Modeling and control of micro channel through port hamiltonian systems (PHS).

Abstract

Flood control and water supply are important aspects that can improve the life quality of many people. Saint Venant equations are one of the most popular models used by hydraulic engineers to express the behavior of open channel flows. The problem with the models based on Saint Venant equations are that they are difficult to analyze and simulate. The micro-channel is an experimental plant that can represent open channel flow hydraulic phenomena at scale. We propose in this thesis the model of a micro-channel using a port-Hamiltonian system approach. The model is represented by a series of tanks and pipes interconnected in series. These hydraulic elements can be interpreted as basic elements equivalent to electric components such as capacitors, inductance and resistors.With the basic element structure established tank+pipe an identification experiment was done to identify the PortHamiltonian System (PHS) model parameters. We use Ordinary Least Square (OLS) to adjust the model to the experimental setup. Based on the interconnected model a controller was designed using the total hydraulicmechanical energy as a local Lyapunov function. The objective is to control the water height level inside the micro-channel. Due to the micro-channel model and the model gate errors an Integral Action Controller (IAC) was designed. The controller based on the total hydraulic-mechanical energy as a local Lyapunov function shows good simulation results but presents steady state error in the experimental results. The IAC shows good simulated and experimental results even with an input flow perturbation.