Decentralized MPC applied on BCN Drinking Water Network Trends, Issues and Tools Carlos Ocampo-Martinez Valentina Fambrini WIDE Meeting – Eindhoven (NL)

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Presentation transcript:

Decentralized MPC applied on BCN Drinking Water Network Trends, Issues and Tools Carlos Ocampo-Martinez Valentina Fambrini WIDE Meeting – Eindhoven (NL) April 3, 2009

Content Case Study Description Network Partition  Algorithm and Heuristics  Hierarchical Features Results Open Issues and Discussion April 3, 20092WIDE Meeting – Eindhoven (NL)

Aggregated Case Study April 3, 20093WIDE Meeting – Eindhoven (NL)

Control Model Description 61 control Variables 17 system states (tank volumes) 25 perturbations (water demands) 11 additional constrains (related to the nodes equalities) Matlab implementation April 3, 20094WIDE Meeting – Eindhoven (NL)

MPC Problem Formulation Model and Physical Constraints – Linear nature of the model – Physical bounds of system variables – Mass Balances at network nodes – Management limitations Control Objectives – Economical costs (water and pumping) – Stability (related to actuator flows slew rate) – Security (related to minimum volume values) April 3, 20095WIDE Meeting – Eindhoven (NL)

Reached Goals Control signals stabilization Deep analysis of the system behaviour Development and improvement of software tools for system analysis and synthesis Better knowledge of the system nature  Improvement of the control design  Implementation of a full-scale case study April 3, 20096WIDE Meeting – Eindhoven (NL)

Software Tools (for use with Matlab ® ) MPC4WN Toolbox April 3, 20097WIDE Meeting – Eindhoven (NL)

Network Partition (I) First and incipient approach Based on Sensibility algorithm by D. Barcelli  Nodes as fake states  Neglecting network connections Complemented with heuristics  Avoiding to neglect flow paths  Assuming availability of information from a previous simulation using CMPC April 3, 20098WIDE Meeting – Eindhoven (NL)

Network Partition (II) Hierarchical Order for i: 1 to k end Step1 - Subsystem 3: Assuming outflows as demands (initialized by using info from CMPC simulation). Step2 - Subsystem 2: Receives info previously computed by Subsystem 3. Step3 - Subsystem 1: Receives info previously computed by Subsystem 3. end April 3, 20099WIDE Meeting – Eindhoven (NL)

Network Partition (III) Barcelli’s Algorithm + Heuristics + Hierarchical Philosophy April 3, WIDE Meeting – Eindhoven (NL)

Some Results (I) April 3, WIDE Meeting – Eindhoven (NL)

Some Results (II) April 3, WIDE Meeting – Eindhoven (NL)

Some Results (III) April 3, WIDE Meeting – Eindhoven (NL)

Open Issues and Challenges Reflect particular management features done by AGBAR over the optimization problem Implement the economical cost terms Define new scenarios (norms, tunings, etc) Include a “virtual reality” Improve the partition algorithm Include work from other WP’s Full case study April 3, WIDE Meeting – Eindhoven (NL)

BCN DRINKING WATER NETWORK: COMPLETE CASE STUDY April 3, WIDE Meeting – Eindhoven (NL)

OPEN DISCUSSION April 3, WIDE Meeting – Eindhoven (NL)