JP3939017B2 - Operation method of water conveyance facility and water channel control system for realizing the same - Google Patents

Description

【００５３】
（数１）において、各地点の定常流時の水位・動水位Ｈ１〜Ｈ１３のうち、水位Ｈ１１，Ｈ１２，Ｈ１３に関しては、現水位と大差がないので、水位計１１４で得られた現水位をそのまま用いることができる。したがって、（数１）において、未知変数は、定常時の、各地点の水位・動水位Ｈ１〜Ｈ１０，バルブ１１２の損失係数ｆｖ，及び分流ゲート１１３の損失係数ｆｇの１２個である。ところで、（数１）の水頭損失式は１１個しかないため、解は不定となる（いくらでも存在する）。そこで、目標操作量決定処理プログラム２０１では、バルブ１１２又は分流ゲート１１３による損失水頭を最小にするように解の決定を行う。
【００５４】
図４のバルブ・ゲート特性曲線に示すように、開度１００％のときバルブ・ゲート損失係数は最小値となる。したがって、（数１）に対し、
ｆｖ＝最小値 又は ｆｇ＝最小値
のどちらか一方の条件を加えて、（数１）の連立方程式群を解くことにより、導水路１０１における水頭損失を最小にするような解を得ることができる。
【００５５】
次に、算出された解の集合、即ち水位・動水位Ｈ１〜Ｈ１０、及びバルブ損失係数ｆｖ又は分流ゲート損失係数ｆｇから、各流量調節機器１１０〜１１３の目標操作量を、以下のようにして算出する。バルブ１１２又は分流ゲート１１３の操作量は、図４のバルブ・ゲート特性曲線より，算出された損失係数ｆｖ又はｆｇに対応するバルブ・ゲート開度を選べばよい（どちらかの開度は１００％となっている）。また、ポンプ吐出量と揚程とポンプ回転数の関係は、図５のポンプ特性曲線で示すことができる。従って、第１ポンプ１１０については、揚程差Ｈ１−Ｈ１１のとき吐出量Ｑ１となる回転数を選び、第２ポンプ１１１については、揚程差Ｈ１２−Ｈ５のとき吐出量Ｑ２となる回転数を選べばよい。
【００５６】
以上のようにして、ＣＰＵ２２１は、目標操作量決定処理プログラム２０１を実行し、導水路１０１の目標流量分布に応じた各流量調節機器１１０〜１１３の目標操作量を求める。
【００５７】
次に、制御スケジュール作成処理プログラム２０２によって実現される、各流量調節機器１１０〜１１３の現操作量から上記目標操作量に移行するまでの基本制御スケジュールを作成する処理（２）について、図６を用いて説明する。
【００５８】
上記移行に要する時間（移行時間）は、入力装置２２９を介してコンピュータ１１５に入力された希望値、又は後述の制御スケジュール変更処理プログラム２０４によって決定された所定値とする。初めに、制御スケジュール作成処理プログラム２０２では、運転履歴データベース２０５を検索して基本制御スケジュールの作成を行う。
【００５９】
運転履歴データベース２０５には，過去に実行された又は計画された制御スケジュールが、図６に示すＩＦ−ＴＨＥＮルール形式で格納されている。
【００６０】
前件部（ＩＦ）には、
▲１▼各流量調節機器１１０〜１１３の操作量に影響を及ぼす内外水位である第１河川１０７の水位，第２河川１０８の水位，湖沼１０９の水位
▲２▼操作量移行時間
▲３▼各流量調節機器１１０〜１１３の現操作量
▲４▼各流量調節機器１１０〜１１３の目標操作量
が格納されている。
【００６１】
また、後件部（ＴＨＥＮ）には、上記前件部条件に対応する各流量調節機器１１０〜１１３の現操作量から目標操作量に移行するまでの制御スケジュールが格納されている。
【００６２】
なお、後述するように、運転履歴データベース２０５に格納されたＩＦ−ＴＨＥＮ形式の各事例に関しては、該事例実行時の導水路１０１における圧力変動が許容内に収まることを流体解析処理プログラム２０３によって、又は実際の実行によって確認済みである。
【００６３】
制御スケジュール作成処理プログラム２０２では、運転履歴データベース２０５の前件部から類似する事例を検索し、これに対応する後件部の制御スケジュールを基本制御スケジュールとする。もし、運転履歴データベース２０５に類似する事例がない場合、例えば、上記移行時間内において、各流量調節機器１１０〜１１３の操作量を現操作量から目標操作量まで直線的に移行するものとして、基本制御スケジュールを作成する。
【００６４】
以上のように、ＣＰＵ２２１は、制御スケジュール作成処理プログラム２０２を実行し、データベース２０５を参照することにより、各流量調節機器１１０〜１１３の基本制御スケジュールを作成する。このように、本実施形態では、過去に実行された又は計画された複数の制御スケジュールから、適当な制御スケジュールを選択して、これを基本制御スケジュールにしているので、基本制御スケジュールの作成を効率的に行うことができる。
【００６５】
次に、流体解析処理プログラム２０３によって実行される、導水路１０１内の流体解析、及び、この流体解析結果に基づく上記基本制御スケジュール、又は後述の変更後の制御スケジュールの安全性の評価を行う処理（３）について説明する。
【００６６】
初めに、流体解析処理プログラム２０３では、制御スケジュール作成処理プログラム２０２で決定された基本制御スケジュール、又は後述の制御スケジュール変更処理プログラム２０４で決定された制御スケジュールを実行したときの、導水路１０１の圧力・水位分布の予測計算を行う。この予測計算には、管路系におけるウォータハンマ等の水撃現象を再現可能な市販の流体解析ツールを用いてもよいし、又は、以下の（数２）によって記述される水撃波の運動の式・連続の式を用いてもよい。
【００６７】
【数２】

【００６８】
この（数２）を用いる場合には、上記制御スケジュールで定まる時系列操作量データから、流量調節機器地点での流速時系列データと水頭時系列データとの関係等を求め、これらを境界条件として（数２）に与え、非線型偏微分方程式の求解手法である特性曲線法等を用いて求解を行えば、各時点における導水路１０１の圧力・水位分布を算出できる。流量調節機器がポンプである場合には、操作量であるポンプ回転数が決まれば、ポンプ吐出量（＝断面積×流速）と揚程（＝内外水位差）との関係が定まるので、外水位が既知であるからポンプ地点での流速ｖと動水頭ｈとの関係が定まる。そこで、この関係によって定まる流速又は動水頭の時系列データ（流速（ｖ＋ｔ）、動水頭（ｈ＋ｔ））を境界条件として（数２）に与えて、求解を行う。流量調節機器がゲート又はバルブである場合には、操作量であるバルブ開度が決まれば、バルブ損失係数ｆｖが定まる。バルブ損失水頭は、流速の２乗に比例し且つバルブ損失係数ｆｖに比例するので、バルブ区間におけるバルブ損失水頭（バルブ区間における水頭差ｈ）と流速ｖとの関係が定まる。さらに、バルブ区間における出入り口の流量が等しいことから、バルブ区間の出入り口の流速相互の関係も定まる。そこで、これらの関係によって定まる流速又は水頭の時系列データ（流速（ｖ＋ｔ）、動水頭（ｈ＋ｔ））を境界条件として（数２）に与えて、求解を行う。
【００６９】
次に、流体解析処理プログラム２０３では、上記制御スケジュールの安全性の評価、言い換えると、算出した各時点における導水路１０１の圧力・水位分布が所定の許容値を超えているか否か評価を行う。許容値を超える圧力・水位地点が導水路１０１上に存在する場合は、処理（４）に進み、制御スケジュールの変更を行う。許容値を超える圧力・水位地点が導水路１０１上に存在しない場合は、この評価済み制御スケジュールを最終制御スケジュールとして決定する。圧力・水位の上下限チェックに合格した最終制御スケジュールは、表示装置２３０に表示され、操作員の許可を得て、処理（５）において、各流量調節機器１１０〜１１３の目標流量制御に用いられる。これと同時に、最終制御スケジュールは、運転履歴データベース２０５に転送され、図６に示すＩＦ−ＴＨＥＮルール形式で格納される。
【００７０】
以上のように、ＣＰＵ２２１は、流体解析処理プログラム２０３を実行し、導水路１０１内の流体解析に基づく制御スケジュールの安全性の評価を行う。
【００７１】
次に、制御スケジュール変更処理プログラム２０４によって実現される、導水路１０１内の圧力・水位変動を減衰させるよう，制御スケジュールを変更する処理（４）について、図７〜図９を用いて説明する。
【００７２】
この制御スケジュール変更処理プログラム２０４では、以下に示す２つの指針に基づいて制御スケジュールの変更を行う。
【００７３】
指針１（図７）：初めに、圧力変動を起こしにくい流量調節機器Ａ（第１ポンプ１１０）に対して、導水路内の流量（流速）が低下するような制御を所定時間内に行う。次に、残りの流量調節機器に対して、各流量調節機器の既制御スケジュールを所定時間内にそのまま短縮するよう制御を行う。その間、上記流量調節機器Ａの操作量は一定に保っておく。最後に、所定時間経過後から移行時間終了までの間、上記流量調節機器Ａの操作量が目標操作量となるよう制御を行う。但し、上記流量調節機器Ａの制御が圧力変動を起こしうる場合は、その制御に要する上記所定時間を適当に延長するものとする。
【００７４】
