Multiple-Model Optimization of Proportional Integral Controllers on Canals
Publication: Journal of Irrigation and Drainage Engineering
Volume 131, Issue 2
Abstract
Canals or open channels that convey water often consist of pools in series separated by control structures. Successful implementation of water-level control with these structures using decentralized proportional integral (PI) controllers depends heavily on the tuning of the control parameters. These parameters are hard to determine due to the interactions between the pools and the varying flow conditions in the canal. This paper presents a procedure for tuning any linear controller (including decentralized PI controllers) that guarantees stability of the controlled canal. It minimizes a cost function that weights the water-level deviations from the target level against control efforts at both low- and high-flow conditions. The procedure is tested on a model of the Umatilla Stanfield Branch Furnish Canal in Oregon. The tests show the capability of the procedure to deal with the pool interactions. The results of a realistic turnout schedule applied to the controlled canal show the high performance of the controllers (small water-level deviations in all pools) over varying flow conditions.
Get full access to this article
View all available purchase options and get full access to this article.
References
Geromel, J. C., and Bernussou, J. (1979). “Optimal decentralised control of dynamic systems.” Automatica, 14, 489–491.
Holly, F. M., and Parrish, J. B. (1992). CanalCAD: Dynamic flow simulation in irrigation canals with automatic gate control, Iowa Institute of Hydraulic Research, Univ. of Iowa, Iowa City, Iowa.
Mathworks. (1992). Matlab user guide, Mathworks, Inc., Natick, Mass.
Overloop, P. J. van, Mursi Batt, A., Heeringen, K. J. van, and Thabet, R. A. H. A. (2001). “Real-time control of water quantity and water quality in a reuse of drainage water project.” Proc., International Commission on Irrigation and Drainage Workshop, South Korea.
Schuurmans, J. (1997). “Control of water levels in open channels.” PhD thesis, Delft Univ. of Technology, Faculty Civil Engineering, Group of Water Management, The Netherlands.
Schuurmans, J., and Liem, G. (1995). “Controller design for the WM canal.” Proc., Water Resources Engineering Conf., ASCE, New York, 481–485.
Schuurmans, W., et al. (1999). “Automatic control of Grand Prairie Project.” Proc., United States Committee on Irrigation and Drainage Workshop, Phoenix.
Silvis, L. G., Hof, A., Hof, P. M. J. van den, and Clemmens, A. J. (1998). “System identification on open channels.” Proc., 3rd Int. Conf. on Hydroinformatics, 219–224.
WL/Delft Hydraulics. SOBEK manual and technical reference, (2000). WL/Delft Hydraulics, Delft, The Netherlands.
Wahlin, B. T., and Clemmens, A. J. (2002). “Preliminary results for downstream feedback control of branching canal networks.” Proc., United States Committee on Irrigation and Drainage/Environmental and Water Resources Institute Conf. on Energy, Climate, Environment, and Water, San Luis Obispo, Calif.
Weyer, E. (2001). “System identification of an open water channel.” Control Eng. Pract., 9, 1289–1299.
Information & Authors
Information
Published In
Journal of Irrigation and Drainage Engineering
Volume 131 • Issue 2 • April 2005
Pages: 190 - 196
Copyright
© 2005 ASCE.
History
Received: Sep 4, 2002
Accepted: Sep 3, 2003
Published online: Apr 1, 2005
Published in print: Apr 2005
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.