ÖNGÖRÜCÜ KONTROL MODELİ İLE SULAMA KANALLARINDA AKIMIN REGÜLASYONU

Yıl 2008, Cilt: 5 Sayı: 2, 9 - 23, 01.06.2008

Ömer Faruk Durdu

Öz

Bu çalışmada açık kanallarda akışı regüle etmek için öngörücü kontrol modeline dayalı bir kontrol algoritması geliştirilmiştir. Kanallardaki akışı ifade eden doğrusal olmayan kısmi türevsel denklemler doğrusal model haline getirilmiştir. Öngörücü kontrolde bu doğrusal model kullanarak su seviyesindeki sapmaların ve kontrol hareketindeki dalgalanmaların en aza indirgenmesi hedeflenmi ve bunu ba armak içinde gelecekteki kontrol hareketleri referans alınmıştır. Öngörücü kontrol probleminde amaç fonksiyonu olarak doğrusal karesel fonksiyon kullanılmıştır. Geliştirilen öngörücü kontrol modelinin performans de erlendirmesi için 7 kapaklı ve 6 havuzlu bir açık kanal örneği ele alınarak bu modelin simülasyonu yapılmıştır. Simülasyondan elde edilen sonuçların geçerliliğini ispatlamak için bu örnek kanala doğrusal karesel regülatör ve doğrusal Gaussian teknikleride uygulanmıştır. Her üç kontrol modelinden elde edilen sonuçlar karşılaştırılmış ve önemli bir farkın olmadığı görülmüştür. Uygulanmasının kolay olması, fazladan bir durum kestiricisine gerek duymaması ve suyun membadan mansap kısmına ulaşmasındaki gecikme zamanını çok iyi kontrol etmesi nedeniyle öngörücü kontrol tekniği diğer kontrol tekniklerine bir alternatif model olarak kabul edilmiştir.

Anahtar Kelimeler

açık kanallarda akış, öngörücü kontrol modeli, otomatik kontrol pamuk

Regulation of flow in irrigation canals via model predictive control

Öz

In this study, a model predictive controller is developed for regulation of flow in open-channels.
The equations of open-channel flow were linearized using a finite-difference
approximation of the original nonlinear partial differential equations. This linear model was
used to design a model predictive control for minimizing deviations in flow depth and
changing in gate openings. To accomplish this, future control actions in the system was
taken into account. As an objective function, a linear quadartic function was used. An
example problem with 7 gates and 6 pools was simulated for evaluation purposes. To verify
the results, also linear quadratic regulator and linar quadratic Gaussian controller was
designed and simulated with the same example canal. The results from linear quadratic
models were compared to the results from model predictive control. There was no
significant differences between the results of the models. Model predictive control can be
an alterntive to the other kontrol techniques because it is easy to apply to open-channels, it
does not need an estimator, and it can handle delay-times in open-channels.

Anahtar Kelimeler

open-channel flow, model predictive control, automatic control

Kaynakça

• Balogun, O.S., 1985. Design of Real-time Feedback Control for Canal Systems using Linear Quadratic Regulator Theory, Ph.D dissertation, Department of Mechanical Engineering, University of California at Davis, USA.
• Corriga, G., Sana, S., Usai, G., 1982. Sub- optimal Level Control of Open- channels, Proc. Int. ASME Conf., ASME, New York, N.Y. 67-72.
• Durdu, O.F., 2003, Robust Control of Irrigation Canals, Ph.D. dissertation, Colorado State University, Civil Engineering Department, Fort Collins, CO, USA.
• Durdu, O.F., 2004a. Optimal Control of Irrigation Canals using Recurrent Dynamic Neural Networks (RDNN), Proceedings of the ASCE EWRI 2004 World Water & Environmental Resources Congress, June 27-July 1, 2004, Salt Lake City, UT: ASCE, CD-rom, 14 pp.
• Durdu, O.F., 2004b. Regulation of Irrigation Canals using a Two-Stage Linear Quadratic Reliable Control, Turkish J. Eng. Eng. Sci, 28, 111-120.
• Durdu, O.F., 2004c. Estimation of State Variables for Controlled Irrigation Canals via a Singular Value Based Kalman Filter, Fresenius Environmental Bulletin, 13(11).
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• Wahlin, B.T., 2004. Performance of Model Predictive Control on ASCE test Canal 2, Journal of Irrigation and Drainage Engineering, 130(3), pp. 227-238.
• Geliş Tarihi:01.01.2008
• Kabul Tarihi:10.07.2008