D RealTimeControl User Manual RTC_User_Manual RTC
User Manual: Pdf D-RTC_User_Manual
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1D/2D/3D Modelling suite for integral water solutions
DR
AF
T
Delft3D Flexible Mesh Suite
D-Real Time Control
User Manual
DR
AF
T
T
DR
AF
D-Real Time Control
D-Real Time Control (D-RTC) in Delta Shell
User Manual
Released for:
Delft3D FM Suite 2018
D-HYDRO Suite 2018
SOBEK Suite 3.7
Version: 1.4
SVN Revision: 54906
April 18, 2018
DR
AF
T
D-Real Time Control, User Manual
Published and printed by:
Deltares
Boussinesqweg 1
2629 HV Delft
P.O. 177
2600 MH Delft
The Netherlands
For sales contact:
telephone: +31 88 335 81 88
fax:
+31 88 335 81 11
e-mail:
software@deltares.nl
www:
https://www.deltares.nl/software
telephone:
fax:
e-mail:
www:
+31 88 335 82 73
+31 88 335 85 82
info@deltares.nl
https://www.deltares.nl
For support contact:
telephone: +31 88 335 81 00
fax:
+31 88 335 81 11
e-mail:
software.support@deltares.nl
www:
https://www.deltares.nl/software
Copyright © 2018 Deltares
All rights reserved. No part of this document may be reproduced in any form by print, photo
print, photo copy, microfilm or any other means, without written permission from the publisher:
Deltares.
Contents
Contents
List of Figures
vii
List of Tables
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1 A guide to this manual
1.1 Introduction . . . . . . . . . . . . . . . .
1.2 Overview . . . . . . . . . . . . . . . . .
1.3 Manual version and revisions . . . . . . .
1.4 Changes with respect to previous versions
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2 Module D-RTC: Overview
2.1 Introduction: Feedback control and feedforward control
2.2 Introduction: D-RTC windows . . . . . . . . . . . . .
2.3 Controlgroup . . . . . . . . . . . . . . . . . . . . .
2.4 Flow chart . . . . . . . . . . . . . . . . . . . . . .
2.5 The Properties . . . . . . . . . . . . . . . . . . . .
2.6 Examples . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 Minimal controlflow . . . . . . . . . . . . . .
2.6.2 Combinations of conditions and rules . . . . .
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3 Module D-RTC: Getting started
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . .
3.2 Getting started . . . . . . . . . . . . . . . . . . . .
3.2.1 The integrated model . . . . . . . . . . . . .
3.2.2 The D-Flow 1D model . . . . . . . . . . . .
3.3 A simple D-RTC model . . . . . . . . . . . . . . . .
3.3.1 Add a Control Group . . . . . . . . . . . . .
3.3.2 Construct a minimal controlflow . . . . . . . .
3.3.3 Perform a simulation . . . . . . . . . . . . .
3.4 View the simulation results . . . . . . . . . . . . . .
3.4.1 Introduction . . . . . . . . . . . . . . . . . .
3.4.2 Table view . . . . . . . . . . . . . . . . . .
3.4.3 Side-view . . . . . . . . . . . . . . . . . . .
3.5 A more complex control flow . . . . . . . . . . . . .
3.5.1 Multiple controlled parameters on one structure
3.5.2 Multiple controlled structures . . . . . . . . .
3.6 Control flows with conditions . . . . . . . . . . . . .
3.6.1 A controlflow with a condition . . . . . . . . .
3.6.2 A controlflow with two conditions: logical AND
3.6.3 A controlflow with two conditions: logical OR .
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4 Module D-RTC: All about the modelling process
