JP4398821B2 - Rainwater drainage control system - Google Patents

Description

  The present invention relates to a rainwater drainage control system that controls operation of a rainwater drainage pump installed in a pumping station into which rainwater flows.

  Rainwater that has fallen on the ground usually flows into the pump station via an inflow trunk line provided underground, and is then discharged to a river or the like by a rainwater drainage pump. At this time, operation control of various rainwater drainage pumps is performed in order to efficiently drain rainwater flowing into the pump station to a river or the like by the rainwater drainage pump.

In the operation control of rainwater drainage pumps, if the information such as the amount of rainwater inflow to the pumping station and the timing of rainwater inflow can be grasped accurately, the number of operating rainwater drainage pumps and the start / stop timing should be set accurately. Can do.
In order to grasp information such as the amount of rainwater inflow to this pumping station and the timing of rainwater inflow, measured values obtained from radar rain gauges, ground rain gauges, inflow water level gauges, etc. are used, and based on these measured values. Rainwater outflow analysis and rainwater inflow prediction are performed, and operation control of the rainwater drainage pump is performed based on the rainwater outflow analysis and rainwater inflow prediction.

  Here, as a method for predicting the amount of rainwater flowing into the pumping station, for example, a so-called white-box approach is used in which a temporal change in rainfall outflow is tracked using a physical model or a conceptual model. An extended RRL method (see, for example, Patent Document 1), a hydraulic model or hydrological model of general runoff analysis software such as MOUSE or the like is used. Another method for predicting the stormwater inflow is a system identification method called a so-called black box approach in which a prediction model is constructed only from past rainfall and stormwater inflow data (for example, patent literature). 2) or multiple regression analysis can also be used.

  The operation control method of the rainwater drainage pump based on the prediction result of the rainwater inflow rate to the pumping station is based on the preset water level automatic control based on the preset water level, and the predicted value of the rainwater inflow rate to the pumping station is used. A method of changing the set water level and adjusting the number of operating rainwater drainage pumps based on the rating of the rainwater drainage pump is known (for example, see Patent Document 3).

  In recent years, a system that uses a general-purpose overseas software such as MOUSE to predict the amount of rainwater flowing into the pumping station and control the operation of the rainwater drainage pump is often used. Conventionally, this general-purpose software has been used offline as a rainwater runoff analysis simulator, but recently, this general-purpose software is connected to a pump station monitoring control system to operate online.

  Thus, the rainwater flowing into the pumping station can be efficiently discharged to the river or the like by the operation control of the rainwater drainage pump based on the prediction result of the rainwater inflow amount. There are a wide variety of operation control methods for this rainwater drainage pump, and it is important to achieve these operation control methods appropriately and accurately according to the situation.

JP-A-6-147940 JP 2000-257140 A JP 2000-328642 A

  On the other hand, since the amount of drainage per stormwater drainage pump is large and the number of pumps installed in the pumping station is large, the total power consumption of each stormwater drainage pump at the pumping station is large. Here, since there is a limit to the amount of power supplied to the pump station from the outside, private power generation facilities are prepared in advance at the pump station, and rainwater drains up to a predetermined number (hereinafter also referred to as the set number). The pumps are operated by the electric power supplied to the pump station from the outside, and the storm water drainage pumps after that are operated by the electric power generated by the private power generation facilities. It can be.

Here, in the rainwater drainage control system described above, when the rainwater drainage pump is operated using the private power generation facility, the activation operation of the rainwater drainage pump for the number exceeding the set number is performed after the private power generation facility is activated. Done.
However, the conventional rainwater drainage control system cannot automatically start the private power generation equipment at an appropriate timing, and therefore, the startup operation of the rainwater drainage pump for the number exceeding the set number is delayed. There was a risk that rainwater drainage from the pumping station would be delayed and cause inundation damage.
In addition, the startup operation of the private power generation facility is often manually performed by an operator, which places a burden on the operator and sometimes fails to start the private power generation facility at an appropriate timing due to a human error or the like.

  The present invention has been made in consideration of such points, and controls the operation of the rainwater drainage pump and automatically controls the operation of the private power generation facility that supplies power to the rainwater drainage pump at an appropriate timing. It is an object of the present invention to provide a rainwater drainage control system that can be performed efficiently and can reliably and efficiently discharge rainwater flowing into a pump station to a river or the like.

