为提高自动控制相关课程的实验教学水平,研制出一套四容水箱液位控制装置.该装置选用工业上常用的硬件设备,软件部分设计了 Matlab/GUI(Graphical User Interface)操作界面,可允许在Matlab中直接编程实现对系统的控制.建立了四容水箱系统的数学模型,并利用阶跃响应法辨识系统的模型参数.针对四容水箱系统设计了分散内模控制器,仿真环节采用Matlab/Simulink完成,实现了四容水箱系统液位的跟踪控制.实验结果表明,采用内模控制器的四容水箱系统,当其中一个水箱的水位发生变化时,对其他水箱的水位影响很小,系统具有满意的控制效果.在自控等相关课程中,该装置可以作为一种新的实验设备,并具有较好的实验教学效果.
In order to improve the experimental teaching of relevant courses in automatic control,the design of a four-tank system is presented.The hardware is composed of general industrial components,while a Matlab programming environment is used for the software to directly control the system.A graphical user interface is also adopted to provide an easy way to run the system.The four-tank system model is built,and its parameters are identified based on a step response experiment.Furthermore,a distributed internal mode controller is designed for the liquid tracking control of the four-tank system.The results show that the four-tank system,using the internal mode controller,has little effect on the water level of the other tank when the water level of one tank changes,and the system has a satisfactory control effect.This experiment could play an important role in the teaching of relevant courses in automatic control.