Abstract

Inland navigation networks are composed of several artificial canals, usually characterized by no slope. These canals are large-scale systems that can be accurately described by means of the nonlinear Saint-Venant partial differential equations. However, the lack of an analytical solution for these equations is one of the reasons why simplified models have been developed. In this work, the Integrator-Delay-Zero model is used as the input-output model to link the water depths to the discharges. A modeling extension for a canal with inflows and outflows along the water stream is proposed: an overlapping problem is discussed and a criterion choice is defined in order to obtain the general model. With regard to this criterion, a calibration step is needed, both to overcome the natural limitations of the simplified model and to ensure the correct computation of the general model. The application of this modeling approach to a part of the inland navigation network in the north of France serves as the case study for this work. Les voies navigables sont des réseaux de grandes tailles composés de plusieurs rivières canalisées mais également de canaux artificiels. Ces canaux, délimités par des écluses en amont et en aval, sont souvent caractérisés par l'absence de pente. Ils sont donc particulièrement sujets à des phénomènes de résonance qui se caractérisent par l'apparition de vagues de grandes amplitudes provoquées par l'activation des écluses. Pour modéliser ces phénomènes, il est possible d'utiliser les équations de Saint Venant (Chow, 1959). Cependant, leur utilisation pour la conception de lois de commande ou de stratégies de diagnostic des ouvrages reste difficile par la nature même du système considéré. Une alternative consiste en la conception de modèles simplifiés tels que le modèle IDZ (Integrator-Delay-Zero) proposé dans la littérature (Litrico & Fromion, 2004). Il s'agit d'un modèle permettant de reproduire la dynamique entrée-sortie des canaux en prédisant l'effet des débits en amont et en aval du canal étudié sur ses hauteurs d'eau mesurées aux mêmes endroits. Dans cet article, une extension de ce modèle est proposée avec l'objectif de pouvoir prendre en compte plusieurs entrées et sorties situées le long d'un même canal. La méthode permettant l'identification des paramètres du modèle IDZ conduit alors à des redondances de calcul. Ce problème est mis en évidence et discuté, puis une solution basée sur un critère de sélection des paramètres est proposée. Dans un deuxième temps, afin de pouvoir reproduire au mieux la dynamique réelle des canaux de navigation sans pente, en particulier la forte amplitude du premier pic de résonance, une phase de calage du modèle est présentée. Elle consiste à introduire deux coefficients conduisant à une modification légère des valeurs du Zéro et de l'Intégrateur du modèle en tenant compte des sorties du modèle et des mesures disponibles. Le bief de voies navigables Cuinchy-Fontinettes situé dans les Hauts-de-France permet d'illustrer cette démarche, puisqu'il a la particularité de pouvoir être alimenté par l'intermédiaire d'une vanne située environ au centre du bief. Les performances du modèle proposé sont illustrées en reproduisant par simulation un scénario de fonctionnement réel

Abstract

Inland navigation networks are large-scale systems that can be described by using the nonlinear Saint-Venant partial differential equations. However, as there is no analytical solution for them, simplified models are used instead for modeling purposes. This work addresses the modeling of two sub-reach systems by means of the well-known Integrator Delay Zero model. Two main scenarios are considered: in the first one, the two partial models are independently computed one from each other; the second one uses previous knowledge of the whole two sub-reach system in order to ensure the flow consistency along the system. The application of these two methodologies to a part of the navigation network in the north of France serves as the case study for this work. Peer Reviewed

Abstract

Trabajo presentado al 19th IFAC World Congress celebrado del 24 al 29 de agosto de 2014 en Cape Town (Sudafrica). In recent years, inland navigation networks benefit from the innovation of the instrumentation and SCADA systems. These data acquisition and control systems lead to a reactive asset-management of inland navigation networks. However, sensors and actuators are subject to faults due to the strong effects of the environment, aging, etc. In this paper, a sensor Fault Detection and Isolation (FDI) approach is proposed using an Integrator-Delay-Zero (IDZ) model, interval observers and the dynamic classification algorithm AUDyC. The combined use of these approaches allows the improvement of the sensor fault diagnosis. The proposed approach is introduced through the case study of the Cuinchy-Fontinettes reach in the north of France. This work is a contribution to the GEPET’Eau project which is granted by the French ministery MEDDE - GICC, the French institution ORNERC and the DGITM Peer Reviewed

Abstract

In this paper, an adaptive and predictive control architecture is proposed to improve the management of inland navigation networks in a global change context. This architecture aims at ensuring the seaworthiness conditions of inland navigation networks, and to improve the efficiency of the water resource management. It is based on supervision and prognosis modules which allow the estimation of the current state of the network, and the forecasting of the extreme event occurrence. According to these indicators and to the management constraints and objectives, control strategies of the inland navigation networks will be adapted to limit the impacts of the extreme events. To achieve this aim, three challenges are considered and discussed in this paper. The first one consists in proposing an accurate modeling approach of navigation reaches which are characterized by large scale, nonlinearities, time delays, unknown inputs and outputs, etc. The second one is to increase the knowledge about potentiality of extreme events, consequences of the climate change. The prediction of these events is rather complex due to their rarity, the spacio-temporal scale of the networks, etc. Finally, the third one is the pooling of the two first contributions, i.e. the model of the system and the knowledge about extreme events. Thus, the resilience of the system and the adaptation of the management strategies could be realized Peer Reviewed Document type: Article

