A reactive control strategy for networked hydrographical system management

A reactive control strategy is proposed to improve the water asset management of complex hydrographical systems. This strategy requires the definition of rules to achieve a generic resource allocation and setpoint assignment. A modelling method of the complex hydro- graphical network based on a weighted digraph of instrumented points, is also presented. The simulation results of the strategy applied to a hydrographical system composed of one confluent and two difluents show its efficiency and its effectiveness

Fault tolerant model predictive control of open channels

Automated control of water systems (irrigation canals, navigation canals, rivers etc.) relies on the measured data. The control action is calculated, in case of feedback controller, directly from the on-line measured data. If the measured data is corrupted, the calculated control action will have a different effect than it is desired. Therefore, it is crucial that the feedback controller receives good quality measurement data. On-line fault detection techniques can be applied in order to detect the faulty data and correct it. After the detection and correction of the sensor data, the controller should be able to still maintain the set point of the system. In this paper this principle using the sensor fault masking is applied to model predictive control of open channels. A case study of a reach of the northwest of the inland navigation network of France is presented. Model predictive control and water level sensor masking is applied.Peer ReviewedPostprint (published version

Conduite réactive des systèmes dynamiques étendus à retards variables. Cas des réseaux hydrographiques

La conduite des systèmes dynamiques étendus caractérisés par des non-linéarités et des temps de transfert importants est étudiée dans ce mémoire. Les systèmes étendus véhiculent des flux sur de grandes distances pour satisfaire les usages liés à l'activité humaine. L'importance économique donnée aux flux transportés impose une gestion parcimonieuse des ressources. Pour le cas des réseaux hydrographiques, les différents niveaux de gestion sont présentés. Les techniques de gestion utilisées conduisent au rejet de certaines perturbations sans toutefois en permettre une valorisation. C'est pourquoi, nous proposons une stratégie de conduite réactive combinant des techniques de diagnostic et des méthodes de commande supervisée des systèmes dynamiques hybrides. Cette stratégie permet l'accommodation de la commande par basculement selon les états de la ressource diagnostiqués, en tenant compte de contraintes de gestion exprimées par des coûts variables. Le diagnostic de l'état de la ressource implanté sous un formalisme d'automate hybride est réalisé à partir de techniques de caractérisation qualitative des signaux. Une démarche de multimodélisation et des outils algorithmiques, ayant pour intérêt de fixer le nombre de modèles et leur domaine de validité, sont introduits dans le but de reproduire aisément la dynamique des systèmes hydrauliques à surface libre. A partir de ces résultats, une technique de réglage de la stratégie de conduite réactive a été proposée. Finalement, afin d'en évaluer les performances, nous l'avons couplée à un simulateur numérique reproduisant fidèlement le comportement hydraulique à partir des données géométriques et des conditions limites issues du système réel. L'efficacité de la stratégie de conduite réactive a été démontrée pour divers systèmes hydrographiques. ABSTRACT : Supervision and control of extended dynamic systems characterized by non-linearities and important transfer delays is studied in this memory. These systems convey flows at long distances to satisfy human activity uses. The economic importance given to transported flows imposes an adapted ressource management. For hydrographic networks, management methods lead to the disturbance rejection without enabling its valorization. We propose a reactive control strategy permitting the control accommodation by switching the setpoints depending on the diagnosed states of the resource, and by taking into account management constraints depending on the costs. The resource state diagnosis implemented in hybrid automaton formalism, is carried out from signal characterization techniques. Steps and algorithmic tools of multimodeling, of which the principal interest is to determine the model number and their operating range, are introduced aiming at simulating free surface hydraulic systems. From these results, a tuning technique of the reactive control strategy was proposed. Finally, the strategy performances are evaluated by simulation software which accurately calculates the system dynamics. The reactive control strategy effectiveness was shown for the resources valorization of hydrographic networks

Design of a MATLAB HEC-RAS interface to test advanced control strategies on water systems

The software package HEC-RAS (Hydrologic Engineering Center’s River Analysis System) is widely used by the water engineering community to analyze hydraulic systems and perform development planning. Furthermore, it integrates a control module that allows implementing basic controllers. For more complex approaches, developers from the automatic control and artificial intelligence (AI) communities usually design, implement, and test new algorithms using dedicated software such as MATLAB. However, models of hydraulic systems employed in MATLAB are often very simple. The main objective of the paper is to design a simulation architecture by coupling HEC-RAS with MATLAB, thus improving the accuracy of the dynamics of the hydraulic systems considered in the control simulations. The main feature of the MATLAB HEC-RAS interface design is that it allows one to execute customized code at regular time intervals during the simulation. In this way, closed-loop control and optimization algorithms can be implemented and tested. Moreover, the generic interface allows for any configuration of hydrographical systems. The proposed interface is presented in this paper, and the performance of the approach is demonstrated considering two case studies of different nature.Peer ReviewedPostprint (author's final draft

Fault tolerant model predictive control of open channels

Trabajo presentado a la USCID Conference on Planning, Operation and Automation of Irrigation Delivery Systems celebrada en Phoenix, Arizona (US) del 2 al 5 de diciembre de 2014.Automated control of water systems (irrigation canals, navigation canals, rivers etc.) relies on the measured data. The control action is calculated, in case of feedback controller, directly from the on-line measured data. If the measured data is corrupted, the calculated control action will have a different effect than it is desired. Therefore, it is crucial that the feedback controller receives good quality measurement data. On-line fault detection techniques can be applied in order to detect the faulty data and correct it. After the detection and correction of the sensor data, the controller should be able to still maintain the set point of the system. In this paper this principle using the sensor fault masking is applied to model predictive control of open channels. A case study of a reach of the northwest of the inland navigation network of France is presented. Model predictive control and water level sensor masking is applied.Peer Reviewe

