The nonlinear controlled system consists of three plexiglass cylinders T1, T2 and T3 with the cross-sectional area A which are interconnected in series by two connecting pipes. The liquid (distilled water) leaving T2 is collected in a reservoir from which pumps 1 and 2 supply the tanks T1 and T2. All three tanks are equipped with piezo-resistive pressure transducer for measuring the level of the liquid. A digital controller controls the flow rate Q1 and Q2 such that the levels in the tanks T1 and T2 can be preassigned independently. The level in tank T3 is always a response which is uncontrollable. The connecting pipes and the tanks are additionally equipped with manually adjustable valves and outlets for the purpose of simulating clogs as well as leaks.
The documentation of the base model DTS200 includes sections for assembly and start-up and the technical data.
The Three-Tank-System DTS200 qualifies for use in research projects in nonlinear control and fault diagnosis. Using a prototype of the DTS200, researchers in the department of measurement and control at the University of Duisburg have successfully tested methods of nonlinear decoupling and model based fault diagnosis.
For such advanced research projects the following options are available:
The Option 200-02 extends the basic version of the DTS200 by a plug-in card for a PC with ISA slot. The associated practical course program running under WINDOWS (Win 3.1/Win 95) is designed for engineering student laboratories or demonstrations. The adjustment of controller parameters, the determination of characteristics or the recording of step responses with respect to set-point changes or disturbances can be selected by means of a menu. The graphic ouput of recorded data may be sent to a window. Its content may be printed, saved as a WMF file or copied into the clipboard.
The documentation is extended by sections for the theoretical background and the mathematical model of the plant as well as guidelines for the practical course with solutions. The described laboratory experiment is suitable for students at all levels of process control engineering.
With the option 200-03 a standard controller program in C++/Pascal-Source in combination with a library of PC Input/Output routines is available. The controller program can be modified by the user for research purposes. The Input/Output routines contain among other things the driver for the A/D-D/A converter card which come with option 200-02. The range of functions and operating possibilities of the standard controller program is equivalent to the above mentioned practical course program. The Borland C++ compiler V4.52 as well as Delphi V1.0 are required.
An electrical disturbance-module (option 200-05) allows the simulation of eight different faults affecting the sensors, the plant and the actuator. For the three sensors total failures can be simulated by switches while scaling errors can be adjusted by potentiometers. A variation of the actuator amplification can be achieved by attenuating the control signals for the two pumps. The attenuation can be adjusted using potentiometers. The last manipulations simulate two further component failures besides the mentioned clogs and leaks.
For own developments with the laboratory experiment "Three-Tank-System DTS200" the following extension kits are available:
- Option 200-06a Electrical control valve as coupling valve between the tanks. - Option 200-06b Electrical control valve as drain valve. - Option 200-07a Like Option 200-06a but with potentiometer output. - Option 200-07b Like Option 200-06b but with potentiometer output.. - Option 200-08 Venturi meter for flow measurements.
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