Abstract

Inland navigation networks are equipped with limnimeters to measure and record water level data for the control of water levels and the management of water resources. When faults occur on sensors, corrupted data can be considered as correct, leading to undesirable management actions. Therefore, it is necessary to detect and localize these faults. In this paper, the detection and localization of sensor faults is performed through the analysis of the parameters of a grey-box model, which are obtained from available real data. The parameters are determined with a sliding window, with the exception of the delays, which are considered known a priori. A fault is detected and then localized when there is a change in the value of the parameters. This approach is well suited for constant faults and particularly well adapted for intermittent faults. Data of an inland navigation reach located in the north of France are used to highlight the performance of the proposed approach. This work has been partially funded by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the projects DEOCS (ref. MINECO DPI2016- 76493), SCAV (ref. MINECO DPI2017-88403-R) and through the grant IJCI-2014-20801. This work has also been partially funded by AGAUR of Generalitat de Catalunya through the Advanced Control Systems (SAC) group grant (2017 SGR 482). Peer reviewed

Abstract

Inland navigation networks offer an alternative to land transport with economic and environmental benefits, and direct access to urban and industrial centers. Promoting the navigation transport requires the modernization of the network management, in particular the control of navigation levels and the improvement of the network safety. To reach these aims, modeling methods of the inland navigation networks have to be proposed. These networks are large scale distributed systems characterized by non-Iinearities, time-delays and generally no significant slope. A modeling method of a navigation channel based on identification method is proposed in this paper. It is applied on the Cuinchy-Fontinettes reach located in the north of France. Peer Reviewed Document type: Conference object

Abstract

@2017 Personal use of these materials is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating news collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Inland navigation networks are large-scale systems with large dead times, nonlinearities and variable time delays. They are composed of interconnected reaches. The management goal is to maintain the water level of each reach around a certain value. In this paper, a decentralized control approach is addressed to fulfill this objective. It is based on IDZ models by considering connected reaches with distributaries. A real navigation sub-network in the north of France serves as the case study for this work. Peer Reviewed

Abstract

Trabajo presentado a la 13th European Workshop on Advanced Control and Diagnosis (ACD 2016). Inland waterways are large-scale networks used principally for navigation. Even if the transport planning is an important issue, the water resource management is a crucial point. Indeed, navigation is not possible when there is too little or too much water inside the waterways. Hence, the water resource management of waterways has to be particularly efficient in a context of climate change and increase of water demand. This management has to be done by considering different time and space scales and still requires the development of new methodologies and tools in the topics of the Control and Informatics communities. This work addresses the problem of waterways management in terms of modeling, control, diagnosis and fault-tolerant control by focusing in the inland waterways of the north of France. A review of proposed tools and the ongoing research topics are provided in this paper. Peer Reviewed

Abstract

Trabajo presentado a la 4th International Conference on Control, Decision and Information Technologies (CoDIT), celebrada en Barcelona (España) del 5 al 7 de abril de 2017. Inland navigation networks are composed of several artificial canals that are characterized by no slope. These canals are particularly subject to resonance phenomena, which can create waves such that the navigation condition might not be guaranteed. It is therefore required to ensure dealing with freefault measured data and actuators. In this work, a fault detection and isolation method based on the Integrator Delay Zero model (IDZ) is designed for flat navigation canals. The proposed method is dedicated to the detection and isolation of sensor and actuator faults. Finally, it is tested by considering the Cuinchy-Fontinettes canal located in the north of France. This work has been partially funded by the Spanish Ministry of Economy and Competitiveness (MINECOP) and FEDER through the project HARCRICS (ref. DPI2014-58104-R) and through the grant IJCI-2014-2081. Peer Reviewed Document type: Conference object

Abstract

This article regards the development of an analytical redundancy-based approach for detecting and isolating both sensor and actuator faults in flat inland navigation canals. Inland navigation networks are principally used for transport and are composed of many canalized natural rivers and artificial canals characterized by no slope. These canals are strongly affected by resonance phenomena, which can create waves such that the navigation condition might not be guaranteed. It is, therefore, required to ensure dealing with fault-free measured data and actuators. The proposed approach is based on the integrator delay zero model of the flat inland navigation canal. The proposed method is tested by considering the Cuinchy–Fontinettes navigation reach (in the north of France) to detect and isolate the occurrence of faults in the Cuinchy and Fontinettes level sensors and in the Cuinchy gate. This work has been partially funded by the Spanish Ministry of Economy and Competitiveness (MINECOP) and FEDER through the project HARCRICS (ref. DPI2014-58104- R) and through the grant IJCI-2014-20801. Peer reviewed