Pressure Regulation in Nonlinear Hydraulic Networks by Positive and Quantized Controls

We investigate an industrial case study of a system distributed over a network, namely, a large-scale hydraulic network which underlies a district heating system. The network comprises an arbitrarily large number of components (valves, pipes, and pumps). After introducing the model for this class of networks, we show how to achieve semiglobal practical pressure regulation at designated points of the network by proportional control laws which use local information only. In the analysis, the presence of positivity constraints on the actuators (centrifugal pumps) is explicitly taken into account. Furthermore, motivated by the need of transmitting the values taken by the control laws to the pumps of the network in order to distribute the control effort, we study the pressure regulation problem using quantized controllers. The findings are supported by experimental results.

[1]  Miroslav Krstic,et al.  Nonlinear control of mine ventilation networks , 2003, Syst. Control. Lett..

[2]  Fabian R. Wirth,et al.  Small gain theorems for large scale systems and construction of ISS Lyapunov functions , 2012, CDC.

[3]  Alberto Isidori,et al.  Robust Autonomous Guidance: An Internal Model Approach , 2003 .

[4]  M. Marinaki.  A non-linear optimal control approach to central sewer network flow control , 1999 .

[5]  Aleksej F. Filippov,et al.  Differential Equations with Discontinuous Righthand Sides , 1988, Mathematics and Its Applications.

[6]  Marios M. Polycarpou,et al.  Feedback control of water quality , 2002 .

[7]  Carsten Skovmose Kallesøe,et al.  Fault Detection and Isolation in Centrifugal Pumps , 2005 .

[8]  Tomohisa Hayakawa,et al.  Adaptive quantized control for nonlinear uncertain systems , 2006, 2006 American Control Conference.

[9]  Carsten Skovmose Kallesoe,et al.  Quantized controllers distributed over a network: An industrial case study , 2009, 2009 17th Mediterranean Conference on Control and Automation.

[10]  Alessandro D'Innocenzo,et al.  Wireless Ventilation Control for Large-Scale Systems: the Mining Industrial Case , 2009, 2009 6th IEEE Annual Communications Society Conference on Sensor, Mesh and Ad Hoc Communications and Networks Workshops.

[11]  Daniel Liberzon,et al.  Hybrid feedback stabilization of systems with quantized signals , 2003, Autom..

[12]  Claudio De Persis,et al.  Robust stabilization of nonlinear systems by quantized and ternary control , 2008, Syst. Control. Lett..

[13]  Claudio De Persis,et al.  Proportional and Proportional-Integral Controllers for a Nonlinear Hydraulic Network , 2008 .

[14]  W. Wallis.  A Beginner's Guide to Graph Theory , 2000 .

[15]  Marios M. Polycarpou,et al.  Adaptive control of water quality in water distribution networks , 2006, IEEE Transactions on Control Systems Technology.

[16]  Shankar Sastry,et al.  A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators , 1986, 1986 25th IEEE Conference on Decision and Control.

[17]  Miroslav Krstic,et al.  Averaging analysis of periodically forced fluid networks , 2005, Autom..

[18]  Michael D. Lemmon,et al.  Distributed flow control using embedded sensor-actuator networks for the reduction of Combined Sewer Overflow (CSO) events , 2007, 2007 46th IEEE Conference on Decision and Control.

[19]  Vincent Cocquempot,et al.  Model based fault detection in a centrifugal pump application , 2006, IEEE Transactions on Control Systems Technology.

[20]  Claudio De Persis,et al.  Discontinuous stabilization of nonlinear systems: Quantized and switching controls , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[21]  G. Besancon,et al.  A nonlinear backstepping like controller for a three-point collocation model of water flow dynamics , 2001, Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204).

[22]  Lorenzo Marconi,et al.  Semi-global nonlinear output regulation with adaptive internal model , 2001, IEEE Trans. Autom. Control..

[23]  A. Isidori.  Nonlinear Control Systems , 1985 .

[24]  Romeo Ortega,et al.  Passivity of Nonlinear Incremental Systems: Application to PI Stabilization of Nonlinear RLC Circuits , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[25]  Karl Henrik Johansson,et al.  Wireless ventilation control for large-scale systems: The mining industrial case: WIRELESS VENTILATION CONTROL , 2010 .

[26]  A. Teel,et al.  Tools for Semiglobal Stabilization by Partial State and Output Feedback , 1995 .

[27]  Miroslav Krstic,et al.  Decentralized and adaptive control of nonlinear fluid flow networks , 2006 .

[28]  Fabian R. Wirth,et al.  Small gain theorems for large scale systems and construction of ISS Lyapunov functions , 2009, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[29]  Iven M. Y. Mareels,et al.  Control of Large-Scale Irrigation Networks , 2007, Proceedings of the IEEE.

[30]  A. Isidori,et al.  Semiglobal nonlinear output regulation with adaptive internal model , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[31]  Romeo Ortega,et al.  Passivity of Nonlinear Incremental Systems: Application to PI Stabilization of Nonlinear RLC Circuits , 2006, CDC.

[32]  Charles A. Desoer,et al.  Basic Circuit Theory , 1969 .

[33]  Béla Bollobás,et al.  Modern Graph Theory , 2002, Graduate Texts in Mathematics.

[34]  Lorenzo Marconi,et al.  Robust Autonomous Guidance , 2003 .

[35]  Claudio De Persis,et al.  Pressure regulation in nonlinear hydraulic networks by positive controls , 2009, 2009 European Control Conference (ECC).

[36]  C. Crowe,et al.  Engineering fluid mechanics , 1975 .

[37]  Lorenzo Marconi,et al.  Semiglobal robust output regulation of minimum‐phase nonlinear systems , 2000 .

[38]  Nicola Elia,et al.  Stabilization of linear systems with limited information , 2001, IEEE Trans. Autom. Control..