Canal Systems Automation Manual
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u.s. DEPARTMENT OF THE INTERIOR Bureau of Reclamation A Water Ilesources 'T echnical F.ublication A guide to the use of engineering technology Plertaining to selecting auto- matic control schemes for canals con- veying water to irrigable lands. u.s. DEPAR1~MENT OF THE INTERIOR Bureau of Reclamation By c. P. Buyalski [). G. Ehler II. T. Falvey [). C. Rogers I:. A. Serfozo Project Management by D. L. King FiJrst Edition 1991 Hydraulics Branch Research and Laboratory Services Division EI,ectrical Branch Electrical and ME~chanical Engineerilllg Division Water ,Conveyance Branch Civil Engineering Divisionl Denver Office u.s. DEPART~~ENT OF THI:: Il'ITERIOR Bureau of Reclama1:iol11 Mission of the Bureau of Reclamation The Bureau of Reclamation of the U.S. Department of the Interior i.~ responsible for the development and conservation of the Nation's water resource.~ in the Western United State.~. The Bureau'.~ original purpo.~e "to provide for the reclamation of arid and semiarid lands in the West" today covers a wide range of interrelated functions. These include providing municipal and indu.~trial water .~ujoplies; hydroelectric power generation; irrigation water for agriculture; water quality improvement; f'ood control; river navigation; river regulation and control; fish and wildlife enhance- ment; outdoor recreation; and research on u'ater.related design, con.~truction, materials, atmo.~pheric management, and wind and .~olar power. Bureau program.~ most frequently are the re.~ult of close cooperation with the U.S. Congress, other Federal agencies, States, local governments, acad,?mic institl.ltions. water-user organizations, and other concerned groups. \Il~ 11,,(' or Iracl(' llill11("' illltl IriICI('I11i1r!.." ill Ihi" pll"lic,llioll i" ror cl.'..('ripli\(' p"r,IO"t"' olll~ illlfl flo('" Ilfll f'oll"lillll(' Mlflor..('m('111 I,~ Ihl' Hllr('illl or Ht'c'I;JI11i1lioll. The information c~ontained in this report regarding commercial products or firms may not be used for advertising or promotional purposes and is not to be construed as an endorsement of any product or firm by the Bureau of Reclamation. iv ~ PREFACE Since its inception in 1902, one of the Bureau of effort. Additionally, a representative from the Water Reclamation's prime objectives has been the supply Operations and Maintenance Branch (now Facilities of irrigation water to arid lands. This involves the Engineering Branch) and a technical editor were construction of dams to store water and o'f canals appointed to the author team to assist the authors to distribute the water. Like the artisans of a in its preparation (scheduling, coordination, editing, millennium, the Bureau has sought to improve the and illustration). methods of water distribution. The earliest designs of canals primarily were based upon the m,aximum The manual is primarily for flow condition. This design does not provide the requisite flexibility to operate a canal system .Managers and operation engineers of efficiently. To improve operations, the conc;epts of water conveyance systems who are inter- automation were conceived (circa 1950). The first ested in implementing advanced water canal automation attempts were crude, but they operations techniques for more effective were immediately successful. Advances in the and efficient operations. operation of canals through the use of automation .Designers, researchers, and operation paralleled the development of electronics in industry. engineers who have technical oversight Presently, some Bureau canals and dams are being responsibilities in a staff role for review controlled by the most sophisticated computer of project operations. equipment and programs that are available. In September 1986, the author team began its The first research program in canal automation endeavor; sub~;equently, it was decided to publish began in 1966 by the Bureau's Mid-Pacific Region. the manual in three volumes; it would address the The results of these studies were applied to canals needs of the different audiences. The volumes would in California. The need for a much broader research progress from fundamentals of canal automation to program soon became apparent-one which would complex control theory applications. The level of apply to all the Bureau's regions. Therefore, in 1971 , detail in the first volume would be sufficient for a the Bureau's Engineering and Research Center (now planner or system manager to understand the the Denver Office) formed a water systems auto- various control concepts. The second volume is to mation team in Denver, Colorado. The team members be oriented toward planning and design engineers. consisted of engineers from the planning, design, It would delve deeper into control