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SACCITOS DAY
Goals:
APPLICATION
Sewage Treatment
Textile Industry
Dairy Industry
Sewage Treatment
Textile Industry
Level control is very important in the Textile
Industry, they use it to control the steam between
the process tanks, that is essential to the
processes like: ironing, gumming, bleaching,
washing and dyeing of the clothing they produce.
Dairy Industry
In the big industries, the process of making ice
cream uses coupled tanks, they separate the
ingredients like water, milk, flavors in tanks that
later will be given to the blender machine and get
the different types of ice cream.
What is a model?
A model is a simplified representation of a system
that relate the outputs variables with the entry
variables. Models are designed to understand,
analyze and control the systems behavior.
What is a system?
A system is a set of elements with a common
objective, where those elements are interrelated.
We are reviewing now the SISO and MIMO
systems.
We
assume the entrance to the tanks as zero
From the filling and emptying of tanks equations we
have:
=
Where
=Constriction factor
Ka=Converter factor
A=Entry area
a=Output area
Q=Caudal
Then,
based on the system, and applying the
To
simplify the model we realize a Taylor
linearization:
T1
T2
T3
T4
)
Now
the converter factor is applied to get the
outputs on centimeters:
T1
T2
T3
T4
Implementation in Simulink
Assume the following values in some variables, such as:
u1 = 10 (V)
u2 = 8 (V)
g = 9.81 m / s2; X = 1; A = 200 cm2
a1 = 0.5 cm2; a2 = 1.5 cm2; a3 = 1 cm2; a4 = 2 cm2; a13 =
2cm2
Non-linear model of the
tanks
Tank 1
Tank 2
Tank 3
Tank 4
h10 3.935cm
h20 5.84cm
h30 3.77cm
h40 2.473cm
We have to assign the values given for the pipes, tank area and values of
the
pumps.
All valves
are open for all tanks, including tank valve 1
and
One3.observation that can be made of all tanks is that the
linear system now depends on only one input and one
output, ie, no longer is a MIMO system, but of a SISO
system.
Values for each
variable
Variable
Valor
Unidades
u1o
10
Volts
u2o
Volts
h1o
3.935
Cm.
h2o
5.84
Cm.
h3o
3.77
Cm.
h4o
2.473
Cm.
200
Cm2.
a1
0.5
Cm2.
a2
1.5
Cm2.
a3
Cm2.
a4
Cm2.
a13
Cm2.
0.4
No units
0.7
No units
0.3
No units
0.6
No units
9.81
Cm./seg2.
Tank 1
Tank 2
Tank 3
Tank 4
NO LINEAL
LINEAL
h2o
5.84 cm.
5.1635 cm.
h4o
2.473 cm.
2.8075cm.
State Variables
Representation
Laplace transform
0.0279
0.0687
0
0
A
0.545
0
0.602 0
0
0
0.06 0.141
0 0 01
0 0.033
0.058 0
0.025 0
0 0.05
T11 T12
T
T
T
21 22
0.058s 3 0.06889 s 2 0.005663s 8.273*10 5
T11 4
s 1.256 s3 0.1727 s 2 0.007234s 6.706*10 5
T12
0.0015s 0.0007755
s 3 1.26 s 2 0.172 s 0.002003
T21
0.0009207 s 0.0005543
s3 1.188s 2 0.09108s 0.0009762
T22
0.3871
0.8932
Matrix RGA:
RGA=Tf0.*inv(Tf0)'
eval (RGA)
1.2491 0.2491
0.2491 1.2491
RGA
From RGA see that the best combination, since it has less
interaction
u1 y2
u2 y1
Condition Number
cond (Tf0)
eval (ans)
CN = 2.809
Conclusion:
From the values of CN and RGA matrix, we can deduce that for
tuning our system, simply take the values of T11 and T22 to find in
this way our PIs, due to little interaction having my system.
Tuning of PID's
For T11:
0.058s 3 0.06889 s 2 0.005663s 8.273*10 5
T11 4
s 1.256 s3 0.1727 s 2 0.007234 s 6.706*10 5
Replacing when S = wj
(0.06889 w2 8.273*105 ) (0.058w3 0.005663w) j
T11 4
( w 0.1727 w2 6.706*10 5 ) ( 1.256 w3 0.007234 w) j
1.256 w3 0.007234 w 0
When:
K=0.5*Kc = 0.8714
Ti= 0.8*Tc =66.136 seg
Td=0.125*Tc=10.33 seg
For T22:
1.401w3 0.02625w 0
When:
K=0.5*Kc = 1.563
Ti= 0.8*Tc =36.717 seg
Td=0.125*Tc=5.737 seg