WELCOME TO:

SACCITOS DAY

4 COUPLED TANKS CONTROL

Goals:

Apply diverse control methods to our 4 tanks model, such

as PID, and GPC(Generalized Predictive Control).

Analyze the interaction of our system.

Create a simulation model in SIMULINK.MATLAB in order

to manipulate and analyze our 4 tanks system.

Learn to read and interpret the results of our simulation

and optimize it.

Predict and control the future behavior of our model and

prevent the instability.

APPLICATION
Sewage Treatment
Textile Industry
Dairy Industry

Sewage Treatment

Coupled tanks are used in the sewage treatment

industry to apply the different phases of cleaning to
the water.
The sewage goes amongst various specialized tanks
as the homogenization tank, selector tank,
biodigestor, bioreactor, etc.

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.

SISO: Simple Input Simple Output

SISO systems have only one input and one
output, we can see this in the control of one tank,
where the process simulates the tank.
The process is being affected by the controller,
and is giving an output, that is our measured
variable y, in this case the caudal.

MIMO: Multiple Input Multiple

Output
MIMO systems have 2 or more inputs and 2 or
more outputs. In our project we have a MIMO
system , with 4 entrys that are the caudal given
by the pumps, and 4 outputs that are the caudal
of each tank.

The realization of the model

In
order to find out the model of our system, we
use two principles
Conservation of the mass:

Conservation of the energy:

 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

respective equations we got the non-linear model

of the tanks:
T1
T2
T3
T4

 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

Show the levels of tanks voltages indicated

for each pump:

In this simulation, we can obtain the values of the heights at

steady, where we have the following values:

h10 3.935cm

h20 5.84cm
h30 3.77cm
h40 2.473cm

Simulink Implementation of Linear

System

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

In the figure below, we see the 4 tanks system coupled to

the linear system

NO LINEAL

LINEAL

h2o

5.84 cm.

5.1635 cm.

h4o

2.473 cm.

2.8075cm.

State Variables
Representation

X (t) A* X(t) B* u(t)

Y(t) C* X(t) D* u(t)

Laplace transform

s* X(s) A* X(s) B* u(s) (sI A) * X(s) B* u(s)

X(s) (sI A) 1 * B * u ( s ).....( )

Y(s) C* X(s) D* u(s)......( )

1

Y(s) C *(sI A) * B * u ( s) D* u(s)

Finally

Y(s) * u(s) 1 C *(sI A) 1 * B D

T ( S ) C *(sI A) 1 * B

Finding the values of the matrix A

and B:

The matrices A and B are:

0
0.545
0
0.573

0.0279

0.0687
0
0

A
0.545
0
0.602 0

0
0
0.06 0.141

The matrix C are:

01 00

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

0.05s 3 0.063s 2 0.009678 s 0.0002523

4
s 1.401s 3 0.3496 s 2 0.02625s 0.0002825

In steady state, when

s=0:
1.2337 0.5678
T

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

CN is a low value whats means by my system has few

interactions.

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:

Parameter for T11 PID:

K=0.5*Kc = 0.8714
Ti= 0.8*Tc =66.136 seg
Td=0.125*Tc=10.33 seg

For T22:

(0.063w2 0.0002523) (0.05w3 0.009678w) j

T22 4
( w 0.3496w2 0.0002825) (1.401w3 0.02625w) j

1.401w3 0.02625w 0
When:

Parameter for T22 PID :

K=0.5*Kc = 1.563
Ti= 0.8*Tc =36.717 seg
Td=0.125*Tc=5.737 seg