Offset Free Model Predictive Control of an Open Water Reach

Model predictive control (MPC) is a powerful tool which is used more and more to managing water systems such as reservoirs over a short-term prediction horizon. However, due to unknown disturbances present in the water system and other uncertainties, there is always a mismatch between the model and the actual system. To overcome this mismatch and achieve offset free control of the water system, the internal model of the MPC is updated by adding the disturbance dynamics of the actual system by means of a disturbance model. In this paper, the conditions to achieve offset free control for an open water reach are provided. A disturbance model is designed and used to achieve offset free control in a test canal assessed from simulation results.Water Resource

The Effect of Four New Floodgates on the Flood Frequency in the Dutch Lower Rhine Delta

The Dutch Lower Rhine Delta, a transitional area between the Rivers Rhine, Meuse and the North Sea, is at risk of flooding induced by infrequent events of storm surges or fluvial floods, or the combination of both. To protect the delta from storm surges, it can be closed off from the sea by large dams and controllable storm surge barriers. Also, along the branches of the rivers controllable floodgates are operated to regulate the fluvial discharge. A former study quantified the flood frequency derived from three different sources that potentially may cause a flood and indicated that high water levels was mainly caused by the simultaneous occurrence of storm surges and Rhine floods. In the present water operational management system, the Haringvliet gates and the Maeslant Storm Surge Barrier with the Hartel Storm Surge Barrier should be closed in time when the simultaneous extreme event occurs, and therefore the extreme fluvial flow that accumulates during the closure would result in a very high water level within the delta area. Moreover, this frequency will increase significantly in the context of climate change. As a suggested adaptation measure, a controllable floodgate is proposed in Pannerdensch Canal and the other three floodgates in Merwede, Drechtse Kil and Spui are designed in the East and South of Rotterdam and Dordrecht. These floodgates are expected to decrease the potential extreme water levels which are driven by the simultaneous extreme events. This study will investigate the operational management of these four gates, and further apply a large number of scenarios of the simultaneous extreme event to estimate the effect on the flood frequency in the delta. The results can assist to make better decisions in the adaptation of the present operational water management system.Hydraulic EngineeringCivil Engineering and Geoscience

Model Prediction Control For Water Management Using Adaptive Prediction Accuracy

In the field of operational water management, Model Predictive Control (MPC) has gained popularity owing to its versatility and flexibility. The MPC controller, which takes predictions, time delay and uncertainties into account, can be designed for multi-objective management problems and for large-scale systems. Nonetheless, a critical obstacle, which needs to be overcome in MPC, is the large computational burden when a large-scale system is considered or a long prediction horizon is involved. In order to solve this problem, we use an adaptive prediction accuracy (APA) approach that can reduce the computational burden almost by half. The proposed MPC scheme with this scheme is tested on the northern Dutch water system, which comprises Lake IJssel, Lake Marker, the River IJssel and the North Sea Canal. The simulation results show that by using the MPC-APA scheme, the computational time can be reduced to a large extent and a flood protection problem over longer prediction horizons can be well solved.Marine and Transport TechnologyMechanical, Maritime and Materials Engineerin

Predictive Control of Irrigation Canals Considering Well-being of Operators

We propose a model-predictive control (MPC) approach to solve a human-in-the-loop control problem for a non-automatic networked system with uncertain dynamics. There are no sensors or actuators installed in the system and we involve humans in the loop to travel between various nodes in the network and to provide the remote controller with measurements as well as actuating the system according to the control requirements. We compute the time instants at which the measurements and actuations should take place to yield better performance with respect to current control methods. We present simulation results using a numerical model of a real canal, the West-M canal in Arizona, and we demonstrate the superiority of the new method over previously proposed ones for such setting.Delft Center for Systems and Contro

Predictive Control of a Human–in–the–Loop Network System Considering OperatorComfort Requirements

We propose a model-predictive control (MPC)-based approach to solve a human-in-the-loop control problem for a network system lacking sensors and actuators to allow for a fully automatic operation. The humans in the loop are, therefore, essential; they travel between the network nodes to provide the remote controller with measurements and to actuate the system according to the controller’s commands. Time instant optimization MPC is utilized to compute when the measurement and actuation actions are to take place to coordinate them with the network dynamics. The time instants also minimize the burden of human operators by tracking their energy levels and scheduling the necessary breaks. Fuel consumption related to the operators’ travel is also minimized. The results in a digital twin of the Dez Main Canal illustrate that the new algorithm outperforms previous methods in terms of meeting operational objectives and taking care of human well-being, but at the cost of higher computational requirements.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Water ResourcesDelft Center for Systems and Contro

Linking water and energy objectives in lowland areas through the application of model predictive control

Unlike mountainous areas, lowland areas have limited potential to generate energy from water flows. Instead, for water systems in lowland areas that continuously need to pump water out of the system, the focus should be set to saving energy in the present water management. This paper gives an introduction into possibilities to manage water systems in lowland areas in a sustainable manner. An example of an energy saving method is presented that is implemented by means of model predictive control on an actual physical large pumping station in The Netherlands.Water ManagementCivil Engineering and Geoscience