SISO Bağlantılı Tank Sisteminin Terminal ve Hızlı Terminal Kayan Mod Kontrolleri: Karşılaştırmalı Bir Performans Çalışması

Öz

Bu çalışmada, tek girişli, tek çıkışlı bir bağlı tank sistemine yönelik olarak hem bir terminal kayan kipli kontrolcü hem de hızlı terminal kayan kipli kontrolcü tasarlanmıştır. Önerilen kontrolcülerin temel unsurları, bağlı tank sistemini yöneten matematiksel modelin genel bir değerlendirmesi ile geleneksel kayan kipli kontrol yöntemi üzerinden belirlenmiştir. Geleneksel kayan kipli kontrol tasarımında, hedefe ulaşım sonsuz bir zaman alabilir. Bu sorunu aşmak ve daha verimli sonuçlar elde etmek için bir terminal kayan kipli kontrolcü tasarlanmıştır. Ayrıca, hedefe hızlı bir şekilde yaklaşmayı hedefleyen gelişmiş bir hızlı terminal kayan kipli kontrolcü tasarımı tanıtılmıştır. Bu tasarım, terminal kayan kipli kontrolcüden elde edilen bulgulara dayanmaktadır. Ardından, üç metodun elde edilen sonuçlarının karşılaştırmalı bir analizi yapılmıştır. Simülasyon sonuçları, önerilen yaklaşımın geleneksel kayan kipli kontrol yöntemlerine göre istenen sıvı seviyesini daha doğru bir şekilde düzenlemede üstün etkinliğini doğrulamaktadır.

Anahtar Kelimeler

• Bağlantılı tank sistemi
• Terminal kayan kipli kontrol
• Hızlı terminal kayan kipli kontrol
• Kayma yüzeyi
• Kararlılık analizi

Terminal and Fast Terminal Sliding Mode Controls of a SISO Coupled Tank System: A Comparative Performance

Öz

In this study, both a terminal sliding mode controller and a fast terminal sliding mode controller are devised with the aim of enhancing the stability of the liquid level within a single-input, single-output coupled tank system. The foundational elements of the proposed controllers are established through an overview of the mathematical model governing the coupled tank system, alongside the conventional sliding mode control method. In the conventional sliding mode control design, the target can be reached in infinite time. To overcome this problem and produce more efficient results, a terminal sliding mode controller has been designed. Furthermore, an advanced design for a fast terminal sliding mode controller is introduced, with the objective of achieving expedited convergence towards the target. This design extends upon the findings derived from the terminal sliding mode controller. Subsequently, a comparative analysis of the outcomes obtained from the three methodologies is conducted. Simulation outcomes corroborate the superior efficacy of the proposed approach over conventional sliding mode control methods in accurately regulating the desired liquid level.

Anahtar Kelimeler

• Coupled tank system
• Terminal sliding mode control
• Fast terminal sliding mode control
• Sliding surface
• Stability analysis

Kaynakça

1. 1. Pan, H., Wong, H., Kapila, V. & Queiroz, M.S. (2005). Experimental validation of a nonlinear backstopping liquid level controller for a state coupled two tank systemç Control Engineering Practice, 13(1), 27-40.
2. 2. Le, H.T., Lee, C.Y. & Lee, S.R. (2010). Dynamic adaptive backstepping and saturated proportional integral sliding mode control for uncertain nonlinear systems. International Journal of Precision Engineering and Manufacturing, 11(4), 527-537.
3. 3. Shamily, S., Praveena & Bhuvaneswari, N.S. (2015). Intelligent control and adaptive control for interacting system. IEEE Technological Innovation in ICT for Agriculture and Rural Development (TIAR).
4. 4. Kadri, M.B. (2017). Model-free fuzzy adaptive control for MIMO systems. Arabian Journal for Science and Engineering, 42, 2799-2808.
5. 5. Geylani, O. & Ata, B. (2022). Adaptive sliding mode control of a coupled tank system. 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), IEEE.
6. 6. Almutairi, N.B. & Zribi, M. (2006). Sliding mode control of coupled tanks. Mechatronics, 16, 427-441.
7. 7. Khan, M.K. & Spurgeon, S.K. (2006). Robust MIMO water level control in interconnected twin tanks using second-order sliding mode control. Control Engineering Practice, 14, 375-386.
8. 8. Abbas, H., Asghar, S. & Qamar, S. (2012). Sliding mode control for coupled-tank liquid level control system. 10th International Conference on Frontiers of Information Technology, 4, 4.

