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This paper describes a controller design for a water temperature system of two tanks, aiming at an accurate control of experiments. Points of discussion consist of the following three items: characterization of detectors and actuators, a control method in the transient period, and a control method in the steady state period. We concentrated mainly on the control method in the steady state period. Oscillation phenomena of the tanked water temperature around a desired value were found to be caused by a drive delay of heaters in the water temperature system. We then proposed a compensation control method for the oscillation. The features of the proposed compensation method are as follows: the compensating control signals were calculated by using a prediction of a real time simulation of the actual system, and errors of a model mismatch were recovered in real time at each step. In an experimental result, the oscillation around a desired value was greatly diminished by using the compensation method. Next, we discussed a control method in the transient period. We showed that switching use of a maximum output control and a pole placement control brought a quick response of the water temperature to a desired value. Finally, we argued that the characteristics of detectors and actuators should be determined under a similar condition of the actual experiment. Those characteristic curves brought an accurate control performance. The results obtained in this study will be used effectively in general problems of fluid temperature control.

Controller Design for Compensating Drive Delay of Water Temperature System by Using Prediction of Real Time Simulation