Liquid level tracking control method, system, device, and medium for multi-tank liquid level system

Abstract

The present application belongs to the technical field of industrial process control, and discloses a liquid level tracking control method, system, device and medium of a multi-tank liquid level system. The present application is aimed at the problem that the multi-tank liquid level system with characteristics of high nonlinearity, large inertia, strong coupling and large time delay is greatly affected by measurement errors, unknown disturbances and parameter uncertainties, making the control task more complex and the accurate control of multiple variables difficult. A model-free adaptive integral sliding mode control method based on finite time extended state observer is proposed, wherein the finite time extended state observer is used to estimate the measurement errors, unknown disturbances and other collective disturbances, the model-free adaptive integral sliding mode algorithm is used to overcome the influence of model uncertainty, the robustness of the system is improved, and efficient control of the multi-tank liquid level system is realized. The present application effectively realizes the tracking control and disturbance suppression control of the liquid level in the multi-tank liquid level system.

Description

Technical Field

[0001] This invention belongs to the field of industrial process control technology, and specifically relates to a liquid level tracking and control method, system, equipment, and medium for a multi-capacity liquid level system. Background Technology

[0002] Liquid level control involves controlling the inflow and outflow of liquid into a container to maintain the desired liquid level within a reasonable tolerance range. A superior controller effectively manages the inflow and outflow of liquid, ensuring the liquid level remains at the desired value with acceptable error. Multi-capacity liquid level systems are widely used in heavy industry, light industry, chemical industry, and food industry.

[0003] Complex process control systems are inherently multi-input, multi-output systems. In process control, an input not only affects its own output but also influences the outputs of one or more other state variables, exhibiting strong coupling characteristics. Therefore, due to the interaction of these state variables, multivariable processes are difficult to control at a desired reference. In most cases, complex control systems exhibit nonlinear behavior with multiple inputs and outputs, and complex interactions exist between manipulated and controlled variables with matched and mismatched uncertainties.

[0004] Currently, the level control of multi-capacity liquid level systems faces challenges due to factors such as high nonlinearity, large inertia, strong coupling, and large time delays. These factors all affect the stability of the control system. Multi-capacity liquid level systems are significantly affected by measurement errors, unknown disturbances, and parameter uncertainties, making the control task more complex and precise control of multiple variables extremely difficult. Therefore, researching and solving the multivariable control problem of multi-capacity liquid level systems has important guiding significance for industrial production.

[0005] Sliding mode control (SMC), also known as variable structure control, aims to maintain system stability and consistency when precise system modeling is not possible and uncertainties exist. SMC is widely used in liquid level control, intelligent control of robots (domestic and industrial applications), underwater vehicles, unmanned vehicles, motor control (position control, speed control, multi-motor cooperative control), and power systems (wind power generation).

[0006] Modern control theory boasts optimal performance indicators and systematic, precise theoretical design methods, achieving remarkable success in fields such as aerospace and guidance. However, its application in industrial process control has not yielded the expected results. The reason for this is that modern control theory is based on precise object parameter models, while industrial processes often exhibit nonlinearity, time-varying characteristics, strong coupling, and uncertainty, making it difficult to obtain accurate mathematical models and thus significantly reducing control effectiveness.

[0007] Faced with the discrepancy between theoretical development and practical application, researchers have explored various methods that can achieve high-quality control without requiring high model accuracy, based on the characteristics and needs of industrial process control. Model predictive control (MMC) is a new type of control algorithm that emerged in this context. This method is an effective control approach developed through industrial practice.

[0008] For systems with multiple inputs and outputs, strong nonlinearity, and unknown disturbances, simple control algorithms are insufficient. Furthermore, disturbances have a significant impact on the system, affecting not only accurate tracking but also threatening the overall system stability. Therefore, addressing the disturbance problem is imperative. A disturbance observer equates external disturbances and variations in model parameters between the actual object and the nominal model to the control input, i.e., it observes the equivalent lumped disturbance and introduces equivalent compensation into the control, achieving complete control over the disturbance. Summary of the Invention

[0009] The purpose of this invention is to propose a liquid level tracking control method for multi-capacity liquid level systems. This method proposes a model-free adaptive integral sliding mode control method based on a finite-time extended state observer to achieve liquid level tracking control and disturbance suppression control in multi-capacity liquid level systems.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A method for level tracking and control of a multi-capacity liquid level system includes the following steps:

[0012] Step 1. For a given multi-tank liquid level system, establish a dynamic mathematical model of the multi-tank liquid level system;

[0013] Step 2. Design a model-free adaptive integral sliding mode controller for a multi-capacity liquid level system to achieve multivariable control;

[0014] Step 3. To address the issues of measurement error, unknown disturbances, and parameter uncertainty in multi-capacity liquid level systems, a finite-time extended state observer is designed to observe lumped disturbances, thereby weakening or eliminating the impact of lumped disturbances on multi-capacity liquid level systems.

