Proceedings of the International Conference on Trends in Industrial Measurements and Automation (TIMA-2013),
Department of Instrumentation Engineering, MIT Campus, Anna University, Chennai-44.
Page 139
Zeigler
Nichols
Neural
Network
Fuzzy Logic
Controller
Fig XII : Closed loop control of the real time process using PI
controller for a set value of 12cm
Rise
Settling
IAE
time
time
240
1450
4458.7
120
1250
3768.4
100
900
3557.8
Fig XIII : Closed loop control of the real time process using FLC for
step input set values of 12cm, 20cm, 15cm
VII. RESULT:
The response of the closed loop system was
studied and the drawback of conventional controller
and need for intelligent control is observed. The
performance of the controllers is compared using IAE.
REFERENCE
[1] Satean Tunyasrirut, and Santi Wangnipparnt Level
Control in Horizontal Tank by Fuzzy-PID Cascade
Controller - World Academy of Science, Engineering
and Technology 25 -2007.
[2] Tani. T, Umano. M, Sato. T, Tanaka. K,
"Application of neural network to tank level control of
petrochemical plants," Industrial Electronics, Control,
and Instrumentation, 1993. pp.321,326 vol.1, 15-19
Nov 1993
[3] J. G. Ziegler and N. B. Nichols, Optimum settings
for automatic controller, ASME Trans. Vol64, 1942,
pp.759-768 And Automatic setting for Automatic
Controller
[4] W. K. Ho, C. C. Hang, and J. H. Zhou,
Performance and gain and phase margins of wellknown PI Tuning formulas, accepted for publication
in IEEE Trans. Contr. Syst. Technol., 1995.
[5] Stephanopoulos G (1990) Chemical Process
Control, Prentice Hall, Englewood Cliffs, New Jersey,
chapter 16
Proceedings of the International Conference on Trends in Industrial Measurements and Automation (TIMA-2013),
Department of Instrumentation Engineering, MIT Campus, Anna University, Chennai-44.
Page 140