基于线性二次型的多级联输水渠道最优控制
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摘要
灌溉输配水是水联网链路的重要环节,其自动控制水平直接影响着水联网效率和风险控制能力,对实现水资源高效管理与利用有重要意义。通过变化输水渠道线性积分时滞控制模型,建立了多级联渠道离散时间状态空间方程,基于线性二次型理论设计最优状态反馈控制器,利用MATLAB求解和SOBEK模拟进行了验证。在甘肃省昌马南灌区多级联渠道运行过程优化控制的模拟结果显示,线性二次型算法能够使控制点水位较快恢复并稳定在设定值,控制过程动作与水位波动次数少、幅度小,效果远优于常规分布式PI反馈控制。线性二次型算法能够应对多级联渠道时滞、耦合特性和一般未知取水扰动,实现可靠供水服务和有效运行控制。目前算法仅采用反馈控制,尚无法应对过大未知取水扰动,还有进一步改进空间。
Water delivery and distribution for irrigation through canals is the most important part of the internet of water( i Water). The automatic control level of this component directly affects the efficiency and risk control ability of the whole water supply system,and is of great significance for efficient management and utilization of water resources. By discretizing and transforming the integrator-delay model,discrete-time state-space model is formulated. Then optimal state-feedback controller is designed based on linear quadratic( LQ) theory and uses canal automation simulation software SOBEK along with MATLAB to test the proposed controller on the multi-cascaded canals of Changma South Irrigation District( CSID) in Gansu Province. The simulation results show that LQ optimal controller can effectively handle designed changes in water demand,stabilize the system in a reasonable time and steadily maintain the water level within the operational range,and thus the performance of the designed controller is much better than classic decentralized PI controller. In short,LQ optimal controller can effectively cope with time delays,coupling characteristics and unscheduled water intake disturbances inherent in multi-cascaded irrigation canals,and thus achieve reliable water supply service and efficient irrigation canals operation control. However,since LQ controller only uses feedback control logic,it cannot cope with excessively large unscheduled water intake disturbances effectively.
Water delivery and distribution for irrigation through canals is the most important part of the internet of water( i Water). The automatic control level of this component directly affects the efficiency and risk control ability of the whole water supply system,and is of great significance for efficient management and utilization of water resources. By discretizing and transforming the integrator-delay model,discrete-time state-space model is formulated. Then optimal state-feedback controller is designed based on linear quadratic( LQ) theory and uses canal automation simulation software SOBEK along with MATLAB to test the proposed controller on the multi-cascaded canals of Changma South Irrigation District( CSID) in Gansu Province. The simulation results show that LQ optimal controller can effectively handle designed changes in water demand,stabilize the system in a reasonable time and steadily maintain the water level within the operational range,and thus the performance of the designed controller is much better than classic decentralized PI controller. In short,LQ optimal controller can effectively cope with time delays,coupling characteristics and unscheduled water intake disturbances inherent in multi-cascaded irrigation canals,and thus achieve reliable water supply service and efficient irrigation canals operation control. However,since LQ controller only uses feedback control logic,it cannot cope with excessively large unscheduled water intake disturbances effectively.
引文
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[14]SCHUURMANS J,HOF A,DIJKSTRA S,et al.Simple water level controller for irrigation and drainage canals[J].Journal of Irrigation and Drainage Engineering,1999,125(4):189-195.
[15]WAHLIN B T,CLEMMENS A J.Automatic downstream water-level feedback control of branching canal networks:theory[J].Journal of Irrigation and Drainage Engineering,2006,132(3):198-207.
[16]尚毅梓,假冬冬,吴保生.扰动可预知算法在实际渠道上的应用[J].水力发电学报,2012,31(2):100-107.(SHANG Y Z,JIA D D,WU B S.Application of the foreseeable algorithm to real canal design[J].Journal of Hydroelectric Engineering,2012,31(2):100-107.(in Chinese))
[17]阮新建,王长德.渠道运行最优控制与运行模拟仿真[J].人民长江,2003,34(10):30-32.(RUAN X J,WANG C D.Optimal control and operation simulation for canal system[J].Yangtze River,2003,34(10):30-32.(in Chinese))
[18]CLEMMENS A J,BAUTISTA E,WAHLIN B T,et al.Simulation of automatic canal control systems[J].Journal of Irrigation and Drainage Engineering,2005,131(4):324-335.