4.1 Conditions . . . . . . . . . . . . . . . . .
4.1.1 Hydro condition . . . . . . . . . . .
4.1.2 Time condition . . . . . . . . . . .
4.2 Rules . . . . . . . . . . . . . . . . . . . .
4.2.1 Lookup table rule . . . . . . . . . .
4.2.2 Time rule . . . . . . . . . . . . . .
4.2.3 PID rule . . . . . . . . . . . . . .
4.2.3.1 Introduction . . . . . . .
4.2.3.2 PID rules in D-RTC . . . .
4.2.3.3 PID rule calibration . . . .
4.2.4 Interval rule . . . . . . . . . . . . .
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iii
D-Real Time Control, User Manual
4.2.5
4.2.6
Relative from time/value rule . . . . . . . . . . . . . . . . . . . . . 41
Invertor rule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5 Module D-RTC: Simulation and model output
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DR
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6 Module D-RTC: Technical reference
6.1 Overview . . . . . . . . . . . . . . . . . . . .
6.2 General purpose components . . . . . . . . . .
6.2.1 Accumulation . . . . . . . . . . . . . .
6.2.2 Expression . . . . . . . . . . . . . . .
6.2.3 Gradient . . . . . . . . . . . . . . . .
6.2.4 lookupTable . . . . . . . . . . . . . .
6.2.5 Lookup2DTable . . . . . . . . . . . . .
6.2.6 MergerSplitter . . . . . . . . . . . . .
6.2.7 UnitDelay . . . . . . . . . . . . . . . .
6.3 Operating rules and controllers . . . . . . . . .
6.3.1 Constant . . . . . . . . . . . . . . . .
6.3.1.1 Functional principle . . . . . .
6.3.1.2 Application . . . . . . . . . .
6.3.2 DateLookupTable . . . . . . . . . . . .
6.3.3 DeadBandValue . . . . . . . . . . . .
6.3.4 GuideBand . . . . . . . . . . . . . . .
6.3.5 Interval . . . . . . . . . . . . . . . . .
6.3.6 Limiter . . . . . . . . . . . . . . . . .
6.3.7 PID rule . . . . . . . . . . . . . . . .
6.3.7.1 Functional principle . . . . . .
6.3.7.2 Application . . . . . . . . . .
6.3.7.3 Example . . . . . . . . . . .
6.3.8 The absolute time rule (timeAbsolute)
6.3.8.1 Functional principle . . . . . .
6.3.8.2 Application . . . . . . . . . .
6.3.8.3 Example . . . . . . . . . . .
6.3.9 The relative time rule (timeRelative) .
6.3.9.1 Functional principle . . . . . .
6.3.9.2 Application . . . . . . . . . .
6.3.9.3 Example . . . . . . . . . . .
6.4 Triggers . . . . . . . . . . . . . . . . . . . . .
6.4.1 Introduction . . . . . . . . . . . . . . .
6.4.2 Standard . . . . . . . . . . . . . . . .
6.4.3 The time trigger . . . . . . . . . . . . .
6.4.3.1 Functional principle . . . . . .
6.4.3.2 Application . . . . . . . . . .
6.4.4 deadBandTrigger . . . . . . . . . . . .
6.4.4.1 Functional principle . . . . . .
6.4.4.2 Application . . . . . . . . . .
6.4.4.3 Example . . . . . . . . . . .
6.4.5 deadBandTime . . . . . . . . . . . . .
6.4.6 polygonLookup . . . . . . . . . . . . .
6.4.7 set . . . . . . . . . . . . . . . . . . .
6.4.8 Expression . . . . . . . . . . . . . . .
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A D-RTC build instructions on Linux
65
A.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
A.2 Build D-RTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
iv
Deltares
Contents
A.3
A.4
Build boost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Using D-RTC library with a Delft3D DIMR installation . . . . . . . . . . . . . 65
67
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References
Deltares
v
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D-Real Time Control, User Manual
vi
Deltares
List of Figures
List of Figures
Feedback control and feedforward control . . . . . . . . . . .
Example flow chart with feedback control . . . . . . . . . . .
Example of an RTC-model in the Project window . . . . . . .