A flood mitigation control strategy based on the estimation of hydrographs and volume dispatching

Flood events are expected more frequent with biggest magnitude in the near future. They have potential big impacts on human economic activity and property, on health and life of man, and on the environment. One possibility to mitigate the flood impact consists in using flood storage areas and in designing a control strategy to dispatch the volumes of water and reducing the flow peak. The designed mitigation control strategy is based on the prediction of hydrographs and the estimation of the water volumes that have to be stored. It leads to optimal flow peak reduction according to the capacity of the flood storage areas. This paper details the steps of the proposed approach. Then, a realistic case-study is considered to illustrate the designed flood mitigation control strategy

Adaptive and predictive control architecture of inland navigation networks in a global change context: application to the Cuinchy-Fontinettes reach

In this paper, an adaptive and predictive control architecture is proposed to improve the management of inland navigation networks in a global change context. This architecture aims at ensuring the seaworthiness conditions of inland navigation networks, and to improve the efficiency of the water resource management. It is based on supervision and prognosis modules which allow the estimation of the current state of the network, and the forecasting of the extreme event occurrence. According to these indicators and to the management constraints and objectives, control strategies of the inland navigation networks will be adapted to limit the impacts of the extreme events. To achieve this aim, three challenges are considered and discussed in this paper. The first one consists in proposing an accurate modeling approach of navigation reaches which are characterized by large scale, nonlinearities, time delays, unknown inputs and outputs, etc. The second one is to increase the knowledge about potentiality of extreme events, consequences of the climate change. The prediction of these events is rather complex due to their rarity, the spacio-temporal scale of the networks, etc. Finally, the third one is the pooling of the two first contributions, i.e. the model of the system and the knowledge about extreme events. Thus, the resilience of the system and the adaptation of the management strategies could be realizedPeer ReviewedPostprint (author’s final draft

Model-based sensor supervision inland navigation networks: Cuinchy-Fontinettes case study

In recent years, inland navigation networks benefit from the innovation of the instrumentation and SCADA systems. These data acquisition and control systems lead to the improvement of the manage- ment of these networks. Moreover, they allow the implementation of more accurate automatic control to guarantee the navigation requirements. However, sensors and actuators are subject to faults due to the strong effects of the environment, aging, etc. Thus, before implementing automatic control strate- gies that rely on the fault-free mode, it is necessary to design a fault diagnosis scheme. This fault diagnosis scheme has to detect and isolate possible faults in the system to guarantee fault-free data and the efficiency of the automatic control algorithms. Moreover, the proposed supervision scheme could predict future incipient faults that are necessary to perform predictive maintenance of the equipment. In this paper, a general architecture of sensor fault detection and isolation using model-based approaches will be proposed for inland navigation networks. The proposed approach will be particularized for the Cuinchy-Fontinettes reach located in the north of France. The preliminary results show the effectiveness of the proposed fault diagnosis methodologies using a realistic simulator and fault scenarios.In recent years, inland navigation networks bene¿t from the innovation of the instrumentation and SCADA systems. These data acquisition and control systems lead to the improvement of the management of these networks. Moreover, they allow the implementation of more accurate automatic control to guarantee the navigation requirements. However, sensors and actuators are subject to faults due to the strong effects of the environment, aging, etc. Thus, before implementing automatic control strategies that rely on the fault-free mode, it is necessary to design a fault diagnosis scheme. This fault diagnosis scheme has to detect and isolate possible faults in the system to guarantee fault-free data and the efficiency of the automatic control algorithms. Moreover, the proposed supervision scheme could predict future incipient faults that are necessary to perform predictive maintenance of the equipment. In this paper, a general architecture of sensor fault detection and isolation using model-based approaches will be proposed for inland navigation networks. The proposed approach will be particularized for the Cuinchy-Fontinettes reach located in the north of France. The preliminary results show the effectiveness of the proposed fault diagnosis methodologies using a realistic simulator and fault scenarios.Peer ReviewedPostprint (author's final draft

Decentralized fault-tolerant control of inland navigation networks: a challenge

Inland waterways are large-scale networks used principally for navigation. Even if the transport planning is an important issue, the water resource management is a crucial point. Indeed, navigation is not possible when there is too little or too much water inside the waterways. Hence, the water resource management of waterways has to be particularly efficient in a context of climate change and increase of water demand. This management has to be done by considering different time and space scales and still requires the development of new methodologies and tools in the topics of the Control and Informatics communities. This work addresses the problem of waterways management in terms of modeling, control, diagnosis and fault-tolerant control by focusing in the inland waterways of the north of France. A review of proposed tools and the ongoing research topics are provided in this paper.Peer ReviewedPostprint (published version

Leak localization in water distribution networks using a mixed model-based/data-driven approach

“The final publication is available at Springer via http://dx.doi.org/10.1016/j.conengprac.2016.07.006”This paper proposes a new method for leak localization in water distribution networks (WDNs). In a first stage, residuals are obtained by comparing pressure measurements with the estimations provided by a WDN model. In a second stage, a classifier is applied to the residuals with the aim of determining the leak location. The classifier is trained with data generated by simulation of the WDN under different leak scenarios and uncertainty conditions. The proposed method is tested both by using synthetic and experimental data with real WDNs of different sizes. The comparison with the current existing approaches shows a performance improvement.Peer ReviewedPostprint (author's final draft