fromlocal to global water level regulationon the haute ... 2017/ucl2aipcn2017… · sluice. namur,...

From Local to Global Water Level

Regulation on the Haute-Meuse

River

Mathematical Engineering Department

© M

eu

sen

am

uro

ise

.be

Namur, 2017/11/17

Michel DEHAEN ([email protected])

Luc MOENS ([email protected])

UCL

Modelling

Field Testings

Hydraulic

Process

Model

Validation

Controller Laws

Weir Discharges

Equations

Reservoir

Model

Transfer

Functions

Closed

Loop

Local and Global

Regulation Laws Design

Open

Loop

1D St Venant

Model

NavigationDraft / Air Draft

© Meusenamuroise.be

20 [m³/s] 500 [m³/s] 800 [m³/s] 1700 [m³/s]

Measurement Chains

Telemetry Network

Water Level

Set Point

Progammable Logic Controller

PLC

Continuous Training

Mathematical Engineering Department

© O

ct. 2

017

-Lu

c.M

oens

@uc

louv

ain.

be

Monitoring

Local Operator

Supervisor

Establishement of

Operating Procedures

Hydro Plants

in run of riverMaximum Production

Pools Cascade Weir

Opening

Pool

Automatic

Water Level Regulation

in

Waterways

Riverside Population

IndustriesSecurity / Activities

© Meusenamuroise.be

© ENGIE Electrabel

Namur, 2017/11/17 3Mathematical Engineering Department

UCL

From Yesterday to Today

Needle Weirs, …

New Weirs, PLC and Control Room :

The PLC was just used as Man-Machine Interface with Sequential Control. Water Level Regulation wasmade by a « Push Button » Controller.

From Local « On/Off Controller » to PI :

From Empirical rules to System Theory to design controllers.

Tuning of Controllers in Cascade,

For Water Level Regulations without dischargeoscillations and amplifications.


UCL

Local Water Level Control Loop of a « Pool + Weir » System

Z

X

Qin (t)

Zr (t,x)Qr (t,x)

Qw (t)Zupstream(t)

Pweir (t)

PLC

Z* =SET POINT


UCL

+

Local Water Level Control Loops of a « Pool Weir » System

-

OperatorPERTURBATIONS

CONTROLLER

WATER LEVEL

SET POINT

WEIR POSITION

WATER LEVEL

WEIR

POOL

Pweir (t)

Zupstream(t)

Error(t)Qw (t)

Qin (t)

Z* POOL + WEIR

SYSTEM


UCL

Local Water Level Control Loop

Z

X

Qin (t)

Zr (t,x)Qr (t,x)

Qw (t)Zupstream(t)

Pweir (t)PLC

Z* =SET POINT

Pools Cascade

Then, …

cascade of local water level control loops !!!


UCL

Upstream Water Level Measurement(Controller Input)

G2 P 1G4 G3 G1

Upstream

Water Level Recorder

Sluice


UCL

Spillway for Overflow(Controller Output)


UCL

Underflow Gate (Controller Output)


UCL

From Overflow to Underflow

0 % 100 %OPENING

Spillway

Underflow Gate

Qin

w

0 %

100 %

Q3

Op

en

ing


UCL

Chooz Floods (Discharge)

DIS

CH

AR

GE

[m³/

s]


UCL

Semi-global Regulation :Set Point = fn (Q upstream)

= fn(Q in + Q Tributaries)Z*

+

- POOL + WEIR SYSTEM

PERTURBATIONS

CONTROLLER

WATER LEVEL

SET POINT

WEIR POSITION

WATER LEVEL

WEIR

POOL

Pweir (t)

Zupstream(t)

Error(t)Qw (t)

Qin (t)

Z*


UCL

Set Point = fn (Q upstream)80,15

80,10

80,05

80,00

79,95

79,90

79,85

79,80

Z*

[m D

NG

]

UPSTREAM DISCHARGE [m³/s]

100 200 300 400 500

LA PLANTE

Z* = - a Qupstream + (NFN + x)


UCL

Matlab Command>> load HtM20141201_20141215.mat>> AxeDataNew

Water Slope = fn (discharge)


UCL

Water Slope = fn (discharge)


UCL

Set Point = fn (Q upstream)


UCL

The Four Gates of Hun Weir witha Micro Hydro Plant in gate 1

+/- 430 [m]

G1 G2 G3

G1

G4


UCL

Hydro Plant in parallel with a WeirAuthorized Discharge, Compensation and Water Level Controller

+

Pspillway(t)

Oundergate(t)

Qin (t)

Qtributaries(t)

Zupstream(t)

Water LevelSet Point

Water Level Controller (PI)-

Hydro Plant

Weir PLC

Authorized Flow Computing

CompensationQTurbines(t)

ON / OFF turbines

Pool + WeirSystem

e(t)


UCL

HUN Water Level, Set Point, Spillway Positions

Water Level Regulation

(Small actions) Compensation

(Big actions)


UCL

Authorized Discharge and Discharges of the Hydro Plant, Hun Weir and Downstream Weir


UCL

Weir PLC - Input and Output

RegulationParameters

WeirPLC

with

PI ControllerQ Computing

Compensation

DB vnavVia PC104

- Gate Command -

Spillway Opening [cm]Spillway Closing [cm]Under Gate Opening [cm]Under Gate Closing [cm]

HYDROLOGIC DATA via PC104 [m3/s]

- Gates 1 to n -

Spillway Position [cm DNG]Under Gate Opening [cm]Spillway Down End Position Switch [0 / 1]Under Gate Down End Position Switch [0 / 1] Gates Mode [auto; …]

Upstream Water Level 1 et 2 [cm DNG]

- Hydro Plant Informations –

Turbines FlowsPower OutputWatchdog

INPUT OUTPUT

- Informations for the Hydro Plant -

Upstream Water LevelWater Level Set PointAuthorized FlowWatchdog

ALARMS

FROMPLC Hydro Plant

TOPLC Hydro Plant


UCL

Water Level Regulation in Waterways : Recap

System : Pools Cascade.

Regulation : Upstream Water Level Regulation by Downstream Weir.

(Set Points = fn(Upstream Disharge) ).

Constraints :

- to guarantee draft and airdraft (without overflow on the riverbanks);

- to use the weir as sparingly as possible;

- to regulate the water levels from 20 to 800 [m³/s] (overflow/underflow);

- to manage the turbines flows (authorized flow and compensation);

- to avoid oscillations and amplification of the discharge (in all the pools).

.

100.20

97.2095.00

91.40

88.35

84.00

80.1077.80

105.09


UCL

Analysis of Regulation Performance

La Plante

Tailfer


UCL

Local Monitoring in the Control Room


UCL

Regulation Screen for Local Monitoring


UCL

Global Monitoring (Web Interface)


UCL

Conclusions

• Effective Measurements Chains and a Effective TelemetryNetwork are the cornerstone for : Process AutomaticRegulation, Process Monitoring and Models Validation.

• Nowadays, from Hastière to La Plante, the 9 weirs and 3hydro plants are controlled in a automatic way.

• But, local and semi global regulations are tuned to managenatural variations of discharge.

• To go further (global regulation), Perex 4.0 is the key asset !

• And, … Don’t forget Continuous training !

© M

euse

nam

uroi

se.b

e

fromlocal to global water level regulationon the haute ... 2017/ucl2aipcn2017… · sluice. namur,...

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