指針２（図８）：初めに、最大の圧力変動を起こしうる流量調節機器Ｂ（ゲート１１３）に対して、上記移行時間内に最も圧力変動が小さくなるよう制御を行う。次に、残りの流量調節機器に対して、流量調節機器Ｂからの圧力波が到達する時間（以下、圧力波到達時間とする。）は、変更すべき制御スケジュールと同じに設定し，該圧力波到達時間は、圧力波到達時間中の操作量の変化を圧力波を打ち消す変化に設定し、圧力波到達時間経過後から該移行時間終了までの間は、圧力波到達時間経過時の操作量から目標操作量になるよう操作量を設定する。
【００７５】
ここで、指針１について、図７を用いて具体的に説明する。
初めに、導水路内の流量（流速）が低下するよう、圧力変動を起こしにくい流量調節機器の制御を行う。本実施形態では、図７に示すように、第１ポンプ１１０の回転数を一旦減少させることにする。なぜなら、ポンプ回転数変更ではポンプ及び原動機の回転慣性が働くため、バルブ・ゲートの開放・閉鎖に比べ圧力変動が発生しにくいからである。次に、残りの流量調節機器１１１〜１１３に対して、各流量調節機器の既制御スケジュールを所定時間内にそのまま短縮するよう制御を行う。第１ポンプ１１０の操作量（ポンプ回転数）は、残りの流量調節機器１１１〜１１３の操作量が目標操作量になるまでの間、一定に保っておく。圧力変動の大きさは管内流速の変化率に比例するため、事前に導水路１０１内の流速を低下させていることで、残りの流量調節機器１１１〜１１３を動作させても、それによる圧力変動は小さくなる。残りの流量調節機器１１１〜１１３の操作量が目標操作量になると、第１ポンプ１１０の回転数を上昇させ、残された所定時間内に目標操作量となるよう制御を行う。
【００７６】
即ち、指針１の要点は、比較的圧力変動を起こしやすい流量調節機器１１１〜１１３に関して、管路系の流量を低下させた状態で、動作させることにより、圧力変動を起こしにくくすることができる点である。この指針１の基本的な考え方は、従来技術において述べた特開平７−２２４７８７号公報に記載されたものと同じであるが、この特開平７−２２４７８７号公報に記載された技術では、バルブの急閉鎖に伴う管路内の圧力変化を圧力センサで検知してから、管路内の流量を低下させているのに対して、指針１では、先行的に管路内の流量を低下させてから、流量調節機器１１１〜１１３を動作させている点で異なる。このような相違点により、指針１では、流量調節機器１１１〜１１３を動作させて圧力波が発生した時点で、既に管内流量が低下しているので、圧力変動を効果的に抑えることができる。
【００７７】
ところで、以上で述べた図７に基づく指針１の説明では、各流量調節機器１１０〜１１３の制御スケジュール変更方法を具体的に述べたが、これはあくまでも一例であり、指針１の制御スケジュール変更方法は、図７の例に限定されるものではなく、指針１の上記要点さえ守られていれば、如何なる制御スケジュール変更方法を用いてもよい。
【００７８】
次に、指針２について、図８を用いて具体的に説明する。
初めに、最大の圧力変動を発生しうる流量調節機器において、上記移行時間内に最も圧力変動が小さくなるよう制御を行う。本実施形態では、ゲート１１３の閉鎖が最大圧力変動を起こす可能性がある。そこで、このゲート１１３に関し、最初速く閉鎖し後半はゆっくりと直線的閉鎖になるよう（理想閉鎖）制御することで、同じ閉鎖時間で最も圧力変動を小さくすることができる。次に、このゲート１１３の閉鎖動作で発生する圧力波が、残りの流量調節器１１０〜１１２にいつ到達するかを予測する。そして、残りの流量調節器１１０〜１１２に関しては、移行時間の当初、既制御スケジュールをそのまま行い、予測した圧力波到達時間は、ゲート１１３の閉鎖動作で発生する圧力波を打ち消すよう制御する。具体的には、この圧力波到達時間は、第１ポンプ１１０の回転数急低下、第２ポンプ１１１の回転数急上昇、バルブ１１２の急開放を行う。これにより、ゲート１１３の閉鎖によって生じる正の圧力波が、流量調節機器１１０〜１１２の高速制御によって生じる負の圧力波によりキャンセルされ、本来、管路末端で全反射しウォータハンマになる可能性のあった圧力波を末端の流量調節機器１１０〜１１２で減衰させることができる。圧力波到達時間終了後から移行時間終了までの時間は、残りの流量調節器１１０〜１１２の操作量を、圧力波到達時刻の操作量から目標操作量へ直線的に変化させる。
【００７９】
即ち、指針２の要点は、比較的圧力変動を起こし易い流量調節機器の制御に対して、残りの流量調節機器を連携して制御することにより、その圧力変動をキャンセルしウォータハンマの発生を抑えることができる点である。この指針２の基本的な考え方は、従来技術において述べた特開平８−２００２８１号公報に記載されたものと同じであるが、この特開平８−２００２８１号公報に記載された技術では、あるポンプの起動・停止によって発生する給水槽の水面変動波を水位センサで検知してから、他のポンプを起動・停止させて、水面変動波を打ち消しているのに対して、指針２では、圧力波到達時間を予測し、この圧力波到達時間に合わせて他の流量調節機器１１０〜１１２を動作させている点で異なる。このような相違点により、指針２では、導水路１０１内において、ゲート１１３の閉鎖によって生じる正の圧力波と、他の流量調節機器１１０〜１１２の動作によって生じる負の圧力波とが出会うタイミングを的確に合わせることができ、圧力変動を的確に抑えることができる。
【００８０】
ところで、以上で述べた図８に基づく指針２の説明では、各流量調節機器１１０〜１１３の制御スケジュール変更方法を具体的に述べたが、これはあくまでも一例であり、指針２の制御スケジュール変更方法は、図８の例に限定されるものではなく、指針２の上記要点さえ守られていれば、如何なる制御スケジュール変更方法を用いてもよい。
【００８１】
制御スケジュール変更処理プログラム２０４では、図９に示す順序で上記指針１，２を実行し、上記制御スケジュールの変更を行う。
初めに、既制御スケジュールに対して指針１を限界まで実行したか否かを判断する（ステップ１１）。ここで、「限界まで実行したか」とは、この実施形態では、第１ポンプ１１０の回転数を下限まで下げたか、第１ポンプ１１０の回転数低下時間を限界まで長くしたか、等のことである。
【００８２】
指針１を限界まで実行していない、言い換えると、指針１を更に実行する余裕がある場合、及び、指針１をまったく実行していない場合には、指針１に基づいて制御スケジュールの変更を行ってから（ステップ１２）、流体解析処理プログラム２０３による制御スケジュール評価処理（３）に進む（ステップ１６）。
【００８３】
また、指針１を限界まで実行していれば、上記制御スケジュールは既に指針２に基づくスケジュール変更が行われているか否かを判断する（ステップ１３）。指針２に基づく変更が行われていない場合は、指針２に基づいて上記制御スケジュールの変更を行ってから（ステップ１４）、流体解析処理プログラム２０３による制御スケジュール評価処理（３）に進む（ステップ１６）。また、指針２に基づく変更が行われている場合は、上記移行時間では安全な制御スケジュールを立案することは不可能であると判断し、上記移行時間を所定量だけ延長してから、再び、制御スケジュール作成処理プログラム２０２による制御スケジュール決定処理（２）に進む（ステップ１５）。これは、圧力変動の大きさが管内流速の変化率に比例するため、移行時間を延長することにより、圧力変動のより少ない制御スケジュールを決定できる可能性が高まるためである。
【００８４】
以上のように、ＣＰＵ２２１は、制御スケジュール変更処理プログラム２０４を実行し、導水路１０１内の圧力・水位変動を減衰させるように上記制御スケジュールを変更する。
【００８５】
以上、本実施形態によれば、予め制御スケジュールを立案し、この制御スケジュールが安全なものであるか否かを評価して、安全なものであると確認されてから、流量調節機器を動作させているので、つまり、流量調節機器の動作による圧力変動を事前に確認しているので、流量調節機器の操作量に関して水路内の圧力変動に応じた的確な変化量にすることができると共に、水路内の圧力変動を的確なタイミングで抑えることができる。
【００８６】
また、制御スケジュールの評価過程で、制御スケジュールが安全なものでないと評価されたものに関しては、流路内流速自身を事前に低減しておき、更には制御に要する移行時間を延長した上で、流量調節機器の制御をするよう、制御スケジュールを変更するので、流路内流速の変化率を小さくでき、その結果流路内の圧力変動を低減することができる。
【００８７】
また、特定の流量調節機器から発生する圧力変動が大きくなることが予想される場合でも、この特定の流量調節機器に対して、与えられた制御に要する時間内で最も圧力変動が小さくなるよう制御し、それでも圧力波が発生しうる場合は、他の流量調節機器に対して、上記圧力波と反対方向の圧力波を発生させるよう流量調節機器の制御を行っているため、上記圧力波同士を相殺でき，その結果流路内のウォータハンマを防止することができる。
【００８８】
【発明の効果】
本発明によれば、予め制御スケジュールを立案し、この制御スケジュールが安全なものであるか否かを評価して、安全なものであると確認されてから、流量調節機器を動作させているので、つまり、流量調節機器の動作による圧力変動を事前に確認しているので、流量調節機器の操作量の変化量を、水路内の圧力変動に応じた的確な変化量にすることができると共に、水路内の圧力変動を的確なタイミングで抑えることができる。従って、流量調節機器の動作による導水路の圧力変動をより確実に抑えることができる。
