Abstract
In this study a novel configuration of the Water Level Difference Error method is introduced to speed up the error sharing in the context of Model Predictive Control (MPC). The potential application of the controller is examined. The main objective of this controller is fair distribution of water between upstream and downstream users in main canals suffering from water shortages. The scheme uses the Integrator-Delay (ID) model for canal pool responses in a model predictive controller. The designed controller is tested on an accurate simulation model of a large canal system, using four test scenarios. The scenarios suffer from limited water supply conditions that are imposed by a limitation on the canal inflow. The results show fast reactions in equitable sharing of water level deviations from target throughout the canal. Since, all the pools are involved in optimally managing the water shortage, significant improvements in operational performance of the canal are achieved. In addition, the operational performance of the designed controller is remarkably improved by applying a new strategy of target-bands instead of target-levels in the canal pools as it increases the flexibility of the controller in making appropriate decisions.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bhadra A, Bandyopadhyay A, Singh R, Raghuwanshi NS (2010) An alternative rotational delivery schedule for improved performance of reservoir-based canal irrigation system. Water Resour Manag 24:3679–3700. doi:10.1007/s11269-010-9626-8
Camacho EF, Bordons C (2004) Model predictive control in the process industry. Springer, London
Chambers R (1986) Canal irrigation at night. Irrig Drain Syst 1:45–73. doi:10.1007/BF01422978
Clemmens AJ (2012) Water-level difference controller for main canals. J Irrig Drain Eng 138:1–8. doi:10.1061/(ASCE)IR.1943-4774.0000367
Clemmens AJ, Kacerek TF, Grawitz B, Schuurmans W (1998) Test cases for canal control algorithms. J Irrig Drain Eng 124:23–30. doi:10.1061/(ASCE)0733-9437(1998)124:1(23)
Fele F, Maestre JM, Hashemy SM, Muñoz de la Peña D, Camacho EF (2014) Coalitional model predictive control of an irrigation canal. J Process Control 24:314–325. doi:10.1016/j.jprocont.2014.02.005
Feyen J, Liu F (1991) Automation of the design of agricultural water management projects. Water Resour Manag 5:95–119. doi:10.1007/bf00422543
Ghumman AR, Khan RA, Khan QUZ, Khan Z (2012) Modeling for various design options of a canal system. Water Resour Manag 26:2383–2395. doi:10.1007/s11269-012-0022-4
Guan G, Clemmens AJ, Kacerek TF, Wahlin BT (2011) Applying water-level difference control to Central Arizona project. J Irrig Drain Eng 137:747–753. doi:10.1061/(ASCE)IR.1943-4774.0000351
Hashemy SM, van Overloop PJ (2013) Applying decentralized water level difference control for operation of the Dez Main Canal under water shortage. J Irrig Drain Eng 139:1037–1044. doi:10.1061/(asce)ir.1943-4774.0000649
Hashemy SM, Monem MJ, Maestre JM, Van Overloop PJ (2013) Application of an in-line storage strategy to improve the operational performance of main irrigation canals using model predictive control. J Irrig Drain Eng 139:635–644. doi:10.1061/(asce)ir.1943-4774.0000603
Isapoor S, Montazar A, Van Overloop PJ, Van De Giesen N (2011) Designing and evaluating control systems of the Dez main canal. Irrig Drain 60:70–79. doi:10.1002/ird.545
Molden DJ, Gates TK (1990) Performance measures for evaluation of irrigation‐water‐delivery systems. J Irrig Drain Eng 116:804–823
Negenborn RR, van Overloop PJ, Keviczky T, De Schutter B (2009) Distributed model predictive control for irrigation canals. J Netw Heterog Media 4:359–380. doi:10.3934/nhm.2009.4.359
Reddy JM (1991) Design of a combined observer-controller for irrigation canals. Water Resour Manag 5:217–231. doi:10.1007/bf00421991
Rezapour Tabari MM, Tavakoli S, Mazak Mari M (2014) Optimal design of concrete canal section for minimizing costs of water loss, lining and earthworks. Water Resour Manag 28:3019–3034. doi:10.1007/s11269-014-0652-9
Sadowska A, van Overloop PJ, Burt C, De Schutter B (2014) Hierarchical operation of water level controllers: formal analysis and application on a large scale irrigation canal. Water Resour Manag 28:4999–5019. doi:10.1007/s11269-014-0785-x
Schuurmans W, Brouwer R, Wonink P (1992) Identification of control system for canal with night storage. J Irrig Drain Eng 118:360–369. doi:10.1061/(asce)0733-9437(1992)118:3(360)
Tariq JA, Latif M (2010) Improving operational performance of farmers managed distributary canal using SIC hydraulic model. Water Resour Manag 24:3085–3099. doi:10.1007/s11269-010-9596-x
van Overloop PJ (2006) Drainage control in water management of polders in the Netherlands. Irrig Drain Syst 20:99–109. doi:10.1007/s10795-006-5424-0
van Overloop PJ, Miltenburg IJ, Clemmens AJ, Strand RJ (2008) Identification of pool characteristics of irrigation canals
van Overloop PJ, Clemmens AJ, Strand RJ, Wagemaker RMJ, Bautista E (2010a) Real-time implementation of model predictive control on Maricopa-Stanfield irrigation and drainage district’s WM canal. J Irrig Drain Eng 136:747–756. doi:10.1061/(asce)ir.1943-4774.0000256
Van Overloop PJ, Negenborn RR, Schutter BD, Giesen NC (2010b) Predictive control for national water flow optimization in The Netherlands. In: Negenborn RR, Lukszo Z, Hellendoorn H (eds) Intelligent infrastructures, vol 42. Intelligent systems, control and automation: science and engineering. Springer, Netherlands, pp 439–461
van Overloop P-J, Horváth K, Ekin Aydin B (2014) Model predictive control based on an integrator resonance model applied to an open water channel. Control Eng Pract 27:54–60. doi:10.1016/j.conengprac.2014.03.001
Xu M, van Overloop PJ, van de Giesen NC (2011) On the study of control effectiveness and computational efficiency of reduced Saint-Venant model in model predictive control of open channel flow. Adv Water Resour 34:282–290. doi:10.1016/j.advwatres.2010.11.009
Zafra-Cabeza A, Maestre JM, Ridao MA, Camacho EF, Sánchez L (2011) A hierarchical distributed model predictive control approach to irrigation canals: a risk mitigation perspective. J Process Control 21:787–799. doi:10.1016/j.jprocont.2010.12.012
Acknowledgments
The authors would like to thank Deltares for providing the license of the hydrodynamic modeling package Sobek for use in this study. Financial support by the European Union by means of the FP7-ICT project DYMASOS (ref. 611281) is gratefully acknowledged.
One of the authors of this article, prof. P. J. van Overloop, passed away just before this work was finally accepted. The rest of the authors would like to express their gratitude and admiration to him and also expect that this article serves as a tribute to his memory.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Hashemy Shahdany, S.M., Maestre, J.M. & van Overloop, P.J. Equitable Water Distribution in Main Irrigation Canals with Constrained Water Supply. Water Resour Manage 29, 3315–3328 (2015). https://doi.org/10.1007/s11269-015-1000-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11269-015-1000-4