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| Conical tank level control using fractional order PID controllers: a simulated and experimental study |
| C.J\'auregui,M.A.Duarte-Mermoud,R.Or\'ostica,J.C.Travieso-Torres,O.Beyt\'ia |
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| (Electrical Engineering Department and Advanced Mining Technology Center, Universidad de Chile, \\Av. Tupper 2007, Casilla 412-3, Santiago, Chile) |
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| 摘要: |
| In this paper, simulated and experimental results on the conical tank level control are presented. PI/PID controllers of integer order (IO) as well as of fractional order (FO) are studied and compared. The tuning parameters are obtained first by using root locus (RL) and Ziegler and Nichols methods, for comparison purposes. Next, particle swarm optimization (PSO) is employed to determine the optimal controllers' parameters using as fitness function the integral of the absolute value of tracking error (IAE). From the experimental results it is concluded that PI/FOPI are the controllers presenting the lowest IAE indexes, whereas PID/FOPID controllers present the lowest energy consumption by the control signal. |
| 关键词: Level control, conical tank, PID control, fractional PID control, experimental control |
| DOI： |
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| 基金项目:This work has been supported by CONICYT-Chile, under FONDECYT Project 1150488 ``Fractional Error Models in Adaptive Control and Applications'' and Basal Program FB0809 ``Advanced Mining Technology Center (AMTC)''. |
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| Conical tank level control using fractional order PID controllers: a simulated and experimental study |
| C. J\'auregui,M. A. Duarte-Mermoud,R. Or\'ostica,J. C. Travieso-Torres,O. Beyt\'ia |
| (Electrical Engineering Department and Advanced Mining Technology Center, Universidad de Chile, \\Av. Tupper 2007, Casilla 412-3, Santiago, Chile;Industrial Technologies Department, Technological Faculty, Universidad de Santiago de Chile, Av. El Belloto 3735, Santiago, Chile) |
| Abstract: |
| In this paper, simulated and experimental results on the conical tank level control are presented. PI/PID controllers of integer order (IO) as well as of fractional order (FO) are studied and compared. The tuning parameters are obtained first by using root locus (RL) and Ziegler and Nichols methods, for comparison purposes. Next, particle swarm optimization (PSO) is employed to determine the optimal controllers' parameters using as fitness function the integral of the absolute value of tracking error (IAE). From the experimental results it is concluded that PI/FOPI are the controllers presenting the lowest IAE indexes, whereas PID/FOPID controllers present the lowest energy consumption by the control signal. |
| Key words: Level control, conical tank, PID control, fractional PID control, experimental control |