The present invention is installed in a pumping station into which rainwater flows, performs a plurality of rainwater drainage pumps that drain water from the pumping station, and performs in-house power generation, and supplies power generated by the in-house power generation to each rainwater drainage pump. Based on the in-house power generation facility, the forecasting unit that calculates the predicted inflow of rainwater flowing into the pumping station, and the number of operating stormwater drainage pumps by controlling multiple stormwater drainage pumps based on the predicted inflow rate obtained by this forecasting unit And / or a pump operation control unit that adjusts the operation timing, and a signal related to the number of operation and / or operation timing of the storm water drainage pump output from the pump operation control unit to the stormwater drainage pump is branched and input based on this signal. by controlling the self-generating facility and a rainwater discharge control device having a private power generation equipment operation control unit for adjusting the operation timing of the private power generation equipment Te Pump driving control section in the rainwater control apparatus provided with a plurality, storm drainage control device is a rainwater drainage control system characterized by further comprising a switching means for switching operation of each pump operation control unit.
This makes it possible to control the operation of the rainwater drainage pump and automatically control the private power generation facility that supplies power to the rainwater drainage pump at an appropriate timing. Can be discharged reliably and efficiently.
In addition, when the operation control of each storm water drainage pump is performed using one pump operation control unit, even when trouble such as a failure occurs in this pump operation control unit, it does not operate normally. By automatically switching to another pump operation control unit, the operation control of the rainwater drainage pump can be continued without interruption.

In the rainwater drainage control system of the present invention, the rainwater drainage control system further includes a measurement unit, and the prediction unit of the rainwater drainage control device constructs an inflow amount prediction model in order to obtain the predicted inflow amount of rainwater flowing into the pumping station. The inflow amount prediction model is preferably updated on-line sequentially based on information sent from the measurement unit.
Accordingly, the inflow amount prediction model is updated following the change in the rainfall state of the basin, and deterioration of the prediction accuracy of the rainwater inflow amount can be suppressed.

The storm water drainage control device has evaluation means for evaluating the control performance of each of the plurality of pump operation control units in a predetermined method and cycle, and the switching means of the stormwater drainage control device is provided by each pump by the evaluation means. It is preferable to switch to the pump operation control unit having the best control performance based on the evaluation result of the control performance of the operation control unit.
Moreover, the evaluation means of the stormwater drainage control device can solve the optimal control problem using at least one of the control operation amount, the stormwater drainage pump operation time, and the stormwater drainage pump operation cost as an index. It is preferable to evaluate each control performance.
By this, the control problem of the rainwater drainage process can be quantitatively evaluated, and therefore, the operation time of each rainwater drainage pump can be leveled, and the operation switching frequency of these rainwater drainage pumps can be reduced. Moreover, high reliability of rainwater drainage control can be obtained, and stable automatic control operation can be performed.

In the rainwater drainage control system of the present invention, the evaluation means of the rainwater drainage control device may apply nonlinear model predictive control when solving the optimal control problem in the evaluation of the control performance of each of the plurality of pump operation control units. preferable.
As a result, the rainwater drainage control problem in the rainwater drainage control device can be reduced to an optimization problem including constraints.

The present invention is installed in a pumping station into which rainwater flows, performs a plurality of rainwater drainage pumps that drain water from the pumping station, and performs in-house power generation, and supplies power generated by the in-house power generation to each rainwater drainage pump. Based on the in-house power generation facility, the forecasting unit that calculates the predicted inflow of rainwater flowing into the pumping station, and the number of operating stormwater drainage pumps by controlling multiple stormwater drainage pumps based on the predicted inflow rate obtained by this forecasting unit And / or a pump operation control unit that adjusts the operation timing, and a signal related to the number of operation and / or operation timing of the storm water drainage pump output from the pump operation control unit to the stormwater drainage pump is branched and input based on this signal. A rainwater drainage control device having a private power generation facility operation control unit that controls the private power generation facility and adjusts the operation timing of the private power generation facility. The pump operation control unit of the rainwater drainage control device performs this operation control by regarding a hybrid system in which continuous time system and discrete time system in operation control are mixed as a system of only continuous time system by using a conversion coefficient. This is a rainwater drainage control system.
As a result, operation control of the rainwater drainage pump is performed, and electric power is supplied to the rainwater drainage pump.
Operation control of private power generation equipment that supplies power can be performed automatically at an appropriate timing.
Rainwater that flows into the pumping station can be discharged reliably and efficiently to rivers.
In addition, it is possible to prevent repeated operation and stoppage of the rainwater drainage pump and instability of the rotation speed control, which may occur due to the mixed part between the continuous time system and the discrete time system, and the operator can control automatically. It is not necessary to switch the mode to the manual operation mode and operate the rainwater drainage pump or the like.

  According to the rainwater drainage control system of the present invention, the operation control of the rainwater drainage pump can be performed, and the operation control of the private power generation facility that supplies power to the rainwater drainage pump can be automatically performed at an appropriate timing. Rainwater that flows into the field can be reliably and efficiently discharged into rivers.

Embodiments of the present invention will be described below with reference to the drawings.
1 and 2 are diagrams showing an embodiment of a rainwater drainage control system according to the present invention. Among these, FIG. 1 is a schematic diagram showing the overall configuration of the rainwater drainage control system, and FIG. 2 is a schematic diagram showing the configuration of the rainwater drainage control device in the rainwater drainage control system of FIG.

