Abstract:
A water level control system for a reservoir includes steps of detecting water level, outflow rate and inflow rate of the reservoir detecting modified water level corresponding to the reservoir&#39;s content depending on the actual water level, the outflow rate and the inflow rate, and controlling the outflow rate of the reservoir in response to a deviation value between a set reference and the modified water level, thereby reducing the influence of undesirable water level fluctuation.

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to a water level control system for a reservoir. 
     In general, the apparatus for controlling the amount of water stored in the reservoir consists of a gate control apparatus which determines a desired discharging amount and a degree of opening the gate to materialize the desired discharging amount based upon a water level H measured by a water gauge which is installed near the discharge gate of the reservoir, such that a command for opening or closing the gate is supplied to a gate drive unit. 
     To maintain the stored amount of water and the water level at desired values, it is necessary to correctly detect the change of water level that is caused by the difference between the inflow rate and the outflow rate thereby to give a command of opening or closing the gate. However, the water gauge detects not only the change in water level caused by the difference between the inflow rate and the outflow rate but also detects transient fluctuation of the water level (hereinafter referred to as water-level noise) caused by the opening or closing of the gate or by the sudden change in the inflow rate. To cope with these problems, the conventional control system includes steps of detecting the water level by a water gauge after every predetermined period of time, and controlling the opening degree of the gate based upon the average value of the water level detected from a predetermined past moment through up to the present moment. Namely, the conventional control system relied upon a so-called running average method. With such a system, however, it was difficult to properly control the water level, overcoming the problem caused by the water-level noise. According to the above control system, therefore, when the inflow rate increased, the operation for controlling the opening degree of the gate often lagged behind proper time, and the degree of opening the gate tended to be greatly varied. 
     SUMMARY OF THE INVENTION 
     The present invention was accomplished not only to maintain the water level in the reservoir at a desired value but also to maintain the stored amount of water at a desired value. The object of the present invention, therefore, is to provide a control system which is capable of stably controlling the reservoir by distinguishing the change in water level caused by the difference between the inflow rate and outflow rate from the transient water-level noise, detecting the water level which does not contain water-level noise, and suppling the detected value to a gate control apparatus. 
     The feature of the present invention resides in that the water level corresponding to the stored amount of water in the reservoir is detected, and the actual water level is controlled depending upon the detected water level, wherein the level to be detected at a given moment (k) is detected by modifying a value detected from an estimated water level corresponding to the stored amount of water in the reservoir at a moment (k-1) which is earlier than the moment (k) by a predetermined period of time, and from an inflow rate and an outflow rate at the moment (k-1), with a difference between the above-mentioned detected value and the actual water level measured at the moment (k). 
     Here, the water level corresponding to the stored amount of water does not simply refer to &#34;average&#34; water level corresponding to the change in water level caused by fluctuation or noise, but refers to a water level (or the level of water which is always flat) which is determined only by the stored amount of water measured at an instantaneous moment in an equilibrium state without containing gradient in water level, fluctuation or noise. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a diagram illustrating a whole setup of the system according to the present invention; 
     FIG. 2 is a diagram schematically illustrating a water-level prediction circuit of FIG. 1; 
     FIG. 3 is a diagram schematically illustrating an inflow prediction circuit of FIG. 1; 
     FIG. 4 is a diagram schematically illustrating an estimation error correction circuit of FIG. 1; 
     FIG. 5 is a diagram schematically illustrating a gate control circuit of FIG. 1; 
     FIG. 6 is a diagram illustrating the change in the estimated value h of water level according to the present invention and the actual water level H; 
     FIG. 7 is a diagram illustrating the change in the estimated value h&#39; of water level according to a conventional system and the actual water level H; 
     FIG. 8 is a diagram illustrating the change in the outlfow rate with respect to the inflow rate according to the present invention; and 
     FIG. 9 is a diagram illustrating the change in the outflow rate with respect to the inflow rate according to the conventional system. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     In FIG. 1, reference numeral 1 denotes a reservoir or a dam storing water which is discharged through a gate 2. Water level 3 of the stored water undergoes fluctuation due to various causes mentioned in the foregoing. Therefore, water level H k  measured at a moment k by a water gauge 4 installed near the gate 2 always undergoes fluctuation with the passage of time; the fluctuation may contain various components. Reference numeral 5 denotes a filter which will be mentioned later in detail. The filter 5 works to distinguish water-level noise over the measured water level H k  which contains various components, and produces an estimated value h k  of water level corresponding to the stored amount of water at the moment of measurement. Reference numeral 6 denotes a gate control circuit which calculates a discharge rate QO k  based upon the estimated water level h k , detects a degree G k  of opening the gate 2 for materializing the discharge rate QO k , and supplies the thus detected value to a gate actuator 7. This gate 2 is opened or closed by the gate actuator 7. Here, the gate control circuit 6 has a circuit which causes the discharge rate QO k  to be delayed by a time of one filtering operation as will be mentioned later. Therefore, the output to the circuit 51 is denoted by QO k-1 . 
     The filter 5 consists of a water level prediction circuit 51, an inflow prediction circuit 52 and an estimation error correction circuit 53. These circuits operate as mentioned below. 
     First, the water level prediction circuit 51 detects an estimated water level h corresponding to the stored amount of water based upon the inflow rate QI k-1 , outflow rate QO k-1  and correction amount K k  (H k  -h k ) in accordance with the below-mentioned equation. Here, h k  represents h k-1  +1/A(QI k-1  -QO k-1 )ΔT, as will be mentioned later. ##EQU1## where, h k  : estimated water level corresponding to the stored amount of water at a moment k, 
     A: water surface area of the reservoir, 
     QI k-1  : inflow rate at a moment (k-1), 
     QO k-1  : outflow rate at a moment (k-1), 
     ΔT: filtering interval (time interval from the moment k-1 to the moment k), 
     K k  : estimated error correction gain at the moment k, 
     H k  : actual water level at the moment k, 
     As will be obvious from the equation (1) above, the water level prediction circuit 51 detects an fundamental estimated water level at the moment k from the relation of the first and second terms in equation (1), and modifies the above fundamental estimated water level with the value detected from the above fundamental estimated water level and the water level H k  measured at that moment k, based upon the third term which corresponds to the output of the estimation error correction circuit 53. 
     When the outflow rate of the upstream reservoir of this reservoir is measured to be equal to the inflow rate to this reservoir, the inflow rate QI k-1  of this reservoir may be predicted by the above outflow rate. When the inflow rate is not measurable, however, the value should be calculated by the inflow prediction circuit 52 in the following way as shown in FIG. 1. First, the instantaneous value qi k-1  of the inflow rate at the moment (k-1) is given by the following relation. 
     
