Abstract
This chapter proposes a nonlinear model predictive control (NMPC) strategy for WDNs including both flow and pressure constraints. A WDN might be regarded as a nonlinear system described by differential-algebraic equations (DAEs), when flow and hydraulic head equations are considered in the model. The main operational goal of WDNs is the minimization of the economic costs associated with pumping. In addition to the minimization of costs, the optimal operation of WDNs should guarantee water supply with required flows and pressures at all the control/demand nodes in the network. Other operational goals related to safety and reliability are usually sought. From a control point of view, NMPC is a suitable control strategy for WDNs, since the optimal operation of the network cannot be established a priori by fixing reference volumes in the tanks. Alternatively, the NMPC strategy should determine the optimal filling/emptying sequence of the tanks taking into account that electricity price varies between day and night and that the demand also follows a 24-h repetitive pattern. On the other hand, as a result of the ON/OFF operation of pumps in pumping stations, a two-layer control scheme has been utilized: the NMPC strategy at the hourly sampling timescale is chosen in the upper layer while the pump scheduling approach at the minutely sampling timescale dealing with pumps in the ON/OFF manner is proposed in the lower layer. Finally, results of applying the proposed control strategy to a portion of the Barcelona WTN are provided in simulation.
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Wang Y (1), Cembrano G (1), Puig V (2), Urrea M (1), Romera J (1), Saporta D (3), Valero jG (3) (1)Institut de Robotica i Informatica Industrial, CSIC-UPC, Barcelona, Spain (2) Research Center “Monitoring, Safety and Automatic Control” (CS2AC-UPC), Terrassa, Spain (3) Aguas de Barcelona (AGBAR), Barcelona, Spain
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Wang, Y. et al. (2017). Model Predictive Control of Water Networks Considering Flow and Pressure. In: Puig, V., Ocampo-Martínez, C., Pérez, R., Cembrano, G., Quevedo, J., Escobet, T. (eds) Real-time Monitoring and Operational Control of Drinking-Water Systems. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-50751-4_13
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DOI: https://doi.org/10.1007/978-3-319-50751-4_13
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