Hybrid modelling and receding horizon control of combined sewer networks
Combined sewer networks carry wastewater and storm water together. During normal operation all the water is delivered to wastewater treatment plants, where it is treated before being released to surrounding natural water bodies. However, during heavy rain events, the network capacity may become insu...
| Author: | |
|---|---|
| Format: | doctoral thesis |
| Status: | Published version |
| Publication Date: | 2014 |
| Country: | España |
| Institution: | CBUC, CESCA |
| Repository: | TDR. Tesis Doctorales en Red |
| OAI Identifier: | oai:www.tdx.cat:10803/284661 |
| Online Access: | http://hdl.handle.net/10803/284661 https://dx.doi.org/10.5821/dissertation-2117-95541 |
| Access Level: | Open access |
| Keyword: | Modelat de xarxes de clavegueram Control a temps real de xarxes de clavegueram Control amb horitzó lliscant Estimació amb horitzó mòbil Sewer network modelling Real-time control of sewer networks Receding horizon control Moving horizon estimation 628 68 |
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Hybrid modelling and receding horizon control of combined sewer networks |
| title |
Hybrid modelling and receding horizon control of combined sewer networks |
| spellingShingle |
Hybrid modelling and receding horizon control of combined sewer networks Joseph Duran, Bernat Modelat de xarxes de clavegueram Control a temps real de xarxes de clavegueram Control amb horitzó lliscant Estimació amb horitzó mòbil Sewer network modelling Real-time control of sewer networks Receding horizon control Moving horizon estimation 628 68 |
| title_short |
Hybrid modelling and receding horizon control of combined sewer networks |
| title_full |
Hybrid modelling and receding horizon control of combined sewer networks |
| title_fullStr |
Hybrid modelling and receding horizon control of combined sewer networks |
| title_full_unstemmed |
Hybrid modelling and receding horizon control of combined sewer networks |
| title_sort |
Hybrid modelling and receding horizon control of combined sewer networks |
| dc.creator.none.fl_str_mv |
Joseph Duran, Bernat |
| author |
Joseph Duran, Bernat |
| author_facet |
Joseph Duran, Bernat |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Cembrano Gennari, Gabriela Ocampo-Martínez, Carlos Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
| dc.subject.none.fl_str_mv |
Modelat de xarxes de clavegueram Control a temps real de xarxes de clavegueram Control amb horitzó lliscant Estimació amb horitzó mòbil Sewer network modelling Real-time control of sewer networks Receding horizon control Moving horizon estimation 628 68 |
| topic |
Modelat de xarxes de clavegueram Control a temps real de xarxes de clavegueram Control amb horitzó lliscant Estimació amb horitzó mòbil Sewer network modelling Real-time control of sewer networks Receding horizon control Moving horizon estimation 628 68 |
| description |
Combined sewer networks carry wastewater and storm water together. During normal operation all the water is delivered to wastewater treatment plants, where it is treated before being released to surrounding natural water bodies. However, during heavy rain events, the network capacity may become insufficient leading to untreated water discharges to the receiving environments. To mitigate these undesired effects, combined sewer networks are usually provided with detention tanks and flow redirection elements, managed to fully take advantage of the network capacity. In the last few decades automatic control techniques for the regulation of these storage and redirection elements have been developed, with real-time, global, model-based predictive ones being widely regarded as the most efficient ones due to their capacity to take advantage of instantaneous network measurements and rain intensity forecasts. In this thesis a complete methodology to develop a real-time, global, model-based predictive controller to minimize pollution effects in combined sewer networks is proposed. The physically-based model for open-channel flow is based on a set of partial differential equations, which must be solved numerically. Since in a real-time predictive control strategy the model equations must be solved many times to evaluate the effect of different control actions, the time needed to solve the equations limits the use of the physically-based model to small network instances with simple topologies. Therefore, it is a common practice to use simplified control-oriented models for real-time control. The first part of the thesis is focused on the development, calibration and validation of a simplified control-oriented model for water transport in combined sewer networks, taking into account three main features: accuracy, calibration ease and computational speed. The proposed model describes the flows through the most common elements and hydraulic structures present in combined sewer networks, some of which requiring the use of piecewise equations. Once the model equations are presented, calibration procedures to compute all the model parameters are developed. The modelling and calibration methodology is then applied to a real case study and validation results are provided. Finally, sensitivity analysis is conducted with respect to both the most relevant model parameters and the intensity of the considered rain scenarios. The second part of the thesis is devoted to model-based optimal control. First, the piecewise equations of the model are reformulated to obtain a general expression of the system by means of a set of linear equations and inequalities including continuous