Abstract
In this work, a Distributed Model Predictive Control (MPC) methodology with fuzzy negotiation among subsystems has been developed and applied to a simulated sewer network. The wastewater treatment plant (WWTP) receiving this wastewater has also been considered in the methodology by means of an additional objective for the problem. In order to decompose the system into interconnected local subsystems, sectorization techniques have been applied based on structural analysis. In addition, a dynamic setpoint generation method has been added to improve system performance. The results obtained with the proposed methodology are compared to those obtained with standard centralized and decentralized model predictive controllers.
Highlights
It is a fact that urban wastewater treatment plants (WWTPs) have a high degree of interconnection with other elements, such as sewers, conduction systems, and storage tanks, which are part of the urban water system
STEP 5: Agent 1 applies a fuzzy negotiation between the two available control signals, which takes into account the average input flow rate to the wastewater treatment plant, qWWTP, and the average overflow, qov
The third case (DMPC with fuzzy negotiation, CASE 3) is the methodology proposed in the paper, and CASE 4 is a centralized Model Predictive Control (MPC)
Summary
It is a fact that urban wastewater treatment plants (WWTPs) have a high degree of interconnection with other elements, such as sewers, conduction systems, and storage tanks, which are part of the urban water system. In large-scale systems, it may be advisable to divide the global process into simpler subsystems to facilitate the application of MPC algorithms [7] In this case, prediction models and local cost functions are used, obtaining local solutions to the global control problem. The main contribution of this work consists in the development and application of a practical cooperative distributed model predictive control to a UDS, based on local linearized models of the system and fuzzy negotiation among subsystems [53] Another contribution is the inclusion of the WWTP in the control strategy as an additional objective—more concretely, the optimization of the WWTP inlet flow.
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