Modeling Unsteady Open-Channel Flow for Controller Design

An approximated linear model of unsteady open-channel flow is necessary to design the water-level controller for irrigation open channels. Toward this end, this paper presents the matrix approach to derive the linear model of open-channel system in analytical form mainly according to the Saint Venant equations and the backwater profile at the steady state of open channel. The hydraulic model of the check structure at the downstream end of open channel is also incorporated into the linear model. A practical example indicates that the frequency response of the open-channel system can be accurately analyzed with the linear model. The simulation results in the time domain show that the dynamic behavior of the linear model approximates to that of the nonlinear model of the open-channel system. Finally, the limitations of the linear model are discussed.     

Flume for Teaching Spatially Varied Open-Channel Flow

Spatially varied flow in open channels is a topic that is often included in undergraduate open channel hydraulics courses. Physical and computational models are developed to enhance the presentation of spatially varied flow to engineering students at the late undergraduate or early graduate level. The physical model is inexpensive and easy to build and the computational model is easily developed using commercially available spreadsheet software. The physical model consists of a 30.48 cm nominal-diameter PVC pipe that is 6.1 m in length and has circular orifices approximately 1.40 cm in diameter drilled on 15.24 cm centers along the pipe invert. A relationship between the orifice discharge coefficient and a modification of the Froude number, as measured in the flume upstream of the orifice in question, was developed in repeated trials having varying flume slope, volumetric inflow rate, and end conditions. With this relationship, a stepwise solution to the energy equation is used to predict the water surface profile. Differences between the water surface profiles observed and predicted in repeated trials averaged approximately 2 mm.     

Parameter Estimation for Flow in Open-Channel Networks

Two mathematical models for parameter estimation in closed-loop, open-channel flow networks are presented. The parameter estimation models seek to determine the parameter values that would reproduce an observed flow profile in the channel network. The governing equations for gradually varied flow in channel networks are the optimization models’ constraints. The projected augmented Lagrangian method is used to solve the optimization models. Performance of these two optimization models is evaluated for a given closed-loop network configuration. Results establish the potential of the developed models for use in real-life flow scenarios.     

Three-Dimensional Numerical Study of Flows in Open-Channel Junctions

An open-channel junction flow is encountered in many hydraulic structures ranging from wastewater treatment facilities to fish passage conveyance structures. An extensive number of experimental studies have been conducted but a comprehensive three-dimensional numerical study of junction flow characteristics has not been performed and reported. In this paper, a three-dimensional numerical model is developed to investigate the open-channel junction flow. The main objective is to present the validation of a three-dimensional numerical model with high-quality experimental data and compare additional simulations with classical one-dimensional water surface calculations. The three-dimensional model is first validated using the experimental data of a 90° junction flow under two flow conditions. Good agreement is obtained between the model simulation and the experimental measurements. The model is then applied to investigate the effect of the junction angle on the flow characteristics and a discussion of the results is presented.     

Higher-Order Moments of Velocity Fluctuations in an Open-Channel Flow with Large Bottom Roughness

The present study was undertaken to examine the effect of surface roughness on the higher-order velocity moments in a turbulent open-channel flow. The wall roughness is large and the ratio of the roughness size to the depth of flow ranges from 0.1 to 0.15. Flow over two types of roughness conditions (ribs and dunes) are examined and compared with that over a smooth open channel. In the case of the rib roughness, three different spacings are used: p/k = 4.5, 9, and 18; here, p=distance between the leading edges of two consecutive ribs and k=height of a rib with square cross section. The shape of the smooth wall dunes was geometrically similar to that commonly used in previous studies. In an effort to understand the influence of local wall roughness, rough-wall dunes are also used in the present study. The variables of interest include higher-order moments, conditional statistics based on a quadrant analysis, relationship of higher-order moments to the Reynolds stress and energy production. Although there are some similarities between open-channel flows and turbulent boundary layers, there are important differences as indicated by the third-order moments. The triple products and the second quadrant events are sensitive to the wall condition. Ejection events are found to be prevalent throughout the depth. It is also clear from the study that one needs to explicitly account for the surface condition in any model development to be able to predict transport characteristics.     