         qi.sub.k-1 =ΔT.sup.-1 (h.sub.k -h.sub.k-1)A+QO.sub.k-1 (2) 
    
     Usually, the minimum unit for measuring the water level is 1 cm. With the unit smaller than 1 cm, the measurement is very difficult. Therefore, when the water surface area of the reservoir A is great, the value qi should be smoothed so that the water level will not greatly vary. Hence, instantaneous inflow rates qi of the past m times of filtering moments are averaged. ##EQU2## 
     Using the thus obtained vaue qi, it is possible to detect an estimated inflow rate QI k  at the moment k in accordance with the following relation, 
     
         QI.sub.k =qi.sub.k-1 +(qi.sub.k-1 -qi.sub.k-2)             (4) 
    
     As will be obvious from the preceding equations (2) to (4), the estimated inflow rate QI k  at the moment k is obtained after the estimated water level h k  up to the moment k is obtained. Therefore, at the time when the estimated water level h k+1  at the moment (k+1) is estimated, the value QI k  necessary for the estimation will have been detected. Accordingly, the calculation of the estimated water level h k+1  is possible. 
     The initial value h o  of the estimated water level h k  is usually set to the water level H o  which is measured at a moment k=0. 
     The circuits 51, 52, 53 and 6 are mentioned below in further detail in conjunction with FIGS. 2, 3, 4 and 5. 
     FIG. 2 is a diagram for concretely illustrating the water level prediction circuit. 
     A subtractor 511 detects a difference 
     