[0015] Step 4. Load the model-free adaptive integral sliding mode controller based on the finite-time extended state observer into the multi-capacity liquid level system to achieve tracking control and disturbance suppression control of the liquid level in the multi-capacity liquid level system.

[0016] Furthermore, based on the liquid level tracking control method for multi-capacity liquid level systems, this invention also proposes a liquid level tracking control system adapted to it, which adopts the following technical solution:

[0017] A level tracking and control system for a multi-capacity liquid level system includes:

[0018] The model building module establishes a dynamic mathematical model of a given multi-capacity liquid level system.

[0019] The sliding mode controller design module is used to design a model-free adaptive integral sliding mode controller for multi-capacity liquid level systems to achieve multivariable control.

[0020] The observer design module is used to design a finite-time extended state observer to observe lumped disturbances in order to weaken or eliminate the impact of lumped disturbances on the multi-capacity liquid level system, addressing the problems of measurement errors, unknown disturbances, and parameter uncertainties.

[0021] It also includes a tracking control and disturbance suppression module, which is used to load a model-free adaptive integral sliding mode controller based on a finite-time extended state observer into a multi-capacity liquid level system to achieve tracking control and disturbance suppression control of the liquid level in the multi-capacity liquid level system.

[0022] Furthermore, based on the above-mentioned liquid level tracking and control method for multi-capacity liquid level systems, the present invention also proposes a computer device, which includes a memory and one or more processors.

[0023] The memory stores executable code, and when the processor executes the executable code, it implements the steps of the liquid level tracking and control method for the multi-capacity liquid level system described above.

[0024] Furthermore, based on the aforementioned level tracking and control method for a multi-capacity liquid level system, this invention also proposes a computer-readable storage medium storing a program thereon. When executed by a processor, this program is used to implement the steps of the aforementioned level tracking and control method for a multi-capacity liquid level system.

[0025] The present invention has the following advantages:

[0026] As described above, this invention relates to a method, system, device, and medium for level tracking control of a multi-capacity liquid level system. Addressing the problem that multi-capacity liquid level systems, characterized by high nonlinearity, large inertia, strong coupling, and large time delays, are significantly affected by measurement errors, unknown disturbances, and parameter uncertainties, making control tasks more complex and precise control of multiple variables difficult, this invention proposes a model-free adaptive integral sliding mode control method based on a finite-time extended state observer. This method achieves level tracking control of the multi-capacity liquid level system based on deadbeat model predictive control. Specifically, this invention utilizes a finite-time extended state observer to estimate the lumped disturbances formed by measurement errors, unknown disturbances, and parameter uncertainties, and employs a model-free adaptive integral sliding mode algorithm to overcome the influence of model uncertainty, improve system robustness, and achieve efficient control of the multi-capacity liquid level system. Simulation results show that the model-free adaptive integral sliding mode control method based on a finite-time extended state observer of this invention can effectively achieve level tracking control and disturbance suppression control in multi-capacity liquid level systems. Attached Figure Description

[0027] Figure 1 This is a flowchart of the liquid level tracking and control method for a multi-capacity liquid level system in an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the control principle of a multi-capacity liquid level system, which consists of a model-free adaptive integral sliding mode controller based on a finite-time extended state observer, a signal acquisition unit, and an actuator, as described in this embodiment of the invention.

[0029] Figure 3 This is a schematic diagram of the structure of a type of multi-capacity liquid level system for which the control method of the present invention is applied.

[0030] Figure 4 The figure shows the simulation curve of the liquid level of container one in a multi-capacity liquid level system considering lumped disturbances in this embodiment of the invention, using a model-free adaptive integral sliding mode control method based on a finite-time extended state observer.

[0031] Figure 5 The figure shows the simulation curve of the liquid level of container two in a multi-capacity liquid level system considering lumped disturbances in this embodiment of the invention, using a model-free adaptive integral sliding mode control method based on a finite-time extended state observer.