  As shown in FIG. 1, the rainwater drainage facility includes an inflow trunk line 1 provided in the ground, a pump well 3 connected to the inflow trunk line 1 through an inflow dredge 2, and an inflow trunk line 1 and a pump well 3. And an inflow gate 4 provided therebetween. The rainwater drainage control system according to the present invention controls this rainwater drainage system. The rainwater drainage pump 5 installed in the pump well 3 and the power generated by the private power generation are generated by each rainwater drainage. A private power generation facility 30 that supplies the pump 5 and a rainwater drainage control device 11 that controls the operation of each rainwater drainage pump 5 are provided.

Among the rainwater drainage facilities, the inflow trunk line 1 collects rainwater 10 that has fallen to the ground, and the rainwater 10 collected in the inflow trunk line 1 flows into the pump well 3 through the inflow trough 2. It is like that.
The pump well 3 is configured to store rainwater 10 sent from the inflow trunk line 1 through the inflow trough 2.

  Further, each rainwater drainage pump 5 is electrically connected to the rainwater drainage control device 11 so that the rainwater 10 can be discharged from the pump well 3. In addition, the rainwater 10 discharged | emitted from the pump well 3 by the rainwater drainage pump 5 is discharge | released to a river etc. Further, each rainwater drainage pump 5 is provided with a discharge valve 6, and the amount of rainwater 10 discharged from the pump well 3 can be adjusted by adjusting the degree of opening and closing of the discharge valve 6. ing. And the signal 5a which shows the operating condition regarding the presence or absence of the operation of each rainwater drainage pump 5, etc., and the signal 6a which shows the opening degree of the discharge valve 6, etc. are sent to the rainwater drainage control apparatus 11.

  The inflow dredge 2 is provided with an inflow dredge level gauge 8 for measuring the level of the rainwater 10 flowing into the inflow dredge 2, and the pump well 3 has a water level of the rainwater 10 flowing into the pump well 3. A pump well level meter 9 for measuring the pressure is provided. The inflow water level meter 8 and the pump well level meter 9 are electrically connected to the storm water drainage control device 11, and the inflow water level signal 13 and the pump well level signal 14 measured by the respective water level meters are used as the storm water drainage control device. 11 to be sent. Further, a signal 4 a indicating the operation status of the inflow gate 4 is also sent to the rainwater drainage control device 11.

  A ground rain gauge 7 is provided on the surface near the pumping station where the pump well 3 is installed. The ground rain gauge 7 is electrically connected to the rainwater drainage control device 11, and the rainfall signal 12 from the ground rainwater gauge 7 is sent to the rainwater drainage control device 11.

As shown in FIG. 2, the rainwater drainage control device 11 includes a pump prediction unit 42 that calculates a predicted inflow amount of the rainwater 10 that flows into the pump station, and a plurality of inflows that are calculated by the pump prediction unit 42. And a pump operation control unit 43 that controls the rainwater drainage pump 5 to adjust the number of operation and / or operation timing of the rainwater drainage pump 5.
In addition, the rainwater drainage control device 11 is a private device in which the information regarding the number of operation and / or the operation timing of the rainwater drainage pump 5 output from the pump operation control unit 43 to the rainwater drainage pump 5 is branched and inputted at the branch point 11a. The power generation facility prediction unit 45 and a private power generation facility operation control unit 46 that controls the private power generation facility 30 based on the prediction by the private power generation facility prediction unit 45 and adjusts the operation timing of the private power generation facility 30. .
Here, the pump prediction control unit 41 is configured by the pump prediction unit 42 and the pump operation control unit 43, and the private power generation facility prediction control unit 44 is configured by the private power generation facility prediction unit 45 and the private power generation facility operation control unit 46. It is configured.
The pump prediction control unit 41 is electrically connected to a human interface unit 47 that sends signals to the pump prediction control unit 41 such as the start / stop level of the rainwater drainage pump and the operation sequence of the rainwater drainage pump 5. As shown in FIG. 2, the human interface unit 47 is also electrically connected to the private power generation facility prediction control unit 44, and sends a signal such as a private power generation facility control parameter to the private power generation facility prediction control unit 44. It has become.

  Next, the operation of the present embodiment having such a configuration will be described.

  Rainwater 10 generated by the rain flows into the inflow trunk line 1, and the rainwater 10 that flows into the inflow trunk line 1 flows into the pump well 3 through the inflow trough 2. The amount of rainwater 10 flowing into the pump well 3 is adjusted by the inflow gate 4.

