LIQUID LEVEL CONTROL FOR INDUSTRIAL THREE TANKS SYSTEM BASED ON SLIDING MODE CONTROL

Transcription

1 LIUID LEVEL CONROL FOR INDUSRIL HREE NKS SYSEM BSED ON SLIDING MODE CONROL DOINIŢ CHIRIŢĂ DRIN FLORESCU BOGDN CRISIN FLORE RĂZVN ENE DN LEXNDRU SOICHESCU Key wor: Sliin moe conrol (SMC) Proporionl inerl ifferenil (PID) Sliin urfce Couple n yem Level conrol Liqui level conrol in n i eenil in perocemicl pper prmceuic n oer inurie; erefore everl pper on win-n yem coniin of wo n couple by pipe ve been publie in e l yer In i pper ree n yem i inveie fir e uor evelop new non-liner muliple inpu inle oupu (MISO) e moel of uc pln n eermine i rnfer funcion; liin moe conroller (SMC) for liqui level conrol i eine n n inerein imulion in MLB\SIMULINK for ein e non-liner ree couple n yem conrolle in wo ifferen wy i cree e performnce of e yem wi liin moe conroller i compre wi e performnce of e yem uin PID conroller INRODUCION In perocemicl pper prmceuic n oer inurie procein liqui e flui i ore in n n rnferre o oer n; i i eenil o minin e liqui level rne eire vlue rouou e enire proce erefore e liqui level mu be conrolle in proficien wy e win n yem coniin of wo n couple by pipe been uie by everl uor In [ 4] e liqui i upplie o e fir n n i evcue from e econ; in [5] bo n re upplie by pump bu e liqui i evcue from one of em; in [6 8] e wo n re upplie n e liqui i evcue from bo of em yem coniin in ree cce reervoir i uie in [9] In i pper ree couple n yem i inveie: wo of em re upplie by pump n re couple o ir one from wic e liqui i evcue e n yem conrol meo re ifferen PI conroller i ue in [5] PID in [4] in [9] e propoe oluion i be on e e ecouplin bu e mo uible oluion i coniere e liin moe conrol (SMC) [ 6 7] Polienic Univeriy of Bucre Fculy of Elecronic elecommunicion n ecnoloy of Informion Deprmen of pplie Elecronic E-mil: nreeoi@yoocom Rev Roum Sci ecn Élecroecn e Éner 60 4 p Bucre 05

2 48 Doiniţ Ciriţă e l e SMC been propoe n evelope by VI Uin n i collboror in [0] n oer wor; e ie euce mny pecili n w ue in ifferen fiel [ ] In cper e couple n pln i ecribe i memicl moel i evelope in cper in cper 4 e conroller i eine e imulion reul re preene in cper 5 n cper 6 conin e pper concluion SYSEM DESCRIPION e yem coni of ree couple n own in Fi e n n re upplie by wo pump conrolle by vole v () n v () n e ir i upplie from n n by wo conui (pipe) of cro ecionl re n rou ir pipe of cro ecionl re e liqui flow ou Mnul vlve re vilble beween n n n e n n e oupu of n erefore e effecive re of e conui re β β β e liqui level in every n i influence by e inpu n oupu flow bu lo by e liqui level in e oer n e min objecive i o rec e eire level in n by conrollin e inpu re in n n were: Fi Scemic of e inuril ree couple n yem n re e liqui ei in n n ; re e cro ecionl re of e n; i e ouflow from n ; n re e flow from n n o n ; in n in re e inflow of n n ; in v in v () i e in of e wo pump

3 Liqui level liin moe conrol 49 MHEMICL MODEL OF HE HREE COUPLED NKS SYSEM umin e liqui ue i ey n non-vicou e volume blnce equion commonly ue in yroynmic ive for e ree n: in in () Due o e liqui crceriic menione bove e Bernoulli equion cn be ue o e e of non-liner equion: () () () β β β () Inroucin e expreion () in () e followin equion re obine: () () () () () () () () () u u β β β β β () Uin e ylor erie relion () become: () () () () () () v v (4) () () () () () were:

4 440 Doiniţ Ciriţă e l 4 ( () ()) () () () ; ; (5) β β β e liqui ei ve mll vriion furer will be coniere conn Rerrnin e equion (4) yiel: () () v () () () v() Furer e ree n yem pce moel i evelope: x x Bu y Cx Du were e noion re: () () v() x ; u ; y v() (8) ; B 0 ; ( 0 0 ); 0 C D (9) 0 0 e rnfer funcion mrix of e pln my be erive in erm of e e pce moel uin e formul: () () () () H H () V ( I ) D (0) () V H C H H were H () V () n V () re e Lplce rnform of e ei () n e vole v () n v () (6) (7)

5 5 Liqui level liin moe conrol 44 Replcin mrice D in (0) yiel: () H () In prcice in mo ce v () v () v() n erefore e fir wo e equion in (6) re ienicl n (6) become: () () () () () v () e mrice D of i e moel re: 0 ; 0 ; 0 ; D C B () ere i only one rnfer funcion iven lwy by (0) I expreion i: () () V H H (4) 4 CONROLLER DESIGN e cloe loop bloc irm of e SMC ree n yem i repreene in Fi Fi Cloe loop bloc irm for SMC ree n yem