Example of a flow chart . . . . . . . . . . . . . . . . . . . .
Example of the properties window for a Time rule . . . . . . .
D-RTC modelling concept and data flow . . . . . . . . . . . .
Components and basic concept of the flowchart . . . . . . . .
Example minimal controlflow . . . . . . . . . . . . . . . . .
Example minimal controlflow with a condition . . . . . . . . .
Example of two conditions that combined form an AND trigger
Example of two conditions that combined form an OR trigger .
Example of three conditions: 1 ∧ (2 ∨ 3) . . . . . . . . . . .
Example of three conditions: 1 ∨ (2 ∧ 3) . . . . . . . . . . .
Example of four conditions: 4 ∨ (1 ∧ 2 ∧ 3) . . . . . . . . . .
Example of four conditions: 1 ∧ 2 ∧ (3 ∨ 4) . . . . . . . . . .
Example of four conditions: (1 ∨ 2) ∧ (3 ∨ 4) . . . . . . . . .
Example of four conditions: (1 ∧ (3 ∨ 4)) ∨ (2 ∧ 4) . . . . . .
Example of four conditions: 4 ∧ (1 ∨ 2 ∨ 3) . . . . . . . . . .
Example of four conditions: (1 ∧ 2) ∨ (3 ∧ 4) . . . . . . . . .
3.1
3.2
17
3.21
Integrated model default properties . . . . . . . . . . . . . . . . . . . .
Integrated model, settings for a coupled simulation with D-RTC and D-Flow 1D
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Integrated model in the Project window . . . . . . . . . . . . . . . . . . . .
Example water flow model schematisation with an OpenStreet background
map (http://openstreetmap.org) . . . . . . . . . . . . . . . . . .
Options for default controlgroups . . . . . . . . . . . . . . . . . . . . . . .
Empty controlgroup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimum flow chart with a Time Rule . . . . . . . . . . . . . . . . . . . . .
Project window after a coupled simulation with D-RTC and D-Flow 1D. . . . .
Table and chart view D-RTC output . . . . . . . . . . . . . . . . . . . . . .
Sideview with water level and crest level of the structure . . . . . . . . . . .
Flowchart for example with two controlled parameters for one weir. . . . . . .
Structure selected on the map view of simulation output . . . . . . . . . . . .
Select output coverage . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Crest level, crest width and water level over time for the weir. A point in time
has been selected in the diagram, the corresponding line is selected in the table.
Chart properties window, the chart title “Simulation results” has been added. .
D-Flow 1D network with two weirs. . . . . . . . . . . . . . . . . . . . . . .
D-Flow 1D network with one weir and a single observation point upstream. . .
Flowchart with a Hydro Condition and a Time Rule. The rule is connected with
the true-output of the condition. . . . . . . . . . . . . . . . . . . . . . . . .
Data origin for the structure . . . . . . . . . . . . . . . . . . . . . . . . . .
Flowchart with two Hydro conditions in an AND combination combined with a
Time rule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flowchart with two Hydro conditions in an OR combination and a Time rule. . .
4.1
4.2
4.3
4.4
4.5
Example of a flowchart with a hydro condition . . . . . . . . .
A hydro condition in the Properties Window . . . . . . . . .
Example of a flowchart with a time condition . . . . . . . . .
A time condition in the Properties window . . . . . . . . . .
A Lookup table rule in the flowchart (right) and on the map (left)
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35
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3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
3.13
3.14
3.15
3.16
3.17
3.18
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3.20
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A Lookup table rule in the Properties window . . . . . . . . . . . . . . . . . 36
A time rule in the flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . 36
A time rule in the Properties window . . . . . . . . . . . . . . . . . . . . . 37
A PID rule in the flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . 38
A PID rule in the Properties window . . . . . . . . . . . . . . . . . . . . . 39
An interval rule in the flowchart . . . . . . . . . . . . . . . . . . . . . . . . 40
An interval rule in the Properties window . . . . . . . . . . . . . . . . . . . 41
D-Flow 1D model of the River Meuse with close-up for the “Maasplassen” region (Roermond, the Netherlands); background map: http://openstreetmap.
org . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.14 Two lateral sources connected with an invertor rule . . . . . . . . . . . . . . 43
4.15 Table and graph for the relation between water level and discharge for the
lateral source that represents the upstream end of the bypass . . . . . . . . . 43
4.6
4.7
4.8
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4.10
4.11
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4.13
D-RTC-model selected in the Project window . . . . . . . . . . . . . . . . . 45
6.1
6.2
6.3
6.4
Hierarchical definition of deadBand and standard triggers . . . . . . . . . .
Graphical representation of guideBand rule . . . . . . . . . . . . . . . . .
Simple channel model (SOBEK 3.3) . . . . . . . . . . . . . . . . . . . .
PID controlled crest level of the weir and corresponding water level at the
observation point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Longitudinal profile of water level for two time steps and crest level of the weir
Time rule time series . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Time rule side-view . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relative time rule function and relative time from Value 2.5 . . . . . . . . .
Crest level controlled with relative time rule and “FromValue” parameter true/false and the corresponding water level over time . . . . . . . . . . . . . .
Expected results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
On-off control triggered by head difference . . . . . . . . . . . . . . . . .
Adding a dead band reduces the number of weir operations . . . . . . . . .
Example for the application of the polygon trigger to the definition of warning
levels for controlling a lake release at Lake Thun, Canton Bern, Switzerland .
6.10
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List of Tables
List of Tables
3.1
3.2
3.3
3.4
3.5
3.6
Discharge boundary condition table for the upstream end
Time Rule data for crest level . . . . . . . . . . . . . .
Time series for the crest width (rule 2) . . . . . . . . .
Time series of crest level for a second structure . . . . .
Parameter-Data table for condition . . . . . . . . . . .
Parameter-Data table for the second condition . . . . .
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Example Lookup table rule for structure . . . . . . . . . . . . . . . . . . . . 34
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Target water level for the observation point . . . . . . .
Time rule time series example . . . . . . . . . . . . .
Relative time rule lookup table for the crest level of a weir
Time trigger time series example . . . . . . . . . . . .
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1 A guide to this manual
1.1
Introduction
This User Manual concerns the module D-Real Time Control.
This module is part of several Modelling suites, released by Deltares as Deltares Systems
or Dutch Delta Systems. These modelling suites are based on the Delta Shell framework.
The framework enables to develop a range of modeling suites, each distinguished by the
components and — most significantly — the (numerical) modules, which are plugged in. The
modules which are compliant with the Delta Shell framework are released as D-Name of the
module, for example: D-Flow Flexible Mesh, D-Waves, D-Water Quality, D-Real Time Control,
D-Rainfall Run-off.
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Therefore, this user manual is shipped with several modelling suites. In the start-up screen
links are provided to all relevant User Manuals (and Technical Reference Manuals) for that
modelling suite. It will be clear that the Delta Shell User Manual is shipped with all these
modelling suites. Other user manuals can be referenced. In that case, you need to open the
specific user manual from the start-up screen in the central window. Some texts are shared
in different user manuals, in order to improve the readability.
Overview
To make this manual more accessible we will briefly describe the contents of each chapter.
If this is your first time to start working with D-RTC we suggest you to read Section 3.2, Getting
started. This chapter provides a tutorial.
Chapter 2: Module D-RTC: Overview, gives a brief introduction on D-RTC.
Chapter 3: Module D-RTC: Getting started, provides examples of D-RTC with a tutorial.
Chapter 4: Module D-RTC: All about the modelling process, provides practical information
on the GUI, setting up so-called Control groups presented as a Flow chart and validating the
model.
Chapter 5: Module D-RTC: Simulation and model output, describes how the simulation results
can be accessed.