         QI.sub.k=1 -QO.sub.k-1 
    
     between the output QI k-1  and the output QO k-1  of the circuits 52 and 6. A constant voltage source 52 has been so set that the output voltage of a constant voltage source 513 corresponds to ΔT/A. A multiplier 512 multiplies the output of the subtractor 511 by the output of the constant voltage source 513 to detect ΔT/A(QI k-1  -QO k-1 ). An adder 514 adds the output of the multiplier 512 and the estimated water level h k-1  corresponding to the stored amount of water at the moment k-1 stored in a memory 515, thereby to detect ##EQU3## This corresponds to the sum of the first term and the second term of the above equation (1). The value h k  is supplied to a subtractor 54. 
     An adder 519 adds an output K k  (H k  -h k ) of the circuit 53 corresponding to the third term of the equation (1) and the value h k  to detect the estimated water level h k  of the equation (1). The value h k  is supplied to the circuits 52 and 6. 
     A switch 518 is closed only at a moment nΔT (ΔT denotes a time interval of filtering time, and n denotes an integer). Hence, a memory 517 stores the estimated water level h k . A switch 516 closes only just before a moment (n+1)ΔT. Accordingly, the memory 515 stores the estimated water level h k-1  at the moment k-1 which is earlier than the present moment k by a filtering time interval. However, a value corresponding to the actually measured water level H o  with the initial value being h o  at the moment K=0, has been stored in the memory 515. 
     The value QO k-1  is supplied to the circuit 52. 
     FIG. 3 is a diagram concretely illustrating the inflow prediction circuit. 
     A switch 521 closes only at the moment nΔT, and a memory 522 stores the estimated water level h k . A switch 523 closes only just before the moment (n+1)ΔT, and a memory 524 stores the estimated water level h k-1 . A subtractor 525 detects a difference h k  -h k-1  between the outputs of the memories 522 and 524. A constant voltage source 527 has been so set that its output voltage is A/ΔT. A multiplier 526 multiplies the output of a subtractor 525 by the output of the constant voltage source 527, and produces an output A/ΔT(h k  -h k-1 ). An adder 528 adds the output of the multiplier 526 and the output QO k-1  of the circuit 51 to detect ##EQU4## The above relation corresponds to the aforementioned equation (2). Switches SW1, SW2,--SWm close only just before the moment (n+1)ΔT. Hence, information stored in the memories 5291, 5292,--, 529(m+1) is successively shifted after every time interval ΔT. At the moment k, therefore, the memories 5291, 5292, 5293,--, 529(m+1), 529(m+2) store qi k-1 , qi k-2 , qi k-3 ,--, qi k- (m+1), qi K- (m+2). 
     An adder 5211 detects 
     
         qi.sub.k-2 +qi.sub.k-3 +--+qi.sub.k-(m+1) 
    
     An adder 5210 finds 
     
         qi.sub.k-3 +qi.sub.k-4 +--+qi.sub.k-(m+2) 
    
     A constant voltage source 5213 has been so set that its output voltage is m. A divider 5214 divdes the output of the adder 5210 by the output m of the constant voltage source 5213 to detect ##EQU5## which corresponds to the aforementioned equation (3). Similarly, a divider 5215 detects ##EQU6## A subtractor 5216 detects a difference qi k-2  -qi k-3  between the outputs of the subtractors 5215 and 5214. An adder 5217 adds the output of the divider 5215 and the output of the subtractor 5216 to detect 
     
         QI.sub.k-1 =qi.sub.k-2 +(qi.sub.k-2 -qi.sub.k-3) 
    
     which corresponds to the aforementioned equation (4), and supplies an output to the circuit 51. 
     FIG. 3 is a diagram which concretely illustrates the estimation error correction circuit 53. 
     A constant voltage source 532 is so set that its output voltage is K k . In this case, the output voltage K k  remains constant and does not change. A multiplier 531 multiplies the output H k  -h k  of the subtractor 54 by the output K k  of the constant voltage source 532, and supplies an output K k  (H k  -h k ) to the circuit 51. 
     Here, the setpoint value K k  is detected as mentioned below. If a true value of the water level from which is removed noise is denoted by h k , a transition equation related to the water level is given by ##EQU7## where U k  represents noise given by a white random series. 
     The relation for practically measuring the water level H k  is given by H k  =h k  +W k , where W k  is noise given by a white random series. 
     Symbols U k  and W k  denotes quantities which statistically change, and their distributions δ 2  are represented by U k  and W k , respectively. 
     The distribution W k  is estimated in the following way. An average amplitude a of the water-level fluctuation from the moment k to a past time T 1  is found from the practically measured data H k , H k-1 , --H k-T .sbsb.1, and the distribution is set to be W k  =(0.6a) 2 . 
     The distribution U k  is assumed to be 100 times, 25 times, 4 times and 1 times of W k , and an estimated value h k  based upon U k  and W k  is compared with the actual water level. Then, U k  is set to a value which is best suited for removing the noise. 
     By using the thus detected values U 0 , --U k , W 0 , W 1 , --W k , W 0  is set to a suitable initial value, and a value K k  is successively found by way of the following three relations. 
     
