Tuning of Robust Distant Downstream PI Controllers for an Irrigation Canal Pool. I: Theory
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Volume 132, Issue 4
Abstract
The paper proposes a new method to tune robust distant downstream proportional integral (PI) controllers for an irrigation canal pool. The method emphasizes the role of gain and phase margins in the controller design, by linking the selection of these robustness indicators to the time domain specifications. This leads to link the frequency domain approach used by automatic control engineers to the time domain approach used by hydraulic engineers. The maximum error corresponding to an unpredicted perturbation is shown to be directly linked to the gain margin and the settling time to the phase margin of the controlled system. The tuning method gives analytical expressions for the controller parameters as function of physical parameters of the canal pool in order to satisfy desired performance requirements. The model is first expressed in terms of dimensionless variables, in order to get generic tuning formulas. The dimensionless PI coefficients are then expressed as functions of time-domain performance requirements. The PI tuning method is evaluated by simulation on a full nonlinear model for a canal pool taken from the ASCE test cases.
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Acknowledgments
The writers acknowledge the financial help of Cemagref and INRA through the collaborative Program ASS AQUAE No. 2. They thank their colleagues and especially Jean-Pierre Baume for fruitful discussions on the paper.
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Information & Authors
Information
Published In
Journal of Irrigation and Drainage Engineering
Volume 132 • Issue 4 • August 2006
Pages: 359 - 368
Copyright
© 2006 ASCE.
History
Received: Mar 15, 2005
Accepted: Jul 28, 2005
Published online: Aug 1, 2006
Published in print: Aug 2006
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