[0032] Figure 6 The figure shows the simulation curve of the liquid level error of container one in a multi-capacity liquid level system considering lumped disturbances according to the model-free adaptive integral sliding mode control method based on a finite-time extended state observer in an embodiment of the present invention.

[0033] Figure 7The figure shows the simulation curve of the liquid level error of container two in a multi-capacity liquid level system considering lumped disturbances in this embodiment of the invention, using a model-free adaptive integral sliding mode control method based on a finite-time extended state observer.

[0034] Figure 8 The control input simulation curves of pump one are shown in the embodiment of the present invention for a multi-capacity liquid level system considering lumped disturbances and based on a finite-time extended state observer model-free adaptive integral sliding mode control method.

[0035] Figure 9 The control input simulation curves of the pump II, which is based on a finite-time extended state observer and considers lumped disturbances in the multi-capacity liquid level system of the present invention, are shown in the figure. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0037] Example 1

[0038] This embodiment 1 describes a liquid level tracking control method for a multi-capacity liquid level system. First, a dynamic mathematical model of the multi-capacity liquid level system is established for a given system. Second, to achieve multivariable control, a model-free adaptive integral sliding mode control (MF-AISMC) is designed. Then, to address issues such as measurement errors, unknown disturbances, and parameter uncertainties in the multi-capacity liquid level system, a finite-time extended state observer is designed to observe lumped disturbances, thereby weakening or eliminating their impact on the system. Finally, the model-free adaptive integral sliding mode controller based on the finite-time extended state observer is loaded into the system, realizing liquid level tracking control and disturbance suppression control within the system.

[0039] like Figure 1 As shown, the liquid level tracking and control method for a multi-capacity liquid level system in this embodiment includes the following steps:

[0040] Step 1. For a given multi-capacity liquid level system, establish a dynamic mathematical model of the multi-capacity liquid level system.

[0041] For multi-capacity liquid level systems in practical engineering applications, due to the existence of various uncertainties, it is impossible to establish an accurate dynamic mathematical model. Therefore, this invention considers solving the control problem of multi-capacity liquid level systems using the model-free approach.

[0042] The dynamic mathematical model of the multi-capacity liquid level system is shown in formula (1).

[0043]

[0044] Where, x∈R n f is a state variable representing the liquid level in each container; d ∈R n Represents lumped interference such as measurement error and unknown disturbances; α∈R m×n Let m be a smooth function, and n ∈ N. + ,u∈R m The control input variable represents the pump's control signal.

[0045] Step 2. Design a model-free adaptive integral sliding mode controller for a multi-capacity liquid level system to achieve multivariable control.

[0046] Based on the dynamic mathematical model constructed in step 1, a model-free adaptive integral sliding mode controller for a multi-capacity liquid level system is designed; according to model-free control theory, the model-free controller of the system is written as:

[0047]

[0048] Where x0 is the system's desired reference trajectory, u s This is the output of the virtual feedback controller.

[0049] Combining formulas (1) and (2), we get:

[0050]

[0051] Where, e = x - x0.

[0052] To address the chattering problem caused by discontinuous functions in traditional sliding mode, a new sliding surface s is defined as follows:

[0053]

[0054] Where c0, c1, c2∈R n×n γ is an adjustable gain matrix, 0 < γ < 1, and μ is a weighting factor.

[0055] e γ =diag{|e1| γ ,…,|e n | γ}, tanh(e / μ)=[tanh(e1 / μ),…,tanh(e n / μ)] T .

[0056]

[0057] Differentiating with respect to the sliding surface s, we get:

[0058]

[0059] Substituting formula (3) into formula (5) yields:

[0060]

[0061] Assumption Then formula (6) can be rewritten as:

[0062]

[0063] To improve convergence speed and reduce the impact of chattering, the adaptive sliding mode reaching law is designed as follows:

[0064]

[0065]

[0066] in, It is an adaptive sliding mode reaching law. It is an adaptive law.

[0067] k0=diag{k 01 ,…,k 0n}, k 0i k is a constant. 0i >0, i=1,…,n.

[0068] It is a piecewise function, and its expression is:

[0069]

[0070] To adjust the parameters, and η = diag{η1,…,η n};s i Let i represent the i-th order sliding surface.