【図面の簡単な説明】
【図１】本発明に係る一実施形態における導水設備の構成を示す説明図である。
【図２】本発明に係る一実施形態における導水制御システムのブロック図である。
【図３】導水路内の水頭損失計算を行うための変数の説明図である。
【図４】バルブ・ゲートにおける開度と損失係数との関係を示す特性曲線図である。
【図５】ポンプにおける揚程と吐出量と回転数との関係を示す特性曲線図である。
【図６】本発明に係る一実施形態における運転履歴データベースの構成を示す説明図である。
【図７】本発明に係る一実施形態における、制御スケジュールの第１の変更指針を示す説明図である。
【図８】本発明に係る一実施形態における、制御スケジュールの第２の変更指針を示す説明図である。
【図９】本発明に係る一実施形態における、制御スケジュール変更処理の手順を示すフローチャートである。
【符号の説明】
１０１…導水路，１０２〜１０６…立坑，１０７〜１０９…河川・湖沼，１１０〜１１１…ポンプ，１１２…バルブ，１１３…分流ゲート，１１４…水位計，１１５…コンピュータ，１１６…ネットワーク、２０１…目標操作量決定処理プログラム、２０２…制御スケジュール作成処理プログラム、２０３…流体解析処理プログラム、２０４…制御スケジュール変更処理プログラム、２０５…運転履歴データベース、２０６…機器制御処理プログラム、２２１…ＣＰＵ、２２２…ＲＡＭ、２２３…ハードディスク装置。[0001]
BACKGROUND OF THE INVENTION
  The present invention comprises a water conduit for transporting water between a plurality of points, and a plurality of flow control devices such as pumps, valves, and gates provided in the water conduit, and controls the plurality of flow control devices. Operation method of water conveyance facility for controlling flow rate of water channel, and water channel control system for realizing the methodToRelated.
[0002]
[Prior art]
Plans are underway to replenish water and purify water by connecting two or more rivers and lakes with a waterway and allowing excess water to communicate with each other. In this plan, flow control devices such as pumps, valves, and gates are connected to the middle and end of the pipeline network that constitutes the water conduit, and this flow control device is controlled to be necessary for each river and lake. The amount of water will be transported.
[0003]
By the way, in such a facility, when the pump is suddenly stopped or the valve / gate is suddenly closed or opened, a water hammer or a sudden pressure fluctuation may occur in the pipe. In particular, the pressure fluctuation is significant when the flow rate in the pipeline and the pipeline extension are large. Pressure fluctuations such as water hammer may cause noise, vibration, and pipe breakage, and inherently may cause backflow of water from a shaft to quickly attenuate pressure fluctuations, resulting in flood damage. For this reason, it is absolutely necessary to avoid the occurrence of pressure fluctuations that are larger than allowable.
[0004]
As countermeasures against such pressure fluctuations, there are the following conventional techniques.
For example, in Japanese Utility Model Publication No. 62-102858, in a pressurizing pump device using a plurality of pumps that feed water from a terminal end of a water supply system to a distribution reservoir, when the number of operating pumps is changed, A technique for realizing adjustment of the water supply flow rate by controlling the rotation speed so as to minimize pressure fluctuation is disclosed.
[0005]
Japanese Patent Application Laid-Open No. 8-200221 discloses a plurality of pumps installed in a water tank by detecting a water surface fluctuation wave of the water tank generated by starting and stopping a certain pump with a water level sensor and starting other pumps. A drainage pump operation method is disclosed in which the amplitude of a water surface fluctuation wave is quickly attenuated by canceling with the water surface fluctuation wave generated by the stop.
[0006]
In addition, “Jin Kaneno: Movement of the valve to reduce the water hammer Lecture (1959) of the Japan Society of Civil Engineers Hydraulic Society” gave a water hammer with the same closing time for the valve installed at the end of a single conduit. Research results of valve actuation systems that minimize the action are disclosed.
[0007]
Japanese Patent Laid-Open No. 7-224787 discloses a change in the discharge pressure of a water supply pump in response to a sudden closing of a terminal valve of a water supply pipe in a water supply facility that supplies water to a terminal customer from a water supply main through a water supply pipe. A method of limiting the amount of water supplied to a water supply pump is disclosed in order to reduce a pressure wave detected by a sensor and caused by a sudden closing of a terminal valve.
