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Automatic Control Department, Technical University of Catalonia (UPC), Pau Gargallo 5, 08028 Barcelona, Spain
Institut de Robtica i Informtica Industrial (IRI), UPC-CSIC, Llorens i Artigas, 4-6, 08028 Barcelona, Spain
a r t i c l e i n f o
a b s t r a c t
Article history:
Received 29 May 2012
Received in revised form
26 October 2013
Accepted 28 October 2013
Available online 14 December 2013
Irrigation canals are open-ow water hydraulic systems, whose objective is mainly to convey water from
its source down to its nal users. They are large distributed systems characterized by non-linearity and
dynamic behavior that depends on the operating point. Moreover, in canals with multiple reaches dynamic behavior is highly affected by the coupling among them. The physical model for those systems
leads to a distributed-parameter model whose description usually requires partial differential equations
(PDEs). However, the solution and parameter estimation of those PDE equations can only be obtained
numerically and imply quite time-consuming computations that make them not suitable for real-time
control purposes. Alternatively, in this paper, it will be shown that open-ow canal systems can be
suitably represented for control purposes by using linear parameter-varying (LPV) models. The advantage of this approach compared to the use of PDE equation is that allows simpler models which are
suitable for control design and whose parameters can be easily identied from inputeoutput data by
means of classical identication techniques. In this paper, the well-known control-oriented, model
named integral delay zero (IDZ), that is able to represent the canal dynamics around a given operating
point by means of a linear time-invariant (LTI) model is extended to multiple operating points by means
of an LPV model. The derivation of this LPV model for single-reach open-ow canal systems as well as its
extension to multiple-reach open-ow canals is proposed. In particular, the proposed methodology allows deriving the model structure and estimating model parameters using data by means of identication techniques. Thus, a gray-box control model is obtained whose validation is carried out using
single-pool and two-pool test canals obtaining satisfactory results.
2013 Elsevier Ltd. All rights reserved.
Keywords:
Linear parameter varying models
Identication
Modeling
Control
1. Introduction
Irrigation canals are open-ow water hydraulic systems, whose
objective is mainly to convey water from its source down to its nal
users. They are large distributed parameter systems described by
SainteVenants partial-differential equations (Chow, 1959) (Litrico
and Fromion, 2004) which are nonlinear partial derivative hyperbolic equations (distributed model). There is no known analytical
solution in real geometry and these equations have to be solved
numerically. Then, the hydraulic behavior of this canal system can
be studied through various numerical methods such as the method
q This work has been partially grant-funded by CICYT SHERECS DPI-2011-26243
and CICYT WATMAN DPI- of the Spanish Ministry of Education, by EFFINET grant
FP7-ICT-2012-318556 of the European Commission.
* Corresponding author. Automatic Control Department, Technical University of
Catalonia (UPC), Pau Gargallo 5, 08028 Barcelona, Spain.
E-mail addresses: yolanda.bolea@upc.edu (Y. Bolea), vicenc.puig@gmail.com
(V. Puig), joaquim.blesa@upc.edu (J. Blesa).
1364-8152/$ e see front matter 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.envsoft.2013.10.028
88
gate i-1
pool i-1
89
gate i
Yd i-1
gate i+1
pool i
Yd
pool i+1
Yd i+1
Ui-1
Qu i-1
Ui
Ui+1
Qu
Qu
QL
QL
i-1
i+1
QL
i+1
Fig. 3). A servomotor is used in each gate to drive the control gate
position (U1 and U2) and there are two level sensors located at the
1
2
end of the two canal pools (Yd and Yd ). As in the SISO case, upstream of the rst gate there is a reservoir with a constant level
H 3.5 m. The total length of the rst pool is L1 2 km while in the
second L2 4 km. The canal width, bottom slope and Manning
roughness coefcient, operating range of the gate, gate discharge
coefcient, gate width, spillway height and coefcient are the same
as in the SISO case.
In this paper, the real behavior of the two bench test is accurately reproduced by the simulator developed in (Mantecon, 2002).
This simulator solves numerically SainteVenants equations (Chow,
1959), which describes the dynamics of these test-bench canals by
the conservation of mass and momentum principles in a onedimensional free surface ow. This pair of partial-differential
equations constitutes a non-linear and hyperbolic system that for
an arbitrary geometry lacks of analytical solution. Thus, it has to be
solved numerically and therefore the simulations are timeconsuming for on-line applications.
(1a)
(1b)
where: yu and yd for levels and qd, and, qu for ows denote upstream/downstream
deviations
from
stationary
values,
P12(s) essu/Aus, P21(s) essd/Ads and P22(s) 1/Ads with su and
sd are the upstream and downstream transport delays and Au and
Ad are the upstream and downstream backwater areas, all
depending on the operating point.
