Sim3Tanks: A Benchmark Model Simulator for Process Control and Monitoring

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Sim3Tanks: A Benchmark Model Simulator for Process Control and Monitoring

Sim3Tanks is suitable for studying and developing process control, fault detection and diagnosis, and fault-tolerant control strategies for nonlinear multivariable systems. This new release was developed in the MATLAB environment, version 9.11.0 (2021b), and can be used via command-line script <file.m>. Future releases will include versions for using the simulator via Simulink block diagram <file.slx> and graphical user interface <file.fig>.

The original paper that publishes the simulator can be accessed at http://dx.doi.org/10.1109/ACCESS.2018.2874752 and its repository at https://github.com/e-controls/Sim3Tanks_old

1. Table of Contents

Sim3Tanks Plant Description
Fault Description and Symbols
How to Create and Configure a Sim3Tanks Object
Contributions
Citation
License

2. Sim3Tanks Plant Description

Sim3Tanks simulates the dynamic behavior of the following plant:

Figure 1: Sim3Tanks plant.

The plant consists of three cylindrical tanks interconnected by four pipes, allowing fluid exchange between the lateral tanks (T1 and T2) and the central tank (T3) in both directions. The dashed arrows indicate the reference direction of each flow. Negative values indicate that the flow is opposite to this reference.
The upper pipes and valves that connect the lateral tanks to the central tank are located at the same height h₀ and are called transmission pipes and valves. The lower pipes and valves are aligned with the base of the tanks and are called connection pipes and valves. At the bottom of each tank are the output pipes and valves.
The pumps P1, P2, and P3 share the same minimum and maximum flow rate constraints, but they work independently and can provide different flow rates Q_P1, Q_P2, and Q_P3 to the tanks T1, T2, and T3, respectively.
The tanks are identical and have the same radius and maximum height. Similarly, all pipes are also identical and have the same radius value. The system has three level sensors (one per tank) and ten flow sensors (one per valve), and any valve can be configured as an actuator.
When a valve is enabled to be controlled, it becomes an actuator and, consequently, Sim3Tanks simulates an actuator fault (loss of effectiveness). Otherwise, a plant fault is simulated, which could be a clogging if the valve operation mode is defined as 'Open', or leakage if its operation mode is set to 'Closed'.

3. Fault Description and Symbols

Sim3Tanks allows the user to define different scenarios for case studies with as many actuators and sensors as necessary, in addition to simulating different kinds of perturbations, faults, and noises. The following table briefly describes the faults modeled in Sim3Tanks.