         K.sub.k =P.sub.k W.sub.k.sup.-1 
    
     
         P.sub.k =(M.sub.k.sup.-1 +W.sub.k.sup.-1).sup.-1 
    
     
         M.sub.k =P.sub.k-1 +U.sub.k-1 
    
     Thus, the correction gain K k  can be found for each of the moments. According to the experiments, however, U 0 , U 1 , --U k , W 0 , W 1 , --W k  remain nearly constant. Therefore, the value of correction gain K k  remains approximately constant irrespective of the moment k. The inventors therefore attempted to employ a constant voltage source 532 which produces a constant correction gain K k  at the moment k for the circuit 53. 
     FIG. 5 is a diagram for concretely illustrating the gate control circuit. 
     A constant voltage source 601 has been so set that the output voltage will be a desired water level HO. A subtractor 602 detects a difference H k  =HO-h k  between an output HO of the constant voltage source 601 and an output h k  of the circuit 51. A memory 603, a switch 604, a memory 605, a switch 606 and a memory 607 are connected in series. The switches 604 and 606 close only just before the moment nΔT. Hence, memories 603, 605 and 607 store values ΔH k , ΔH k-1  and ΔH k-2  at the moment k. 
     Constant voltage sources 611, 612 and 613 are so set that their output voltages are denoted by K I , K P  and K D , where K I  denote an integration control constant of the gate, K P  denote a proportional control constant of the gate, and K D  denote a differential control constant of the gate. A subtractor 608 detects a difference ΔH k  -ΔH k-1  between the output of the memory 603 and 604. A subtractor 609 detects a difference ΔH k  -2ΔH k-1  between the output of the subtractor 608 and the output of the memory 605. An adder 610 detects an addition ΔH k  -2ΔH k-1  +ΔH k-2  of the output of the subtractor 609 and the output of the memory 610. 
     Multipliers 614, 615 and 616 detect 
     
         K.sub.I ΔH.sub.k 
    
     
         K.sub.P (ΔH.sub.k -ΔH.sub.k-1), and 
    
     
         K.sub.D (ΔH.sub.k -2ΔH.sub.k-1 +ΔH.sub.k-2), respectively. 
    
     An adder 617 detects a sum of the outputs of the multipliers 614, 615 and 616, i.e., ##EQU8## which symbol ΔG k  denotes a value for correcting the opening degree of the gate. An adder 620 detects a sum of an output G k-1  of a memory 618 and an output of the adder 617, i.e., G k  =G k-1  +ΔG k . A switch 621 is closed at the moment nΔT only, and a switch 619 is closed only just before a moment (n+1)ΔT. At the moment k, therefore, memories 622 and 618 store values G k  and G k-1 . The output G k  of the memory 622 is supplied to the gate actuator 7. The PID control based on the circuit setup 601 to 622 mentioned above, pertains to a widely known art. 
     Constant voltage sources 623, 624 and 625 have been so set that their output voltages will be 2g, C L  and H G , where symbol g denotes acceleration by gravity, C L  denotes a gate width and flow rate coefficient, and H G  denotes a height corresponding to the crest portion of the gate. A calculating circuit 626 detects QO k  =C L  G k  √2g(H k  -H G ) based upon the output G k  of memory 622, output H k  of water gauge 4, and outputs 2g, C L  and H G  of constant voltage sources 623, 624 and 625. A switch 627 closes only at the moment nΔT. A switch 629 closes only just before the moment nΔT. Therefore, the memories 628 and 630 store the flow rates QO k  and QO k-1 , respectively. The output QO k-1  of the memory 630 is supplied to the circuit 51. 
     The effects of the invention are mentioned below with reference to FIGS. 6 to 9. All of these drawings show the results of simulation test. First, FIGS. 6 and 7 show the change in estimated water level h that serves as a predicted value for controlling the water level and the actual water level H with respect to the time. FIG. 6 shows the case when the present invention is adopted, and FIG. 7 shows the case when the running average method is adopted in which the estimated water level h&#39; is detected from the average value of ten actual water levels H that were measured periodically in the past maintaining a time interval of 30 seconds. 
     As will be obvious from the drawings, with reference to the portion A where the water level greatly varies, the estimated water level h of FIG. 6 which is the present invention follows the change in the actual water level H with less delay than that of FIG. 7. With reference to the portion B where large change in the water level is ceased, the estimated water level h of FIG. 6 remains relatively stable irrespective of fluctuating water level H, whereas the estimated water level h&#39; of FIG. 7 is greatly affected by the change in the actual water level H. In either case, it will be recognized that the control system of the present invention exhibits excellent stability. 
     FIGS. 8 and 9 illustrate the changes in outflow rate with respect to the change in inflow rate, that are assumed from the past data. FIG. 8 shows the case according to the present invention, and FIG. 9 shows the case when the change in the actual water level is running-averaged, and the opening degree of the gate is controlled by the average value. As will be obvious, the outflow rate of FIG. 9 varies suddenly and greatly as compared with that of FIG. 8. Such a great change in the outflow rate causes the water level to be further varied giving rise to the occurrence of overflow even if the stored amount of water is not so great. 
     According to the present invention as illustrated in the foregoing, it is allowed to stably control the reservoir. 
     Here, it is also possible to set up the filter 5 and the gate control circuit 6 using a single computer.