[0008]
[Problems to be solved by the invention]
However, in each of the above prior arts, control is performed so that the pressure fluctuation becomes small based on the fact that the flow regulating device such as the pump or the valve is operated or the fact that the pressure fluctuation is caused by the operation of the flow regulating device. Therefore, when the pressure wave generated by the operation of a certain flow control device reaches another flow control device, the control operation for this pressure fluctuation is not in time, or the control operation amount for this pressure fluctuation causes the pressure fluctuation. There is a problem that it may not be sufficiently small.
[0009]
  The present invention pays attention to such a conventional problem, and realizes a method of operating a water conduit facility that can more reliably suppress pressure fluctuations in the water conduit due to the operation of a flow control device provided in the water conduit. Waterway control systemTheThe purpose is to provide.
[0010]
[Means for Solving the Problems]
  The first conduit control system for achieving the above-mentioned object is:
  A target manipulated variable determining means for determining a target manipulated variable of a plurality of flow control devices in a steady flow according to a target flow distribution of the conduit;
  Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation means;
  Control schedule evaluation means for determining whether the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the control schedule is executed is within a predetermined allowable value;
  The control schedule evaluation means operates a plurality of the flow control devices based on the control schedule determined that the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit is within a predetermined allowable value. Device control means,
  With,
  The control schedule creation means includes
  A basic control schedule creating means for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
  When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing means for changing the changed control schedule in a direction that can satisfy the allowable value,
  Have
  The control schedule changing means includes
  For a flow control device that is unlikely to cause pressure fluctuation among a plurality of flow control devices, the predetermined time during the transition time is operated so that the flow velocity in the conduit is slower than the flow velocity in the conduit determined by the control schedule to be changed. Set the amount,
  Among the other flow rate adjusting devices, at least the flow rate adjusting device having a large change amount from the current operation amount to the target operation amount in the control schedule to be changed, from the current operation amount to the target operation amount during the predetermined time. Set the operation amount to change,It is characterized by this.
[0011]
  The second conduit control system for achieving the object is,
GuidanceTarget operation amount determining means for determining a target operation amount of a plurality of flow control devices in a steady flow according to a target flow distribution of a water channelWhen,
  Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation means;
  Control schedule evaluation means for determining whether the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the control schedule is executed is within a predetermined allowable value;
  The control schedule evaluation means operates a plurality of the flow control devices based on the control schedule determined that the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit is within a predetermined allowable value. Device control means,
  With
  The control schedule creation means includes
  A basic control schedule creating means for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
  When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing means for changing the changed control schedule in a direction that can satisfy the allowable value,
  Have
  The control schedule changing means includes
  Among the plurality of flow control devices, regarding the flow control device that easily causes pressure fluctuation, the change in the operation amount during the transition time is set to a change in which the pressure fluctuation becomes small,
  Regarding the other flow control devices, during the time when the pressure wave from the flow control device that easily causes the pressure fluctuation reaches, the operation amount is set to the change that cancels the pressure wave.It is characterized by this.
[0022]
  The operation method of the 1st water conveyance equipment for achieving the above-mentioned object is:
  A target manipulated variable determining step for determining a target manipulated variable of a plurality of flow control devices in a steady flow according to a target flow distribution of the conduit;
  Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation process;
  A control schedule evaluation step for determining whether or not the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit when the control schedule is executed is within a predetermined allowable value;
  A device control step of operating a plurality of the flow control devices based on the control schedule determined that a predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit satisfies the allowable value;
  TheIncluding
  The control schedule creation step includes
  A basic control schedule creating step for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
  When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing step for changing the post-change control schedule in a direction that can satisfy the allowable value,
  Have
  In the control schedule changing step,
  For a flow control device that is unlikely to cause pressure fluctuation among a plurality of flow control devices, the predetermined time during the transition time is operated so that the flow velocity in the conduit is slower than the flow velocity in the conduit determined by the control schedule to be changed. Set the amount,
  Among the other flow rate adjusting devices, at least the flow rate adjusting device having a large change amount from the current operation amount to the target operation amount in the control schedule to be changed, from the current operation amount to the target operation amount during the predetermined time. Set the operation amount to change,It is characterized by this.
[0023]
  The operation method of the 2nd water conveyance equipment for achieving the above-mentioned object is:
  A target manipulated variable determining step for determining a target manipulated variable of a plurality of flow control devices in a steady flow according to a target flow distribution of the conduit;
  Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation process;
  A control schedule evaluation step for determining whether or not the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit when the control schedule is executed is within a predetermined allowable value;
  A device control step of operating a plurality of the flow control devices based on the control schedule determined that a predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit satisfies the allowable value;
  TheIncluding
  The control schedule creation step includes
  A basic control schedule creating step for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
  When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing step for changing the post-change control schedule in a direction that can satisfy the allowable value,
  Have
  In the control schedule changing step,
  Among the plurality of flow control devices, regarding the flow control device that easily causes pressure fluctuation, the change in the operation amount during the transition time is set to a change in which the pressure fluctuation becomes small,
  Regarding the other flow control devices, during the time when the pressure wave from the flow control device that easily causes the pressure fluctuation reaches, the operation amount is set to the change that cancels the pressure wave.It is characterized by this.
[0032]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a water conveyance facility according to the present invention will be described with reference to the drawings.
[0033]
Rivers and lakes that are targets of the water conveyance facility in the present embodiment are a first river 107, a second river 108, and a lake 109, as shown in FIG. The water guide facility in the present embodiment includes the shafts 102 to 106, the underground conduit 101 connecting the lower ends of the shafts 102 to 106, the first pump 110, the second pump 111, the valve 112, and the diversion gate 113. And a plurality of water level gauges 114, 114,..., And a water conveyance control system that controls flow rate adjusting devices such as the pumps 110, 111, the valve 112, and the diversion gate 113.
[0034]
The first river 107 is connected to the first river 102 via the first pump 110, and the second river 108 is connected to the second river 103 via the second pump 111. In addition, a fourth counter 105 is connected to the lake 109 via a valve 112, and a fifth counter 106 is connected to the lake 109. A diversion gate 113 is provided in the underground conduit 101 between the fourth counter 105 and the fifth counter 106. A water level gauge 114 is provided for each of the resisters 102 to 106, each of the rivers 107 and 108, and the lake 109.
[0035]
Each pump 110, 111 is provided with a pump rotation number meter and a pump discharge flow meter. Further, the valve 112 is provided with a valve opening meter and a valve passage flow meter, and the diversion gate 113 is provided with a gate opening meter and a gate passage flow meter.
[0036]
The water conveyance control system includes a computer 115 and a network 116 that connects the computer 115 to each flow control device and each water level gauge 114.
[0037]
The surplus water taken from the first river 107 is transported to the second river 108 through the water conduit 101 for the purpose of water supply and to the lake 109 for the purpose of water purification. The first pump 110 pumps surplus water from the first river 107 to the water conduit 101 through the first shaft 102, and adjusts the flow rate by controlling the pump speed. The second pump 111 pumps the water flowing in the water conduit 101 through the second counteract 103 and discharges it to the second river 108, and adjusts the flow rate by controlling the pump rotation speed. The valve 112 adjusts the flow rate of water pumped from the water conduit 101 through the fourth shaft 105 by valve opening control, and discharges it to the lake 109 (right side in the figure). The diversion gate 113 determines the diversion flow rate of the water pumped through the water conduit 101 to the fifth shaft 106 side by gate opening control, and discharges it to the lake 109 (the left portion in the figure). In this embodiment, the control method of the pumps 110 and 111 is the rotational speed control, but other control methods such as blade angle control may be used.
[0038]
Each of the water level gauges 114, 114,... Transmits the water level of each river, lake, or shaft to the computer 115 via the network 116 at predetermined measurement intervals. Each of the pumps 110 and 111 has a pump rotation speed and a pump discharge amount, a valve 112 has a valve opening and a valve passage flow rate, a shunt gate 113 has a gate opening and a gate passage flow rate, and a network 116 for each predetermined measurement period. To the computer 115 via The network 116 may be either wireless or wired.
