Abstract
This paper describes a simulator for the three-tank system process named Sim3Tanks. This process presents a hybrid and nonlinear behavior and it is subject to different kinds of perturbations, faults, and noises. Sim3Tanks was developed in the MATLAB/Simulink environment and can be used via graphical user interface, Simulink block diagram, and command-line. Sim3Tanks is suitable for studying and developing process control, fault detection and isolation, and fault tolerant control strategies for nonlinear multi-variable systems. In order to illustrate the potential of Sim3Tanks, four scenarios are discussed throughout this paper: PID control strategies for the level and flow rates; a fault detection algorithm based on unscented Kalman filter and generalized likelihood ratio; a fault isolation system based on Bayesian networks; and a control reconfiguration based on static virtual actuator and sensor. A video demonstration of Sim3Tanks can be found at https://github.com/e-controls/Sim3Tanks
Highlights
Hybrid systems have their dynamics described by a mix of continuous and discrete-event variables [1]–[3]
Most industrial processes involve a top layer with abstract protocols, activation and coordination algorithms, which typically handle discrete data, and a bottom layer with control algorithms of concrete devices, where the control laws are continuous or their resulting signals must be translated to continuous signals
THREE-TANK SYSTEM SIMULATOR Sim3Tanks was developed in the MATLAB/Simulink environment and can be used via three different interfaces: graphical user interface (GUI), Simulink block diagram, and MATLAB script
Summary
Hybrid systems have their dynamics described by a mix of continuous and discrete-event variables [1]–[3]. Industrial process control involves variables as pressure, temperature, level, and flow rate In this context, the three-tank system benchmark [9], which has level and flow rate as process variables, has been widely used to study and develop novel techniques and solutions for process control [10], [11], fault detection and isolation (FDI) [12], and hybrid systems modeling [13], since it provides flexible and complex dynamics that can be reconfigured to present different operation modes. Sim3Tanks was developed using the MATLAB/Simulink tool, version 9.2.0.538062 (R2017a), and it allows the behavior analysis of the three-tank system for different operation modes with occurrence of faults and disturbances This simulator allows the user to implement and simulate any control strategy as well as fault detection and isolation algorithms. Several strategies of process control (fault tolerant or not) and monitoring can be evaluated and compared separately or jointly
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