Nonlinear Observer-Based Feedback for Open-Channel Level Control

This paper is devoted to nonlinear observer and controller design for water level control of open-channel flow in irrigation canals or dam-river systems. A finite-dimensional model, previously developed by orthogonal collocation methods, based on Saint Venant equations and used for control design, is now further used for online flow rate and water infiltration estimation. This is done by a so-called state observer. In particular, the estimates obtained in this way can successfully be used in a controller previously proposed, resulting in a water level control law using only two level measurements along the canal (instead of the four measurements previously needed). The study is restricted to the case of a rectangular wetted section and subcritical flow. The results have been validated by simulations, on an implicit finite difference simulator based on a Preissmann scheme for various scenarios.     

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.     

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.     

Frequency Modeling of Open-Channel Flow

A good model is necessary to design automatic controllers for water distribution in an open-channel system. The frequency response of a canal governed by the Saint-Venant equations can be easily obtained in the uniform case. However, in realistic situations, open-channel systems are usually far from the uniform regime. This paper provides a new computational method to obtain a frequency domain model of the Saint-Venant equations linearized around any stationary regime (including backwater curves). The method computes the frequency response of the Saint-Venant transfer matrix, which can be used to design controllers with classical automatic control techniques. The precision and numerical efficiency of the proposed method compare favorably with classical numerical schemes (e.g., Runge–Kutta). The model is compared in nonuniform situations to the one given by a finite difference scheme applied to Saint-Venant equations (Preissmann scheme), first in the frequency domain, then in the time domain. The proposed scheme can be used, e.g., to validate finite difference schemes in the frequency domain.     

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.     

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.     

Supervised Gain-Scheduling Multimodel versus Linear Parameter Varying Internal Model Control of Open-Channel Systems for Large Operating Conditions

In this paper, two internal model control (IMC) controllers using gain-scheduling techniques are proposed and compared for open-channel systems that allow to deal with large operating conditions. In particular, in one side, a linear parameter varying (LPV) model for an open-flow channel system based on a second-order delay Hayami model is proposed. This model will allow one to design a classic gain-scheduling strategy for the IMC controller. On the other side, the LPV model is discretized in a set of linear time invariant (LTI) models corresponding to different operating points. For each LTI model a LTI IMC controller is designed off-line. Then, a supervised gain-scheduler detects on-line which is the LTI model that represents better the open-flow channel system at the current operating point and decides which is the LTI controller that should be used. Finally, both approaches will be applied to a simulated open canal: the Lunax gallery located at Gascogne, France.     

Depth-Averaged Model of Open-Channel Flows over an Arbitrary 3D Surface and Its Applications to Analysis of Water Surface Profile

A new set of depth-averaged equations is introduced to study the flow over an arbitrary three-dimensional (3D) surface. These equations are derived based on a generalized curvilinear coordinate system attached to the 3D bed surface, therefore it allows us to include the effect of centrifugal force due to the bottom curvature. These general equations make it possible to analyze flows over complex terrain without the limitation of mild slope assumption used in conventional depth-averaged models. This new model is then applied to calculate the water surface profiles of (1) flow over a cylindrical surface; (2) flow over a circular surface; and (3) flow with an air-core vortex at a vertical intake. A simple hydraulic experiment is conducted in the laboratory to observe the water surface profile of flow over a circular surface. The results obtained from the model are in good agreement with experimental measurements and calculation by an empirical formula. Consequently, it demonstrates the applicability of the model in cases of flow over a highly curved bottom.     

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.     

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.     

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.     

Bernoulli Theorem, Minimum Specific Energy, and Water Wave Celerity in Open-Channel Flow

One basic principle of fluid mechanics used to resolve practical problems in hydraulic engineering is the Bernoulli theorem along a streamline, deduced from the work-energy form of the Euler equation along a streamline. Some confusion exists about the applicability of the Bernoulli theorem and its generalization to open-channel hydraulics. In the present work, a detailed analysis of the Bernoulli theorem and its extension to flow in open channels are developed. The generalized depth-averaged Bernoulli theorem is proposed and it has been proved that the depth-averaged specific energy reaches a minimum in converging accelerating free surface flow over weirs and flumes. Further, in general, a channel control with minimum specific energy in curvilinear flow is not isolated from water waves, as customary state in open-channel hydraulics.     

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.     

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.     

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.     

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.     

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.     

Structure of Flow Upstream of Vertical Angled Screens in Open Channels

This paper presents the results of a laboratory study of the structure of flow in a diversion structure with a vertical angled wedge-wire fish screen. This screen had a 10×25?mm mesh and was tested at three angles of 10.4, 17.5, and 26.8°, to the direction of the approaching flow, for two mean velocities of 0.5 and 0.8?m/s, with a depth of flow of about 0.75?m. In this water and fish diversion (channel or) structure, it was found that the depth of flow at any section is approximately constant with a drop at the screen on the side of the canal and decreased towards the bypass located at the downstream end. The distribution of the velocity component u in the direction of the approaching flow as well as the perpendicular component w and the resultant velocity V was uniform in the vertical direction. The depth averaged mean velocity for different verticals at any section in the diversion structure increased with the longitudinal distance x and was correlated with the relative width, bs/b (in the diversion structure) for all five experiments. Correlations have been found for the depth averaged transport velocity and the impinging velocity on the screen in terms of the approach velocity U. A general relation has also been developed for the attack angle of the flow on the screen. The downstream part of the screen carried more flow into the canal compared to the upstream part as a result of the uniform mesh size used in this study. The results of this hydraulic study should be useful, particularly for freshwater adult fish, in designing screens in irrigation canals and for micro-hydro sites that use diversion canals.     

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.