[0039]
Based on the various received data described above, the computer 115 sets the operation amount (pump rotation speed, valve opening, gate opening) of each of the flow control devices 110 to 113 so that the flow distribution in the water conduit 101 becomes a target value. The operation amount is transmitted to the flow rate adjusting devices 110 to 113 via the network 116 every predetermined control period, and the target flow rate control of the water flowing through the water conduit 101 or the like is performed.
[0040]
If the control of each flow control device 110-113 is not appropriate, pressure fluctuations such as a water hammer due to the operation of each flow control device 110-113 may occur in the water conduit 101, etc. Even if each of the pressure fluctuations is very small, the combined wave may develop more than allowable. In particular, as the amount of change in the target flow distribution of the water conduit 101 is larger, the amount of change in the operation amount of each of the flow control devices 110 to 113 becomes larger, and pressure fluctuations are more likely to occur. Therefore, the computer 115 performs target flow rate control by linking the flow rate adjusting devices 110 to 113 so that pressure fluctuations that are not more than allowable are generated in the entire water conduit 101.
[0041]
As shown in FIG. 2, the computer 115 includes a CPU 221 that executes various calculations, a RAM 222 that stores various data and programs, an external storage device, an input device 229 including a keyboard, a mouse, and the like, And a display device 230.
[0042]
As an external storage device, a hard disk is mounted, and a hard disk device 223 for recording and reproducing various programs and data on the hard disk, and a floppy disk device 224 for recording and reproducing various programs and data on the floppy disk. And an MO disk device 225 for recording and reproducing various programs and data on an MO disk (magneto-optical disk), and a DVD device 226 for recording and reproducing various programs and data on a DVD (digital video disk). A CD-ROM device 227 for reproducing various programs and data stored in a CD-ROM (compact disk), and a RAM card device 228 for recording and reproducing various programs and data on a RAM card. is there.
[0043]
In this embodiment, a target operation amount determination program 201, a control schedule creation processing program 202, a fluid analysis processing program 203, a control schedule change processing program 204, which will be described in detail later, on a hard disk mounted on the hard disk device 223. An operation history database 205 and a device control processing program 206 are stored. Here, the above programs 201 to 206 are stored in the hard disk, but may be stored in another storage medium such as the floppy disk or the MO described above.
[0044]
The input device 229 is used to input a target flow rate distribution in the water conduit 101 necessary for the execution of the target operation amount determination processing program 201, an allowable pressure required for the execution of the fluid analysis processing program 203, and the like. In addition, the display device 230 includes a target operation amount of each of the flow rate adjusting devices 110 to 113 determined by the various processing programs 201 to 204, a control schedule until shifting to the target operation amount, and a water conduit input from the input device 229. It is used to display a target flow rate distribution of 101, a water level transmitted from each water level gauge 114, a flow rate transmitted from each flow rate adjusting device 110 to 113, and the like.
[0045]
The computer 115 performs target flow rate control in which the flow rate adjusting devices 110 to 113 cooperate with each other so that pressure fluctuations that are not more than allowable are generated in the water conduit 101 as a whole. In this target flow rate control, various processing programs 201 to 204, 206 and a database 205 stored in the hard disk device 223 are loaded and stored in the RAM 222, and the CPU 221 performs the following processing corresponding to the various processing programs 201 to 204, 206. It is realized by executing sequentially.
[0046]
(1) Processing for determining the target operation amount of each of the flow control devices 110 to 113 according to the target flow distribution of the water conduit 101
(2) Processing for creating a basic control schedule from the current operation amount of each of the flow control devices 110 to 113 to the transition to the target operation amount
(3) A process of performing a fluid analysis in the water conduit 101 and evaluating the safety of the basic control schedule or a control schedule after a change described later based on the fluid analysis result
(4) Change the basic control schedule so as to attenuate the pressure / water level fluctuation in the water conduit 101 when it is determined that the safety is low in the above evaluation, in other words, the pressure fluctuation is relatively large, or Process for further changing the control schedule after the change (5) Process for controlling each of the flow control devices 110 to 113 according to the basic control schedule whose safety has been confirmed or the control schedule after the change
In this embodiment, each means described in the claims has a hard disk device 201 in which each program is stored, a RAM 222 in which each program is loaded, and a CPU 221 that executes each program. Configured. Specifically, the relationship between each means and each program is such that the program necessary for execution of the target operation amount determination means is the target operation amount determination processing program 201 and the program necessary for execution of the control schedule creation means is controlled. The schedule creation processing program 202, the control schedule change processing program 204, and the operation history database 205, the program necessary for the execution of the control schedule evaluation means is the fluid analysis processing program 203, and the program necessary for the execution of the equipment control means is the equipment. This is a control processing program 206. The programs necessary for executing the basic control schedule creating means and the control schedule changing means possessed by the control schedule creating means are the control schedule creating process program 202, the operation history database 205, and the control schedule changing process program 204, respectively. is there. Further, unlike each of the above means, the storage means is configured to have an operation history database 205 secured in a partial storage area of the hard disk.
[0047]
Next, detailed contents of the processes (1) to (5) executed by the CPU 221 will be described.
[0048]
First, FIG. 3 to FIG. 5 are shown for the process (1) for determining the target operation amount of each facility device 110 to 113 according to the target flow rate distribution of the water conduit 101, which is realized by the target operation amount determination processing program 201. It explains using.
[0049]
Here, as shown in FIG. 3, the target flow rate distribution during steady flow in the water conduit 101 is
Q1: Amount of water taken from the first river 107 (flow rate of the first vertical shaft 102, the water conduit 101 (upstream from the position of the second vertical shaft 103))
Q2: Water discharge amount to the second river 108 (flow rate of the second shaft 103)
Q3: Amount of water discharged into the lake 109 (right side) (flow rate of the fourth shaft 105)
Q4: Amount of water discharged to the lake 109 (left side portion) (water guideway 101 (downstream from the position of the fourth shaft 105), flow rate of the fifth shaft 106)
And
[0050]
This target flow rate distribution is input to the computer 115 via the input device 229. The target flow distribution may be determined by the computer 115 itself based on the water level data from each water level gauge 114. In the target manipulated variable determination processing program 201, first, by calculating the steady flow in each channel shown below based on the target flow distribution, the dynamic water level (position head + pressure head) in each conduit 101, each vertical shaft The water levels 103 to 106, the loss coefficient of the valve 112, and the loss coefficient of the shunt gate 113 are calculated.
[0051]
Here, if the physical quantity calculated in this process is represented by the symbol in FIG. 3, the friction loss of the head and the valve / gate loss occur in proportion to the square of the flow velocity in each water channel. Holds.
[0052]
[Expression 1]

[0053]
In (Equation 1), the water levels H11, H12, and H13 among the water levels and dynamic water levels H1 to H13 at the time of steady flow at each point are not significantly different from the current water levels. It can be used as it is. Therefore, in (Equation 1), there are twelve unknown variables, that is, the water level / dynamic water level H1 to H10 at each point, the loss coefficient fv of the valve 112, and the loss coefficient fg of the shunt gate 113 in a steady state. By the way, since there are only 11 head loss equations in (Equation 1), the solution is indefinite (it exists as many as possible). Therefore, in the target manipulated variable determination processing program 201, the solution is determined so as to minimize the head loss due to the valve 112 or the diversion gate 113.
[0054]
As shown in the valve / gate characteristic curve of FIG. 4, when the opening degree is 100%, the valve / gate loss coefficient becomes the minimum value. Therefore, for (Equation 1),
fv = minimum value or fg = minimum value
By adding either one of these conditions and solving the simultaneous equation group of (Equation 1), a solution that minimizes the head loss in the water conduit 101 can be obtained.