Symbol	Description
`f1`	Blocking/Clogging in pump 1, if `ValveSettings.Kp1.OperationMode = 'Open'`.
	Disturbance in tank 1, if `ValveSettings.Kp1.OperationMode = 'Closed'`.
`f2`	Blocking/Clogging in pump 2, if `ValveSettings.Kp2.OperationMode = 'Open'`.
	Disturbance in tank 2, if `ValveSettings.Kp2.OperationMode = 'Closed'`.
`f3`	Blocking/Clogging in pump 3, if `ValveSettings.Kp3.OperationMode = 'Open'`.
	Disturbance in tank 3, if `ValveSettings.Kp3.OperationMode = 'Closed'`.
`f4`	Clogging in the transmission pipe from tank 1 to tank 3, if `ValveSettings.Ka.OperationMode = 'Open'`.
	Leakage through the transmission pipe from tank 1 to tank 3, if `ValveSettings.Ka.OperationMode = 'Closed'`.
`f5`	Clogging in the transmission pipe from tank 2 to tank 3, if `ValveSettings.Kb.OperationMode = 'Open'`.
	Leakage through the transmission pipe from tank 2 to tank 3, if `ValveSettings.Kb.OperationMode = 'Closed'`.
`f6`	Clogging in the connection pipe from tank 1 to tank 3, if `ValveSettings.K13.OperationMode = 'Open'`.
	Leakage through the connection pipe from tank 1 to tank 3, if `ValveSettings.K13.OperationMode = 'Closed'`.
`f7`	Clogging in the connection pipe from tank 2 to tank 3, if `ValveSettings.K23.OperationMode = 'Open'`.
	Leakage through the connection pipe from tank 2 to tank 3, if `ValveSettings.K23.OperationMode = 'Closed'`.
`f8`	Clogging in output pipe of the tank 1, if `ValveSettings.K1.OperationMode = 'Open'`.
	Leakage in tank 1, if `ValveSettings.K1.OperationMode = 'Closed'`.
`f9`	Clogging in output pipe of the tank 2, if `ValveSettings.K2.OperationMode = 'Open'`.
	Leakage in tank 2, if `ValveSettings.K2.OperationMode = 'Closed'`.
`f10`	Clogging in output pipe of the tank 3, if `ValveSettings.K3.OperationMode = 'Open'`.
	Leakage in tank 3, if `ValveSettings.K3.OperationMode = 'Closed'`.
`f11`	Fault in level sensor `h1`.
`f12`	Fault in level sensor `h2`.
`f13`	Fault in level sensor `h3`.
`f14`	Fault in flow sensor `Q1in`.
`f15`	Fault in flow sensor `Q2in`.
`f16`	Fault in flow sensor `Q3in`.
`f17`	Fault in flow sensor `Qa`.
`f18`	Fault in flow sensor `Qb`.
`f19`	Fault in flow sensor `Q13`.
`f20`	Fault in flow sensor `Q23`.
`f21`	Fault in flow sensor `Q1`.
`f22`	Fault in flow sensor `Q2`.
`f23`	Fault in flow sensor `Q3`.

4. How to Create and Configure a Sim3Tanks Object

A Sim3Tanks object is created using the createSim3Tanks() function.

tts = createSim3Tanks();

This function does not have an input argument and returns an object with the following fields:

Model : [attribute]
simulateModel : [method]
displayFields : [method]
clearModel : [method]
clearVariables : [method]
setDefaultModel : [method]
getDefaultLinearModel : [method]
getStateVariables : [method]
getFlowVariables : [method]
getSensorMeasurements : [method]
getValveSignals : [method]
getFaultSignals : [method]
interpolateTime : [method]

4.1. The `Model` attribute

This attribute is used to define the system configurations. It is divided into the following subfields:

PhysicalParam: used to define the system's physical structure.
- TankRadius: must be real and greater than 0.
```
tts.Model.PhysicalParam.TankRadius = 5;
```
- TankHeight: must be real and greater than 0.
```
tts.Model.PhysicalParam.TankHeight = 50;
```
- PipeRadius: must be real, greater than 0, and less than TankRadius.
```
tts.Model.PhysicalParam.PipeRadius = 0.6;
```
- TransPipeHeight: must be real, greater than 0, and less than TankHeight.
```
tts.Model.PhysicalParam.TransPipeHeight = 30;
```
- CorrectionTerm: must be real and greater than 0.
```
tts.Model.PhysicalParam.CorrectionTerm = 1;
```
- GravityConstant: must be real and greater than 0.
```
tts.Model.PhysicalParam.GravityConstant = 981;
```
- PumpMinFlow: must be real and greater than or equal to 0.
```
tts.Model.PhysicalParam.PumpMinFlow = 0;
```
- PumpMaxFlow: must be real and greater than PumpMinFlow.
```
tts.Model.PhysicalParam.PumpMaxFlow = 120;
```
ValveSettings: used to define the system valve settings. It is divided into ten subfields, one per valve (Kp1, Kp2, Kp3, Ka, Kb, K13, K23, K1, K2, K3), and each one has the following settings:
- OperationMode: must be set to ‘Open’ or ‘Closed’.
```
tts.Model.ValveSettings.Kp1.OperationMode = 'Open';
```
- EnableControl: must be set to a logical value (true or false).
```
tts.Model.ValveSettings.Kp1.EnableControl = true;
```
- OpeningRate: must be real and belong to the range [0,1].
```
tts.Model.ValveSettings.Kp1.OpeningRate = 0.9;
```
FaultSettings: used to define the system fault settings. It is divided into twenty-three subfields, one per fault (f1, f2, …, f23), and each one has the following settings:
- EnableSignal: must be set to a logical value (true or false).
```
tts.Model.FaultSettings.f1.EnableSignal = true;
```
- Magnitude: must be real and belong to the range [0,1].
```
tts.Model.FaultSettings.f1.Magnitude = 0.3;
```
ProcessNoise: used to set the system process noise.
- EnableSignal: must be set to a logical value (true or false).
```
tts.Model.ProcessNoise.EnableSignal = true;
```
- Magnitude: must be a row or a column vector with three real and finite elements ([h1 h2 h3]).
```
tts.Model.ProcessNoise.Magnitude = [-0.05 0.06 -0.02];
```
MeasurementNoise: used to set the system process noise.
- EnableSignal: must be set to a logical value (true or false).
```
tts.Model.MeasurementNoise.EnableSignal = true;
```
- Magnitude: must be a row or a column vector with thirteen real and finite elements ([h1, h2, h3, Q1in, Q2in, Q3in, Qa, Qb, Q13, Q23, Q1, Q2, Q3]).
```
tts.Model.MeasurementNoise.Magnitude = [0.26 -0.12 -0.18 0.39 -0.66 -0.96 0.81 0.71 -0.42 0.68 0.44 0.61 -0.45];
```
InitialCondition: used to define the system's initial condition and must be filled with a row vector of three elements.
```
tts.Model.InitialCondition = [40 25 20];
```