Nonlinear Control of Open-Channel Water Flow Based on Collocation Control Model

This paper is devoted to the nonlinear control of open-channel water flow dynamics via a one-dimensional collocation control model for irrigation canals or dam-river systems. Open channel dynamics are based on the well-known Saint-Venant nonlinear partial differential equations. In order to obtain a finite-dimensional model an orthogonal collocation method is used, together with functional approximation of the solutions of Saint-Venant equations based on Lagrange polynomials. This method can give a more tractable model than those obtained from classical finite-difference or finite-element methods (from the viewpoint of both state dimension and structure), and is well suited for control purposes. In particular it is shown how such a model can be used to design a nonlinear controller by techniques of dynamic input–output linearization with the goal of controlling water levels along an open-channel reach. Controller performance and robustness are illustrated in simulations, with a simulated model for the canal chosen as more accurate than the one used for control design.     

Flow in Open-Channel Embayments

This study investigates flows in a square and a rectangular embayment located on the side bank of an open channel. It is found that the main flow of the open channel induces a circulatory flow in the square and rectangular embayment and the center of the circulatory flow is shifted downstream in comparison with the center of the embayment. A solution of the shallow water equations solved using the method of variation yields results of the 95% confidence intervals within 10% of mean errors between the observed and computed nondimensional velocities.     

Reynolds Stress Anisotropy in Open-Channel Flow

This paper reports the results of an experimental study characterizing turbulence and turbulence anisotropy in smooth and rough shallow open-channel flows. The rough bed consists of a train of two-dimensional transverse square ribs with a ratio of the roughness height (k) to the total depth of flow (d) equal to 0.10. Three rib separations (p/k) of 4.5, 9, and 18 were examined. Here, p is the pitch between consecutive roughness elements and was varied to reproduce the classical condition of d- and k-type roughness. For each case, two-component velocity measurements were obtained using a laser Doppler velocimetry system at two locations for p/k = 4.5 and 9: on the top of the rib and above the cavity, and an additional location for p/k = 18. The measurements allow examination of the local variations of the higher-order turbulent moments, stress ratios as well as turbulence anisotropy. Large variations of the turbulence intensities, Reynolds shear stress, turbulent kinetic energy and turbulence production are found for y1<3k. In this region, the flow is more directly influenced by the shear layers from the preceding ribs. The higher-order moments appear to be similar for all rough surfaces beyond y1 ≈ 7k. In the outer layer (y1>3k), all higher-order turbulent moments for the k-type roughness show a substantial increase due to the complex interactions between the roughness and the remnants overlying shear layers shed from succeeding ribs. Analysis of the components of the Reynolds stress anisotropy tensor shows that at p/k = 18, the flow at y1<5k tends to be more isotropic which implies that for this particular case, the effect of the roughness density could also be important. On the smooth bed, at the shallower depths, the correlation coefficient near the free surface increases and turbulence tends to become less anisotropic.     

Maximum Velocity and Regularities in Open-Channel Flow

Maximum velocity in a channel section often occurs below the water surface. Its location is linked to the ratio of the mean and maximum velocities, velocity distribution parameter, location of mean velocity, energy and momentum coefficients, and probability density function underpinning a velocity distribution equation derived by applying the probability and entropy concepts. The mean value of the ratio of the mean and maximum velocities at a given channel section is stable and constant, and invariant with time and discharge. Its relationship with the others in turn leads to formation of a network of related constants that represent regularities in open-channel flows and can be used to ease discharge measurements and other tasks in hydraulic engineering. Under the probability concept, the ratio of mean and maximum velocities being constant means that the probability distribution underpinning the velocity distribution and other related variables is resilient, and that the same probability distribution is governing various phenomena observable at a channel section and explains the regularities in open-channel flows.     

Comparison of Gradually Varied Flow Computation Algorithms for Open-Channel Network

This paper presents a comparison of two algorithms—the forward-elimination and branch-segment transformation equations—for separating out end-node variables for each branch to model both steady and unsteady flows in branched and looped canal networks. In addition, the performance of the recursive forward-elimination method is compared with the standard forward-elimination method. The Saint–Venant equations are discretized using the four-point implicit Preissmann scheme, and the resulting nonlinear system of equations is solved using the Newton–Raphson method. The algorithm using branch-segment transformation equations is found to be at least five times faster than the algorithm using the forward-elimination method. Further, the algorithm using branch-segment transformation equations requires less computer storage than the algorithm using the forward-elimination method, particularly when only nonzero elements of the global matrix are stored. Comparison between the Gauss-elimination method and the sparse matrix solution technique for the solution of the global matrix revealed that the sparse matrix solution technique takes less computational time than the Gauss-elimination method.     