  The rainwater 10 that has flowed into the pump well 3 is discharged to a river or the like by a plurality of rainwater drainage pumps 5. At this time, in order to discharge the rainwater 10 from the pump well 3 reliably and efficiently, the operation of each rainwater drainage pump 5 is controlled by the rainwater drainage control device 11.

  Hereinafter, the outline of operation control of each rainwater drainage pump 5 and the private power generation equipment 30 by the rainwater drainage control device 11 will be described with reference to FIG.

First, the pump predicting unit 42 constructs an inflow prediction model, and calculates a predicted value of the rainwater inflow based on the inflow prediction model.
The inflow prediction model includes a rainfall signal 12 from the ground rain gauge 7, a signal 5 a relating to the operating condition of the rainwater drainage pump 5, a signal 6 a indicating the opening degree of the discharge valve 6, and an inflow dredge from the inflow water level gauge 8. Predetermined offline based on each process signal such as the water level signal 13, the pump well level signal 14 from the pump well level gauge 9, and the signal 4a indicating the operation status of the inflow gate 4. Here, the ground rain gauge 7 and the like that output these process signals are collectively referred to as a measurement unit 35.

Here, the inflow prediction model constructed in the pump prediction unit 42 is sequentially determined online based on information sent from the measurement unit 35 of the rainwater drainage control system, instead of being determined offline in advance as described above. It may be updated. As a method for sequentially updating the inflow amount prediction model online, for example, a sequential least square method in a system identification method is used. This successive least squares method has a feature that it can be implemented even on a relatively small computer with a small calculation load, and model parameters can be updated following process variations.
In this way, the inflow prediction model is updated following the change in the rainfall state of the basin by using the method of sequentially updating the inflow prediction model online based on the information sent from the measurement unit 35. In addition, it is possible to suppress deterioration in the prediction accuracy of the inflow amount of rainwater.

Next, based on the predicted value of the amount of rainwater inflow calculated by the pump prediction unit 42, the pump operation control unit 43 controls the plurality of rainwater drainage pumps 5 to operate the rainwater drainage pumps 5 and / or the operation timing. Adjust.
Here, as a method for controlling the rainwater drainage pump 5, a method of directly adjusting the number of operation and / or operation timing of the rainwater drainage pumps 5 based on a predicted value of the rainwater inflow amount may be used. A pump well water level prediction model is constructed with the predicted value of the pump volume as input and the pump well water level prediction value as output, and the number of storm water drainage pumps 5 operated based on the pump well water level prediction value output from this pump well water level prediction model And / or a method of adjusting the operation timing may be used.
As another control method, a set water level correction value is calculated based on the predicted value of the rainwater inflow amount for the set water level automatic control using the preset pump well set water level, and set based on that value. A method of adjusting the number of operation and / or operation timing of the rainwater drainage pumps 5 by changing the water level may be used. As another control method, a pump control function of general-purpose runoff analysis software is used. A method of adjusting the number of operation and / or operation timing of the rainwater drainage pump 5 may be used.
In the control method of the rainwater drainage pump 5 described above, various set water levels, the operation sequence of the rainwater drainage pump 5, and the like are given from the human interface unit 47.

And as shown in FIG. 2, the information regarding the number of operation and / or operation timing of the rainwater drainage pump 5 output from the pump operation control unit 43 to the rainwater drainage pump 5 is branched at the branch point 11a, and the private power generation facility prediction unit 45.
The private power generation facility prediction unit 45 calculates an operation timing used for controlling the private power generation facility 30 by the private power generation facility operation control unit 46 described later based on the input information, and calculates the calculation result. The data is sent to the control unit 46.
The private power generation facility operation control unit 46 controls the private power generation facility 30 based on the calculation result calculated by the private power generation facility prediction unit 45 and adjusts the operation timing of the private power generation facility 30. In addition, a signal relating to the operation timing of the private power generation facility 30 output from the private power generation facility operation control unit 46 to the private power generation facility 30 is branched at the branch point 11b and input to the pump prediction unit 42 again.
In the control method of the private power generation facility 30 described above, the control parameters of the private power generation facility 30 are given from the human interface unit 47.

  Further, as shown in FIG. 2, the rainfall signal 12 from the ground rain gauge 7, the signal 5 a relating to the operation status of the rainwater drain pump 5, and the inflow water from the inflow water level gauge 8 are sent to the rainwater drainage control device 11. When there is an abnormality in each process signal such as the water level signal 13, the pump well level signal 14 from the pump well level gauge 9, and the signal 4a indicating the operation status of the inflow gate 4, the above-described pump prediction control unit 41 and private power generation The automatic control by the facility prediction control unit 44 is stopped, and the operator manually controls the operation of each rainwater drainage pump 5 and the private power generation facility 30.