[0071] Using formulas (8) and (9), a model-free adaptive integral sliding mode controller as shown in formula (12) is designed.

[0072]

[0073] Step 3. To address the issues of measurement error, unknown disturbances, and parameter uncertainty in multi-capacity liquid level systems, a finite-time extended state observer is designed to observe lumped disturbances, thereby weakening or eliminating the impact of lumped disturbances on multi-capacity liquid level systems.

[0074] Suppose there exists a positive constant D that satisfies And the formula (1) is restructured as follows:

[0075]

[0076] Where z = x, z d =f d Furthermore, the finite-time extended state observer is designed as follows:

[0077]

[0078]

[0079] Where z is a newly defined state variable, z d For extended state variables, Let z be the observed value. This represents the observation error. z =diag{l z1 ,…,l zi},l d =diag{l d1 ,…,l di}, l zi l di λ and λ are adjustable parameters for the design.

[0080] make Using formulas (13) and (14), we obtain:

[0081]

[0082] To achieve optimal estimation performance from the observer, it is necessary to select an appropriate parameter l. z and l d Therefore, a simple and effective parameter tuning method based on the bandwidth concept has been widely used.

[0083] For formula (14), the characteristic polynomial is chosen as (s+ω). c ) 2 =s 2 +l zi s+l di If = 0, then the observer parameters are:

[0084]

[0085] Where, ω c This represents the bandwidth of the observer.

[0086] Therefore, the model-free adaptive integral sliding mode controller based on the finite-time extended state observer is designed as follows:

[0087]

[0088] Step 4. Load the modelless adaptive integral sliding mode controller based on the finite-time extended state observer, i.e., formula (18), into the multi-capacity liquid level system to realize the tracking control of the liquid level and the disturbance suppression control in the multi-capacity liquid level system.

[0089] The liquid level tracking and control method for multi-tank liquid level systems proposed in this invention is then simulated and analyzed in the Matlab / Simulink environment. For ease of description, a dual-tank liquid level system is used as an example to verify the effectiveness of the method.

[0090] First, the model-free adaptive integral sliding mode controller based on a finite-time extended state observer and the model of the multi-capacity liquid level system were built in the Matlab / Simulink environment.

[0091] Considering the voltage and current limitations in the actuators of actual engineering systems, the controller output is limited in the simulation experiment to ensure that the actual system can operate normally.

[0092] The liquid level tracking and control method for multi-capacity liquid level systems proposed in this invention is applicable to solving a specific type of liquid level control problem in multi-capacity liquid level systems. The control structure principle of the entire closed-loop system is as follows: Figure 2 As shown.

[0093] like Figure 3 As shown, the multi-capacity liquid level system includes a water tank, two pumps, three containers, and four manually adjustable valves.

[0094] Define two pumps as Pump 1 and Pump 2. Define three containers as Container 1, Container 2, and the water tank. Define four manual regulating valves as Manual Regulating Valve 1, Manual Regulating Valve 2, Manual Regulating Valve 3, and Manual Regulating Valve 4.

[0095] The reservoir has two output terminals, which are defined as output terminal one and output terminal two, respectively.

[0096] The output end of the water storage tank is connected to the input end of the container, and the pump is installed on the output pipeline that supplies water to the container.

[0097] The output end of the water storage tank is connected to the input end of the container, and the pump is installed on the output pipeline that supplies water to the container.

[0098] A pipeline is installed between the output end of container one and the water storage tank, and a manual regulating valve one is installed on the pipeline.

[0099] A pipeline is provided between the output end of container two and container one, and a manual regulating valve two is installed on this pipeline.

[0100] A manual regulating valve 3 is installed on the pipeline supplying water from the storage tank to container 1.

[0101] A manual regulating valve four is installed on the pipeline supplying water from the storage tank to container two.

[0102] Define a i This represents the opening degree of the manually adjustable valve i, where i = 1, 2, 3, 4, x j x represents the liquid level height inside container j. j0 Indicates the desired liquid level height, A j Let represent the cross-sectional area of ​​the bottom surface inside container j, where j = 1, 2.

[0103] Define u l Let g be the control input for pump l, g be the acceleration due to gravity, and l = 1, 2.

[0104] The model parameters and controller parameters of the dual-capacity liquid level system are shown in Table 1 and Table 2, respectively.

