Application of the GoRoSo Feedforward Algorithm to Compute the Gate Trajectories for a Quick Canal Closing in the Case of an Emergency
Publication: Journal of Irrigation and Drainage Engineering
Volume 139, Issue 12
Abstract
The canal delivery system in the Left Hemidelta area of the Ebro River in Spain consists of a tree-shaped net of open canals. The overall system can be quickly isolated in the case of an emergency by closing the upstream pool. Transients, in which the initial state is hydraulically far from the final state, are difficult to handle and cannot be made in only one gate movement in order to protect the canal lining. Therefore, they have to be as smooth as possible. GoRoSo is a feedforward control algorithm for irrigation canals based on sequential quadratic programming. With this tool, it is possible to calculate the gate trajectories that smoothly carry the canal from the initial state to the final state by keeping the water depth constant at checkpoints. The paper shows the efficient implementation of GoRoSo in both the closure and opening operations of the canal delivery system.
Get full access to this article
View all available purchase options and get full access to this article.
References
Bautista, E., and Clemmens, A. J. (2005). “Volume compensation method for routing irrigation canal demand changes.” J. Irrig. Drain. Eng., 494–503.
Bautista, E., Clemmens, A. J., and Strelkoff, T. S. (1997). “Comparison of numerical procedures for gate stroking.” J. Irrig. Drain. Eng., 129–136.
Bautista, E., Strelkoff, T. S., and Clemmens, A. J. (2003). “General characteristics of solutions to the open-channel flow feedforward control problem.” J. Irrig. Drain. Eng., 129–137.
Clemmens, A. J., Grawitz, B., and Schuurmans, W. (1998). “Test cases for canal control algorithms.” J. Irrig. Drain. Eng., 23–30.
Clemmens, A. J., and Strand, R. J. (2010). “Application of software for automated canal management SacMan to the WM lateral canal.” J. Irrig. Drain. Eng., 451–459.
Cunge, J. A., Holly, F. M., and Verwey, A. (1980). Practical aspects of computational river hydraulics, Pitman, Boston.
Falvey, H. T., and Luning, P. C. (1979). “Gate stroking.”, United States Bureau of Reclamation, United States Dept. of the Interior, Washington, DC.
Fletcher, R. (1987). Practical methods of optimization, 2nd Ed., Wiley, New York.
Gill, P. E., Murray, W., and Wright, M. H. (1981). Practical optimization, Academic Press, San Diego, CA.
Liu, F., Feyen, J., and Berlamont, J. (1992). “Computational method for regulating unsteady flow in open channels.” J. Irrig. Drain. Eng., 118(5), 674–689.
Luenberger, D. G. (1984). Linear and nonlinear programming, 2nd Ed., Addison-Wesley, Wilmington, DE.
Soler, J. (2003). “Contribution to the study of control of irrigation canals by means numerical methods of non-linear programming. Application to the calculus of reference trajectories.” Catalan Ph.D. thesis, Technical University of Catalonia, Catalunya.
Soler, J., Gómez, M., and Rodellar, J. (2008). “A control tool for irrigation canals with scheduled demands.” J. Hydraul. Res., 46(1), 152–167.
Soler, J., Gómez, M., and Rodellar, J. (2011). “The hydraulic influence matrix of opening gate trajectories in canals based on the method of characteristics: concept, compilation and practical examples.” Res. Rep., UPCommons, 〈http://hdl.handle.net/2117/12473〉 (Sep. 27, 2012).
Soler, J., Gómez, M., and Rodellar, J. (2013). “GoRoSo: A feedforward control algorithm for irrigation canals based on sequential quadratic programming.” J. Irrig. Drain. Eng., 41–54.
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., 16–22.
Information & Authors
Information
Published In
Copyright
© 2013 American Society of Civil Engineers.
History
Received: May 18, 2012
Accepted: May 27, 2013
Published online: May 29, 2013
Discussion open until: Oct 29, 2013
Published in print: Dec 1, 2013
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.