A specific example of operation control by the rainwater drainage control device 11 will be described below.
For example, when the pump operation control unit 43 controls the number of operation of the rainwater drainage pumps 5 based on the pump well set water level, the rainwater that is activated first when power is supplied from the private power generation facility 30. By subtracting the value (B) obtained by converting the time from the start of start-up of the private power generation equipment 30 to the completion of start-up into the pump well level from the start-up set water level (A) of the drainage pump 5, the water level value (= AB) ), The private power generation facility 30 is activated.
Thereby, it is possible to avoid the phenomenon that the activation of the rainwater drainage pump 5 is delayed because the activation of the private power generation facility 30 is not in time.
Note that the value (B) obtained by converting the time from the start of start-up of the private power generation facility 30 to the start-up completion in this example into the pump well level may be set in advance by the human interface unit 47. The power generation facility prediction unit 45 may be statistically calculated based on past data of the pump well level.

In another specific example, when general-purpose outflow analysis software such as MOUSE is applied in the pump prediction control unit 41, the predicted pump activation time (C) is output from the pump operation control unit 43, and the private power generation facility prediction unit The predicted pump activation time (C) is input to 45. And based on the information input in the private power generation equipment prediction part 45, the private power generation equipment operation control part 46 is the time from the start start of the private power generation equipment 30 to the completion of the start (C). D) The private power generation facility 30 is activated at an earlier time.
In this example, the time (D) from the start of start-up of the private power generation facility 30 to the completion of start-up may be set in advance by the human interface unit 47. It may be statistically calculated based on the startup time data of the private power generation facility 30.

  In addition, when power is supplied to the rainwater drainage pump 5 not only from the private power generation facility 30 but also from outside the pumping station, from the first to the Nth of the plurality of rainwater drainage pumps 5 Can be operated by power supply by purchasing electricity, and the N + 1 and subsequent rainwater drainage pumps 5 can be operated by power supply by the private power generation facility 30. In such a case, the timing of switching the power supply source from the power purchase to the private power generation facility 30 may be calculated by the private power generation facility prediction unit 45 based on the output from the pump operation control unit 43.

  According to the present embodiment, the rainwater drainage control device 11 of the rainwater drainage control system controls the plurality of rainwater drainage pumps 5 based on the predicted inflow amount of the rainwater 10 flowing into the pump station, and the rainwater drainage pumps 5. The pump operation control unit 43 that adjusts the number of operation and / or operation timing of the operation and a signal related to the operation number and / or operation timing of the rainwater drainage pump 5 output from the pump operation control unit 43 to the rainwater drainage pump 5 are branched. And a private power generation facility operation control unit 46 that controls the private power generation facility 30 based on this signal and adjusts the operation timing of the private power generation facility 30. For this reason, the rainwater drainage control device 11 performs operation control of the plurality of rainwater drainage pumps 5 and automatically performs operation control of the private power generation facility 30 that supplies power to the rainwater drainage pumps 5 at an appropriate timing. The rainwater 10 flowing into the pumping station can be reliably and efficiently discharged to a river or the like.

Next, a modification of the present embodiment will be described with reference to FIG.
This modification is different from the rainwater drainage control device 11 shown in FIG. 1 except that the rainwater drainage control device 11 has a plurality of pump operation control units 43 as shown in FIG. It has the same configuration. In FIG. 3, the number of pump prediction units 42 is one, but a plurality of pump prediction units 42 may be provided, and pump prediction control including the pump prediction unit 42 and the pump operation control unit 43. A plurality of parts 41 may be provided.
The rainwater drainage control device 11 in this modified example further detects this abnormal situation when one pump operation control unit 43 in operation stops operating normally, and automatically sends it to another pump operation control unit 43. Switching means 48 for switching operation is provided.

  Since the rainwater drainage control device 11 has a plurality of pump operation control units 43, when the operation control of each rainwater drainage pump 5 is performed using one pump operation control unit 43, this pump operation control unit. Even when a trouble such as a failure occurs in 43 and it does not operate normally, the switching means 48 can automatically switch to another pump operation control unit 43. For this reason, the operation control of the rainwater drainage pump 5 can be continued without interruption.

  Also, an evaluation means 49 for evaluating each control performance of the plurality of different pump operation control units 43 with a predetermined method and cycle is provided, and the control performance is determined for each predetermined cycle by the evaluation means 49. Based on the evaluation result from the evaluation means 49, the switching means 48 can switch to the pump operation control unit 43 having the best control performance to control the operation of each rainwater drainage pump 5.

Specifically, as a method for evaluating the control performance of each of the plurality of different pump operation control units 43 by the evaluation means 49, the control performance of each pump operation control unit 43 is determined, for example, for each pump operation at predetermined intervals. A method of evaluating by solving an optimal control problem using the control operation amount of the control unit 43, the rainwater drainage pump operating time, the rainwater drainage pump operating cost, etc. as an index is used.
Then, based on the evaluation result from the evaluation means 49, the switching means 48 switches to the pump operation control section 43 having the optimum control performance, and the output signal of this pump operation control section 43 is sent to each rainwater drainage pump 5. It will be.

