TANK LEVEL ESTIMATION USING KALMAN AND LAINIOTIS FILTERS
N. ASSIMAKIS
Department of Electronic Engineering, Technological Educational Institute of Central Greece, 3rd km Old National Road Lamia-Athens, 35100 Lamia, Greece.
G. TZIALLAS
Department of Electronic Engineering, Technological Educational Institute of Central Greece, 3rd km Old National Road Lamia-Athens, 35100 Lamia, Greece.
I. ANAGNOSTOPOULOS
School of Mechanical Engineering, National Technical University of Athens, Heroon Polytechniou 9, 15780 Zografou, Athens, Greece.
A. POLYZOS *
Cross Software Solutions IKE, Leoforos Afentouli 2, Piraeus, 18536, Greece.
*Author to whom correspondence should be addressed.
Abstract
Tank level knowledge is very important in many applications, as in water tank or oil tank. The measurement of tank level is usually obtained from the level of the float by mechanical or electronic devices. The measurement of tank level can also be obtained from the tank weight, when the tank construction allows it. The liquid in the tank can be static, filling or emptying, or sloshing, resulting to uncertain knowledge of tank level. In this paper we estimate the tank level using Kalman and Lainiotis filters. We implement time invariant and steady state Kalman and Lainiotis filters for static model and filling/emptying model. We also implement time varying Kalman and Lainiotis filters for sloshing and filling/emptying and sloshing models. We examine the filters’ behavior and we conclude that the obtained estimates are very close to the real tank level. We also derive the calculation burdens of the filters determining the faster filter for each model.
Keywords: Estimation;, tank level, Kalman filter, Lainiotis filter