[0055]
Next, from the set of calculated solutions, that is, the water level / dynamic water level H1 to H10, and the valve loss coefficient fv or the diversion gate loss coefficient fg, the target operation amount of each of the flow control devices 110 to 113 is set as follows. calculate. The operation amount of the valve 112 or the diversion gate 113 may be selected from the valve / gate opening corresponding to the calculated loss coefficient fv or fg from the valve / gate characteristic curve of FIG. ) Further, the relationship between the pump discharge amount, the head, and the pump rotation speed can be shown by the pump characteristic curve of FIG. Therefore, for the first pump 110, if the rotation speed that is the discharge amount Q1 is selected when the lift difference is H1-H11, and for the second pump 111, the rotation speed that is the discharge amount Q2 is selected when the lift difference is H12-H5. Good.
[0056]
As described above, the CPU 221 executes the target operation amount determination processing program 201 to obtain the target operation amount of each of the flow rate adjusting devices 110 to 113 according to the target flow rate distribution of the water conduit 101.
[0057]
Next, FIG. 6 shows a process (2) for creating a basic control schedule that is realized by the control schedule creation processing program 202 until the current operation amount of each of the flow control devices 110 to 113 shifts to the target operation amount. It explains using.
[0058]
The time required for the transition (transition time) is a desired value input to the computer 115 via the input device 229 or a predetermined value determined by the control schedule change processing program 204 described later. First, the control schedule creation processing program 202 searches the operation history database 205 to create a basic control schedule.
[0059]
The operation history database 205 stores control schedules executed or planned in the past in the IF-THEN rule format shown in FIG.
[0060]
In the antecedent part (IF)
(1) The water level of the first river 107, the water level of the second river 108, and the water level of the lake 109, which are internal and external water levels that affect the operation amount of each flow control device 110-113.
(2) Manipulation amount transfer time
(3) Current operation amount of each flow control device 110-113
(4) Target operation amount of each flow control device 110-113
Is stored.
[0061]
Further, the consequent part (THEN) stores a control schedule from the current operation amount to the target operation amount of each of the flow rate adjusting devices 110 to 113 corresponding to the antecedent part condition.
[0062]
As will be described later, regarding each case of the IF-THEN format stored in the operation history database 205, the fluid analysis processing program 203 indicates that the pressure fluctuation in the water conduit 101 at the time of execution of the case falls within an allowable range. Or it has been confirmed by actual execution.
[0063]
In the control schedule creation processing program 202, similar cases are searched from the antecedent part of the operation history database 205, and the control schedule of the consequent part corresponding thereto is set as the basic control schedule. If there is no case similar to the operation history database 205, for example, the operation amount of each of the flow control devices 110 to 113 is linearly shifted from the current operation amount to the target operation amount within the above transition time. Create a control schedule.
[0064]
As described above, the CPU 221 executes the control schedule creation processing program 202 and refers to the database 205 to create a basic control schedule for each of the flow control devices 110 to 113. As described above, in this embodiment, an appropriate control schedule is selected from a plurality of control schedules executed or planned in the past, and this is set as the basic control schedule. Therefore, the basic control schedule can be efficiently created. Can be done automatically.
[0065]
Next, a process for evaluating the safety of the fluid analysis in the water conduit 101 and the basic control schedule based on the fluid analysis result or the control schedule after the change described later, which is executed by the fluid analysis processing program 203 (3) will be described.
[0066]
First, in the fluid analysis processing program 203, the pressure of the water conduit 101 when the basic control schedule determined by the control schedule creation processing program 202 or the control schedule determined by the control schedule change processing program 204 described later is executed.・ Predict water level distribution. For this prediction calculation, a commercially available fluid analysis tool capable of reproducing a water hammer phenomenon such as a water hammer in a pipeline system may be used, or a water hammer wave motion described by the following (Equation 2) The following formula or continuous formula may be used.
[0067]
[Expression 2]

[0068]
When this (Equation 2) is used, the relationship between the flow rate time-series data and the head time-series data at the flow control device point is obtained from the time-series manipulated variable data determined by the control schedule, and these are used as boundary conditions. By giving to (Equation 2) and performing a solution using the characteristic curve method or the like which is a method for solving a nonlinear partial differential equation, the pressure / water level distribution of the water conduit 101 at each time point can be calculated. If the flow control device is a pump, the relationship between the pump discharge (= cross-sectional area x flow velocity) and the head (= difference between internal and external water levels) can be determined once the pump speed, which is the operation amount, is determined. Since it is known, the relationship between the flow velocity v at the pump point and the dynamic head h is determined. Accordingly, the flow rate or hydrodynamic head time series data determined by this relationship (flow velocity (v + t), hydrodynamic head (h + t)) is given to (Equation 2) as a boundary condition to find a solution. When the flow rate adjusting device is a gate or a valve, the valve loss coefficient fv is determined if the valve opening, which is the operation amount, is determined. Since the valve loss head is proportional to the square of the flow velocity and proportional to the valve loss coefficient fv, the relationship between the valve loss head in the valve section (water head difference h in the valve section) and the flow velocity v is determined. Furthermore, since the flow rates at the entrance and exit in the valve section are equal, the relationship between the flow rates at the entrance and exit of the valve section is also determined. Accordingly, the flow rate or the head time-series data (flow velocity (v + t), hydrodynamic head (h + t)) determined by these relations is given as a boundary condition in (Equation 2) to find a solution.
[0069]
Next, the fluid analysis processing program 203 evaluates the safety of the control schedule, in other words, evaluates whether or not the calculated pressure / water level distribution of the water conduit 101 at each time point exceeds a predetermined allowable value. When the pressure / water level point exceeding the allowable value exists on the water conduit 101, the process proceeds to the process (4) and the control schedule is changed. When the pressure / water level point exceeding the allowable value does not exist on the water conduit 101, the evaluated control schedule is determined as the final control schedule. The final control schedule that has passed the pressure / water level upper / lower limit check is displayed on the display device 230, and is used for target flow rate control of each of the flow rate adjusting devices 110 to 113 in the process (5) with the permission of the operator. . At the same time, the final control schedule is transferred to the operation history database 205 and stored in the IF-THEN rule format shown in FIG.
[0070]
As described above, the CPU 221 executes the fluid analysis processing program 203 and evaluates the safety of the control schedule based on the fluid analysis in the water conduit 101.
[0071]
Next, the process (4) for changing the control schedule so as to attenuate the pressure / water level fluctuation in the water conduit 101 realized by the control schedule change processing program 204 will be described with reference to FIGS.
[0072]
In this control schedule change processing program 204, the control schedule is changed based on the following two guidelines.
[0073]
Guideline 1 (FIG. 7): First, control is performed within a predetermined time so that the flow rate (flow velocity) in the water conduit is reduced with respect to the flow rate adjusting device A (first pump 110) that hardly causes pressure fluctuations. Next, the remaining flow control devices are controlled so as to shorten the already-controlled schedule of each flow control device within a predetermined time. Meanwhile, the operation amount of the flow rate adjusting device A is kept constant. Finally, control is performed so that the operation amount of the flow rate adjusting device A becomes the target operation amount after the predetermined time elapses until the transition time ends. However, when the control of the flow control device A can cause a pressure fluctuation, the predetermined time required for the control is appropriately extended.
[0074]
Guideline 2 (FIG. 8): First, the flow control device B (gate 113) capable of causing the maximum pressure fluctuation is controlled so that the pressure fluctuation is minimized within the transition time. Next, the time for the pressure wave from the flow rate adjusting device B to reach the remaining flow rate adjusting device (hereinafter referred to as the pressure wave arrival time) is set to be the same as the control schedule to be changed. The wave arrival time is set so that the change in the operation amount during the pressure wave arrival time is changed to cancel the pressure wave, and the operation amount after the pressure wave arrival time elapses after the pressure wave arrival time elapses until the transition time ends. Set the operation amount so that it becomes the target operation amount.
