Automatic tuning of PI controllers for an irrigation canal pool
Résumé
The paper presents a method to automatically tune decentralized Proportional Integral (PI) controllers for an irrigation canal pool. The Auto Tune Variation (ATV) method is based on a relay experiment, which leads to small amplitude oscillations of the canal pool. The test signal is automatically generated by a relay inserted in the feedback loop. The method automatically estimates the ultimate gain and ultimate frequency of the pool, which can be used to tune P, PI or PID controllers. This method does not require advanced automatic control knowledge and is implemented in SIC software, developed by Cemagref, which also incorporates a SCADA module for real-time control. The ATV method is evaluated by simulations and experiments on a real irrigation canal located in the South of France, for local upstream, local downstream and distant downstream controller tuning.
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