Chapter 6: Module D-RTC: Technical reference, gives technical background information on
the principles of feedback control.
1.3
Manual version and revisions
This manual applies to SOBEK 3 suite (version 3.7 and higher), D-HYDRO Suite (version
2018 and higher) and Delft3D Flexible Mesh Suite (version 2018 and higher).
1.4
Changes with respect to previous versions
New in this edition is Chapter 6: Module D-RTC: Technical reference.
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2 Module D-RTC: Overview
The D-RTC (Real Time Control) plug-in can be used for the modelling of feedback control
of hydraulic structures. It can be applied to rainfall-runoff, hydraulics and water quality computations. The D-RTC module is used in a integrated model and is always combined to a
hydrodynamic model, such as D-Flow 1D or D-Flow FM.
Introduction: Feedback control and feedforward control
Feedback is a control principle where the control actions are determined based on a control
error (i.e. the difference between target value and actual value). The control action feeds back
on the control error. Feedforward control uses a control signal from outside the system to
determine control actions. The control action does not impact the feedforward control signal.
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Figure 2.1 shows an example of these techniques. In both cases, the operator aims to maintain the water level below a certain threshold by means of a hydraulic structure for flood
protection. In Figure 2.1a the operator controls the water level with the help of information
from the system: if the water level reaches a certain level, he takes action, and the action
feeds back on the water level itself. When measurements of disturbances are used to form
control decisions the control method is called feedforward control. In Figure 2.1b the operator
checks information from a location which is outside the system (e. g. a weather forecast) and
controls accordingly. This allows him to anticipate to certain extent on a future situation, and
his control operation does not affect the information his decision is based on.
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2.1
(a) feedback control
(b) feedforward control
Figure 2.1: Feedback control and feedforward control
Feedback control and feedforward control can usually be represented as a flow chart or decision tree with the following elements:
trigger (condition)
operating rules (controller-actuator)
input data location (connection to an observation point or a measurement station, e.g. a
river gauge)
output data location (connection to a structure node)
An example of such a flow chart is given in Figure 2.2.
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Figure 2.2: Example flow chart with feedback control
A trigger implements conditions for
defining when an operating rule / controller or another trigger is applied
returning true or false, e.g. if a threshold is crossed or not.
A trigger represents a switch, an alarm level or a man-made decision in a real-time control
model. Usually it returns true and false, but there are also trigger implementations that return
numierical values.
An operating rule
defines how a structure operates, and
returns a value for a controlled parameter, e.g. a gate opening or turbine release.
Very simple operating rules define operational modes for hydraulic structures like “pump
switched on” and “pump switches off”, or “gate open” and “gate closed”. In this case the
rule does not specify how exactly the hydraulic structure is operated, but for many model applications this is sufficient. More advanced operating rules comprise closing speeds for gates
or model a complete controller actuator system. An example for such an operating rule is
a motor (the actuator) drives the segment of a weir and is switched on and off by a floating
switch (the controller itself).
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Introduction: D-RTC windows
A D-RTC model has three main windows in Delta Shell: the Project window, the map with the
Flow chart, and the Properties window.
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The Project window is used to show a total overview of all D-RTC model objects, while the
map and flow chart show the relations between the D-RTC components. Figure 2.3 shows
an example of a D-RTC-model in the Project window. In this case the composite model
contains a D-Flow 1D model and the D-RTC model. The D-RTC model consists of a set of
controlgroups and an output folder. This is described in more detail in section 2.3. Figure 2.4
shows an example of a flowchart. Flowcharts are described in section 2.4. The Properties
window shows details of the RTC-components and facilitates editing (see also section 2.5).
Figure 2.5 shows an example of the Properties window for a Time rule (see also chapter 4).