Remark. In the following, for simplicity the adjective variation
in lowercase variables will be implicitly assumed and omitted in
the text, capital letters in variables will denote absolute values and
when subindex 0 is added refer to stationary values. Thus, a
relation will be established among them and illustrated in the case
of downstream level as follows: Yd Yd0 yd
,
sd
ZL
dx
Vx Cx
(2)
U1
L1
L2
H
Yd
Qu
U2
Qu(1)
Qd
h1
(a)
Yd(1)
Ys
Yd(2)
Qd(1)
Qu(2)
(b)
Qd(2)
Ys
90
Fig. 4. Time response to an opening gate step applied at t 10 min for the four operating points: 1 (q from 0.1 to 0.3 m), 2 (q from 0.3 to 0.5 m), 3 (q from 0.5 to 0.7 m) and 4 (q from
0.7 to 0.9 m) that cover of all system operation range.
This corresponds to the minimum time required for a perturbation to travel from upstream to the downstream of the pool. We
recover the classical value in the uniform case when V and C are
constant: V Q/A and C gD where Q is the ow, A is the crosssectional area, g is the acceleration of gravity and D is the hydraulic depth (cross-sectional area divided by top width). Then sd L/
(V C) and su L/(C e V). Moreover, in the uniform case, the coefcient Ad of the P21(s) and P22(s) transfer functions reects the
way in which the downstream water level varies when the upstream and downstream discharge varies. It can be evaluated by
computing the variation of the volume of the pool Vpool with
respect to the downstream water elevation:
Ad
vVpool
vYd
(3)
qu s ku us
(4)
Table 1
LPV FOPDT in each operating point.
U
Parameters
K
T [sec]
s [sec]
0.1e0.3
0.3e0.5
0.5e0.7
0.7e0.9
1.440
0.966
0.728
0.576
525
420
366
312
564
448.40
377.73
351.97
qd s kd yd s
(5)
yd s Gsus
ku P21 s
ku esd s
us
us
1 kd P22 s
Ad s kd
K
esd s us
Ts 1
(6)
1
In the following, for simplicity and with abuse of notation, transfer functions
are used for LPV systems, although computations are performed entirely in the time
domain using the state space representation.
yd s; q Gs; qus
Kq
esd qs us
Tqs 1
91
(7)
Tqzksd q
(8)
ad BL
VAw =yd
ad BL
VByd =yd
ad
L
V
Tq ad
L
Vq Cq
sd q
ad
Vq
Vq
(10)
1 1
(11)
1
(9)
Fig. 5. Downstream and wet areas of a small pool or a pool with very small slope.
qu szku1 u1 s
(12)
1 1
qd szqu s kd yd s ku2 u2 s
(13)
1
1
1
1
yd s P21 sku1 u1 s P22 s kd yd s ku2 u2 s
(14)
92
Fig. 6. Step time responses for different operating points in two-pool canal. (Left) (U1 from 0.1 to 0.3 m and U2 remains at 0.5 m), (Right) (U1 remains at 0.5 m and U2 from 0.5 to
0.7 m).
2
P21 sku1
P22 sku2
u s
u s
1
1 1
1
1 2
1 P22 skd
1 P22 skd
yd s
s
e d
1
Ad s
and P22 s
1
(15)
1 where A is
d
1
Ad s
the downstream backwater area and sd is the downstream propagation delay, the following model is obtained (with the desired
structure)
1
yd s
ku1
u2 s
es11 s
Ad s kd
u1 s
K11
2
yd s
Ad
1
; T12 1
; s11 sd ; s12 0;
1
kd
kd
ku1
1
kd
; K12
ku2
p21 sku1
(20)
P21 sku1
@k1
u s
d
2
2
1
1 1
1 p22 skd
1 P22 skd
1
1
1 P22 sku2
u s ku2 u2 sA
kd
1
1 2
1 P22 skd
Taking
kd
into
account
that:
2
d
(21)
2
yd s
esd
sd
ku1
@k1 e
u s
d
2
2
1
1 1
Ad s kd
Ad s kd
1
ku2
1
kd 1
u s ku2 u2 sA
1 2
Ad s kd
(22)
- Pool 2:
2
1 1
Ad
2 2
(17)
s
(16)
K11 es11 s
K es12 s
u s 12
u s
T11 s 1 1
T12 s 1 2
(19)
that leads to
Ad s kd
where
T11
2
2
1 1
2
2 2
yd s P21 s kd yd s ku2 u2 s P22 s kd yd s
qd szqu s kd yd s ku2 u2 s
ku2
1
2 2
qd szkd yd s
(18)
esd
2
k1 k
u1
d
u1 s
2
2
1
1
Ad s kd
Ad s kd
1
2
yd s
sd
esd Ad ku2 s
u2 s
2
2
1
1
Ad s kd
Ad s kd
(23)
93
Table 2
Coefcients of the polynomials in MIMO case.