[0105] Table 1 Model parameters of the dual-capacity liquid level system

[0106]

[0107] Table 2 Controller Parameters

[0108]

[0109]

[0110] Simulation results are as follows Figures 4 to 9 As shown, where:

[0111] Depend on Figure 4 It can be seen that after applying the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention, container one achieves good liquid level position control, with no steady-state error and no overshoot.

[0112] Depend on Figure 5 It can be seen that after applying the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention, the response curve of container two does not exhibit chattering or overshoot, achieving a better control effect.

[0113] Depend on Figure 6 It can be seen that after applying the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention, the container-level tracking control is well realized and there is no steady-state error.

[0114] Depend on Figure 7 It can be seen that after applying the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention, the error response curve of container two is relatively stable and there is no chattering phenomenon, achieving a good control effect.

[0115] Depend on Figure 8 It can be seen from the control output curve of pump one that the multi-capacity liquid level system using the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention has achieved a good disturbance suppression effect after being affected by lumped disturbances.

[0116] Depend on Figure 9 It can be seen that, after being affected by lumped disturbances, the control output curve of pump 2 of the multi-capacity liquid level system using the model-free adaptive integral sliding mode controller based on the finite-time extended state observer of the present invention shows that it has achieved a good disturbance suppression effect.

[0117] In summary, the model-free adaptive integral sliding mode control method based on a finite-time extended state observer proposed in this invention for multi-tank liquid level systems effectively achieves liquid level tracking control and disturbance compensation control in dual-tank liquid level systems.

[0118] Example 2

[0119] This embodiment 2 describes a liquid level tracking control system for a multi-capacity liquid level system, which is based on the same inventive concept as the liquid level tracking control method for the multi-capacity liquid level system in embodiment 1 above.

[0120] Specifically, the level tracking and control system of the multi-capacity liquid level system includes:

[0121] A level tracking and control system for a multi-capacity liquid level system includes:

[0122] The model building module establishes a dynamic mathematical model of a given multi-capacity liquid level system.

[0123] The sliding mode controller design module is used to design a model-free adaptive integral sliding mode controller for multi-capacity liquid level systems to achieve multivariable control.

[0124] The observer design module is used to design a finite-time extended state observer to observe lumped disturbances in order to weaken or eliminate the impact of lumped disturbances on the multi-capacity liquid level system, addressing the problems of measurement errors, unknown disturbances, and parameter uncertainties.

[0125] It also includes a tracking control and disturbance suppression module, which is used to load a model-free adaptive integral sliding mode controller based on a finite-time extended state observer into a multi-capacity liquid level system to achieve tracking control and disturbance suppression control of the liquid level in the multi-capacity liquid level system.

[0126] It should be noted that the implementation process of the functions and roles of each functional module in the liquid level tracking control system of the multi-capacity liquid level system is detailed in the implementation process of the corresponding steps in the method of the above embodiment 1, and will not be repeated here.

[0127] Example 3

[0128] This embodiment 3 describes a computer device used to implement the steps of the liquid level tracking and control method for the multi-capacity liquid level system described in embodiment 1 above.

[0129] The computer device includes a memory and one or more processors. Executable code is stored in the memory, which, when executed by the processor, enables the implementation of steps for a level tracking control method for a multi-capacity liquid level system.

[0130] In this embodiment, the computer device can be any device or apparatus with data processing capabilities, and will not be described in detail here.

[0131] Example 4

[0132] This embodiment 4 describes a computer-readable storage medium for implementing the steps of the liquid level tracking and control method for the multi-capacity liquid level system described in embodiment 1 above.

[0133] The computer-readable storage medium in this embodiment 4 stores a program that, when executed by a processor, implements the steps of a liquid level tracking control method for a multi-capacity liquid level system.

[0134] The computer-readable storage medium can be an internal storage unit of any device or apparatus with data processing capabilities, such as a hard disk or memory, or an external storage device of any device with data processing capabilities, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc.

[0135] Of course, the above description is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. It should be noted that any equivalent substitutions or obvious modifications made by those skilled in the art under the guidance of this specification fall within the scope of this specification and should be protected by the present invention.

