| Feedback linearization is a basic method in nonlinear control,which has the advantage of accurate linearization and wide operating range.In order to study of the problems of the Non-linear control in the actual industry level system,this article take the three-tank water as the research object,aiming at the characteristics of nonlinear,the multivariable,time-varying,the nonlinear model of the tank water level is transformed into a linear model by using feedback linearization method of nonlinear model,then according to the optimal design method of the two type line tracking controller to improve the control accuracy.In this paper,the design and implementation of the feedback linearization optimal tracking controller for the multi level liquid level system is studied.Firstly,the experiment platform of three tank water level system is set up,include the electrical connection of the water tank equipment,the actuator and the detecting element,the ControlLogix controller and the I/O interface are completed,and the NetLinx network communication is completed.Then according to the mechanism of physical process analysis,the structure model of three-tank system is established,and the model parameters are determined by experimental data;according to the basic theory of feedback linearization,a single input single output feedback linearization method,the linear model is derived based on the linear model,design optimal tracking controller.In order to study the approach of this algorithm in industral application,the algorithm is developed by structured text language in RSLogix5000,and the monitoring interface is designed by RSview32 works.And the control algorithm is downloaded to the PLC controller,the real-time control of water level system,the feedback linearization optimal tracking control and traditional PID control system step response curves were compared.The experimental results show that the algorithm is effective and it has some guiding significance for engineering application. |
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