6 44 Doiniţ Ciriţă e l 6 ccorin o [7] e conrol vrible u() i compoe of coninuou pr u c () n iconinuou pr u (): u() u c () u () e iconinuou pr i [7]: u K δ (5) were: i e liin funcion; e econ orer liin funcion i: e λe wi λ > 0 i lope; e i e error: e() () () () n () re e eire repecively e cul liqui ei in n e coninuou pr of e conrol vrible i [7]: () u c c λ c 0 b (6) e equion i nown in SMC e equivlen conrol proceure e conn b i []: b () () (7) e conn c 0 n c my be euce ccorin o []: c 0 ; () () c c0 (8) e conrol vrible u() i: u b () u () u () ( c λ) c () c 0 K (9) δ 5 SIMULION RESULS e n yem n liin moe conroller prmeer ue in imulion re iven in ble n ble Prmeer of e n yem β β U() 50 cm 5 cm 0 cm 0 cm V 0 ble Prmeer of SMC conroller clcule on e bi of e pproxime moel b c 0 c λ δ

7 7 Liqui level liin moe conrol 44 e rnfer funcion of e yem i: H () In Fi 8 e performnce of SMC yem n e convenionl PID yem re compre uin e performnce erm: IE (inerl of e bolue error) IE (inerl ime bolue error) ISE (inerl qure error) SMC owe beer rcin reul n PID conroller Fi Bloc irm of e SMC yem Nex e SMC conrol n flow re for iurbnce n ifferen commn inl (inuoil n rpezoil) re imule ll e imulion re performe in 00 econ ime inervl e vole (vol) n e flow re (cm ) re repreene on Y xi n e ime (econ) on X xi () Fi 4 SMC conrol () n flow re (b) for ep commn (b)

8 444 Doiniţ Ciriţă e l 8 Fi 5 PID conrol ) b) Fi 6 SMC conrol () n flow re (b) for ep commn wi iurbnce ble Comprion of performnce meure Prmeer PID SMC Selin ime Pe overo IE IE ISE ) b) Fi 7 SMC conrol () n flow re (b) for inuoil commn

9 9 Liqui level liin moe conrol 445 ) b) Fi 8 SMC conrol () n flow re (b) for rpezoil commn 6 CONCLUSIONS e liin moe conrol ecnique w implemene for nonliner ree n yem New e moel n e rnfer funcion of e pln were evelope n liin moe conroller for liqui level conrol been eine e cloe loop yem w ee wi vriou ype of inpu inl n iurbnce rou imulion SMC i ble o conrol e yem wi i robu beviour for ifferen inpu inl or prmeer vlue Compre wi PID conroller for e ep commn SMC own beer performnce for ll e inicor Furer reerc will be one in orer o perfec e propoe SMC conroller in vriou coniion n in comprion o oer ype of exiin conrol meo CKNOWLEDGMENS e wor been fune by e Secoril Operionl Prorm Humn Reource Developmen of e Miniry of Europen Fun rou e Finncil reemen POSDRU/59/5/S/95 i wor w uppore by rn of e Romnin Nionl uoriy for Scienific Reerc Prorm for reerc Spce ecnoloy n vnce Reerc SR C projec number 80/90 coe CDI ID 0 Receive on July 6 05

10 446 Doiniţ Ciriţă e l 0 REFERENCES H Delvri R Noiey Robu Inellien Conrol of Couple n WSES Inernionl Conference on uomic Conrol Moelin & Simulion Inbul urey My BJ Prv VK Jv NN Lone Dein n Implemenion of Sliin Moe Conroller for Level Conrol IOSR Journl of Elecronic n Communicion Enineerin (IOSR- JECE) pp 5 54 N B lmuiri M Zribi Sliin moe conrol of couple n Mecronic 6 7 pp E Rni S Ic J Moellin n Dein pec of PI Conroller for Couple n Proce IJC Proceein on Inernionl Conference on Innovion In Inellien Inrumenion Opimizion n Elecricl Science ICIIIOES 0 4 December 0 5 M K Kn S K Spureon Robu MIMO wer level conrol in inerconnece winn uin econ orer liin moe conrol Conrol Enineerin Prcice 4 4 pp M N Myuin M R r Z Mome Simulion of Direc Moel Reference pive Conrol on Couple-n Syem uin Nonliner Pln Moel Inernionl Conference on Conrol Inrumenion n Mecronic Enineerin (CIM 07) Mlyi My H bb S r S mr Sliin Moe Conrol for Couple-n Liqui Level Conrol Syem 0 Inernionl Conference on Fronier of Informion ecnoloy (FI) 7 9 Dec 0 pp I Holic V Veely Robu PID Conroller Dein For Couple-n Proce 8 Inernionl Conference on Proce Conrol June 4 7 rn Lomnic Slovi 0 9 C Lupu Doini Ciri Performnce Conrol for Cce Reervoir Syem Inernionl Conference on Enineerin of Moern Elecric Syem (EMES) Ore Romni June 05 pp V I Uin Vrible rucure yem wi liin moe rncion of IEEE on uomic Conrol pp 997 M jouj M bi ioui Y Rmni H Bounou Sliin Moe Conrol Of Doubly Fe Inucion Generor For Win urbine Rev Roum Sci ecn Élecroecn e Éner 56 pp B Boucib Hzzb H Gloui M K Fell I K Bouerne P Sicr Muliple-Inpu Muliple-Oupu Fuzzy Sliin Moe Conroller For Muli-Moor Syem Rev Roum Sci ecn Élecroecn e Éner 57 pp 0 0 I Gl L Vlăărenu R I Munenu Sliin Moion Conrol Wi Bon Grp Moelin pplie On Robo Le Rev Roum Sci ecn Élecroecn e Éner 60 pp