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IDL - International Digital Library Of

Technology & Research


Volume 1, Issue 6, June 2017 Available at: www.dbpublications.org

International e-Journal For Technology And Research-2017

Analysis and Modeling of PID and MRAC


Controllers
for a Quadruple Tank System Using Lab view
Prof.Krishnamohan.V.S.S Vishal Kumar
Assistant Professor Post Graduate Scholar,MECS
Dept. of EIE,DSCE,Bengaluru-78 DSCE,Bengaluru-78
Krishnamohan60@gmail.com vishiinani@gmail.com

AbstractMultivariable systems exhibit complex dynamics because of the interactions between input variables and
output variables. In this paper an approach to design auto tuned decentralized PI controller using ideal decoupler and
adaptive techniques for controlling a class of multivariable process with a transmission zero. By using decoupler, the
MIMO system is transformed into two SISO systems. The controller parameters were adjusted using the Model
Reference Adaptive reference Control. In recent process industries, PID and MRAC are the two widely accepted control
strategies, where PID is used at regulatory level control and MRAC at supervisory level control. In this project,
LabVIEW is used to simulate the PID with Decoupler and MRAC separately and analyze their performance based on
steady state error tracking and overshoot.

KeywordsMRAC,PID,MIMO,Quadruple Tank System,Labview.

I. INTRODUCTION

Model reference adaptive control (MRAC) has non-minimum phase behavior. (i.e., right half plane
become a main research topic during the last few transmission zeros).
decades and unlike many other advanced techniques, Model predictive control techniques have been used
it has been successfully applied in industry. It is in the process industry for nearly 30 years and are
accepted that the reason for this success is the ability considered as methods that give good performance
of MRAC to optimally control multivariable system and are able to operate during long periods without
under various constraints. The control of liquid level almost any intervention. However the main reason
in tanks and flow between tanks is a basic problem in that model predictive control is such a popular
process industries. Industries face a huge number of control technique in modern industry is that it is the
interacting control loops. Most of the large and only technique that allows system restrictions to be
complex industrial processes are naturally Multi taken into consideration. The majority of all
input Multi Output (MIMO) systems. MIMO systems industrial processes have nonlinear dynamics,
are more complex to control due to inherent however most MPC applications are based on linear
nonlinearity and due to existence of interactions models. These linear models require that the original
among input and output variables. Control of non- process is operating in the neighborhood of a
linear MIMO process is challenging task. Most of the stationary point. However there are processes that
industry faces control problems that are non-linear cant be represented by a linear model and require the
and have manipulated and controlled variables. It is use of nonlinear models. Working with nonlinear
very common for models of industrial processes to models give rise to a wide range of difficulties such
have significant uncertainties, strong interactions and as, a non convex optimization problem, different

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IDL - International Digital Library Of
Technology & Research
Volume 1, Issue 6, June 2017 Available at: www.dbpublications.org

International e-Journal For Technology And Research-2017


approach to guarantee stability and in general a slow PID controllers for each loop. Finally, performance
process. of the designed controller is measured by the
simulation.

