Model based control for run-of-river system. Part 2: Comparison of control structures

Abstract

Optimal operation and control of a run-of-river hydro power plant depend on good knowledge of the elements of the plant in the form of models. Both the control architecture of the system, i.e. the choice of inputs and outputs, and to what degree a model is used, will aect the achievable control performance. Here, a model of a river reach based on the Saint Venant equations for open channel ow illustrates the dynamics of the run-of-river system. The hyperbolic partial dierential equations are discretized using the Kurganov-Petrova central upwind scheme - see Part I for details. A comparison is given of achievable control performance using two alternative control signals: the inlet or the outlet volumetric ow rates to the system, in combination with a number of dierent control structures such as PI control, PI control with Smith predictor, and predictive control. The control objective is to keep the level just in front of the dam as high as possible, and with little variation in the level to avoid overow over the dam. With a step change