TECHNICAL PAPERS
Aug 1, 2005

Simulation of Automatic Canal Control Systems

Publication: Journal of Irrigation and Drainage Engineering
Volume 131, Issue 4

Abstract

Simulation models for unsteady open channel flows have been commercially available for more than 2 decades. Most of these models are now available for personal computers and can be used to study the control of irrigation canals. Studies on automatic control methods and algorithms have been performed on at least half a dozen of the available unsteady-flow simulation models. Although, many of these automation studies have been conducted by the institution that created the simulation model, these simulation models were not created with automatic gate control in mind, and thus one has to be intimately familiar with the source code in order to implement sophisticated control features. Three commercially available unsteady-flow simulation software packages that allow automatic control of gates based on algorithms written by users are: CanalCAD from the Univ. of Iowa, Hydraulics Lab; Mike 11 version 3.2 from the Danish Hydraulic Institute; and Sobek from Delft Hydraulics. In this paper, we describe the various features of these unsteady-flow simulation packages and how they interface to control engineering software/code. There are a number of tradeoffs between simplicity and functionality. All these models present difficulties and have limitations. The hope is to provide guidance on the next generation of unsteady-flow canal simulation models so that control functions can be routinely applied.

Get full access to this article

View all available purchase options and get full access to this article.

References

Abbott, M. B., and Ionescu, F. (1967). “On the numerical computation of nearly-horizontal flows.” J. Hydraul. Res., 5(2), 97–117.
American Society of Civil Engineers (ASCE). (1993). “Unsteady-flow modeling of irrigation canals.” J. Irrig. Drain. Eng., 119(4), 615–630.
Bautista, E., and Clemmens, A. J. (2005). “Volume compensation method for routing irrigation canal demand changes.” J. Irrig. Drain. Eng., in press.
Burt, C. M. (1983). “Regulation of sloping canals by automatic downstream control.” PhD thesis, Utah State Univ., Logan, Utah.
Burt, C. M., and Gartrell, G. (1993). “Irrigation-canal—simulation model usage.” J. Irrig. Drain. Eng., 119(4), 613–742.
Burt, C. M., Mills, R. S., Khalsa, R. D., and Ruiz, C. V. (1998). “Improved proportional-integral (PI) logic for canal automation.” J. Irrig. Drain. Eng., 124(1), 53–57.
Clemmens, A. J. (1993). “Editorial on canal system hydraulic modeling.” J. Irrig. Drain. Eng., 119(4), 613–614.
Clemmens, A. J. (1998). “Editorial.” J. Irrig. Drain. Eng., 124(1), 1–2.
Clemmens, A. J., Bautista, E., and Strand, R. J. (1997). “Canal automation pilot project, Phase I Report.” WCL Rep. No. 22, United States Water Conservation Laboratory, Phoenix, Ariz.
Clemmens, A. J., Holly, F. M., and Schuurmans, W. (1993). “Description and evaluation of program: Duflow.” J. Irrig. Drain. Eng., 119(4), 724–734.
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 Schuurmans, J. (2004). “Simple optimal feedback canal controllers: theory.” J. Irrig. Drain. Eng., 130(1), 26–34.
Clemmens, A. J., and Wahlin, B. T. (2004). “Simple optimal feedback canal controllers: ASCE test-case results.” J. Irrig. Drain. Eng., 130(1), 35–46.
Contractor, D. N., and Schuurmans, W. (1993). “Informed use and pitfalls of canal models.” J. Irrig. Drain. Eng., 119(4), 663–672.
Cunge, J. A., Holly, F. M., Jr., and Verwey, A. (1980). Practical aspects of computational river hydraulics, Pitman, Boston.
Danish Hydraulics Institute (DHI). (1995). Mike 11 Version 3.11 user manual, Horsholm, Denmark.
Delft Hydraulics (2000). Sobek flow module technical reference guide, version 2.2, Delft Hydraulics, Delft, The Netherlands.
Deltour, J.-L., and Sanfilippo, F. (1998). “Introduction of the Smith predictor into dynamic regulation.” J. Irrig. Drain. Eng., 124(1), 47–52.
Holly, F. M., Jr., and Merkley, G. P. (1993). “Unique problems in modeling irrigation canals.” J. Irrig. Drain. Eng., 119(4), 656–662.
Holly, F. M., Jr., and Parrish, J. B., III, (1992). “CanalCAD: dynamic flow simulation in irrigation canals with automatic control.” Limited Distribution Rep. No. 196, Iowa Institute of Hydraulic Research, Univ. of Iowa, Iowa City, Iowa.
Holly, F. M., Jr., and Parrish, J. B., III (1993). “Description and evaluation of program: CARIMA.” J. Irrig. Drain. Eng., 119(4), 703–713.
Hydrologic Engineering Center (HEC). (1997). HEC-RAS River Systems Analysis, Version 2, user’s manual, United States Army Corp of Engineers, Davis, Calif.
Lin, Z., and Manz, D. H. (1992). “Optimal operation of irrigation canal systems using nonlinear programming—dynamic simulation model.” Proc., International Workshop on The Application of Mathematical Modeling for the Improvement of Irrigation Canal Operations, Cemagref, Montpellier, France.
Liu, F., Feyen, J., Malaterre, P.-O., Baume, J.-P., and Kosuth, P. (1998). “Development and evaluation of canal automation algorithm CLIS.” J. Irrig. Drain. Eng., 124(1), 40–46.
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 6. (2000). The Math Works Inc., Natick, Mass.
Merkley, G. P., and Walker, W. W. (1991). “Centralized scheduling logic for canal operation.” J. Irrig. Drain. Eng., 117(3), 337–393.
Parrish, J. B., III, and Khalsa, R. D. (1997). “Calibration of open channel flow computer simulation.” Proc., 27th IAHR Congress, Theme A Managing Water: Coping with Scarcity and Abundance, 338–342.
Rogers, D. C., Ehler, D. G., Falver, H. T., Serfozo, E. A., Voorheis, P., Johansen, R. P., Arrington, R. M., and Rossi, L. J. (1995). Canal systems automation manual, Vol. 2, United States Bureau of Reclamation, Denver.
Rogers, D. C., and Goussard, J. (1998). “Canal control algorithms currently in use.” J. Irrig. Drain. Eng., 124(1), 11–15.
Rogers, D. C., and Merkley, G. P. (1993). “Description and evaluation of the program USM.” J. Irrig. Drain. Eng., 119(4), 693–702.
Schuurmans, W. (1993). “Description and evaluation of program Modis.” J. Irrig. Drain. Eng., 119(4), 735–742.
Schuurmans, J., Clemmens, A. J., Dijkstra, S., Hof, A., and Brouwer, R. (1999). “Modeling of irrigation and drainage canals for controller design.” J. Irrig. Drain. Eng., 125(6), 338–344.
Silvis, L. G., Hof, A., van den Hof, P. M. J., and Clemmens, A. J. (1998). “System identification on open channels.” Proc., 3rd Int. Conf. on Hydroinformatics, Copenhagen, Denmark, V. Babovic and L. C. Larsen, eds., Balkema, Rotterdam, The Netherlands, 21–224.
Stelleing, G. S., Kernkamp, H. W. J., and Laguzzi, M. M. (1998). “Delft flooding system: A powerful tool for inundation assessment based upon positive flow simulation.” Proc., 3rd Int. Conf. on Hydroinformatics, Copenhagen, Denmark, V. Babovic and L. C. Larsen, eds., Balkema, Rotterdam, The Netherlands, 449–456.
Strelkoff, T. S., and Falvey, H. T. (1993). “Numerical methods used to model unsteady canal flow.” J. Irrig. Drain. Eng., 119(4), 637–7655.
van Overloop, P. J., Schuurmans, W., and Brouwer, R. (2003). “Model predictive control of canal systems in the Netherlands.” Proc., 2nd Int. Conf. on Irrigation and Drainage, USCID, Denver.
Wahlin, B. T. (2002). “Optimal feedback controller design for branching canal networks.” PhD thesis, Arizona State Univ., Tempe, Ariz.
Wahlin, B. T., and Clemmens, A. J. (2002). “Performance of several historic canal control algorithms on the ASCE test cases.” J. Irrig. Drain. Eng., 128(6), 365–375.
Zimbelman, D. D., and Bedworth, D. (1983). “Computer control for irrigation-canal system.” J. Irrig. Drain. Eng., 109(1), 43–59.