II.LITERATURE SURVEY A quadruple tank apparatus has been developed in


many universities for use in undergraduate chemical
Deepa[1] proposed a Multivariable process for a four engineering laboratories. The control experiment
tank system with dead time and without dead time presented by Tomi Roinila[4] illustrates the
process is demonstrated in this paper. The model can performance limitations for multivariable systems
capture the essential dynamics of a unit. Design of a posed by ill-conditioning, right half plane
Discrete time Model Predictive Contorl is discussed transmission zeros, and model uncertainties. The
based on this model. The control vector is optimized experiment is suitable for teaching how to select
in the design of predictive control using MATLAB. among multiloop, decoupling, and fully multivariable
These results are compared with de-centralized PI control structures. A number of these reports are,
controller. The simulation results shows that the however, based on erroneous mathematical modeling
method is easy to apply and can achieve acceptable and thus resulting incorrect results. Obviously all
performance. these reports refer originally to the one and same
paper which includes this incorrect part of modeling.
In Karl Henrik Johansson[2] a novel multivariable The error is significant if the pumps used in the
laboratory process that consists of four experiment are not identical. If they are identical the
interconnected water tanks is presented. The error is, however, negligible. Mathematical
linearized dynamics of the system have a derivation and simulation results are provided to
multivariable zero that is possible to move along the give a corrected model and illustrate the effect of the
real axis by changing a valve. The zero can be placed widespread incorrect modeling.
in both the left and the right half-plane. In this way
the quadruple-tank process is ideal for illustrating The quadruple-tank process has been widely used in
many concepts in multivariable control, particularly control literature to illustrate many concepts in
performance limitations due to multivariable right multivariable control, particularly, performance
half-plane zeros. The location and the direction of the limitations due to multivariable right half-plane
zero have an appealing physical interpretation. zeros. The main feature of the quadruple-tank process
Accurate models are derived from both physical and is the flexibility in positioning one of its
experimental data and decentralized control is multivariable zeros on either half of thes
demonstrated on the process. plane.Modeling is one of the most important stages in
the design of a control system. Although, nonlinear
Most of the large and complex industrial processes tank problems have been widely addressed in
are naturally Multi Input Multi Output systems. classical system dynamics, when designing
MIMO systems in comparison with SISO systems are intelligent control systems, the corresponding model
difficult to control due to inherent nonlinearity and for simulation should reflect the whole characteristics
due to the existence of interactions among input and of the real system to be controlled. If assumptions are
output variables. Control of nonlinear MIMO process made during the development of the model, it may
is cumbersome because nonlinear process does not lead to the degraded performance.In [5] this paper a
obey superposition and homogeneity property.[3] in quadruple tank system is modeled using soft
this paper Nagammai presents an implementation of computing techniques such as neural, fuzzy and
decentralized PID controller and pole placement neuro-fuzzy. The simulation results are presented to
controller to quadruple tank process with two input analyze the performance of soft computing
and two output model. The process is firstly techniques. The ANFIS model is shown to achieve an
decoupled through a stable simplified decoupler to improved accuracy compared to other soft computing
attain the benefits of decentralized control models, based on Root Mean Square Error values.
techniques. Then, a single input single output PID
controller tuning method is used to determine optimal

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IDL - International Digital Library Of
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Volume 1, Issue 6, June 2017 Available at: www.dbpublications.org

International e-Journal For Technology And Research-2017


III.METHODOLOGY

3.1 Block Diagram

------------------

- (3)

From Eq (2),
Figure 1. Block Diagram.

The basic block diagram of MRAC system is shown


in the Figure.1. As shown in the figure,ym(t) is the -----------------
output of the reference model and yet) is the output
of the actual plant and difference between them is -- (3)
denoted by e(t).

e(t) = yet) - ym(t) ----------------- Where, the partial derivative term is called as the
sensitivity derivative of the system. This term
-- (1) indicates how the error is changing with respect to
the parameter . eq.(2) describes the change in the
parameter with respect to time so that the cost
MIT rule was first developed in 1960 by the function J() can be reduced to zero. Here y
researchers of Massachusetts Institute of Technology represents the positive quantity which indicates the
(MIT) and used to design the autopilot system for adaptation gain of the controller. Thefirst order
aircrafts. MIT rule can be used to design a controller process the adaptation laws are framed based on the
with MRAC scheme for any system. In this rule, a MIT rule as follows:
cost function is defined as,
For process,
----------------

--- (2)

------------
where e is the error between the outputs of plant and
model, is the adjustable parameter. Parameter is -------------- (4)
adjusted such that the cost function can be minimized
to zero. For this reason, the change in the parameter
is kept in the direction of the negative gradient of J,
ie

For the model,

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International e-Journal For Technology And Research-2017

-------------------

(5)

