【正文】 ..................................................................... 22 Coupledtank model parameters .......................................................................... 22 Chapter4. Theory and mathematical model.................................................................. 25 Mathematical model ............................................................................................ 25 model of the upper water tank ....................................................... 25 Upper water tank level modeling nonlinear equation of motion .................. 25 Upper water tank level modeling linearization and system transfer function ............................................................................................................................... 28 7 / 97 model of the couple water tank ..................................................... 31 Couple water tank level modeling nonlinear equation of motion ................ 31 Couple water tank level modeling linearization and system transfer function ............................................................................................................................... 33 Chapter5. Introduction of control systems and Controller Design............................... 37 of control systems ............................................................................ 37 Upper water tank water level controller design................................................... 38 Upper water tank water level Pplusfeedforward controller ....................... 38 Upper water tank water level PIplusfeedforward controller ...................... 42 Upper water tank water level Cascade and feedback controller ................... 46 Couple water tank water level controller design ................................................. 48 The Instructions for the cascade system. ...................................................... 48 Couple water tank water level PIplusfeedforward controller .................... 49 Chapter6. The simulation of the system controller ....................................................... 52 The simulation of upper water controller ............................................................ 52 Simulation of Proportional controller ........................................................... 52 Simulation of proportional integral controller .............................................. 54 Simulation of cascade and feedback controller ............................................ 55 The simulation of couple water tank controller................................................... 57 Chapter7. Actual experimental operation and test results ........................................... 61 The Instructions for actual experimental ............................................................. 61 The Instructions for the digital to analog and analog to digital conversion . 61 The Instructions for using NetConSystem NetConLink and NetConTop .... 62 Water level sensor calibration ...................................................................... 64 lookup table .................................................................................................. 65 Limit voltage protection system ................................................................... 66 Experimental results and analysis of the upper water tank ................................. 67 Experimental results of Pplusfeedforward controller ................................ 67 Experimental results of PIplusfeedforward controller ............................... 69 Experimental results of cascade and feedback controller ............................. 71 8 / 97 Experimental results and analysis of the couple water tank ................................ 73 Chapter8. Mistake analysis ........................................................................................... 76 Chapter9. Conclusions .................................................................................................. 77 Chapter10. Future Work ............................................................................................... 78 Reference ...................................................................................................................... 79 Appendix 1 .................................................................................................................... 80 Appendix 2 .................................................................................................................... 97 9 / 97 Figure list Figure1. Illustrating the Analogy Figure2. Schematic of the CoupledTank plant Figure3 The overall NetCon system Figure4 NetController Figure5 Interface of NetConLink Figure6 User Interface of NetConTop software Figure7 Coupledtank Model Figure8 Coupledtank Component Figure 9 Upper water tank level model Figure 10 The openloop transfer function of the upper water tank Figure 11 couple water tank level model Figure 12 The openloop transfer function of couple water tank Figure 13 Openloop control system Figure 14 Closeloop control system Figure 15 Pplusfeed forward closeloop control system Figure 16 Step response of a first order system time constant Figure 17 PIplusfeed forward closeloop control system Figure 18 Cascade and feedback control system Figure 19 The block of whole system Figure 20 Cascade system Figure 21 The block diagram of Couple water tank water level PIplusfeedforward Control system Figure 22The block diagram of Proportional controller Figure 23 The block diagram of Proportional integral controller Figure 24 The block diagram of Proportional controller Figure 25 The block diagram of couple water tank PI controller Figure 26 The system amplitude oscil