توسعه سامانه کنترل خودکار غیرمتمرکز تناسبی-انتگرالی و ارزیابی عملکرد آن در بهبود بهره‌برداری کانال اصلی شبکه آبیاری آبشار اصفهان

نوع مقاله : مقاله پژوهشی

نویسندگان

1 گروه مهندسی آب، دانشکده فناوری کشاورزی، دانشکدگان کشاورزی و منابع طبیعی، دانشگاه تهران،

2 گروه مهندسی آب، دانشکده فناوری کشاورزی، دانشکدگان کشاورزی و منابع طبیعی، دانشگاه تهران

3 گروه مهندسی آب، دانشکده فناوری کشاورزی (ابوریحان)، دانشکدگان کشاورزی و منابع طبیعی، دانشگاه تهران

چکیده

در این پژوهش ضمن توسعه الگوریتم کنترل خودکار تناسبی-انتگرالی (PI)، به عنوان سامانه کنترل خودکار بهره‌برداری کانال‌ اصلی شاخه شمالی شبکه آبیاری آبشار، عملکرد آن تحت سناریوهای بهره‌برداری کم‌آبی ارزیابی شد. در این راستا اقدامات صورت گرفته در راستا تحقق اهداف تحقیق عبارتند از 1) توسعه مدل شبیه‌ساز هیدرولیک جریان در کانال اصلی شبکه آبیاری آبشار با استفاده از مدل ریاضی ساده شده انتگرالی – تاخیری (ID)، 2) توسعه مدل بهره‌برداری کنترل خودکار غیرمتمرکز PI و 3) کوپل مدل بهره‌برداری خودکار با مدل شبیه‌ساز هیدرولیکی در محیط MATLAB و تعیین ضرائب تناسبی و انتگرالی هر کدام از کنترل‌گرهای این سامانه با روش تشخیص سیستم، 4)  شبیه‌سازی وضعیت بهره‌برداری با بهره‌گیری از سامانه خودکار طراحی شده تحت سناریوهای بهره‌برداری نرمال، کم‌آبی و کم‌آبی شدید همراه با نوسانات ورودی.  نتایج شبیه‌سازی نشان داد که کنترل‌گر توانایی قابل قبولی در پیاده‌سازی بهره‌برداری مطلوب تحت سناریوی نرمال داشته و شاخص‌های ارزیابی عملکرد MAE، IAE و STE به ترتیب در محدوده 11/0 تا 14/0، 0013/0 تا 0182/0 و 0001/0 تا 0011/0 نوسان داشته است. با ظهور کم‌آبی در سناریوی اول و تشدید آن در سناریوی دوم بهره‌برداری شرایط توزیع آب در آبگیرهای بالادستی شبکه مطلوب ولی در آبگیرهای پایین‌دستی غیر مطمئن ارزیابی شد و مقادیر حداکثر خطای محاسبه شده در بازه‌های پایین‌دستی به‌ترتیب در محدوده 10- تا 20- و 35- تا 45- سانتی‌متر متغیر بود. نتایج نشان داد کنترل‌گر تاثیر کم آبی و نوسانات ورودی را به سمت پایین‌دست منتقل می‌کند و نتیجه آن توزیع آب سطحی مطلوب برای بالادست و توزیع نامناسب در آبگیرهای پایین‌دست بود.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Developing a decentralized proportional-integral automatic control system and evaluating its performance in improving the operation of the Abshar irrigation district’ main canal

نویسندگان [English]

  • S. Mohammad Ahmadi 1
  • S. Mehdy Hashemy Shahdany 2
  • Jaber Soltani 3
  • Maryam Varavipour 3
1 Water Engineering Department, Faculty of Agricultural Technology, University College of Agriculture & Natural Resources, University of Tehran,
2 Water Engineering Department, Faculty of Agricultural Technology, University College of Agriculture & Natural Resources, University of Tehran
3 Dept. of Water Engineering, Faculty of Agricultural Technology (Aburaihan), University College of Agriculture & Natural Resources, University of Tehran,
چکیده [English]