  By solving the optimal control problem related to the above evaluation method, the control problem of the rainwater drainage process can be quantitatively evaluated. For this reason, the operation time of each rainwater drainage pump 5 can be leveled, the operation switching frequency of these rainwater drainage pumps 5 can be reduced, high reliability of rainwater drainage control can be obtained, and stable automatic operation can be achieved. Control operations can be performed.

  In addition, it is preferable that the control performance of each of the plurality of different pump operation control units 43 is evaluated online. If such control performance evaluation is performed offline, it takes time to disconnect from the system, perform the evaluation work, and incorporate it into the system again. Although there is a problem that it is impossible to cope with the case where it is necessary to continue the automatic control, the above problem can be solved by evaluating the control performance online.

  The evaluation means 49 applies nonlinear model predictive control such as Receding Horizon control, for example, in order to solve the optimal control problem related to the above evaluation method. Receding Horizon control is a control method in which online optimization is repeated while shifting an interval for solving an optimization problem for each sampling period, and the constraint condition can be handled in an explicit form. That is, it is possible to directly reflect the constraint conditions concerning the control input and the process input in the control algorithm. In this case, as the constraint condition, for example, the rainwater inflow amount and the upper and lower limit values of the pump well level are used. By using such nonlinear model predictive control, the rainwater drainage control problem in the rainwater drainage control device 11 can be reduced to an optimization problem including constraint conditions.

  As a method for solving the optimal control problem, a method using a branch and bound method, a genetic algorithm, or the like can be cited. The branch and bound method is a method in which a partial space on the solution space is checked at a time and whether or not a solution candidate can exist in the space is verified in advance. It can be eliminated, and the optimal solution can be searched although it takes a long calculation time. When a genetic algorithm is applied, only a suboptimal solution can be searched instead of an optimal solution, but there are advantages such as being less likely to fall into a local minimal solution and performing high-speed computation.

  In this way, when the evaluation means 49 solves the optimal control problem in the rainwater drainage control device 11, it can systematically control by applying nonlinear model predictive control such as Receding Horizon control, and is always optimal. Since the rainwater drainage pump 5 can be controlled by the pump operation control unit 43 having a good control performance, the operation time of each rainwater drainage pump 5 is leveled, and the number of times of operation switching of these rainwater drainage pumps 5 is reduced. In addition, stable automatic control operation can be performed without manual operation by an operator.

By the way, when the rainwater drainage control apparatus 11 has the several pump operation control part 43, it is necessary to perform the switching operation | work of the discrete pump operation control part 43 by the switching means 48 as mentioned above.
In the rainwater drainage control device 11, the control of the rotation speed of the rainwater drainage pump 5 and the prediction by the pump prediction unit 42 among the operation controls by the pump operation control unit 43 are continuous time systems. On the other hand, of the operation control by the pump operation control unit 43, the control of the number of operating rainwater drainage pumps 5 is a discrete time system.
Such a system in which a continuous time system and a discrete time system are mixed is called a hybrid system. That is, the rainwater drainage control system by the rainwater drainage control device 11 is called a hybrid control system.

  If the control system in the stormwater drainage control device 11 is constructed without considering that the stormwater drainage control system by the stormwater drainage control device 11 is a hybrid control system, discontinuity occurs in the mixed portion between the continuous time system and the discrete time system. A phenomenon may occur, and the rainwater drainage pump 5 may be repeatedly started and stopped. As a result, the rainwater drainage control system becomes unstable, and it becomes necessary for the operator to switch the automatic control mode to the manual operation mode to operate the rainwater drainage pump 5, which may cause a problem of increasing the burden on the operator. .

For this reason, the process which regards the control system as a continuous time system is performed by performing an appropriate variable conversion between the continuous time system and the discrete time system.
For example, when determining the number of operating rainwater drainage pumps 5 directly from the predicted value of the amount of inflow of rainwater, the system represented by the following formulas (1) and (2) will be examined below.

Q (t + 1) = aQ (t) + bu (t) (1)
N (t) = 1 (if Q (t) ≦ 3)
2 (if 3 <Q (t) ≦ 6)
3 (if 6 <Q (t) (2)
u (t) is an input of a prediction model of the amount of rainwater inflow such as rain, Q (t) is a predicted value of the amount of rainwater inflow, and N (t) is the number of operating rainwater drainage pumps. Moreover, a and b are parameters of the rainwater inflow prediction model, and are set in advance offline or sequentially determined online.

