Abstract
We discuss the problem of controlling an irrigation canal to accommodate fast changes in the canal state in response to events such as offtakes announced with no time lag or sudden weather changes. Our proposed approach comprises a hierarchical controller consisting of two layers with decentralized PI controllers in the lower layer and a centralized MPC-based event-driven controller in the higher layer. By incorporating the hierarchical controller structure we achieve a better performance than with the PI controllers only as currently in use in the real world, while barely increasing the communication requirements and remaining robust to temporary communication link breakdowns as the lower layer can work independently of the higher layer when the links are being restored. The operation of the higher-layer controller relies on controlling the head gate and modifying the settings of the local controllers. This way, an acceleration of water transporting is attained as the controller allows for rapid reactions to the need for more water or less water at a location. Specifically, when there is a sudden need for water, the storage in some of the pools is used to temporarily borrow water. Alternatively, when there is too much water at a location, it can be stored for some time in upstream or downstream pools before the PI controllers manage to remove the water.
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Notes
- 1.
MPC is a model-based control technique that uses predictions of the state and forecasts of the external inputs to determine optimal future control actions for the system. At every step, the control sequence is found through solving an optimization problem in a receding horizon manner. We refer to [4, 12] for a detailed description of MPC.
- 2.
The standard method works by increasing inflow from the head gate at the time when an offtake is announced to provide extra water needed for the additional offtake and letting the PI controllers transport that water through subsequent pools to the offtake point. This method relies on the PI controllers only with the higher-layer controller being absent.
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Research supported by the European Union Seventh Framework Programme [FP7/2007–2013] under grant agreement no. 257462 HYCON2 Network of Excellence.
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Sadowska, A., van Overloop, P.J., Burt, C., De Schutter, B. (2015). Hierarchical MPC-Based Control of an Irrigation Canal. In: Ocampo-Martinez, C., Negenborn, R. (eds) Transport of Water versus Transport over Water. Operations Research/Computer Science Interfaces Series, vol 58. Springer, Cham. https://doi.org/10.1007/978-3-319-16133-4_10
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