Simple Optimal Downstream Feedback Canal Controllers: Theory
This article has a reply.
VIEW THE REPLYPublication: Journal of Irrigation and Drainage Engineering
Volume 130, Issue 1
Abstract
A new class of downstream water-level feedback controllers is proposed that can vary from a series of individual proportional-integral (PI) controllers (each gate adjusted based on one water level) to fully centralized controllers (each gate adjusted based on all water levels) that include the effects of lag time. The controller design method uses discrete-time state-feedback control with a quadratic penalty function, physically based states, and no state estimation. A simple, linear model of canal pool response, the integrator-delay model, is used to define the state transitions. All controllers within this class are tuned for the entire canal using optimization techniques. This avoids the tedious task of manually tuning simple controllers. The relative performance of the various controllers within this class can be directly compared without simulation, since the same objective function is used to tune each controller. An example is provided which suggests that the fully centralized controller will perform better than a series of local controllers. However, reasonably good performance can be obtained for some intermediate PI controllers that pass information to one additional check structure upstream and downstream. This should limit some of the difficulties reported for full optimal controllers where all check structures respond to water-level errors in all pools (e.g., saturation of inputs). The results of simulation studies of these controllers are provided in a companion paper.
Get full access to this article
View all available purchase options and get full access to this article.
References
Åström, K. J., and Wittenmark, B. (1997). Computer controlled systems, 3rd Ed., Prentice-Hall, Upper Saddle River, N.J., 408–446.
Balogun, O. S., Hubbard, M., and DeVries, J. J.(1988). “Automatic control of canal flow using linear quadratic regulator theory.” J. Hydraul. Eng., 114(1), 75–102.
Clemmens, A. J., Bautista, E., and Strand, R. J. (1997). “Canal automation pilot project.” WCL Rep. No. 22, Phase I report prepared for the Salt River Project, U.S. Water Conservation Laboratory, Phoenix, Ariz.
Clemmens, A. J., Kacerek, T., Grawitz, B., and Schuurmans, W.(1998). “Test cases for canal control algorithms.” J. Irrig. Drain. Eng., 124(1), 23–30.
Clemmens, A. J., and Wahlin, B. T.(2004). “Simple optimal downstream feedback canal controllers: ASCE test case results.” J. Irrig. Drain. Eng., 130(1), 35–46.
Deltour, J.-L., and Sanfilippo, F.(1998). “Introduction of the Smith predictor into dynamic regulation.” J. Irrig. Drain. Eng., 124(1), 47–52.
Franklin, G. F., Powell, J. D., and Emami-Naeini, A. (1994). Digital control of dynamic systems, 3rd Ed., Addison-Wesley, New York.
Liem, G. R. (1995). “Controller design for irrigation canals.” MSc thesis, Delft Univ. of Technology, Delft, The Netherlands.
Malaterre, P.-O.(1998). “PILOTE: Linear quadratic optimal controller for irrigation canals.” J. Irrig. Drain. Eng., 124(4), 187–194.
Malaterre, P.-O., Rogers, D. C., and Schuurmans, J.(1998). “Classification of canal control algorithms.” J. Irrig. Drain. Eng., 124(1), 3–10.
MATLAB user’s guide, version 5. (1998) MathWorks, Natick, Mass.
Rogers, D. C., Ehler, D. G., Falvey, H. T., Serfozo, E. A., Voorheis, P., Johansen, R. P., Arrington, R. M., and Rossi, L. J. (1995). Canal systems automation manual, Vol. 2, U.S. Bureau of Reclamation, Denver, Colo.
Rogers, D. C., and Goussard, J.(1998). “Canal control algorithms currently in use.” J. Irrig. Drain. Eng., 124(1), 11–15.
Ruiz-Carmona, V., Clemmens, A. J., and Schuurmans, J.(1998). “Canal control algorithm formulations.” J. Irrig. Drain. Eng., 124(1), 31–39.
Schuurmans, J. (1992). “Controller design for a regional downstream controlled canal.” Rep. No. A668, Laboratory for Measurement and Control, Delft Univ. of Technology, Delft, The Netherlands.
Schuurmans, J. (1997). “Control of water levels in open-channels.” PhD thesis, Faculty of Civil Engineering, Delft Univ. of Technology, Delft, The Netherlands.
Schuurmans, J., Bosgra, O. H., and Brouwer, R.(1995). “Open-channel flow model approximation for controller design.” Appl. Math. Model., 19(Sept), 525–530.
Schuurmans, J., Clemmens, A. J., Dijkstra, S., Hof, A., and Brouwer, R.(1999a). “Modeling of irrigation and drainage canals for controller design.” J. Irrig. Drain. Eng., 125(6), 338–344.
Schuurmans, J., Hof, A., Dijkstra, S., Bosgra, O. H., and Bouwer, R.(1999b). “Simple water level controller for irrigation and drainage canals.” J. Irrig. Drain. Eng., 125(4), 189–195.
Strelkoff, T. S., Deltour, J. L., Burt, C. M., Clemmens, A. J., and Baume, J. P.(1998). “Influence of canal geometry and dynamics on controllability.” J. Irrig. Drain. Eng., 124(1), 16–22.
Information & Authors
Information
Published In
Copyright
Copyright © 2004 American Society of Civil Engineers.
History
Received: Dec 27, 2001
Accepted: May 6, 2002
Published online: Jan 16, 2004
Published in print: Feb 2004
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.