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Figure 2.3: Example of an RTC-model in the Project window
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Figure 2.4: Example of a flow chart
Figure 2.5: Example of the properties window for a Time rule
Figure 2.6 gives an overview of the RTC modelling concept. D-RTC uses observed values of
control parameters to determine the values of controlled parameters. These observed values
can consist of actual measurements or observations from the hydrodynamic model. Examples
of control parameters are:
Hydraulic parameters at an observation point, such as discharge or waterlevel
Water quality parameters at an observation point
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External data, such as meteorological conditions, diversions due to building or maintenance activities etc.
Controlled parameters are positions of moving elements of the structures that are directed by
D-RTC. Examples are
Crest level or crest width of weirs
Discharge of pumps
Gate opening at gated weirs
Valve opening at Culverts
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Figure 2.6: D-RTC modelling concept and data flow
D-RTC uses the input from control parameters to evaluate conditions that trigger rules that set
the controlled parameters. For example, if a pump operates during the night with a capacity
of 500 m3 /s and is shut down during the day, the condition is true during the night and false
during the day. The rule connected to the "true" output sets the discharge to 500 m3 /s, while
the rule connected to "false" output set the discharge of the pump to 0 m3 /s.
Rules contain the actual algorithms that D-RTC uses to calculate the values of a controlled
parameter.
Conditions trigger a rule to be active or not. Both the true and false outcome of a condition
can be used to activate rules.
By connecting a sequence of conditions and rules, a control flow is generated for a controlled
parameter. This controlflow is visualized in a flowchart, which is described in more detail
below.
D-RTC uses the objects from a hydraulic model such as a D-Flow 1D model, but has no
knowledge of the model itself and no spatial information. The objects from a hydraulic model
used by D-RTC are passive objects which can not be edited in D-RTC. D-RTC directs the
controlflow, which means that the only editable objects are rules and conditions.
2.3
Controlgroup
A D-RTC model consists of one or multiple controlgroups which are shown in the Project
window. A controlgroup is a set of D-RTC components. Each controlgroup consists of
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one flow chart with one ore more controlflows (see section 2.4)
a list of observation points which supply the values of the control parameters
a list of conditions used in the controlflow(s)
a list of rules used in the controlflow(s)
a list of structure output locations for the controlled parameters
The set of elements in a single flowchart is a single controlgroup and one or more controlgroups form a D-RTC model.
The controlgroup can be used to organize the D-RTC model. For example, a user can decide
to group the controlflows per
controlled parameter; each controlled parameter has its own controlflow and a controlgroup has one controlflow,
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controlled structure; a controlled structure can have controlflows for each controlled pa-
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rameter (for example, both crest level and crest width are controlled of a single weir). Each
controlgroup can then have more than one controlflow,
compound structure; several structures combined can form one large complex, such as
Haringvlietsluizen, which consist of 17 individual locks. It can be convenient to group DRTC around these compound structures. Each controlgroup can then contain more than
one controlflow, one for each controlled parameter.
Deciding how to group the controlflows is finding a balance between transparancy and easier
modeling in the controlgroups, and having a good overview of the total model. It is recommended to use as few controlflows as possible within a single controlgroup. Only use more
than one controlflow per controlgroup if the Project window becomes too complex.
2.4
Flow chart
The flow chart is the visual interpretation of the controlgroup. While the Project window only
shows a list of all components of a controlgroup, the flowchart shows how the components of
the controlgroup relate to one another.
D-RTC is built around the concept of controlflows. Figure 2.7 shows the concept of a controlflow and its components. The controlflow in a flow chart always:
has one starting point for each controlled parameter (depicted with a thick black line
around the controlflow component, see Figure 2.7),
has at least one controlled parameter and one rule,
can combine multiple conditions and rules,
shows the controlflow with solid arrows, and data input or output with dashed arrows, see
Figure 2.7,
has exactly one active path per controlled parameter (no 2 rules for the same controlled
parameter are active at the same time).
In section 2.6 examples are described in more detail.
