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Water Resources Management

Erschienen in:

01.11.2014

Hierarchical Operation of Water Level Controllers: Formal Analysis and Application on a Large Scale Irrigation Canal

verfasst von: A. Sadowska, P.-J. van Overloop, C. Burt, B. De Schutter

Erschienen in: Water Resources Management | Ausgabe 14/2014

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Abstract

We introduce a hierachical controller, the purpose of which is to speed up the water delivery process as compared to the standard method applied currently in the field. The lower layer of the hierarchical control consists of local proportional integral filter controllers (PIF controllers) for upstream control at each gate; specifically they are proportional integral controllers with a low-pass filter. In contrast, the higher layer is composed of a centralized model-based predictive controller, which acts by controlling the head gate and by coordinating the local PIF controllers by modifying their setpoints when needed. The centralized controller is event-driven and is invoked only when there is a need for it (a water delivery request) and as such it contributes scarcely to the communication burden. The scheme is robust to temporary communication losses as the local PIF controllers are fully able to control the canal in their normal independent automatic upstream control mode until the communication links are restored. We discuss the application of the hierarchical controller to a precise numerical model of the Central California Irrigation District Main Canal. This shows the improved performance of the new hierarchical controller over the standard control method.

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Here, x(k + j|k) denotes the state prediction for time step k + j obtained at time step k.

Here, u ^∗(k + j|k) denotes the optimal control found at step k to be applied at step k + j.

Cristea et al. (2011) uses a similar scheme to deal with hybrid components in the realm of MPC for the application to a wastewater treatment plant.

The free flow occurs when the downstream water level is less than the available gap between the crest height and the gate opening; otherwise the flow is considered submerged.

For this strategy to be successful, the prediction horizon N _p needs to be long enough to capture the canal’s dynamics.

To enable reactivations of the Coordinator before the steady state in the canal has been restored, the proposed algorithm needs to be adapted so as to specify how the changed setpoints and changed head gate settings can be further modified in subsequent activations of the Coordinator. Specifically, formulae (13), (16), (17) for the setpoints changes and formula (11) for the head gate settings need to be modified to fit the multiple activation framework. This, however, is out of the scope of the current paper.

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Titel: Hierarchical Operation of Water Level Controllers: Formal Analysis and Application on a Large Scale Irrigation Canal
verfasst von: A. Sadowska
P.-J. van Overloop
C. Burt
B. De Schutter
Publikationsdatum: 01.11.2014
Verlag: Springer Netherlands
Erschienen in: Water Resources Management / Ausgabe 14/2014
Print ISSN: 0920-4741
Elektronische ISSN: 1573-1650
DOI: https://doi.org/10.1007/s11269-014-0785-x

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