中文摘要：

基于端口受控哈密顿（PCH）系统原理,研究了一种两罐液位系统的PCH建模与控制方法。根据流体力学原理及伯努利方程,建立了两罐液位系统的PCH模型;通过互联与阻尼配置,设计了两罐液位系统控制器,确定了期望的平衡点,并应用无源性理论分析了平衡点的稳定性。为了消除稳态误差,引入了积分控制作用。仿真和实验验证表明,所提出的控制方法具有很好的动态和稳态性能。

英文摘要：

A two-tank liquid level system PCH（Port-Controlled Hamiltonian）control method is developed.According to the Bernoulli equation in hydromechanics,a liquid system PCH model is established.Also,a two-tank liquid system controller is designed by interconnection and damping assignment.The desired equilibrium point is determined and its stability is analyzed by applying passivity theory.In order to terminate steady error,integral control is added.Moreover,simulation model is established and research on simulation is carried out.Finally,experiment is also testified on the laboratory experiment platform.The results prove that the control method in the article has good dynamic and steady performance.