Design and implementation of a model-in-the-loop test system for the Yellow River to Qingdao open channel water delivery control system
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Abstract:
Addressing the uneven distribution of water resources and improving water ecological degradation, long-distance water transfer and cross-basin diversion through canal systems are effective approaches. The level of automation control of flow structures during water transfer directly impacts the efficiency of water distribution. With the rapid development of automation technology and continuous innovation in canal water transfer engineering techniques, canal water transfer control algorithms have been increasingly applied in practical water transfer projects. However, despite the expanding scope and depth of their application, a comprehensive and systematic development and test system for canal water transfer control algorithms has not yet been established, which affects the reliability of the algorithms to a certain degree. Various canal water transfer control algorithms that have not been fully developed and rigorously tested may not guarantee sufficient accuracy and stability when applied in the field under various working conditions. A hydrodynamic numerical simulation model and a canal water transfer simulation controller were established based on the current status of the research area. A model-in-the-loop (MIL) test system was designed and developed for the canal water transfer control system. This MIL test system provides technical support for improving the accuracy of canal water transfer control algorithms, reducing development costs, and achieving fine management of water distribution. Firstly, a one-dimensional hydrodynamic numerical simulation model was established. By discretizing the Saint-Venant equations using the Preissmann four-point implicit difference scheme, the unsteady flow conditions in the canal were described. Meanwhile, the internal boundaries such as sluice gates and water outlets were generalized into corresponding control equations using the mass conservation equation and flow-discharge relationships, coupled with the discretized Saint-Venant equations to establish a one-dimensional hydrodynamic numerical simulation model with regulatory structures. The model parameters were calibrated to achieve continuous spatial and temporal simulation of flow and water level during water distribution.Secondly, an automated real-time control system for the canal was established. Based on the operation modes of the gates and control basins in the study area, PI (proportional-integral) and MPC (model predictive control) simulation controllers were developed using genetic algorithms. The established simulation controllers took the opening degree of the sluice gates as the system output, generating real-time control variables for the local end. The simulation controllers were deeply coupled with the hydrodynamic numerical model, forming a closed-loop control at the model level, considering different control conditions under various working conditions.Lastly, the design and implementation of the MIL testsystem were completed. Taken the control algorithms in the canal automation control system as the test objects, the system configuration was developed based on LabVIEW, utilizing the hydrodynamic model as the environmental simulation model to achieve closed-loop test. The main contents included system configuration design, real-time invocation of the control model, and data storage, transmission, and communication with the MySQL database. Through testing in the MIL test system, the control algorithm established can effectively solve real-time canal control issues. The testing environment can be used to test the development of canal water transfer control algorithms, and the control algorithms can be replaced according to needs, satisfying the testing of different control algorithms. This study provides important technical support for the development and testing of control models in the field of canal water transfer engineering. MIL test can greatly improve the quality of control models, ensuring the reliability of canal water transfer control models in various working conditions, laying a solid foundation for improving the operational efficiency and safety of water transfer projects.
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