[0075]
Here, the pointer 1 will be specifically described with reference to FIG.
First, a flow control device that is less likely to cause pressure fluctuations is controlled so that the flow rate (flow velocity) in the conduit is reduced. In the present embodiment, as shown in FIG. 7, the rotational speed of the first pump 110 is temporarily reduced. This is because, when the pump speed is changed, the rotational inertia of the pump and the prime mover works, so that pressure fluctuation is less likely to occur than when the valve and gate are opened and closed. Next, the remaining flow control devices 111 to 113 are controlled so as to shorten the already controlled schedule of each flow control device within a predetermined time. The operation amount (pump rotational speed) of the first pump 110 is kept constant until the operation amounts of the remaining flow rate adjusting devices 111 to 113 reach the target operation amount. Since the magnitude of the pressure fluctuation is proportional to the rate of change of the flow velocity in the pipe, the flow velocity in the conduit 101 is reduced in advance so that even if the remaining flow control devices 111 to 113 are operated, the pressure fluctuation caused thereby. Becomes smaller. When the operation amount of the remaining flow control devices 111 to 113 reaches the target operation amount, the number of rotations of the first pump 110 is increased, and control is performed so that the target operation amount is reached within the remaining predetermined time.
[0076]
That is, the main point of the pointer 1 is that it is possible to make it difficult for pressure fluctuations to occur by operating the flow rate control devices 111 to 113 that are relatively susceptible to pressure fluctuations in a state where the flow rate of the pipeline system is reduced. It is. The basic concept of the pointer 1 is the same as that described in Japanese Patent Laid-Open No. 7-224787 described in the prior art, but in the technology described in Japanese Patent Laid-Open No. 7-224787, the valve The flow rate in the pipeline is decreased after the pressure change in the pipeline due to sudden closure is detected by the pressure sensor, whereas in the pointer 1, the flow rate in the pipeline is reduced in advance. Therefore, the flow control devices 111 to 113 are operated. Due to such a difference, in the pointer 1, since the flow rate in the pipe has already decreased when the flow rate adjusting devices 111 to 113 are operated and the pressure wave is generated, the pressure fluctuation can be effectively suppressed.
[0077]
By the way, in the explanation of the guide 1 based on FIG. 7 described above, the method for changing the control schedule of each of the flow rate adjusting devices 110 to 113 is specifically described. However, this is merely an example, and the method for changing the control schedule of the hand 1 7 is not limited to the example of FIG. 7, and any control schedule changing method may be used as long as only the above points of the pointer 1 are observed.
[0078]
Next, the pointer 2 will be specifically described with reference to FIG.
First, in a flow control device that can generate the maximum pressure fluctuation, control is performed so that the pressure fluctuation is minimized within the transition time. In the present embodiment, closing the gate 113 may cause a maximum pressure fluctuation. Therefore, with respect to the gate 113, the pressure fluctuation can be minimized by the same closing time by controlling the gate 113 to be closed quickly first and to be slowly closed linearly (ideal closing). Next, it is predicted when the pressure wave generated by the closing operation of the gate 113 reaches the remaining flow regulators 110 to 112. For the remaining flow rate regulators 110 to 112, the existing control schedule is performed as it is at the beginning of the transition time, and the predicted pressure wave arrival time is controlled so as to cancel the pressure wave generated by the closing operation of the gate 113. Specifically, the pressure wave arrival time is a rapid decrease in the rotation speed of the first pump 110, a rapid increase in the rotation speed of the second pump 111, and a rapid opening of the valve 112. As a result, the positive pressure wave generated by closing the gate 113 is canceled by the negative pressure wave generated by the high-speed control of the flow control devices 110 to 112, and may be totally reflected at the end of the pipeline and become a water hammer. The existing pressure wave can be attenuated by the flow rate adjusting devices 110 to 112 at the end. During the time from the end of the pressure wave arrival time to the end of the transition time, the operation amount of the remaining flow rate regulators 110 to 112 is linearly changed from the operation amount at the pressure wave arrival time to the target operation amount.
[0079]
That is, the main point of the pointer 2 is that the control of the flow control device that is relatively susceptible to pressure fluctuation is controlled in cooperation with the remaining flow control equipment, thereby canceling the pressure fluctuation and suppressing the occurrence of water hammer. It is a point that can be. The basic concept of this guideline 2 is the same as that described in Japanese Patent Laid-Open No. 8-200221 described in the prior art. However, in the technique described in Japanese Patent Laid-Open No. 8-200221, a certain pump On the other hand, while the water level fluctuation wave of the water tank generated by the start / stop of the water tank is detected by the water level sensor, other pumps are started / stopped to cancel the water level fluctuation wave. The difference is that the arrival time is predicted and the other flow control devices 110 to 112 are operated in accordance with the arrival time of the pressure wave. Due to such differences, in the guide 2, the timing at which the positive pressure wave generated by closing the gate 113 and the negative pressure wave generated by the operation of the other flow control devices 110 to 112 meet in the water conduit 101 is met. It is possible to accurately match the pressure fluctuations.
[0080]
By the way, in the explanation of the guide 2 based on FIG. 8 described above, the method for changing the control schedule of each of the flow control devices 110 to 113 is specifically described. However, this is merely an example, and the method for changing the control schedule of the guide 2 Is not limited to the example of FIG. 8, and any control schedule changing method may be used as long as the above points of the pointer 2 are observed.
[0081]
The control schedule change processing program 204 executes the pointers 1 and 2 in the order shown in FIG. 9 to change the control schedule.
First, it is determined whether or not the pointer 1 has been executed to the limit with respect to the already-controlled schedule (step 11). Here, “has been executed to the limit” means, in this embodiment, whether the rotation speed of the first pump 110 has been reduced to the lower limit, or the rotation speed reduction time of the first pump 110 has been extended to the limit, etc. It is.
[0082]
If the guideline 1 is not executed to the limit, in other words, if there is a margin for further execution of the guideline 1 or if the guideline 1 is not executed at all, the control schedule is changed based on the guideline 1. (Step 12), the process proceeds to the control schedule evaluation process (3) by the fluid analysis processing program 203 (Step 16).
[0083]
If the guideline 1 has been executed to the limit, it is determined whether or not the control schedule has already been changed based on the guideline 2 (step 13). If the change based on the guide 2 is not performed, the control schedule is changed based on the guide 2 (step 14), and then the control schedule evaluation process (3) by the fluid analysis processing program 203 is performed (step 16). ). In addition, when a change based on the guideline 2 is performed, it is determined that it is impossible to formulate a safe control schedule at the transition time, the transition time is extended by a predetermined amount, and then again, The process proceeds to the control schedule determination process (2) by the control schedule creation process program 202 (step 15). This is because the magnitude of the pressure fluctuation is proportional to the rate of change of the in-pipe flow velocity, and thus it is more likely that a control schedule with less pressure fluctuation can be determined by extending the transition time.
[0084]
As described above, the CPU 221 executes the control schedule change processing program 204 and changes the control schedule so as to attenuate the pressure / water level fluctuation in the water conduit 101.
[0085]
As described above, according to the present embodiment, a control schedule is prepared in advance, whether or not this control schedule is safe, and after confirming that it is safe, the flow control device is operated. In other words, since the pressure fluctuation due to the operation of the flow control device is confirmed in advance, the amount of operation of the flow control device can be changed accurately according to the pressure fluctuation in the water channel. It is possible to suppress the pressure fluctuation inside at an accurate timing.
[0086]
In addition, in the process of evaluating the control schedule, for those that were evaluated as unsafe, the flow velocity in the flow path itself was reduced in advance, and further, the transition time required for control was extended, Since the control schedule is changed so as to control the flow rate adjusting device, the change rate of the flow velocity in the flow path can be reduced, and as a result, the pressure fluctuation in the flow path can be reduced.