[19]方神光,李玉荣,吴保生.大型输水渠道闸前常水位的研究[J].水科学进展,2008,19(1):68-71.(FANG S G,LI Y R,WU B S.Constant water levels at the upstream of sluice gates in a large-scale transferring channel[J].Advances in Water Science,2008,19(1):68-71.(in Chinese))
[2]王忠静,王光谦,王建华,等.基于水联网及智慧水利提高水资源效能[J].水利水电技术,2013,44(1):1-6.(WANG Z J,WANG G Q,WANG J H,et al.Developing the internet of water to prompt water utilization efficiency[J].Water Resources and Hydropower Engineering,2013,44(1):1-6.(in Chinese))
[3]中华人民共和国水利部.中国水资源公报(2015)[M].北京:中国水利水电出版社,2016.(The Ministry of Water Resources of the People's Republic of China.China water resources bulletin(2015)[M].Beijing:China Water&Power Press,2016.(in Chinese))
[4]曹玉升,畅建霞,黄强,等.南水北调中线输水调度实时控制策略[J].水科学进展,2017,28(1):133-139.(CAO Y S,CHANG J X,HUANG Q,et al.Real-time control strategy for water conveyance of Middle Route Project of South-to-North Water Diversion in China[J].Advances in Water Science,2017,28(1):133-139.(in Chinese))
[5]吴保生,尚毅梓,崔兴华,等.渠道自动化控制系统及其运行设计[J].水科学进展,2008,19(5):746-755.(WU B S,SHANG Y Z,CUI X H,et al.Automatic canal control system and its operation and design[J].Advances in Water Science,2008,19(5):746-755.(in Chinese))
[6]WAHLIN B,ZIMBELMAN D.Canal automation for irrigation systems:American society of civil engineers manual of practice number131[J].Irrigation and Drainage,2018,67(1):22-28.
[7]ROGERS D C,GOUSSARD J.Canal control algorithms currently in use[J].Journal of Irrigation and Drainage Engineering,1998,124(1):11-15.
[8]管光华,王长德,冯晓波.大型渠系联合运行状态空间模型不确定性的描述与度量[J].水科学进展,2008,19(2):251-256.(GUAN G H,WANG C D,FENG X B.Describe and measurement of uncertainty of state-space model for large-scale multichannel network[J].Advances in Water Science,2008,19(2):251-256.(in Chinese))
[9]CLEMMENS A J,SCHUURMANS J.Simple optimal downstream feedback canal controllers:theory[J].Journal of Irrigation and Drainage Engineering,2004,130(1):26-34.
[10]CLEMMENS A J,WAHLIN B T.Simple optimal downstream feedback canal controllers:ASCE test case results[J].Journal of Irrigation and Drainage Engineering,2004,130(1):35-46.
[11]崔巍,王长德.调水工程运行最优控制研究[J].南水北调与水利科技,2007,5(2):6-8.(CUI W,WANG C D.Optimalcontrol of water diversion projects[J].South-to-North Water Transfers and Water Science&Technology,2007,5(2):6-8.(in Chinese))
[12]尚毅梓,吴保生,李铁键,等.渠道分水扰动可预知算法设计与仿真[J].水科学进展,2011,22(2):242-248.(SHANG Y Z,WU B S,LI T J,et al.Design and simulation of a foreseeable algorithm for canals[J].Advances in Water Science,2011,22(2):242-248.(in Chinese))
[13]SCHUURMANS J,BOSGRA O H,BROUWER R.Open-channel flow model approximation for controller design[J].Applied Mathematical Modelling,1995,19(9):525-530.
[14]SCHUURMANS J,HOF A,DIJKSTRA S,et al.Simple water level controller for irrigation and drainage canals[J].Journal of Irrigation and Drainage Engineering,1999,125(4):189-195.
[15]WAHLIN B T,CLEMMENS A J.Automatic downstream water-level feedback control of branching canal networks:theory[J].Journal of Irrigation and Drainage Engineering,2006,132(3):198-207.
[16]尚毅梓,假冬冬,吴保生.扰动可预知算法在实际渠道上的应用[J].水力发电学报,2012,31(2):100-107.(SHANG Y Z,JIA D D,WU B S.Application of the foreseeable algorithm to real canal design[J].Journal of Hydroelectric Engineering,2012,31(2):100-107.(in Chinese))
[17]阮新建,王长德.渠道运行最优控制与运行模拟仿真[J].人民长江,2003,34(10):30-32.(RUAN X J,WANG C D.Optimal control and operation simulation for canal system[J].Yangtze River,2003,34(10):30-32.(in Chinese))
[18]CLEMMENS A J,BAUTISTA E,WAHLIN B T,et al.Simulation of automatic canal control systems[J].Journal of Irrigation and Drainage Engineering,2005,131(4):324-335.
[19]方神光,李玉荣,吴保生.大型输水渠道闸前常水位的研究[J].水科学进展,2008,19(1):68-71.(FANG S G,LI Y R,WU B S.Constant water levels at the upstream of sluice gates in a large-scale transferring channel[J].Advances in Water Science,2008,19(1):68-71.(in Chinese))