Diseño e implementación de un módulo didáctico para controlar nivel en dos tanques utilizando controladores PID, Cascada y Feedforward

Abstract

In this document a didactic module is developed in both simulation and implementation, this module allows controlling level in two tanks with an internal flow control, using PID, Cascade and Feedforward controllers. In simulation, coupling analysis and implementation of decouplers is performed by linearization with Taylor’s series. The approximation to a first-order system with delay using FIT3 is used for calculating control’s constants through tuning equations. In the implementation, the coupling analysis was performed with FIT3, and with it is calculated control’s constants through tuning equations. Integral Scuare Error (ISE) was used to verify the efficiency of the three different controllers implemented in both the simulation and the physical module. Cascade controller is the most efficient for the internal loop disturbance and the Feedforward controller is the most efficient for a disturbance which has the measurement of its effect on the system.