Critical Depth Relationships in Developing Open-Channel Flow

Doubts have been expressed about the validity of the critical depth defined in terms of the minimum specific energy head of the free-surface streamline when dealing with developing open-channel flows. This note examines the two approaches for defining critical flow, that based on the minimum specific energy of the free-surface streamline and that based on the mean energy head of the whole flow section. Large differences for the dimensionless critical depths are obtained with the two methods due to each critical depth proving to be a different control point on the free-surface profile. It is argued that both methods are different alternatives, although the critical depth concept was different in each case. Theoretical support to critical flow computations based on the free streamline is provided. An alternative approach for computing the discharge characteristics of broad-crested weirs based on the energy loss inside the boundary layer is also proposed.     

Simulation of Flow past an Open-Channel Floor Slot

In the past, solutions to the problem of flow past a floor slot in a rectangular open channel used to divert flow from one stream to another were obtained mainly on the basis of model tests or through the development of simplified theoretical expressions. In the present study, the free-surface turbulence model is applied to obtain the flow parameters such as pressure head distribution, velocity distribution, and water surface profile. The predictions of the proposed numerical model are validated using previous experimental data. In particular, the model predictions agree well with the test data related to flow parameters. The study indicates that the free-surface turbulence model developed is an efficient and useful tool for predicting characteristics of free surface flows such as flow past a floor slot. For flow past an open-channel floor slot, a model that is properly validated can be used to predict the flow characteristics under various flow configurations encountered in the field, without resorting to expensive experimental procedures.     

Investigation of Fluid Structures in a Smooth Open-Channel Flow Using Proper Orthogonal Decomposition

This paper reports particle image velocimetry (PIV) measurements of the instantaneous velocity fields in a smooth open-channel flow. The Reynolds number of the flow based on the water depth was 21,000. The instantaneous velocity fields were analyzed using proper orthogonal decomposition (POD) to expose the vortical structures. The velocity fields were reconstructed using different combination of modes; the first 12 modes to expose the energetic structures, and from Modes 13 to 100 to expose the less energetic structures. The first set recovered about 50% of the turbulent kinetic energy while the second group of modes recovered about 33% of the energy. The POD results were further combined with the results from the momentum analysis as well as with the conditional quadrant analysis performed at three different threshold levels. The POD results revealed the existence of hairpin vortices of different sizes and energy levels. Most of the large eddies are elongated and inclined toward the boundaries in the streamwise direction. The results also revealed patterns of strong ejection and sweep events which are common features in wall-bounded flows. Closer to the free surface (y/d>0.6), it was observed that the existence of hairpin vortices with legs possibly extended upward toward the free surface. As well, the distribution of the uniform momentum zones was consistent with the location of the vortices and their induced flow. While POD exposes the large- and small-scale structures based on the amount of turbulent kinetic energy, the quadrant analysis performed on the PIV maps shows the spatial distribution of the events related to the momentum transport.     

New Approach for Predicting Flow Bifurcation at Right-Angled Open-Channel Junction

An unsteady mathematical model for predicting flow divisions at a right-angled open-channel junction is presented. Existing dividing models depend on a prior knowledge of a constant flow regime. In addition, their strong nonlinearity does not guarantee compatibility with the St. Venant solutions in the context of an internal boundary condition treatment. Assuming zero crest height at the junction region, a side weir model explicitly introduced within the one-dimensional St. Venant equations is used to cope with the two-dimensional pattern of the flow. An upwind implicit numerical solver is employed to compute the new governing equations. The performance of the proposed technique in predicting super-, trans-, and subcritical flow bifurcations is illustrated by comparing with experimental data and/or theoretical predictions. In all the tests, lateral-to-upstream discharge ratios (Rq) are successfully reproduced by the present technique with a maximum error magnitude of less than 9%.     

Subcritical 90° Equal-Width Open-Channel Dividing Flow

Based on experimental observations, for a subcritical, right-angled, equal-width, open-channel dividing flow over a horizontal bed, the contraction coefficient at the maximum width-contracted section in the recirculation region is almost inversely related to the main channel upstream-to-downstream discharge ratio. The energy heads upstream and downstream of the division in the main channel are found to be almost equal. Under the assumption that the velocities are nearly uniformly distributed at the considered boundaries, the depth-discharge relationship follows the commonly used energy equation. The predicted results correlate fairly with the experimental data from this and other studies. The energy-loss coefficient of a division is expressed in terms of discharge ratio, upstream Froude number, and depth ratio. An expression for practical engineering applications is to determine the maximum possible branch-channel discharge at a given upstream discharge with a prescribed downstream Froude number or the maximum possible downstream Froude number if both branch- and main-channel discharges are prescribed.     