9. 9. Malmborg, J. & Eker, J. (1997). Hybrid control of a double tank system. Proceedings of the 1997 IEEE International Conference on Control Applications.
10. 10. Dharamniwas, Ahmad, A., Redhu, V. & Gupta, U. (2012). Liquid level control by using fuzzy logic controller. International Journal of Advances in Engineering & Technology, 4(1), 537-549.
11. 11. Meng, X., Yu, H., Wu, H. & Xu, T. (2020). Disturbance observer-based integral backstepping control for a two-tank liquid level system subject to external disturbances. Mathematical Problems Engineering, 1-22.
12. 12. Yasar, O. (2024). Climbing with robots: a second order controller design for accurate wheel motion positioning. Cukurova University Journal of the Faculty of Engineering, 39(1), 175-187.
13. 13. Qureshi, M.S., Das, S., Swarnkar, P. & Gupta, S. (2018). Design and implementation of sliding mode control for uncertain systems. Materials Today: Proceedings, 5(2), Part 1, 4299- 4308.
14. 14. Utkin, V.I., Young, K.D. & Özgüner, Ü.A. (1996). Control engineer’s guide to sliding mode control. IEEE Transactions.
15. 15. Sabanovic, A. (2011). Variable structure systems with sliding modes in motion control. IEEE Transactions on Industrial Informatics, 7(2), 212- 223.
16. 16. Suryawanshi, P.V., Shendge, P.D. & Phadke, S.B. (2016). A boundary layer sliding mode control design for chatter reduction using uncertainty and disturbance estimator. International Journal of Dynamics and Control, 456-465.
17. 17. Wang, S., Hou, L., Dong, L. & Xiao, H. (2011). Adaptive fuzzy sliding mode control of uncertain nonlinear SISO systems. 2011 International Conference on Advances in Engineering, Procedia Engineering, 24, 33-37.
18. 18. Yorgancıoğlu, F. & Redf, S. (2019). Fast nonsingular terminal decoupled sliding-mode control using time-varying sliding surfaces. Turkish Journal of Electrical Engineering and Computer Sciences, 27(3), 1922-1937.
19. 19. Zhang, Q., Yu, H. & Wang, X. (2013). Integral terminal sliding mode control for a class of nonaffine nonlinear systems with uncertainty. Mathematical Problems Engineering, 1-11.
20. 20. Burange, P.R., Parvat, B.J. & Kadu, C.B. (2015). Design of TSMC for coupled tank process. International Conference on Energy Systems and Applications.
21. 21. Chen, Z., Yuan, X., Wu, X., Yuan, Y. & Lei, X. (2019). Global fast terminal sliding mode controller for hydraulic turbine regulating system with actuator dead zone. Journal of the Franklin Institute-engineering and Applied Mathematics, 356(15), 8366-8387.
22. 22. Ghogare, M.G., Patil, S.L., Patil, C.Y. & Chaudhari, L.R. (2023). Experimental application of global fast terminal sliding mode controller to TITO system. Ecti Transactions On Electrical Engineering, Electronics, And Communications, 21(2), 249727.
23. 23. Ghogare, M.G., Patil, S.L. & Patil, C.Y. (2022). Experimental validation of optimized fast terminal sliding mode control for level system. ISA Transactions, 26, 486-497.
24. 24. Kayisli, K., Tuncer, S. & Poyraz, M. (2008). Active power factor correction using a sliding mode controller. Pamukkale University Journal of Engineering Science, 14(3), 253-260.
25. 25. Sancak, C., Coskun, M.Y. & Itik, M. (2016). Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator. Pamukkale University Journal of Engineering Sciences, 22(8), 629-635.
26. 26. Shtessel, Y., Edwards, C., Fridman, L. & Levant, A. (2014). Sliding mode control and observation. Control Engineering. New York: Springer New York.
27. 27. Ata, B. (2020). Bir top ve bir çubuk sisteminin ayrıklaştırılmış geri adımlamalı kayan kipli kontrolü. Cukurova University Journal of the Faculty of Engineering, 35(3), 659-668.
28. 28. Zhongqiang, W.U. (2016). Terminal sliding mode control of MIMO linear time delay systems. 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016).
29. 29. Parvat, B.J. & Patre, B.M. (2017). Fast terminal sliding mode controller for square multivariate processes with experimental application. International Journal of Dynamics and Control, 5, 1139-1146.
30. 30. Amirkhani, S., Mobayen, S., Iliaee, N., Boubaker, O. & Hosseinnia, H. (2019). Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications. International Journal of Advanced Robotic Systems, 1-10.
31. 31. Fang, Q., Mao, P., Shen, L. & Wang, J. (2022). A global fast terminal sliding mode control for trajectory tracking of unmanned aerial manipulation. Measurement and Control, 56(3-4), 763-776.
32. 32. Yu, X. & Zhihong, M. (2002). Fast terminal sliding-mode control design for nonlinear dynamical systems. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 49(2), 261-264.
33. 33. Song, Y. & Su, J. (2022). A unified lyapunov characterization for finite time control and prescribed time control. International Journal of Robust and Nonlinear Control, 33, 2509-2949.