Claims

1. A liquid level tracking and control method for a multi-capacity liquid level system, characterized in that, Includes the following steps: Step 1. For a given multi-tank liquid level system, establish a dynamic mathematical model of the multi-tank liquid level system; Step 2. Design a model-free adaptive integral sliding mode controller for a multi-capacity liquid level system to achieve multivariable control; Step 3. To address the issues of measurement error, unknown disturbances, and parameter uncertainty in multi-capacity liquid level systems, a finite-time extended state observer is designed to observe lumped disturbances, thereby reducing or eliminating the impact of lumped disturbances on multi-capacity liquid level systems. Step 4. Load the model-free adaptive integral sliding mode controller based on the finite-time extended state observer into the multi-capacity liquid level system to achieve tracking control of the liquid level and disturbance suppression control in the multi-capacity liquid level system; Step 2 specifically involves: Based on the dynamic mathematical model of the multi-capacity liquid level system constructed in step 1, a model-free adaptive integral sliding mode controller for the multi-capacity liquid level system is designed; according to model-free control theory, the model-free controller for the multi-capacity liquid level system is written as: (2) in, The control input variable represents the control signal of the pump. For smoothing functions, , This represents lumped interference, including measurement errors and unknown interference. For the system's desired reference trajectory, This is the output of the virtual feedback controller; Combining formulas (1) and (2), we get: (3) in, , This is a state variable representing the liquid level in each container; To address the chattering problem caused by discontinuous functions in traditional sliding mode, a new sliding surface is defined. It is in the following form: (4) in, , , It is an adjustable gain matrix. , As a weighting factor; ， ； ， ； For sliding surfaces Differentiation yields: (5) Substituting formula (3) into formula (5) yields: (6) Assumption Then formula (6) can be rewritten as: (7) To improve convergence speed and reduce the impact of chattering, the adaptive sliding mode reaching law is designed as follows: (8) (9) in, It is an adaptive sliding mode reaching law. It is an adaptive law; , It is a constant. , ; , It is a piecewise function, and its expression is: (10) , To adjust the parameters, and ; ; Denotes the i-th order sliding surface; Using formulas (8) and (9), a model-free adaptive integral sliding mode controller as shown in formula (12) is designed; (12)。 2. The liquid level tracking and control method for a multi-capacity liquid level system according to claim 1, characterized in that, In step 1, the dynamic mathematical model of the multi-capacity liquid level system is shown in formula (1); (1)。 3. The liquid level tracking and control method for a multi-capacity liquid level system according to claim 2, characterized in that, Step 3 specifically involves: Suppose there exists a positive constant. satisfy And the formula (1) is restructured as follows: (13) in, , Furthermore, the finite-time extended state observer is designed as follows: (14) (15) in, For the newly defined state variables, For extended state variables, for The observed values, This is the observation error; , , , and Adjustable parameters for design; make Using formulas (13) and (14), we obtain: (16) For formula (14), the characteristic polynomial is chosen as The observer parameters are then obtained as follows: (17) in, The bandwidth of the observer; Therefore, the model-free adaptive integral sliding mode controller based on the finite-time extended state observer is designed as follows: (18)。 4. The liquid level tracking and control method for a multi-capacity liquid level system according to claim 3, characterized in that, Step 4 specifically involves: The model-free adaptive integral sliding mode controller based on the finite-time extended state observer, i.e., formula (18), is loaded into the multi-capacity liquid level system to realize the tracking control of the liquid level and the disturbance suppression control in the multi-capacity liquid level system.

5. A level tracking control system for a multi-capacity liquid level system for implementing the level tracking control method for a multi-capacity liquid level system as described in claim 1, characterized in that, The level tracking and control system of the multi-capacity liquid level system includes: The model building module establishes a dynamic mathematical model of a given multi-capacity liquid level system. The sliding mode controller design module is used to design a model-free adaptive integral sliding mode controller for multi-capacity liquid level systems to achieve multivariable control. The observer design module is used to design a finite-time extended state observer to observe lumped disturbances in order to weaken or eliminate the impact of lumped disturbances on the multi-capacity liquid level system, addressing the problems of measurement errors, unknown disturbances, and parameter uncertainties. It also includes a tracking control and disturbance suppression module, which is used to load a model-free adaptive integral sliding mode controller based on a finite-time extended state observer into a multi-capacity liquid level system to achieve tracking control and disturbance suppression control of the liquid level in the multi-capacity liquid level system.

6. A computer device comprising a memory and one or more processors, wherein the memory stores executable code, characterized in that, When the processor executes the executable code, it implements the steps of the liquid level tracking control method for a multi-capacity liquid level system as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the liquid level tracking control method for a multi-capacity liquid level system as described in any one of claims 1 to 4.

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