For controller,

-----------------------------

(6)
Fig 2.Minimum Phase Circuit - MRAC

Output:
IV. SIMULATION RESULTS AND

IMPLEMENTATION

In order to analyze the performance of the proposed


controllers, the system is simulated using
LABVIEW.The LabVIEW Control and Simulation
Module contains a block diagram based environment
for simulation of linear and nonlinear continuous-
time and discrete-time dynamic systems. Many
simulation algorithms (i.e. numerical methods for
solving the underlying differential equations) are
available, e.g. various Runge-Kutta methods. The
mathematical model to be simulated must be
represented in a simulation loop, which in many ways
is similar to the ordinary while loop in LabVIEW. Fig 3.Output Response of Minimum Phase Circuit -
We can make the simulation run as fast as the
computer allows, or we can make it run with a real or MRAC
scaled time axis, thus simulating real-time behaviour,
with the possibility of the user to interact with the 4.2 MRAC for Non minimum phase circuit design
simulated process. The simulation loop can run in in Labview
parallel with while loops within the same VI.

4.1 MRAC with minimum phase circuit design in


Labview

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International e-Journal For Technology And Research-2017


Fig 4.Non Minimum Phase Circuit - MRAC

Output:

Fig 7.Output Response of Minimum Phase Circuit - PID

4.4 PID for Non minimum phase circuit design in


Labview

Fig 5.Output Response of Non Minimum Phase


Circuit - MRAC

4.3 PID with minimum phase circuit design in


Labview

Fig 8. Non Minimum Phase Circuit - PID

Output:

Fig 6. Minimum Phase Circuit - PID

Output:

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Technology & Research
Volume 1, Issue 6, June 2017 Available at: www.dbpublications.org

International e-Journal For Technology And Research-2017


implementation of Model Reference Adaptive
Control in Quadruple Tank Setup can be done.

REFERENCES

[1]. Level Control of Quadruple tank process using


Discrete time Model Predictive Control,By
T.Deepa, P.Lakshmi, S.Vidya in 2011 3rd
International Conference on Electronics Computer
Technology (ICECT).

[2]. The Quadruple-Tank Process: A Multivariable


Laboratory Process with an Adjustable Zero,By Karl
Henrik Johansson in 456 IEEE TRANSACTIONS
Fig 9.Output Response of Non Minimum Phase Circuit ON CONTROL SYSTEMS TECHNOLOGY, VOL.
- PID 8, NO. 3, MAY 2000

[3]. "Design of State Feedback Controller for a


Quadruple Tank Process",By S. Nagammai,S.Latha,
VI. CONCLUSION AND FUTURE SCOPE N.Gowtham Kannan, R.S.Somasundaram,B.Prasanna
- in International Journal of Research in Advent
The Quadruple Tank Process is modeled and Technology, Vol.3, No.8, August 2015,E-ISSN:
simulation is done with conventional PID controller 2321-9637
and MRAC controller. The transfer function matrix is
obtained for the minimum phase and non-minimum [4]. Corrected Mathematical Model of Quadruple
phase using the corresponding operating conditions. Tank Process , By Tomi Roinila, Matti Vilkko, Antti
PID controller was simulated for minimum phase and Jaatinen in Proceedings of the 17th World Congress
non-minimum phase with step input. Model The International Federation of Automatic Control
Reference Adaptive Control is designed based on the Seoul, Korea, July 6-11, 2008.
state space implementation in LabVIEW and tested
for minimum phase and non-minimum phase [5]. Modeling of Quadruple Tank System Using
condition. MRAC performs better than PID in terms Soft Computing Techniques,By R.Suja Mani Malar,
of steady state error and overshoot. The PID T.Thyagarajan - in European Journal of Scientific
controller failed to control the system in achieving Research ISSN 1450-216X Vol.29 No.2 (2009),
the desired set point in the case of Non-minimum pp.249-264.
phase behavior. MRAC was able to control both
minimum phase and non-minimum phase modes of [6].
behavior. https://www.projectsatbangalore.com/Download/MR
AC.pdf
Future work of this project can be extended by using
MRAC with kalman filter. The real-time

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