and binary variables. Using this general expression, matrix-based procedures for the formulation of Optimal Control Problems and State Estimation Problems are presented. Using an implementation of the case study network in a commercial sewer network simulator solving the complete physically-based model equations as virtual reality, the proposed model-based controller is evaluated. By iteratively solving State Estimation Problems and Optimal Control Problems and using the simulator to provide network measurements, a Receding Horizon Control strategy is simulated. The inclusion of State Estimation Problems in the control loop allows to perform output feedback control simulations taking into account that in a sewer network the number of available measurements is limited. Finally, a discussion of the results obtained with these simulations corresponding to different measurement availability scenarios is provided. |
| publishDate |
2014 |
| dc.date.none.fl_str_mv |
2014 2014 2014 |
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info:eu-repo/semantics/doctoralThesis info:eu-repo/semantics/publishedVersion |
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doctoralThesis |
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publishedVersion |
| dc.identifier.none.fl_str_mv |
http://hdl.handle.net/10803/284661 https://dx.doi.org/10.5821/dissertation-2117-95541 |
| url |
http://hdl.handle.net/10803/284661 https://dx.doi.org/10.5821/dissertation-2117-95541 |
| dc.language.none.fl_str_mv |
Inglés |
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Inglés |
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http://creativecommons.org/licenses/by-nc-sa/3.0/es/ info:eu-repo/semantics/openAccess |
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http://creativecommons.org/licenses/by-nc-sa/3.0/es/ |
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openAccess |
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264 p. application/pdf application/pdf |
| dc.publisher.none.fl_str_mv |
Universitat Politècnica de Catalunya |
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Universitat Politècnica de Catalunya |
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TDX (Tesis Doctorals en Xarxa) reponame:TDR. Tesis Doctorales en Red instname:CBUC, CESCA |
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CBUC, CESCA |
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TDR. Tesis Doctorales en Red |
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TDR. Tesis Doctorales en Red |
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1869424954454310912 |
| spelling |
Hybrid modelling and receding horizon control of combined sewer networksJoseph Duran, BernatModelat de xarxes de clavegueramControl a temps real de xarxes de clavegueramControl amb horitzó lliscantEstimació amb horitzó mòbilSewer network modellingReal-time control of sewer networksReceding horizon controlMoving horizon estimation62868Combined sewer networks carry wastewater and storm water together. During normal operation all the water is delivered to wastewater treatment plants, where it is treated before being released to surrounding natural water bodies. However, during heavy rain events, the network capacity may become insufficient leading to untreated water discharges to the receiving environments. To mitigate these undesired effects, combined sewer networks are usually provided with detention tanks and flow redirection elements, managed to fully take advantage of the network capacity. In the last few decades automatic control techniques for the regulation of these storage and redirection elements have been developed, with real-time, global, model-based predictive ones being widely regarded as the most efficient ones due to their capacity to take advantage of instantaneous network measurements and rain intensity forecasts. In this thesis a complete methodology to develop a real-time, global, model-based predictive controller to minimize pollution effects in combined sewer networks is proposed. The physically-based model for open-channel flow is based on a set of partial differential equations, which must be solved numerically. Since in a real-time predictive control strategy the model equations must be solved many times to evaluate the effect of different control actions, the time needed to solve the equations limits the use of the physically-based model to small network instances with simple topologies. Therefore, it is a common practice to use simplified control-oriented models for real-time control. The first part of the thesis is focused on the development, calibration and validation of a simplified control-oriented model for water transport in combined sewer networks, taking into account three main features: accuracy, calibration ease and computational speed. The proposed model describes the flows through the most common elements and hydraulic structures present in combined sewer networks, some of which requiring the use of piecewise equations. Once the model equations are presented, calibration procedures to compute all the model parameters are developed. The modelling and calibration methodology is then applied to a real case study and validation results are provided. Finally, sensitivity analysis is conducted with respect to both the most relevant model parameters and the intensity of the considered rain scenarios. The second part of the thesis is devoted to model-based optimal control. First, the piecewise equations of the model are reformulated to obtain a general expression of the system by means of a set of linear equations and inequalities including