4.2. The `simulateModel()` method

This method simulates the dynamic behavior of the three-tank system.

[y,x,q] = tts.simulateModel('Qp1',VALUE1,'Qp2',VALUE2,'Qp3',VALUE3,'Tspan',VALUE4);

Important

Sim3Tanks uses the ode45 solver to solve the system differential equations numerically, and it is highly recommended to use simulation time increment as Tspan.

4.3. The `displayFields()` method

This method does not have an input argument. It displays all fields and subfields of an object on the command line.

tts.displayFields();

4.4. The `clearModel()` method

This method does not have an input argument. It clears all variables and restores an object's settings.

tts.clearModel();

4.5. The `clearVariables()` method

This method does not have an input argument. It clears all state variables, valve, fault, flow signals, and sensor measurement data.

tts.clearVariables();

4.6. The `setDefaultModel()` method

This method does not have an input argument. It configures a Sim3Tanks object to the default model.

tts.setDefaultModel();

4.7. The `getDefaultLinearModel()` method

This method returns a linear model of the default scenario.

[SYS,OP] = tts.getDefaultLinearModel(x1op,METHOD,TSPAN);

Input arguments:

x1op>0 (mandatory): define the operating point of T1. The remaining variables are found as follows:

x2op = x1op;

x3op = (4/5)*x1op;

u1op = (Beta/Qp)*sqrt(x1op/5);

u2op = u1op;

Q13op = Beta*sign(x1op - x3op)*sqrt(abs(x1op - x3op));

Q23op = Beta*sign(x2op - x3op)*sqrt(abs(x2op - x3op));

Q3op = Beta*sqrt(x3op);

x_op = [x1op; x2op; x3op];

u_op = [u1op; u2op];

y_op = [x1op; x2op; Q13op; Q23op; Q3op];

METHOD(optional): define the discretization method. The following options are valid:
- 'zoh';
- 'foh';
- 'impulse';
- 'tustin';
- 'matched';
- 'euler';
TSPAN(optional): define the sampling time of the discretization method. If METHOD is passed as input, then TSPAN becomes mandatory.

Note

A continuous model is returned if METHOD and TSPAN are omitted.

