Post on 27-May-2020
transcript
Smart Water Grid: A Canal Control System for
Pakistan
Hassan Ilyas: 2012-10-0041
Ahmad Bilal Asghar: 2012-10-0087
Ahmed Khalid: 2012-10-0082
Muhammad Usama: 2012-10-0081
Department of Electrical Engineering
School of Science and Engineering
Lahore University of Management Sciences
Supervisor:
Dr. Abubakr Muhammad
(Assistant Professor Electrical Engineering)
TABLE OF CONTENTS 1. Problem Statement …………………………………………………………………….1
2. Background ………………………………………………………………………..........2
2.1 Current System ………………………………………………………………………2
2.2 Planned Improvements ……………………………………………….......................2
3. Theoretical Background ……………………………………………………………….3
3.1 Distant Downstream Control…………………………………………………………3
4. Project Details ……………………………………………………………………….…5
4.1 Location ……………………………………………………………………………..5
4.2 Actuation……………………………………………………………………………..6
4.3 Sensor ………………………………………………………………………………..6
4.4 Communication ………………………………………………………………….......6
4.5 Controller ……………………………………………………………………………6
5. Overview of the Project Setup …………………………………………………………7
6. Cost …………………………………………………………………………………..….8
6.1 Available Sponsors ………………………………………………………………….9
6.2 Other Potential Sponsors ……………………………………………………………9
7. Proposed Timeline …………………………………………………………………….10
8. Project Coordinators ………………………………………………………………….11
8.1 PMIU ………………………………………………………………………………..11
8.2 CYPHYNETS Team ………………………………………………………………..11
8.3 Matt MacDonald Group …………………………………………………………….11
9. Potential Impact …………………………………………………………………….....12
9.1 Partly Automated System …………………………………………………………...12
9.2 Efficient Monitoring ………………………………………………………………...12
9.3 Prevention of Water Theft …………………………………………………………..13
9.4 Flood Prevention …………………………………………………………………….13
10. References ……………………………………………………………………………...14
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1. PROBLEM STATEMENT
Pakistan has one of the largest irrigation systems in the world. Currently Pakistan's
irrigation system consists of a massive 90,000 km long network of canals.
Due to inefficient operation of the water networks in Pakistan, a large amount of
irrigation water is wasted, and adds to the shortage of water in the country. In this project,
using cyber physical systems and feedback control technique, we intend to implement the
flow and level control of a canal which will be more efficient and result in saving
significant amount of water.
Many countries are in process of automating their irrigation system to save water and use
it more efficiently. Pakistan is also in a dire need of such a system which should not only
save water but should also be robust enough to work in the environment of Pakistan. In
this project we intend to demonstrate a fully operative automated irrigation control
system, tailor made for Pakistan. Our cyber physical system would be able to improve the
current system on the following lines.
Reduction of water spillage
Detection and localization of theft and leakage
Better flood management
Efficient monitoring
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2. BACKGROUND
2.1 Current System
The canals in Pakistan are operated manually using local upstream control. Water is
distributed according to a pre-specified schedule which decided before the start of every
crop season. So the discharge from the upstream cannot be changed according to the
downstream demand resulting in a lot of water loss.
The water flow measurement system is also slow and incomplete. All the water flows are
measured manually and only once a day. The flow measurement data of canals is
transported to the local irrigation office and from there it is sent to the head office
through the internet. This inefficient measurement system hinders water flow planning
during floods.
Water theft and spillage is virtually undetectable due to incomplete and slow
measurement system. Firstly any water theft that is done in than less than a day is
undetectable. Secondly even pronounced thefts cannot be localized in the canal.
2.2 Planned Improvements
Irrigation department of Punjab is currently planning major improvements in their
system. PMIU (Punjab Monitoring and Inspection Unit), a sub-department in Irrigation
department are planning to automate the flow measurement system. They are also
interested to know the ideal sensors, communication protocols and power sources to use
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for their system. This project is still in analysis stages and feasibility reports are being
generated.
In our meetings with PMIU chief Mr. Habib Ullah Bodla, we introduced our project goals
to them and they explained what they are planning to do. He agreed to provide us a canal
for our design implementation and on the other hand, we could provide him a report
about what we think is the best measurement system.
3. THEORETICAL BACKGROUND
Our project is to implement and demonstrate distant downstream control. In this approach
the upstream gates are used to control the downstream water level of a pool. The
discharge from the upstream gate adjusts to the water demand automatically.
3.1 Distant Downstream Control
The distant downstream control will be implemented using feedback where sensors will
be used to measure the downstream water level. Like any feedback control system this
also requires the model of the system to be controlled, which in our case is flowing water.
This is a complex non-linear system. The open channel flows is modeled by Saint Venant
Equations which are given below.
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Q : The cross-sectional flow magnitude
A : The Cross-Sectional area
x : The distance along the canal bed from any set point
g : Gravitational Acceleration Constant
S0: Natural Geometrical Slope
Sf : Frictional Slope Co-efficient
They are a set of two non-linear equations which describe conservation of mass and
momentum of water thus giving the open channel profile in time and space. This equation
predicts the evolution of water profile completely. To form a controller on them, we need
to linearize them and implement a controller on them.
The basic control diagram of our system is given below in figure 3.1.
We would start with a simple PID + Low pass filter. The set the controller parameters
would be linearize the Saint Venant Equations and attach the appropriate PID, on the
other hand we would also test the result of a PID simply tuned using system identification
and assuming linearity.
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Controller System
Sensor
+
Figure 1.3
4. PROJECT DETAILS
4.1 Location
As already mentioned PMIU granted us a canal for the execution of our design.