Since the relationship between Q (t) and N (t) in the above equation (2) is that a continuous value is input and a discrete value is output, the relationship between Q (t) and N (t) Introduce auxiliary variables to convert the output to a form that can be treated as a continuous variable.
Specifically, a mixed logical dynamic model (MLD system: Mixed Logical Dynamic) is introduced. This MLD system is a method for representing a dynamic system including a logical description, wherein discrete events included in the process are represented by logical variables, and in the formulation, the logical expressions are represented by linear inequalities. It is said.

For the system shown by the above formulas (1) and (2), the discrete output is related as a continuous variable by applying this MLD system to, for example, the relationship between the predicted value of storm water inflow and the number of operating storm water drain pumps 5. be able to.
Specifically, when the system represented by the above formulas (1) and (2) is expressed as an MLD system, the following formulas (3) and (4) are obtained.

[Δ ₁ (t) = 1] ← → [Q (t) ≦ 3]
[Δ ₂ (t) = 1] ← → [Q (t) ≦ 6]
δ ₃ (t) = 1 Expression (3)
N (t) = 1 · δ ₁ (t) + 2 · (δ ₂ (t) −δ ₁ (t)) + 3 · (δ ₃ (t) −δ ₂ (t))
... Formula (4)
δ _i (i = 1, 2, 3) is a discrete value auxiliary variable.

  Note that the method is not limited to this method as long as the discrete value output can be handled as a continuous variable. In addition, since the output of the determination unit for the number of pumps operating in a discrete time system is input to the pump rotation speed control unit that outputs a continuous time value, this part also becomes a hybrid system, and the same problem occurs. By performing variable transformation, a continuous-time model can be constructed, and this problem can be solved.

  Thus, by setting the rainwater drainage control system as a continuous time system, it is possible to systematically handle a system that has not been easy to systematically construct a control system because of the conventional hybrid system. As a result, repeated operation and stop of the rainwater drainage pump 5 and destabilization of the rotational speed control that can be caused by the mixed portion between the continuous time system and the discrete time system can be suppressed, and the instability of the rotation speed control can be suppressed. However, it is not necessary to switch the automatic control mode to the manual operation mode and operate the rainwater drainage pump 5 or the like.

Another modification of the present embodiment will be described.
As shown in FIG. 1, a driving support device 17 is connected to the rainwater drainage control device 11 via a transmission line 20, and a rainfall radar data processing device 19 is connected to the driving support device 17 via a transmission line 20. Also good. Note that the rainfall observation data 18 a is sent from the rain radar 18 to the rain radar data processing device 19.

The rainfall radar data processing device 19 predicts the maximum amount of rainfall and rainfall intensity at a certain time ahead, such as 30 minutes to several hours ahead, based on the rainfall observation data 18a sent from the rain radar 18.
Then, prediction data 19a in which the maximum amount of rainfall and rainfall intensity at a certain time ahead is predicted is sent from the rain radar data processing device 19 to the driving support device 17 via the transmission path 20.
The driving support device 17 determines the required number of operating rainwater drainage pumps 5 for a certain period of rainfall based on the prediction data 19a sent from the rainfall radar data processing device 19. Information relating to the required number of operation of the rainwater drainage pump 5 determined by the operation support device 17 in this way is sent to the rainwater drainage control device 11 through the transmission path 20.
This makes it possible to determine the required number of operating rainwater drainage pumps 5 for a certain period of time at an early stage.

Still another modification of the present embodiment will be described.
As shown in FIG. 1, a weather information terminal 21 from which weather information can be obtained may be connected to the driving support device 17 via a transmission line 20.

The weather information terminal 21 predicts the maximum amount of rainfall and rainfall intensity at a certain time ahead from the obtained weather information. Accordingly, the prediction data 21a predicting the maximum amount of rainfall and rainfall intensity at a certain time ahead is sent from the weather information terminal 21 to the driving support device 17 via the transmission path 20, and the driving support device 17 is ahead for a certain time. The required number of operating storm water drainage pumps 5 for the rain is determined. Information relating to the required number of operation of the rainwater drainage pump 5 determined by the operation support device 17 in this way is sent to the rainwater drainage control device 11 through the transmission path 20.
This makes it possible to determine the required number of operating rainwater drainage pumps 5 for a certain period of time at an early stage.

Still another modification of the present embodiment will be described.
In the rainwater drainage control system, the weather mode is determined using various prediction information such as the above-mentioned rainfall prediction, weather information, inflow prediction, water level prediction, or their current values, and rainwater drainage control is performed based on this weather mode. May be performed.
Specifically, when it is determined that the light rain mode is selected from various information, the inflow gate 4 is controlled without performing the operation of each rainwater drainage pump 5, and the supplementary trunk line or storage in which the initial rainwater is installed in advance. Send it to the tube. As a result, it is possible to prevent the initial rainwater having a high pollution concentration from flowing into the treatment plant or the pumping station.
On the other hand, when it is not in the light rain mode or when the water level of the pump well 3 reaches a specified value or more, each rainwater drainage pump 5 is immediately operated to perform drainage treatment of rainwater.
As described above, by performing the rainwater drainage control by switching the weather mode using the various prediction information described above, it is possible to cope with the confluence improvement problem which has been regarded as important in recent years.

