Adaptive Disturbance Attenuation Control of Two Tank Liquid Level System With Uncertain Parameters Based on Port-Controlled Hamiltonian

Tao Xu,Jinpeng Yu,Haisheng Yu,Xiangxiang Meng

doi:10.1109/access.2020.2979352

Tao Xu, Jinpeng Yu + Show 2 more

Open Access

https://doi.org/10.1109/access.2020.2979352

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Abstract

This paper investigates the problem of the level control for two tank liquid level system(TTLLS) with parametric uncertainties and lumped disturbances. It is achieved by a novel adaptive disturbance attenuation control method based on the Port-Controlled Hamiltonian (PCH) model. Firstly, the model of TTLLS is established according to the mass balance principle and the PCH model is achieved. Based on the PCH model, the PCH controller of TTLLS is designed and the stability of the closed-loop system is ensured. To reduce the impact of disturbances and unmeasurable parameters, adaptive L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> disturbance attenuation technology is integrated. To achieve the robustness and simplify the calculation, the parameter estimation vector is designed by splitting complex mathematical expressions. Utilizing the properties of the PCH method and merits of the adaptive disturbance attenuation technology, the integrated controller achieves good performance. Moreover, simulation and experimental results are given to show the effectiveness and strong robustness of the proposed control algorithm.

Highlights

Industrial applications of liquid level control exist widely in many fields, such as nuclear power generation plants, food processing, chemical processing, paper production, spray coating and water treatment facilities
Liquid level control system follows the laws of hydromechanics, and has typical nonlinearity, constrained multivariable, strong coupling, large time delay and great inertia
We develop a new adaptive controller for two tank liquid level system (TTLLS), as a experimental plant, which combines the Port-Controlled Hamiltonian (PCH) method with adaptive L2 approach

Summary

INTRODUCTION

Industrial applications of liquid level control exist widely in many fields, such as nuclear power generation plants, food processing, chemical processing, paper production, spray coating and water treatment facilities. Error (RISE) control [12], active disturbance rejection adaptive control (ADRAC) [13], fuzzy control [14], predictive control[15], sliding mode control [16], [17], state estimation [18] and fractional order method [19], [20] For these industrial safety-critical systems, lumped disturbances and parametric uncertainty should be considered to avoid catastrophic damage, because even a small variation can result in undesired system behavior and instability. We develop a new adaptive controller for two tank liquid level system (TTLLS), as a experimental plant, which combines the PCH method with adaptive L2 approach.

PCH SYSTEM

L2 GAIN DISTURBANCE ATTENUATION CONTROL IN THE PARAMETERS KNOWN CONDITION

CONCLUSION