We are allowed access to Khaira distributary of BRBD link canal. The head regulator of
this canal is some 20 km away from LUMS campus. This distributary is 10 feet wide and
4 feet deep. It has 3 minors branching from it. The tail gate is 55,000 feet downstream
from the head. The regular discharge from the head regulator is about 87 cusecs. It is a
perennial canal irrigates all the villages near DHA phase 6 to 8. The head regulator has
two manually operated gates.
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4.2 Actuation
We will need to use position control at the gates to accurately control the
discharge/level. We intend to use servo motors to control the hydraulic structures at the
head of the pool.
4.3 Sensor
Ultrasonic range sensors will be used to measure the water level. The sensor
circuit would be power using solar cells.
4.5 Communication
Since canal pools can be of lengths along which data transmission using small
range devices is not feasible. Therefore, we will be using GSM modules to transmit the
sensor measurements from downstream to upstream controller.
The sensor and communication system will form a single assembly controlled by a
microcontroller and powered by a small solar panel.
4.6 Controller
Controller will be implemented on a computer as open channel flow is a slow
system and controller speed is not an issue, we can always implement this later even on a
microcontroller.
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5. OVERVIEW OF THE PROJECT SETUP
The figure 1 below shows the basic outline of our setup.
erugiF 5.1
GSM would be used to communicate with upstream gates. Ultrasonic range sensors are
used to measure the water level. DC motors are used to actuate the regulators as depicted.
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6. COST
Table no. 6.1 gives the detailed cost description
Item Unit
Cost
(Rs.)
Amount Cost
(Rs.)
Availibility in
EE labs
Description
Automation
of gates
80,000 Not available Encoders, Motors
and control
Level
Sensors
2,500 10 25,000 Few are
avialable
Ultrasonic sensors
NI DAQ - 1 - Available Controller
implementation
GSM
modules
8,000 3 24,000 Communication
Solar Panels
(Small)
200 5 1000 Not Available Power Source
PCBs and
µCs
- 5 - Available
Total - - 125,000
Table 6.1
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6.1 Available Sponsors
A private company has agreed to co-sponsor this project and motorize and automate the
gates at a much lesser cost.
6.2 Other Potential Sponsors
PMIU’s Automation project is sponsored by World Bank. We are also negotiating to get
some sponsorship from them as well.
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7. PROPOSED TIMELINE
Table 7.1 gives the proposed time line.
Month / Year Field Work Theoretical/ Lab Work
July-Sep 2011 Finding sponsors for the project. Sensor selection and reading
theoretical background.
Sep-Oct 2011 Finding Canal Reading
October 2011 Finding Canal Designing sensor circuit
November 2011 Sensor Installation Getting in sensor values for
system identification
December 2011 Motorization and Automation System identification.
The rest of the
academic year.
Controller Testing and
Debugging,
Trying out different controllers
Calculating the increase in
efficiency,
Trying to find the minimum no.
of measurements to get a
workable system
Table 7.1
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8. PROJECT COORDINATORS
8.1 PMIU
We are in complete co-ordination with PMIU and hope to continue this co-ordination.
8.2 CYPHYNETS team
We will also coordinate with the Research Assistants at EE department LUMS who have
done research work in this area. Hasan Arshad Nasir, RA at CYPHYNETS published a
paper on simulation of the exact same idea.
8.3 Matt MacDonald Group
This is a consultancy firm, hired by irrigation department for the upcoming project. Dr.
Sarfraz Munir, a water measurement and Bathymetry Specialist, currently heads this
projects from Matt MacDonald’s side. He has agreed to lend assistance and guidance for
our project.
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9. POTENTIAL IMPACT
Our technology and design can later be used by the irrigation department or any other
private company to implement this system on large scale. Besides that the project can
serve the following purposes.
9.1 Partly Automated System
As our system only supplies water when needed the overall efficiency should increases.
We also intend to find the minimum number of readings required to achieve a good
controller. If we could control the system with a controller with say only 12 readings, we
might not even need complete automation in the case. The gates can manually be
operated by the on-site irrigation department personnel.
9.2 Efficient monitoring
Discharge monitoring in the canals is also achieved through this project. The irrigation
department currently has a manual system to do that that which is inefficient, incomplete
and unreliable. With this automatic system in place data will automatically be sent to the
main office at specific times of the day and uploaded on the irrigation department's
website.
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9.3 Prevention of water theft
Water pilferage is a major problem in Pakistan at the moment. Because of the current
incomplete and inefficient data transmission it is usually not possible to detect such cases
on time and take appropriate action. By using a reasonable number of level sensors in a
canal, the system would be able to report the precise position and time of thefts or dumps.
This can help solve a major problem in our irrigation system.
9.4 Flood Prevention
Once the system has been implemented on the main canals, using mathematical model of
open channel flow, water flows from and to the canals can be efficiently and accurately
controlled. During the season of flood excess water in one river or canal can be timely
routed to other canals which can hold water, thus preventing any potential floods.
Moreover, if the floods cannot be prevented timely reports can be generated so that
appropriate measures can be taken on time to minimize the damage caused by the floods.
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10. EEeEEEEFER
1. Litricio, X. & Fromion, V. 2009, Modeling and Control of Hydrosystems,
Springer Verlag
2. Nasir, H.A. & Muhammad, A. 2011, Feedback control of very-large scale
irrigation networks: A CPS approach in a developing-world setting, IFAC World
Congress
3. Nasir, H.A. & Muhammad, A. 2011, Towards a Smart Water Grid for the Indus
River Basin, Department of Electrical Engineering, LUMS School of Science &
Engineering, Lahore, Pakistan