[0087]
In addition, even if the pressure fluctuation generated from a specific flow control device is expected to increase, control is performed so that the pressure fluctuation is minimized for the specific flow control device within the time required for the given control. However, if pressure waves can still be generated, the flow rate control device is controlled to generate pressure waves in the opposite direction to the pressure wave with respect to other flow rate adjustment devices. As a result, water hammer in the flow path can be prevented.
[0088]
【The invention's effect】
According to the present invention, the flow control device is operated after the control schedule is prepared in advance, whether the control schedule is safe, and is confirmed to be safe. In other words, since the pressure fluctuation due to the operation of the flow control device is confirmed in advance, the change amount of the operation amount of the flow control device can be made an accurate change amount according to the pressure fluctuation in the water channel, Pressure fluctuations in the water channel can be suppressed at appropriate timing. Therefore, pressure fluctuations in the water conduit due to the operation of the flow control device can be more reliably suppressed.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is an explanatory diagram showing a configuration of a water conveyance facility according to an embodiment of the present invention.
FIG. 2 is a block diagram of a water conveyance control system according to an embodiment of the present invention.
FIG. 3 is an explanatory diagram of variables for calculating a head loss in a water conduit.
FIG. 4 is a characteristic curve diagram showing a relationship between an opening degree and a loss coefficient in a valve / gate.
FIG. 5 is a characteristic curve diagram showing the relationship among the head, discharge amount, and rotation speed in the pump.
FIG. 6 is an explanatory diagram showing a configuration of an operation history database according to an embodiment of the present invention.
FIG. 7 is an explanatory diagram illustrating a first change guideline for a control schedule according to an embodiment of the present invention.
FIG. 8 is an explanatory diagram showing a second change guideline for a control schedule in an embodiment according to the present invention.
FIG. 9 is a flowchart showing a procedure of a control schedule change process in one embodiment according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 101 ... Waterway, 102-106 ... Vertical shaft, 107-109 ... River and lake, 110-111 ... Pump, 112 ... Valve, 113 ... Diverging gate, 114 ... Water level meter, 115 ... Computer, 116 ... Network, 201 ... Target Operation amount determination processing program, 202 ... control schedule creation processing program, 203 ... fluid analysis processing program, 204 ... control schedule change processing program, 205 ... operation history database, 206 ... device control processing program, 221 ... CPU, 222 ... RAM, 223 ... a hard disk device.

Claims (4)

In the conduit control system for controlling a plurality of flow rate adjusting devices provided in the conduit for transporting water between a plurality of points, and controlling the flow rate of the conduit,
A target manipulated variable determining means for determining a target manipulated variable of the plurality of flow control devices in a steady flow according to the target flow distribution of the conduit;
Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation means;
Control schedule evaluation means for determining whether the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the control schedule is executed is within a predetermined allowable value;
The control schedule evaluation means operates a plurality of the flow control devices based on the control schedule determined that the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit is within a predetermined allowable value. Device control means,
With
The control schedule creation means includes
A basic control schedule creating means for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing means for changing the changed control schedule in a direction that can satisfy the allowable value,
Have
The control schedule changing means includes
For a flow control device that is unlikely to cause pressure fluctuation among a plurality of flow control devices, the predetermined time during the transition time is operated so that the flow velocity in the conduit is slower than the flow velocity in the conduit determined by the control schedule to be changed Set the amount,
Among the other flow rate adjusting devices, at least the flow rate adjusting device having a large change amount from the current operation amount to the target operation amount in the control schedule to be changed, from the current operation amount to the target operation amount during the predetermined time. Set the operation amount to change,
A waterway control system characterized by that. In the conduit control system for controlling a plurality of flow rate adjusting devices provided in the conduit for transporting water between a plurality of points, and controlling the flow rate of the conduit,
A target manipulated variable determining means for determining a target manipulated variable of the plurality of flow control devices in a steady flow according to the target flow distribution of the conduit;
Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation means;
Control schedule evaluation means for determining whether the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the control schedule is executed is within a predetermined allowable value;
The control schedule evaluation means operates a plurality of the flow control devices based on the control schedule determined that the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit is within a predetermined allowable value. Device control means,
With
The control schedule creation means includes
A basic control schedule creating means for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing means for changing the changed control schedule in a direction that can satisfy the allowable value,
Have
The control schedule changing means includes
Among the plurality of flow control devices, regarding the flow control device that easily causes pressure fluctuation, the change in the operation amount during the transition time is set to a change in which the pressure fluctuation becomes small,
Regarding the other flow control devices, during the time when the pressure wave from the flow control device that easily causes the pressure fluctuation reaches, the operation amount is set to the change that cancels the pressure wave.
A waterway control system characterized by that. A water conveyance facility comprising a water conduit for transporting water between a plurality of points and a plurality of flow control devices provided in the water conduit, and controlling the plurality of flow control devices to control the flow rate of the water conduit In driving method,
A target manipulated variable determination step for determining a target manipulated variable of the plurality of flow control devices in a steady flow according to the target flow distribution of the conduit;
Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation process;
A control schedule evaluation step for determining whether or not the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit when the control schedule is executed is within a predetermined allowable value;
A device control step of operating a plurality of the flow control devices based on the control schedule determined that a predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit satisfies the allowable value;
Including
The control schedule creation step includes
A basic control schedule creating step for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing step for changing the post-change control schedule in a direction that can satisfy the allowable value,
Have
In the control schedule changing step,
For a flow control device that is unlikely to cause pressure fluctuation among a plurality of flow control devices, the predetermined time during the transition time is operated so that the flow velocity in the conduit is slower than the flow velocity in the conduit determined by the control schedule to be changed Set the amount,
Among the other flow rate adjusting devices, at least the flow rate adjusting device having a large change amount from the current operation amount to the target operation amount in the control schedule to be changed , from the current operation amount to the target operation amount during the predetermined time . Set the operation amount to change,
The operation method of the water conveyance equipment characterized by this. A water conveyance facility comprising a water conduit for transporting water between a plurality of points and a plurality of flow control devices provided in the water conduit, and controlling the plurality of flow control devices to control the flow rate of the water conduit In driving method,
A target manipulated variable determination step for determining a target manipulated variable of the plurality of flow control devices in a steady flow according to the target flow distribution of the conduit;
Create a control schedule indicating the relationship between the preferred amount of operation of each flow control device and time during the transition time until each operation amount of the plurality of flow control devices shifts from the current operation amount to the target operation amount A control schedule creation process;
A control schedule evaluation step for determining whether or not the predicted value of pressure fluctuation or water level fluctuation in the point and the conduit when the control schedule is executed is within a predetermined allowable value;
A device control step of operating a plurality of the flow control devices based on the control schedule determined that a predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit satisfies the allowable value;
Including
The control schedule creation step includes
A basic control schedule creating step for creating a basic control schedule indicating a relationship between an operation amount of each flow rate adjusting device and time during the transition time;
When the predicted value of pressure fluctuation or water level fluctuation in the point and the water conduit when the basic control schedule is executed does not satisfy the allowable value, the basic control schedule is changed in a direction that can satisfy the allowable value. In addition, the predicted value of the pressure fluctuation or the water level fluctuation in the point and the conduit when the changed basic control schedule (hereinafter referred to as the changed control schedule) is executed does not satisfy a predetermined allowable value. A control schedule changing step for changing the post-change control schedule in a direction that can satisfy the allowable value,
Have
In the control schedule changing step,
Among the plurality of flow control devices, regarding the flow control device that easily causes pressure fluctuation, the change in the operation amount during the transition time is set to a change in which the pressure fluctuation becomes small ,
For other flow control devices, during the time that the pressure wave from the easy flow regulation device to put the pressure variation reaches sets the operation amount of change to cancel the pressure wave,
The operation method of the water conveyance equipment characterized by this.

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