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Module D-RTC: Overview
The Properties
window Similarly to other Delta Shell modules in D-RTC the Properties window shows details
of a D-RTC schematisation object by clicking on an item in the Project window or on the
flowchart. The corresponding parameters can be edited in this window. An additional table
window is shown if necessary. Examples for properties of different D-RTC objects are given
below:
Condition parameters:
condition type
the table in case of a lookup table controller
discharge
waterlevel
salinity
controlled locations and parameters
Rule parameters:
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rule type
the table of a lookup table controller
rule-specific parameters
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control parameters:
2.5
Figure 2.7: Components and basic concept of the flowchart
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2.6
Examples
In this section several examples of controlflows are presented. These examples also form the
basis for the tutorial in section 3.2.
2.6.1
Minimal controlflow
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Figure 2.8 shows the minimal controlflow; a parameter controlled by a rule. Depending on
the type of rule, there may be also be control data required. In addition to a rule, conditions
can be added that (de)activate a rule, Figure 2.9. An example for Figure 2.8 could be that the
water level is 3 m on the first day and 6 m on day two at a specified location. A condition for
that rule is added in Figure 2.9 and could imply that the rule is only active when the discharge
at a certain observation point is higher than a specified value. chapter 4 explains which types
of rules and conditions are available and what they do.
Figure 2.8: Example minimal controlflow
Figure 2.9: Example minimal controlflow with a condition
2.6.2
Combinations of conditions and rules
In this section an overview is given of basic combinations of conditions and rules.
A condition can be used on its own, but will often be used in combinations. The most elementary combinations of two conditions are AND and OR. An AND combination of two conditions
means that both conditions have to be true for the rule to be active. As soon as one of the two
conditions is false, the rule becomes inactive. The controlflow first checks the first condition,
and only if this condition is true, the controlflow proceeds to check the second condition. If
either the first or second condition is false, another rule can be activated. It is not required to
have a different rule for the false-scenario; if a structure only has to perform an action if the
conditions are true, no second rule is required. A second rule is only required if the structure
also has to perform an action once the conditions are false.
An OR combination of two conditions means that only one of the two conditions has to be true
for the rule to be active. Only if both conditions are false, the rule becomes inactive.
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Figure 2.10: Example of two conditions that combined form an AND trigger
Figure 2.11: Example of two conditions that combined form an OR trigger
By adding conditions the controlflow may be expanded to more complex situations. Figures
2.12 and 2.13 show some possibilites by using three conditions in a single controlflow. All
possibilities for combinations of three conditions are:
1∧2∧3
1∨2∨3
1 ∧ (2 ∨ 3) (Figure 2.12)
1 ∨ (2 ∧ 3) (Figure 2.13)
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Figure 2.12: Example of three conditions: 1 ∧ (2 ∨ 3)
Figure 2.13: Example of three conditions: 1 ∨ (2 ∧ 3)
Similarly, the control flow can be extended with even more conditions and rules. Figures 2.14
to 2.19 give examples for a situation with four conditions.
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Figure 2.14: Example of four conditions: 4 ∨ (1 ∧ 2 ∧ 3)
Figure 2.15: Example of four conditions: 1 ∧ 2 ∧ (3 ∨ 4)
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Figure 2.16: Example of four conditions: (1 ∨ 2) ∧ (3 ∨ 4)
Figure 2.17: Example of four conditions: (1 ∧ (3 ∨ 4)) ∨ (2 ∧ 4)
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Figure 2.18: Example of four conditions: 4 ∧ (1 ∨ 2 ∨ 3)
Figure 2.19: Example of four conditions: (1 ∧ 2) ∨ (3 ∧ 4)
Note the difference between Figures 2.16 and 2.17; there is only a small difference in flowchart
(the arrow going from the true side of Condition 2 to Condition 3), but a large difference in
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meaning!
