Automatic Tuning of PI Controllers for an Irrigation Canal Pool
Publication: Journal of Irrigation and Drainage Engineering
Volume 133, Issue 1
Abstract
This paper presents a method to automatically tune decentralized proportional integral (PI) controllers for an irrigation canal pool. The auto tune variation (ATV) method is based on a relay experiment, which generates small amplitude oscillations of the canal pool. The ATV procedure can be used to get the integrator delay model parameters of a canal pool, which in turn can be used to tune a PI controller using classic rules, or other rules such as the ones proposed by Litrico and Fromion. This method does not require advanced automatic control knowledge and is implemented in the SIC software developed by Cemagref, which also incorporates a supervisory control and data acquisition module for real-time control. The ATV method is evaluated by simulations and experiments on a real irrigation canal located in the South of France, for local upstream, local downstream, and distant downstream controller tuning.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
The writers acknowledge the financial help of Région Languedoc-Roussillon, Conseil Général de l’Hérault, Agence de l’Eau Rhône-Méditerranée-Corse and Cemagref through the “Plateforme Expérimentale du Canal de Gignac.” We thank Vincent Kulesza, head of the ASA de Gignac, for his collaboration in the experiments.
References
Aström, K., and Hägglung, T. (1984). “Automatic tuning of simple regulators with specifications on phase and amplitude margins.” Automatica, 20(5), 645–651.
Aström, K. J., and Hägglund, T. (1995). PID controllers: Theory, design, and tuning, 2nd Ed., Instrument Society of America, Research Triangle Park, N.C.
Baume, J.-P., Malaterre, P.-O., and Sau, J. (1999). “Tuning of PI to control an irrigation canal using optimization tools.” Proc., Workshop on Modernization of Irrigation Water Delivery Systems, U.S. Society for Irrigation and Drainage Professionals, Denver, 483–500.
Chien, K. L., Hrones, J. A., and Reswick, J. B. (1952). “On the automatic control of generalized passive systems.” Trans. ASME, 74, 175–185.
Clemmens, A. J., and Schuurmans, J. (2004). “Simple optimal downstream feedback canal controllers: Theory.” J. Irrig. Drain. Eng., 130(1), 26–34.
Hang, C., Astrom, K., and Wang, Q. (2002). “Relay feedback auto-tuning of process controllers—A tutorial review.” J. Process Control, 12, 143–162.
Litrico, X., and Fromion, V. (2004). “Simplified modeling of irrigation canals for controller design.” J. Irrig. Drain. Eng., 130(5), 373–383.
Litrico, X., and Fromion, V. (2006). “Tuning of robust distant downstream PI controllers for an irrigation canal pool. I: Theory.” J. Irrig. Drain. Eng., 132(4), 359–368.
Litrico, X., Fromion, V., and Baume, J. (2006). “Tuning of robust distant downstream PI controllers for an irrigation canal pool. II: Implementation issues.” J. Irrig. Drain. Eng., 132(4), 369–379.
Malaterre, P.-O. (2006). SIC 4.22: Simulation of Irrigation Canals. ⟨http://www.cemagref.net/sic/sicgb.htm⟩.
Malaterre, P.-O., and Baume, J.-P. (1997). “SIC 3.0, a simulation model for canal automation design.” Proc., Int. Workshop on the Regulation of Irrigation Canals RIC’97, LAAS-CNRS-Cemagref, Marrakesh, Morocco, 68–75.
Malaterre, P.-O., Rogers, D. C., and Schuurmans, J. (1998). “Classification of canal control algorithms.” J. Irrig. Drain. Eng., 124(1), 3–10.
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 Brouwer, R. (1999b). “Simple water level controller for irrigation and drainage canals.” J. Irrig. Drain. Eng., 125(4), 189–195.
Tyreus, B., and Luyben, W. (1992). “Tuning PI controllers for integrator/dead time processes.” Ind. Eng. Chem. Res., 31, 2625–2628.
Weyer, E. (2001). “System identification of an open water channel.” Control Eng. Pract., 9, 1289–1299.
Weyer, E. (2002). “Decentralised PI controller of an open water channel.” Proc., 15th IFAC World Congress, International Federation of Automatic Control, Laxenburg, Austria.
Ziegler, J., and Nichols, N. (1942). “Optimum settings for automatic controllers.” Trans. ASME, 64, 759–768.
Information & Authors
Information
Published In
Copyright
© 2007 ASCE.
History
Received: Oct 25, 2005
Accepted: Apr 27, 2006
Published online: Feb 1, 2007
Published in print: Feb 2007
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.