 
In this study, the performance of a Proportional-Integral (PI) automatic control system for the operation of the main channel of the northern branch of the Abshar irrigation network was evaluated under low-water operation scenarios. The actions taken to achieve the research objectives included:1) Development of a hydraulic flow simulation model in the main channel of the Abshar irrigation network using a simplified Integral-Delay (ID) mathematical model. 2) Development of a decentralized PI automatic control operation model. 3) Coupling the automatic operation control model with the hydraulic simulation model in MATLAB and determining the proportional and integral coefficients of each controller using system identification methods. 4) Simulation of the operation status using the designed automatic system under normal, low-water, and severe low-water operation scenarios with input fluctuations. The simulation results demonstrated that the controller had acceptable capability in implementing desirable operation under normal operation scenarios, with performance evaluation indices MAE, IAE, and STE fluctuating within the ranges of 0.11 to 0.140, 0.0013 to 0.0182, and 0.0001 to 0.0011, respectively. With the emergence of low-water scenarios and their intensification, water distribution conditions were assessed as desirable in upstream intakes but uncertain in downstream intakes. The calculated maximum error values in the lower intervals ranged from -10 to -20 and -35 to -45 centimeters, respectively. The results showed that the controller transferred the effects of low-water conditions and inflow fluctuations downstream, resulting in desirable surface water distribution for upstream intakes but inappropriate distribution for downstream intakes.  

کلیدواژه‌ها [English]

  • Operation System
  • Surface Water Distribution Simulation
  • Proportional-Integral Controller
  • Water shortage Management
  • Automation

Developing a decentralized proportional-integral automatic control system and evaluating its performance in improving the operation of the Abshar irrigation district’ main canal

 

EXTENDED ABSTRACT

 

Introduction

Given the emergence and intensification of drought periods and the increase in irrigated agricultural land, exacerbating the demand for agricultural products, pressure on surface and groundwater resources has become a similar problem. Upgrading the operation of irrigation channels has become particularly important in many countries. Automation of surface water distribution systems through upgrading water level regulation methods and daily water distribution and delivery planning by automatic control systems is one of the effective solutions to improve agricultural water productivity. In this regard, in this study, while developing a Proportional-Integral (PI) automatic control algorithm, as an automatic control system for the operation of the main channel of the northern branch of the Abshar irrigation network, its performance was evaluated under low-water operation scenarios.

Material and Methods

The first step in developing an automatic control system for the main channel of Abshar was the development of a hydraulic flow simulation model to simulate hydraulic parameters such as water level and flow rate along the channel. In this study, a simplified Integral-Delay (ID) mathematical model for hydraulic flow simulation was developed and calibrated and validated using measured data. Subsequently, a decentralized Proportional-Integral (PI) automatic control operation model was designed for channel segments and coupled with the hydraulic simulation model using MATLAB. Then, the proportional and integral coefficients of each controller in this system were identified using the System Identification method. Finally, the operation status was simulated using the designed automatic system under normal, low-water, and severe low-water operation scenarios with input fluctuations, and the performance was evaluated.

Results and Discussion

Simulation results showed that the decentralized Proportional-Integral (PI) control system demonstrated acceptable capability in implementing desirable operation along the main irrigation channel under normal operation scenarios. The calculated maximum error values in intervals 6 to 10, 11 to 15, and 16 to 20 were variable within the ranges of -6 to -9, -11 to -13, and -13 to -18 centimeters, respectively. Based on these, performance evaluation indices MAE, IAE, and STE obtained values of 0.11 to 0.140, 0.0013 to 0.0182, and 0.0001 to 0.0011, respectively. With the emergence of low-water scenarios, water distribution conditions were assessed as desirable in upstream and midstream water intakes, while downstream intakes were deemed uncertain, with calculated maximum error values in the lower intervals of 16 to 20 ranging from -10 to -20 centimeters. In severe low-water scenarios accompanied by fluctuations, only upstream intakes experienced desirable water delivery conditions, while downstream intakes experienced poor operation. In these conditions, the calculated maximum error values in intervals 11 to 15 and 16 to 20 were variable within the ranges of -17 to -22 and -35 to -45 centimeters, respectively. Based on these, performance evaluation indices MAE, IAE, and STE obtained values of 0.096 to 0.172, 0.0123 to 0.0991, and 0.0089 to 0.0592, respectively.

Conclusion

The results indicated that the designed decentralized controller transfers the effects of non-standard phenomena at the input water intake to the network at the diversion structure location (in this study, low-water conditions and fluctuations) downstream. As a result, disturbed and inappropriate surface water distribution occurs at the downstream water intakes of the network.

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