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3 Module D-RTC: Getting started
3.1
Introduction
In this chapter we will provide examples of D-RTC with a tutorial. The D-RTC module can not
be used on its own: an RTC model uses information and determines the values of parameters
of another model, typically a D-Flow 1D model or D-Flow FM model. However, this can also be
a water quality model or a rainfall-runoff model. We start with the tutorial model of D-Flow 1D.
The integrated model
Applying control with D-RTC on a D-Flow 1D model is integrated modeling (or coupled modeling). To develop an integrated model in Delta Shell right-mouse click on the project, e.g.
, in the Project window. Select Add → New Model. . . . A Select model . . . dialog appears. Choose “1D Integrated Model”. In the central window the Integrated Model
Settings dialog appear (Figure 3.1). Under Models delete all items but “Real-Time Control”
and “Flow1D” with the Delete button. Set the Run Parameters in such a way that the simulation period begins on 2000-01-01 and ends on 2000-01-05. Set the time step to one hour.
The window should now look like the one in Figure 3.2.
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3.2.1
Getting started
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3.2
Figure 3.1: Integrated model default properties
Figure 3.2: Integrated model, settings for a coupled simulation with D-RTC and DFlow 1D
The Project window now looks like Figure 3.3. The folder contains schematisations for the models: a network for the D-Flow 1D model and a basin for rainfall-runoff models.
The latter one is not used in this tutorial. Under we find the D-Flow 1D model
“Flow1D” and the D-RTC model “Real-Time Control”. Note that the network of the D-Flow 1D
model is a link to the network under .
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Figure 3.3: Integrated model in the Project window
3.2.2
The D-Flow 1D model
Create a simple D-Flow 1D model:
(Optional) Enable OpenStreetMap WMS layer
Add one branch with a length of about 60 km long to the network.
Add a cross-section of type YZ with default properties.
Add a Weir node with default properties.
Create a computational grid.
Set a constant water level of −2 m at the downstream boundary.
Set a transient discharge boundary condition at the upstream end (Table 3.1).
Set the current crest level and the current crest width of structures as output parameter.
Set the current water level and the current discharge of observation points as output parameter.
Save the project.
Validate the model.
Run the model.
The flow model schematisation () then should look more or less like the one given
with Fig. 3.4.
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Figure 3.4: Example water flow model schematisation with an OpenStreet background
map (http://openstreetmap.org )
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Table 3.1: Discharge boundary condition table for the upstream end
Date
2000-01-01 00:00:00
2000-01-02 00:00:00
2000-01-05 00:00:00
3.3
3.3.1
Discharge [m3 s−1 ]
300
300
500
A simple D-RTC model
Add a Control Group
Right-mouse click on in the Project window and select Add New Control
Group. . . . A menu (Figure 3.5) appears where the user can choose between a set of default
available control groups. Select empty group. Control Group 1 is now added to the set of
Control Groups in the Project window. The Control Group window is currently empty.
Figure 3.5: Options for default controlgroups
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Figure 3.6: Empty controlgroup
Construct a minimal controlflow
Select
(toolbar below the empty flow chart on the right-hand side of the Control Group
editor) and click in the Control Group window. This tool adds an output location to the flow
chart. Select
under the flow chart and click in the flow chart to add a rule. Connect the two
objects to obtain a flow chart as shown in Figure 3.7: move the mouse over the rule object,
left-click on the anchor point of the rule object on its right side, hold the mouse clicked and
find the anchor point on the left side of the output location object. Release the mouse button.
Figure 3.7: Minimum flow chart with a Time Rule
Now set the crest level of the weir as output location: right-click click on the output location
object and navigate through the menus. From the available locations in the network of the
flow model select the weir as location and crest level as controlled parameter. The output
location ellipsoid turns blue after having specified the parameters. Note that now in the map
the available location are highlighted.
The default rule is a PID rule. In this tutorial we use a Time rule, because this is the simplest
one. Right-mouse click on the rule and select Convert PID Rule to Time Rule. The data of the
time rule can be edited in the Properties window. Under Data click on
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