4.8. The `getStateVariables()` method

This method does not have an input argument. It returns a data table with the values of the state variables.

tts.getStateVariables();

4.9. The `getFlowVariables()` method

This method does not have an input argument. It returns a data table with the values of the flow variables.

tts.getFlowVariables();

4.10. The `getSensorMeasurements()` method

This method does not have an input argument. It returns a data table with the values of the measured variables.

tts.getSensorMeasurements();

4.11. The `getValveSignals()` method

This method does not have an input argument. It returns a data table with the values of the valve signals.

tts.getValveSignals();

4.12. The `getFaultSignals()` method

This method does not have an input argument. It returns a data table with the values of the fault signals.

tts.getFaultSignals();

4.13. The `interpolateTime()` method

This method receives the original simulation time vector and returns a new interpolated time vector of size-consistent with the number of simulations of a Sim3Tanks object.

tts.interpolateTime(time);

5. Contributions

Contributions are welcome! Please follow these steps:

Fork this repository.
Create a branch with your feature:

git checkout -b my-feature

Commit your changes:

git commit -m 'feat: add my feature to do something'

Push to the branch:

git push origin my-feature

Open a Pull Request.

6. Citation

If this project has helped you in your research, please consider citing:

@article{farias2018sim3tanks,
    title={Sim3Tanks: A benchmark model simulator for process control and monitoring},
    author={Farias, Arllem O. and Queiroz, Gabriel Alisson C. and Bessa, Iury V. and Medeiros, Renan Landau P. and Cordeiro, Lucas C. and Palhares, Reinaldo M.},
    journal={IEEE Access},
    volume={6},
    pages={62234--62254},
    year={2018},
    publisher={IEEE},
    doi={10.1109/ACCESS.2018.2874752}
}

7. License

This project is licensed under the MIT License. See the LICENSE file for more details.

Name		Name	Last commit message	Last commit date
Latest commit History 82 Commits
addons		addons
assets/images		assets/images
src		src
tests		tests
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
Sim3Tanks_test.m		Sim3Tanks_test.m

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Sim3Tanks: A Benchmark Model Simulator for Process Control and Monitoring

1. Table of Contents

2. Sim3Tanks Plant Description

3. Fault Description and Symbols

4. How to Create and Configure a Sim3Tanks Object

4.1. The `Model` attribute

4.2. The `simulateModel()` method

4.3. The `displayFields()` method

4.4. The `clearModel()` method

4.5. The `clearVariables()` method

4.6. The `setDefaultModel()` method

4.7. The `getDefaultLinearModel()` method

4.8. The `getStateVariables()` method

4.9. The `getFlowVariables()` method

4.10. The `getSensorMeasurements()` method

4.11. The `getValveSignals()` method

4.12. The `getFaultSignals()` method

4.13. The `interpolateTime()` method

5. Contributions

6. Citation

7. License

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Repository files navigation

Sim3Tanks: A Benchmark Model Simulator for Process Control and Monitoring

1. Table of Contents

2. Sim3Tanks Plant Description

3. Fault Description and Symbols

4. How to Create and Configure a Sim3Tanks Object

4.1. The Model attribute

4.2. The simulateModel() method

4.3. The displayFields() method

4.4. The clearModel() method

4.5. The clearVariables() method

4.6. The setDefaultModel() method

4.7. The getDefaultLinearModel() method

4.8. The getStateVariables() method

4.9. The getFlowVariables() method

4.10. The getSensorMeasurements() method

4.11. The getValveSignals() method

4.12. The getFaultSignals() method

4.13. The interpolateTime() method

5. Contributions

6. Citation

7. License

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4.1. The `Model` attribute

4.2. The `simulateModel()` method

4.3. The `displayFields()` method

4.4. The `clearModel()` method

4.5. The `clearVariables()` method

4.6. The `setDefaultModel()` method

4.7. The `getDefaultLinearModel()` method

4.8. The `getStateVariables()` method

4.9. The `getFlowVariables()` method

4.10. The `getSensorMeasurements()` method

4.11. The `getValveSignals()` method

4.12. The `getFaultSignals()` method

4.13. The `interpolateTime()` method

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