Information & Authors

Information

Published In

Go to Journal of Irrigation and Drainage Engineering
Journal of Irrigation and Drainage Engineering
Volume 131Issue 4August 2005
Pages: 324 - 335

History

Received: Mar 30, 2004
Accepted: Aug 19, 2004
Published online: Aug 1, 2005
Published in print: Aug 2005

Permissions

Request permissions for this article.

Authors

Affiliations

A. J. Clemmens, M.ASCE [email protected]
Director, U.S. Water Conservation Laboratory, USDA/ARS, 4331 E. Broadway Rd., Phoenix, AZ 85040. E-mail: [email protected]
E. Bautista, A.M.ASCE [email protected]
Research Hydraulic Engineer, U.S. Water Conservation Laboratory, USDA/ARS, Phoenix, AZ 85040. E-mail: [email protected]
B. T. Wahlin, A.M.ASCE [email protected]
Hydraulic Engineer, WEST Consultants, Tempe, AZ 85283. E-mail: [email protected]
R. J. Strand [email protected]
Electrical Engineer, U.S. Water Conservation Laboratory, USDA/ARS, Phoenix, AZ 85040. E-mail: [email protected]

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.

Cited by

View Options

Get Access

Access content

Please select your options to get access

Log in/Register Log in via your institution (Shibboleth)
ASCE Members: Please log in to see member pricing

Purchase

Save for later Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.

Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
ASCE Library Card (5 downloads)
$105.00
Add to cart
ASCE Library Card (20 downloads)
$280.00
Add to cart
Buy Single Article
$35.00
Add to cart

Get Access

Access content

Please select your options to get access

Log in/Register Log in via your institution (Shibboleth)
ASCE Members: Please log in to see member pricing

Purchase

Save for later Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.

Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
ASCE Library Card (5 downloads)
$105.00
Add to cart
ASCE Library Card (20 downloads)
$280.00
Add to cart
Buy Single Article
$35.00
Add to cart

Media

Figures

Other

Tables

Share

Share

Copy the content Link

Share with email

Email a colleague

Share