PI+Feed Forward Controller Tuning Based on Genetic Algorithm for Liquid Level Control of Coupled-Tank System

Yıl 2021, , 1014 - 1026, 01.06.2021

Mehmet Yılmaz , Kaan Can , Abdullah Başçi

https://doi.org/10.21597/jist.819389

Cited By: 2

Öz

One of the main problems in the control of the coupled tank liquid level systems, which are used frequently in water treatment systems and petrochemical industry today, is to determine the water flow rate between the two tanks. In this paper, proportional-integral +feed forward control method (PI+FF), whose parameters are determined using genetic algorithm (GA), one of the heuristic optimization methods, is used to solve this problem. In addition, in order to show the performance of the GA-based controller, the PI+FF controller that PI parameters obtained using the Ziegler-Nichols (Z-N) method are applied to the same system and the real-time application results of both controllers are compared. The experimental results showed that the controller, which parameters are determined by GA, reached the desired reference value with less settling time and less overshooting when it compared to the Z-N method based controller, and also it has given faster response to sudden changes in the system.

Anahtar Kelimeler

Liquid level systems, Ziegler-Nichols method, Genetic Algorithm, PI controller

İkili Tank Sisteminin Sıvı Seviye Kontrolü için Genetik Algoritma Tabanlı PI+İleri Besleme Kontrolcü

Öz

Günümüzde su arıtma sistemlerinde ve petrokimya endüstrisinde sıklıkla kullanılan ikili tank sıvı seviye sistemlerinin kontrolündeki en temel problemlerden biri iki tank arasındaki sıvı akış oranının belirlenmesidir. Bu çalışmada bu problemi gidermek amacıyla oransal-integral (PI) + ileri besleme (FF) kontrolcünün (PI+FF) parametreleri sezgisel optimizasyon yöntemlerinden genetik algoritma (GA) kullanılarak belirlenmiş ve ikili tank sistemine uygulanmıştır. Ayrıca GA tabanlı kontrolcünün performansını göstermek amacıyla Ziegler-Nichols (Z-N) yöntemi kullanılarak parametreleri elde edilen PI+FF kontrol yöntemi aynı sisteme uygulanmış ve her iki kontrolcünün gerçek zamanlı uygulama sonuçları karşılaştırılmıştır. Deneysel sonuçlar, parametreleri GA ile belirlen kontrolcünün Z-N yöntemi kullanılarak elde edilen kontrolcüye oranla istenilen referans değere daha küçük yerleşme zamanı ve daha az yüzde aşım ile ulaştığı ve ayrıca sistemde meydana gelen ani değişimlere daha hızlı tepki verdiği gözlemlenmiştir.

Anahtar Kelimeler

Sıvı seviye sistemleri, Ziegler-Nichols yöntemi, Genetik Algoritma, PI kontrolör

Kaynakça

• Abiodun FT, Habeeb BS, Mikail OO, Wahab NA, 2013. Control of a Two Layered Coupled Tank: Application of IMC, IMC-PI and Pole-Placement PI controllers. International Journal of Multidisciplinary Sciences and Engineering, 4(11): 1-6.
• Başçi A, Derdiyok A, 2016. Implementation of an Adaptive Fuzzy Compensator for Coupled Tank Liquid Level Control System, Measurement, 91(2016):12-18.
• Çelebi M, Başçi A, 2016. Fractional Order Control of A Sinusoidal Output Inverter. Istanbul University- Journal of Electrical and Electronics Engineering, 16(2): 3037-3042.
• John JA, Jaffar NE, Francis RM, 2015. Modelling and Control of Coupled Tank Liquid Level System using Backstepping Method. International Journal of Engineering Research & Technology, 4(6): 667-671.
• Khalkhali A, 2016. Control of Two Tank System with Genetic Algorithm. Atatürk University Graduate School of Natural and Applied Sciences, Master Thesis (Printed).
• Katal N, Kumar P, Narayan S, 2014. Optimal PID Controller for Coupled-Tank Liquid-Level Control System Using Bat Algorithm. 2014 International Conference on Power, Control and Embedded Systems (ICPCES), Allahabad, December 26-28, 2014, pp: 1-4.
• Lian ST, Marzuki K, Rubiyah Y,1998. Tuning of a Neuro-Fuzzy Controller by Genetic Algorithms with an Application to a Coupled-Tank Liquid-Level Control System. Engineering Applications of Artificial Intelligence, 11(4): 517-529.
• Liang L, 2011. The Application of Fuzzy PID Controller in Coupled-Tank Liquid-Level Control System. 2011 International Conference on Electronics, Communications and Control (ICECC), Ningbo, September 9-11, 2011, pp: 2894-2897.
• Mohideen KA, Saravanakumar G, Valarmathi K, Devaraj D, Radhakrishnan TK, 2013. Real-Coded Genetic Algorithm for System Identification and Tuning of a Modified Model Reference Adaptive Controller for a Hybrid Tank System. Applied Mathematical Modelling, 37(6): 3829-3847.
• Nawi SM, Abdalla AN, Ramli MS, 2011. Improved Coupled Tank Liquid Levels System based on Hybrid Genetic-Immune Adaptive Tuning of PI Controller. International Conference on Electrical, Control and Computer Engineering 2011 (InECCE), Pahang, June 21-22, 2011, pp: 247-252.
• Ogata K, 2010. Modern Control Engineering, Prentice Hall, New Jersey.
• Sekban HT, Can K, Başçi A, 2020. Model-based Dynamic Fractional-order Sliding Mode Controller Design for Performance Analysis and Control of a Coupled Tank Liquid-level System. Advances in Electrical and Computer Engineering, 20(3): 93-100.
• Singh SK, Katal N, Modani SG, 2014. Multi-Objective Optimization of PID Controller for Coupled-Tank Liquid-Level Control System Using Genetic Algorithm. Proceedings of the Second International Conference on Soft Computing for Problem Solving, New Delhi, December 28-30, 2014, pp: 59-66.
• Tijjani AS, Shehu MA, Alsabari AM, 2017. Performance Analysis for Coupled - Tank System Liquid Level Control Using MPC, PI and PI-plus-Feedforward Control Scheme. J Robotics Autom, 1(1): 42-53.
• Quanser manufacturer, Two Tank Manuel, 2005.