continuous and binary variables. Using this general expression, matrix-based procedures for the formulation of Optimal Control Problems and State Estimation Problems are presented. Using an implementation of the case study network in a commercial sewer network simulator solving the complete physically-based model equations as virtual reality, the proposed model-based controller is evaluated. By iteratively solving State Estimation Problems and Optimal Control Problems and using the simulator to provide network measurements, a Receding Horizon Control strategy is simulated. The inclusion of State Estimation Problems in the control loop allows to perform output feedback control simulations taking into account that in a sewer network the number of available measurements is limited. Finally, a discussion of the results obtained with these simulations corresponding to different measurement availability scenarios is provided.Les xarxes de clavegueram combinades transporten conjuntament aigües residuals i aigües pluvials. En absència de pluges, tota l'aigua és conduïda cap a plantes de tractament on és degudament tractada abans de ser retornada als cossos aquàtics adjacents. En canvi, durant episodis de pluja intensa, la capacitat de la xarxa pot esdevenir insuficient donant lloc a inundacions en zones urbanes i abocaments d'aigua no tractada als medis receptors. Per tal de mitigar aquests efectes, les xarxes de clavegueram combinades acostumen a disposar de dipòsits de retenció i elements de redistribució del cabal, regulats amb la finalitat d'aprofitar al màxim la capacitat de la xarxa. En les últimes dècades s'han desenvolupat tècniques de control automàtic per a la regulació d'aquests elements d'emmagatzematge i redistribució, essent el control a temps real, global i predictiu basat en models la tècnica considerada més eficient, donat que és capaç de tenir en compte mesures instantànies del sistema i prediccions d'intensitat de pluja. En aquesta tesi, es proposa una metodologia completa per al desenvolupament d'un controlador a temps real, global i predictiu basat en model per minimitzar els efectes contaminants en xarxes de clavegueram combinades. El model físic que descriu els fluxos en canals oberts es basa en un sistema d'equacions en derivades parcials que s'ha de resoldre numèricament. Com que en una estratègia de control predictiu a temps real les equacions del model s'han de resoldre moltes vegades per avaluar els efectes de diferents accions de control, el temps necessari per resoldre les equacions limita l'ús del model físic a xarxes petites i amb topologies simples. Per tant, és una pràctica habitual utilitzar models simplificats orientats a control per al control a temps real. La primera part de la tesi es centra en el desenvolupament, calibratge i validació d'un model simplificat orientat a control del moviment de l'aigua en xarxes de clavegueram combinades, tenint en compte tres característiques principals: la precisió, la facilitat de calibratge i la velocitat computacional. El model presentat descriu el cabal a través dels elements i estructures hidràuliques més comunes en xarxes de clavegueram combinades, algunes de les quals requereixen l'ús de funcions definides a trossos. Una vegada les equacions del model han estat presentades, es desenvolupen procediments per al calibratge de tots els paràmetres del model. La metodologia de modelat i calibratge és aleshores aplicada a un cas d'estudi corresponent a una xarxa de clavegueram real i es presenten resultats de validació. Finalment, es duu a terme una anàlisi de sensitivitat respecte als paràmetres més rellevants del model i respecte a la intensitat dels escenaris de pluja considerats. La segona part de la tesi està dedicada al control òptim basat en el model. En primer lloc, les equacions definides a trossos del model són reformulades per obtenir una expressió del sistema en termes d'un conjunt d'equacions i desigualtats lineals incloent variables contínues i binàries. Usant aquesta expressió general es presenta un procediment basat en matrius per a la formulació de problemes de Control Òptim i Estimació d'Estat. Mitjançant una implementació de la xarxa del cas d'estudi en un simulador comercial de xarxes de clavegueram que resol les equacions del model físic complet com a realitat virtual, s'avalua el controlador basat en model descrit anteriorment. Resolent iterativament problemes d'Estimació d'Estat i de Control Òptim i utilitzant el simulador per obtenir mesures, se simula una estratègia de control amb horitzó lliscant. La inclusió de problemes d'Estimació d'Estat en llaç de control permet la simulació del controlador amb output feedback, tenint en compte que el nombre de mesures disponibles en una xarxa de clavegueram és limitat. Finalment, es discuteixen els resultats obtinguts en aquestes simulacions corresponents a diferents escenaris de disponibilitat de mesuresDOCTORAT EN AUTOMÀTICA, ROBÒTICA I VISIÓ (Pla 2007)Universitat Politècnica de CatalunyaCembrano Gennari, GabrielaOcampo-Martínez, CarlosUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials201420142014info:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/publishedVersion264 p.application/pdfapplication/pdfhttp://hdl.handle.net/10803/284661https://dx.doi.org/10.5821/dissertation-2117-95541TDX (Tesis Doctorals en Xarxa)reponame:TDR. Tesis Doctorales en Redinstname:CBUC, CESCAInglésL'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by-nc-sa/3.0/es/http://creativecommons.org/licenses/by-nc-sa/3.0/es/info:eu-repo/semantics/openAccessoai:www.tdx.cat:10803/2846612026-06-14T12:46:07Z |
| score |
15,300719 |