aj
bj
cj
j2
j1
j0
2.01
9.35
5.30
3.42
15.24
11.08
2.04
12.07
10.71
yd sz
K21 es21 s
K es22 s
u s 22
u s
T21 s 1 1
T22 s 1 2
(24)
where
2
T21
s21
Ad
kd
sd1
kd
sd2 ;
Ad Ad
Ad
kd kd
; T22
Ad
kd
K21
ku1
2
kd
Ad
kd
; K22
1 ku2
2 1
kd kd
Ad
2
Ad
kd
Ad
kd
Thus, the MIMO control model for the two pool canal system is:
"
yd
yd
2K
6
4
s s
11 e 11
T11 s1
K12 es12 s
T12 s1
K21 es21 s
T21 s1
K22 es22 s
T22 s1
3
7
5
"
u1 s
u2 s
#
(25)
Fig. 7. Evolution of the variable parameters of the SISO model. (Up) static gain,
(middle), time constant and (down) delay coefcients of the model.
94
min
M
P
2
bi qi bb qi
(27)
qk fq1 ; /; qM g
many engineers are well-experienced in LTI identication experiments and that the local LTI models can be estimated using a wide
variety of well established and widely spread LTI identication algorithms. To properly interpolate these local models, all local LPV
identication techniques require that an appropriate methodology
is applied to construct an LPV model that interpolates these
consistent local models. As the local models can be either continuous- or discrete-time, both continuous- and discrete-time LPV
models can be obtained, which is another advantage of the local
approach.
4.2. LPV model identication approach
In this paper, a methodology inspired in the one proposed (De
Caigny, 2009) is used. Given the range on input values, a set of M
operating points is used. For each operating point i, the parameters
of the model bi are estimated by solving a least-square parameter
estimation problem using a set of N input/output data
min
bi
2
N
P
i
ytk b
y tk ; b
k1
(26)
s:t:
i
i
b
y tk ; b JT tk b
tk ft1 ; /; tN g
Once the LPV control model for single and multiple reach openow canals have been presented they will be applied to the
benchmark case studies presented in Section 2. The LPV SISO model
of the single pool canal represented by (6) and the LPV MIMO
model of the multiple pool canal represented by (25). Then, the
parameters of both LPV models are estimated by the method
described in Section 4. In the single reach case, each linear varying
parameter uses as scheduling variable the gate opening (U) while in
the MIMO case the LPV model parameters depends on the two gate
openings (U1,U2).
5.1. Application to single reach case
In the single reach case, the model structure is given by the LPV
FOPDT presented in Eq. (6). Table 1 presents the values of the parameters of the LPV FOPDT models (K,T,s) for different operating
points that corresponds to different gate openings obtained by
solving the least squares parameter identication problem (26).
Parameter variation with the operating point (U) can be
described using the following polynomials
KU a2 U 2 a1 U a0
TU b2 U 2 b1 U b0
sU c2 U 2 c1 U c0
(28)
Table 3
Coefcients of the polynomials presented in Eq. (30).
aij
U1 [0,0.9], j 1
U2 [0,0.9], j 2
i
i
i
i
1
2
1
2
2.38
3.77
1.77
5.20
aij
7.40
6.08
2.70
7.98
aij
6.38
2.56
4.96
3.10
bij
1308.45
296.43
989.05
5.95
bij
1925.01
204.64
1502.23
107.73
bij
2222.66
1855.92
2360.87
1521.78
cij
881.42
580.47
0
550.77
cij
1398.14
1281.38
0
362.99
cij
844.37
1883.06
0
959.47
95
are bias and mean square error (MSE). Bias is simply the mean of
the residuals, indicating whether the model tends to under-orover-estimate the measured data, with an ideal value zero. However, positive and negative errors tend to cancel each other out. To
prevent such cancelation, the mean square error criterion squares
the residuals before calculating the mean, making all contributions
positive and penalizing greater errors more heavily, perhaps
reecting the concerns of the user (Bennet et al., 2013). For this
reason MSE is selected to validate the proposed model in this work,
but using the root of the MSE (RMSE) to express the error metric in
the same units as the original data. The RMSE of the proposed SISO
LPV model is of the order of 106 m2, a very suitable result.
5.2. Application to multiple reach case
In the multiple reach case, the model structure is given by the
LPV FOPDT presented in Eq. (25). Varying the operating point by
means of the gate openings (U1,U2) in the range Uj [0,0.9] j 1,2,
the parameters of the system vary in these intervals:
Kij Uj aij
2
2 Uj
aij
1 Uj
aij
Tij Uj bij
2
2 Uj
bij
1 Uj
bij
(30)
Fig. 9. Evolution of the variable parameters of the MIMO model. (Up) gain,
(middle) time constant and (down) delay coefcients of the model.
96
Fig. 10. Comparison between the measured an estimated temporal responses in twopool canal in a scenario that sweeps all the operation range, in right details of the
graphics of the left.
97
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