theory, illustrating and research disciplines. The purpose of the team the concepts wilth equations, methods of simulation, was to coordinate and direct a program of canal and hardware technology. However, the detail will automation research development and application. not be at a level that would allow one to perform Annual meetings were held with representatives transient analysis of a system or to develop values from each region to ensure that the program for control parameters. The third volume is intended conformed to regional needs. to focus on selected topics in research and devel- opment that had not been implemented on Bureau A positive aspect of the interdisciplinary team effort projects. It would be of interest to research and was in strengthening of the canal automation development specialists. capabilities and in developing technical staff in many of the regions and in the design groups at the Denver Previously published information related to the Office. As regional and design staff's e):pertise details of automated canal systems, as well as the developed, the need for an interdisciplinary team at availabilityof numerical models, would be identified Denver gradually decreased. However, the (jivision in the manual. Part of the manual consists of chiefs (at Denver Office) recognized a nE~ed for standardized definitions of specific automation consolidating the automation knowledge -gained terms. A glossary expands on the usage most by the interdisciplinary studies -within a manual. prevalent in the Bureau of Reclamation. In 1986, a Water Systems Automation Manal~ement Volume I is by the following team Team, which consisted of branch chiefs, was formed at the Denver Office to help prepare a manlJal that Clark P. Buyalsk.i (retired) Hydraulics Branch incorporated the latest Bureau experience in water David G. Ehler Hydraulics Branch systems automation designs. The management team Henry To Falvey (retired) Hydraulics Branch created an author team consisting of five engi- David C. Rogers. Water Conveyance Branch neers-three from the Research Division and two Edward A. Serfozo Electrical Branch from the Design Division-to develop the nnanual. David Lo King. Facilities Engineering Branch All the engineers were active in the interdisciplinary Richard N.Walters .Publications & Records Branch CONTENTS Page Preface v 1 INTRODUCTION Section SCOPE OF THE MANUAL 1-1 General.OrganizationPurpose , 1 1-2 1 1-3 1 BA:SIC TERMINOLOGY 1-4 WaterConveyanceSystemsCanalCanaISystemControIMethodsMainFeaturesofaWaterConveyanceSystemc.d.a.b.a.b.Types SupervisorycontrolCombinedcontrolsystemsClassification.LocalLocalautamaticcontrol Automation. manual control. 2 1-5 2 3 4 1-6 4 1- 7 6 7 7 7 7 CANAL SYSTEMS, AUTOMATION FUN()Ar\11ENTALS 1-111-121-91-101-8 CanalPurposec.Automationa.b.SupplyandDemandVariationBasicOperationalRequirements ConceptCanal Operation and operationscontrol Applications.compatabilityBenefits. and concepts. Controlconcepts. Concept:5 8 9 9 9 9 11 12 12 CANAL CONTROL HISTORY 21-171-18 1-131-141-151-16 OPERATIONS SupervisoryControlHistorySummary.Bibliography.General.ContracturalArrangementsLocalAutomaticControlHistory 14 14 15 18 19 21 INTRODUCTION TO CANAL OPERATIONS 2-42-12-22-3 WaterCanalPrinciplesofOperationf.c.d.a.Definitionb.e. PredictionBalancedObjectives.ConventionaloperationSupplyanddemand Systems. TransferSchedule. pool versus Procedure. operation. reaction. 23 23 23 23 24 24 24 24 25 26 vii CC~NTENTS Conti n ued Section Page CANALHYDRAULICS 2-5 SteadyStorageUnsteadyFlowc.a.a.b. Steady,rapidlyvariedflowUnsteady,rapidlyvariedflo\l\lSteady,uniformflowSteady,graduallyvariedflo~vUnsteady,graduallyvariedflowUnsteady,uniformflowTypes. Flow. Considerations. Flow. 27 2-6 27 27 27 28 2-7 28 28 28 29 2-8 29 DELIVERY CONCEPTS 2-92-102-112-122-13 General.ScheduledDeliveryComparisonRotationDemandDelivery Delivery. and Combination o:f Delivery Concepts. 30 31 32 32 33 lVIETHODS OF OPERATION 2-142-152-182-162-17 PoolOperationAlternativesConstantDownstreamDepthConstantUpstreamDepthConstantControlledVolume Volume. 33 34 35 37 37 CHECK GATE OPERATION 2-192-202-212-22 SequentialOperatingTechniqueSelectedOperatingTechniqueCheckSimultaneousOperatingTechnique Structures. 38 40 42 46 CONSTRAINTS f. a. b. c. d. g. Wasting e. b. h. Storage. Physical Power Personnel. Bibliography. Check Drawdown Turnouts. Off-channel Poollength Freeboard. Pumping Drains. In-channel Closed Restrictions. Water. Properties. structures. conduits. plants. storage. storage. 46 46 47 47 48 49 49 49 49 50 50 50 2-25 52 2-26 54 2-27 54 2-28 55 3 CONTROL FUNDAMENTA.LS CONTROlTHEORY 3-1 CanalControlBasic Elements.Control.Classification. 57 3-2 57 3-3 57 VII CONTENTS Continued Section Page 3-4 ControlCanald.c.a.b. AntihuntMulticontrolloopsFiltersDeadband Controller Stability. Enhancements. 58 59 59 59 59 3-5