Abstract
In this paper, automatic control of the water level in an irrigation canal by automatic regulation of intermediate gates was studied. Previous scholars have proposed a water level difference control strategy that works to keep relative deviations in all pools the same for a particular situation where the operator does not have full control over the canal inflow, with the centralized linear quadratic regulator (LQR) control method used. While in practice, the deviation tolerance of pools may differ in some canals which limits the applicability of the control strategy. In this work, a weight coefficient was added to the deviation and the algorithm was improved to keep the relative deviations to certain proportions. The model predictive control (MPC) method was then used with this improved control strategy and was compared to the LQR control method using the same control strategy. The results showed that the improved strategy can keep the water level deviations in all pools to certain proportions, as is our objective. Also, under this difference control strategy, the MPC method greatly improved the control performance compared to the LQR control method.
Highlights
Irrigation systems are built to deliver large amounts of water from a place with sufficient water to a place where water is a scarce resource
In the MIMO control method, all check gates are simultaneously controlled according to water level inputs at all monitoring points, such as in the linear quadratic regulator (LQR) [10] and model predictive control (MPC) methods [11]
Several indicators are used here to show the performance of the controllers such as maximum absolute water level deviation (MAE), average absolute water level deviation (AAE), maximum absolute water level difference (MAD), average absolute water level difference (AAD), and the time gate flow changes
Summary
Irrigation systems are built to deliver large amounts of water from a place with sufficient water to a place where water is a scarce resource. The water level differences between adjacent pools are the controller inputs rather than the traditional pool water level deviations The goal of this control method is to make the water levels in all pools change at the same rate so that the main canal behaves as a storage reservoir when canal inflow and outflow do not match. For example, if the offtake of the pool delivered significantly more water to more important users than to other pools, the water level disturbance of the pool should be less than that of other pools and the allowable water level deviations of each canal pool could be different This requires the water levels to change at different rates, not chaotically. The result of this method is later compared to LQR method results
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