Controlador predictivo de nivel para un sistema hidráulico de tres tanques acoplados sujetos a retardos de tiempo

Abstract

Predictive control is one of the many control techniques that allows prediction in the behavior of a system. The present work will carry out a modeling of three tanks to implement a model-based predictive controller using the Matlab® MPC Tollbox. The project carried out four phases starting with the modeling of the storage system which includes the elements for filling and emptying the tank. The second step is to design the MPC controller with delay times in mind. As a third phase, the storage system was simulated by introducing variables that allow us to validate the dynamic behavior of the system. Finally, the graphical interface that allows us to observe and manipulate the simulation in real time was executed. As a result, for a plant with three coupled tanks, the non-linear model that characterizes the dynamic response of the process was obtained, obtaining a model where the flow of the main valve is taken as the input variable and the level of the third tank as the output variable. On the other hand, the predictive control presents better performance values than the PID controller, both with very close settling times.