Schematic which shows the whole structure of a rainwater drainage control system. Schematic which shows the structure of the rainwater drainage control apparatus in the rainwater drainage control system of FIG. Explanatory drawing which shows the other example of the pump prediction control part in the rainwater drainage control apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Inflow trunk line 2 Inflow dredge 3 Pump well 4 Inflow gate 4a Signal 5 Rainwater drainage pump 5a Signal 6 Discharge valve 6a Signal 7 Ground rain gauge 8 Inflow dredge level meter 9 Pump well water level meter 10 Rainwater 11 Rainwater drainage control device 11a, 11b Branch Point 12 Rainfall signal 13 Inflow dredging level signal 14 Pump well level signal 17 Operation support device 18 Rainfall radar 18a Rainfall observation data 19 Rainfall radar data processing device 19a Prediction data 20 Transmission path 21 Weather information terminal 21a Prediction data 30 Private power generation facility 35 Measurement Unit 41 Pump Prediction Control Unit 42 Pump Prediction Unit 43 Pump Operation Control Unit 44 Private Power Generation Equipment Prediction Control Unit 45 Private Power Generation Equipment Prediction Unit 46 Private Power Generation Equipment Operation Control Unit 47 Human Interface Unit 48 Switching Unit 49 Evaluation Unit

Claims (6)

A plurality of rainwater drainage pumps installed in a pumping station into which rainwater flows and draining from the pumping station;
A private power generation facility that performs private power generation and supplies each rainwater drainage pump with the power generated by the private power generation,
A prediction unit that calculates a predicted inflow amount of rainwater flowing into the pump station, and a plurality of rainwater drainage pumps and / or operation timings by controlling a plurality of rainwater drainage pumps based on the predicted inflow amount calculated by the prediction unit. A pump operation control unit that adjusts the frequency, and a signal related to the number of operation and / or operation timing of the rainwater drainage pump that is output from the pump operation control unit to the rainwater drainage pump is branched and input. A rainwater drainage control device having a private power generation facility operation control unit that controls and adjusts the operation timing of the private power generation facility;
Equipped with a,
In the rainwater drainage control device, there are multiple pump operation control units,
The rainwater drainage control system further comprises switching means for switching the operation of each pump operation control unit . The rainwater drainage control device has an evaluation means for evaluating each control performance of the plurality of pump operation control units in a predetermined method and cycle,
2. The rainwater according to claim 1 , wherein the switching means of the rainwater drainage control device switches to the pump operation control section having the best control performance based on the evaluation result of the control performance of each pump operation control section by the evaluation means. Drainage control system. The evaluation means of the rainwater drainage control device solves the optimum control problem using at least one of the control operation amount, the rainwater drainage pump operation time, and the rainwater drainage pump operation cost as an index. The rainwater drainage control system according to claim 2, wherein control performance is evaluated. Evaluation means for rainwater drainage control device, in solving an optimal control problem in the evaluation of the control performance of each of the plurality of pump operation control unit, storm drainage according to claim 3, wherein applying a nonlinear model predictive control Control system. A plurality of rainwater drainage pumps installed in a pumping station into which rainwater flows and draining from the pumping station;
A private power generation facility that performs private power generation and supplies each rainwater drainage pump with the power generated by the private power generation,
A prediction unit that calculates a predicted inflow amount of rainwater flowing into the pump station, and a plurality of rainwater drainage pumps and / or operation timings by controlling a plurality of rainwater drainage pumps based on the predicted inflow amount calculated by the prediction unit. A pump operation control unit that adjusts the frequency, and a signal related to the number of operation and / or operation timing of the rainwater drainage pump that is output from the pump operation control unit to the rainwater drainage pump is branched and input. A rainwater drainage control device having a private power generation facility operation control unit that controls and adjusts the operation timing of the private power generation facility;
Equipped with a,
The pump operation control unit of the rainwater drainage control device performs this operation control by regarding a hybrid system in which continuous time system and discrete time system in operation control are mixed as a system of only continuous time system by using a conversion coefficient. Rainwater drainage control system characterized by . It further comprises a measurement part of the rainwater drainage control system,
  In the prediction unit of the stormwater drainage control device, an inflow prediction model is constructed in order to obtain the predicted inflow of rainwater flowing into the pump station, and this inflow prediction model is sequentially updated online based on information sent from the measurement unit. The rainwater drainage control system according to any one of claims 1 to 5, wherein the rainwater drainage control system is renewed automatically.

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