Flow Resistance over Mobile Bed in an Open-Channel Flow

This paper deals with the underlying mechanism of flow resistance in an alluvial channel: The effects of sidewall and bed form on flow resistance, Einstein’s divided hydraulic radius approach and Engelund’s energy slope division approach are reexamined. These two approaches assume that the shear stress on a mobile bed is the summation of shear stresses caused by skin friction and bed form. Using a different approach, this paper presents a theoretical relationship between the total bed shear stress with grain and bed-form shear stresses. The contribution of sidewall on the total bed shear stress is also discussed. The writers found that the size of bed form plays a significant role for the flow resistance, and developed relevant expressions for the length of the separation zone behind the bed forms. In addition, a systematical approach has been developed to compute the flow velocity in an alluvial channel. This approach is tested and verified against 5,989 flume and field measurements. The computed and measured discharge/velocity are in good agreement and 83.0% of all data sets fall within the ±20% error band.     

Velocity Distribution of Turbulent Open-Channel Flow with Bed Suction

This study investigates theoretically and experimentally the velocity distributions of turbulent open channel flow with bed suction. A velocity profile with a slip velocity at the bed surface and an origin displacement under the bed surface is proposed and discussed. Based on this assumption, a modified logarithmic law is derived. The measured experimental velocity distribution verifies the accuracy of the theoretically derived profile. The data show a significant increase in the near bed velocity and a velocity reduction near the water surface, resulting in the formation of a more uniform velocity distribution. The values of the origin displacement, slip velocity and shear velocity are found to increase with increasing relative suction. The measured data show the occurrence of two flow regions in the suction zone: a transitional region in which the velocity readjusts rapidly; and an “equilibrium” region.     

Numerical and Experimental Study of Dividing Open-Channel Flows

Dividing flows in open channels are commonly encountered in hydraulic engineering systems. They are inherently three-dimensional (3D) in character. Past experimental studies were mostly limited to the collection of test data on the assumption that the flow was 1D or 2D. In the present experimental study, the flow is treated as 3D and test results are obtained for the flow characteristics of dividing flows in a 90°, sharp-edged, rectangular open-channel junction formed by channels of equal width. Depth measurements are made using point gauges, while velocity measurements are obtained using a Dantec laser Doppler anemometer over grids defined throughout the junction region. A 3D turbulence model is also developed to investigate the dividing open-channel flow characteristics. The predicted flow characteristics are validated using experimental data. Following proper model validation, the numerical model developed can yield design data pertaining to flow characteristics for different discharge and area ratios for other dividing flow configurations encountered in engineering practice. Energy and momentum coefficients based on the present 3D model yield more realistic energy losses and momentum transfers for dividing flow configurations. Data related to secondary flows provide information vital to bank stability, if the branch channel sides are erodible.     

Optimal Control of Open-Channel Flow Using Adjoint Sensitivity Analysis

An optimal flow control methodology based on adjoint sensitivity analysis for controlling nonlinear open channel flows with complex geometries is presented. The adjoint equations, derived from the nonlinear Saint-Venant equations, are generally capable of evaluating the time-dependent sensitivities with respect to a variety of control variables under complex flow conditions and cross-section shapes. The internal boundary conditions of the adjoint equations at a confluence (junction) derived by the variational approach make the flow control model applicable to solve optimal flow control problems in a channel network over a watershed. As a result, an optimal flow control software package has been developed, in which two basic modules, i.e., a hydrodynamic module and a bound constrained optimization module using the limited-memory quasi-Newton algorithm, are integrated. The effectiveness and applicability of this integrated optimal control tool are demonstrated thoroughly by implementing flood diversion controls in rivers, from one reach with a single or multiple floodgates (with or without constraints), to a channel network with multiple floodgates. This new optimal flow control model can be generally applied to make optimal decisions in real-time flood control and water resource management in a watershed.     

General Characteristics of Solutions to the Open-Channel Flow, Feedforward Control Problem

A dimensionless formulation of the open-channel flow equations was used to study the feedforward control problem for single-pool canals. Feedforward inflow schedules were computed for specified downstream demands using a gate-stroking model. The analysis was conducted for various design and operational conditions. Differences in the shape of the computed inflow hydrographs are largely related to the volume change resulting from the transient, the time needed to supply this volume, and the time needed by the inflow perturbation to travel down the canal. The gate-stroking method will fail to produce a solution or the solution will demand extreme and unrealistic inflow variations if the time needed to supply the canal volume change is much greater than the travel time of the upstream flow change. As an alternative, a simple feedforward-control flow schedule can be developed based on this volume change and a reasonable delay estimate. This volume compensating schedule can deliver the requested flow change and keep water levels reasonably close to the target under the range of conditions tested.