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44
УДК 365:528.1
ДИСТАНЦИОННОЕ УПРАВЛЕНИЕ КАНАЛИЗАЦИОННЫМИ СЕТЯМИ
Йёрг Мартин
Barthauer Software GmbH (Ltd), Пиллауштрассе 1a, 38126 Брауншвейг, Германия, тел: +49 (0) 531 23533-0, email: [email protected]
Райнер Курц
Barthauer Software GmbH (Ltd), Пиллауштрассе 1a, 38126 Брауншвейг, Германия, тел: +49 (0) 531 23533-0, e-mail: [email protected]
Основы дистанционного управления канализационными сетями [1] представлены в соответствии со специальной программой Лейпцигского муниципалитета по контролю канализации [2]. Изложены последствия, вызванные дополнительной платой за пользование канализацией, с учетом возможных ответных мер. Особо рассматриваются база данных, управляемые объекты канализации и их соответствующие блоки управления. В заключение приводятся типы сети управления, возможные алгоритмы управления, а также и важные аспекты принятия решений «за / против» по созданию системы дистанционного управления.
Ключевые слова: контроль, пульт дистанционного управления, канализация, Лейпциг, Германия, доплата за канализацию, обслуживание канализационных сетей, данные канализации, базы данных, объекты канализации, ливневой бак, структура разряда, структура переполнения, вейр, блок управления, алгоритм управления, коллектор канализации, принятие решений, водоток, принимающий воду, экологическая чувствительность, наводнение, загрязнение, загрязнение воздуха, очистки сточных вод.
REMOTELY CONTROLLED SEWERS
Jörg Martin
Barthauer Software GmbH (Ltd), Pillaustraße 1a, 38126 Braunschweig, Germany, tel: +49 (0) 531 23533-0, email: j [email protected]
Rainer Kurz
Barthauer Software GmbH (Ltd), Pillaustraße 1a, 38126 Braunschweig, Germany, tel: +49 (0) 531 23533-0, e-mail: [email protected]
The basics of remotely controlled sewers [1] are presented focusing on Leipzig Municipality's sewer control project [2] located in Germany. The consequences of sewer surcharge events are outlined considering possible counter measures. The required data basis, the controllable sewer objects and their relevant control units are pointed out. The presentation is finished exposing the types of control network, possible control algorithms as well as important aspects regarding the decision for / against establishing a remote control system.
Key words: Control, Remote control, Sewer, Leipzig, Germany, Sewer Surcharge, Sewer discharge, Interceptor, Sewer operation, Sewer data, Database, Sewer objects, Stormwater tank, Discharge structure, Overflow structure, Weir, Control unit, Control network, Control algorithm, Sewer capacity, Decision aspects, Receiving watercourse, Ecologic sensibility, Flood, Pollution, Immissions, Wastewater treatment plant.
1. Introduction
1.1. General Situation
The general situation in Germany is related to a significant concentration of domestic and / or business areas at the major developed regions whereon resulting to a high density of human-made structures.
on the one hand this situation caused the disastrous flooding of watercourses which had to be observed in May / June of this year. On the other hand the coincidence of strong short-time precipitation events and paved municipal areas cause surface run-off flows stressing the capacity of the sewer networks which are designed to drain the stormwater flows - also in combination with domestic, industrial and commercial wastewater.
Nevertheless the arising energy level of the global climatic system which is originated by the processes of climate change accelerates the violence of the short-time precipitation events [1].
For sewer networks whose capacity is exceeded by the mentioned extreme stormwater flows suitable countermeasures making the relevant sewer sections capable for the drainage of greater peak flows are essentially required. Elsewise extreme surcharge and overflow events might occur showing that the investments which then might be required for the repair of infrastructural damages would optimum have been used for the improvement of the failed sewer network.
1.2. Demand of Work
The existing combined wastewater and stormwater drainage systems have to be adapted to the situation of locally concentrated extreme precipitation events. Thus economic as well as feasible design measures must be investigated and carried out by engineering and research teams. The favorite solution can be a structural and / or an operational one which for instance might be a remotely controlled sewer network.
1.3. Project Example
The project example is based on the remote control measures as designed for the sewer network of Leipzig Municipality [2] which is located in southeastern Germany. Figure 1 and 2 present the location of project area northwest of Leipzig Central Railway Station as well as a sketched view on its sewer network's interceptors, the connected wastewater treatment plant and the Luppe watercourse.
Figure 1: Area of Leipzig Municipality's remotely controlled sewer network project
1.4. German Standard
This publication refers to the rules and standards published by the German Association for Water, Wastewater and Waste, DWA, whereof the relevant German advisory leaflet [3] is used by the author. The English version [4] is also available from the DWA.
2. Rising Stormwater Surcharge Events
The consequences of rising stormwater surcharge events for the environment of municipality, the connected wastewater treatment plant and the watercourses require adequate countermeasures.
2.1. Consequences
Figure 2: View on the project area
The consequences can be itemized into them for the environment of municipality, them for the connected wastewater treatment plant and them for the receiving watercourses.
2.1.1. Environment of Municipality
The environment of municipality has to face with a lot of consequences of surcharge events mainly meaning the obstruction of traffic, the sedimentation of matters (sludge, floating refuses, poisonous substances), the flooding of any infrastructural element resulting into significant personal and public economic losses as well as the danger to life caused by the flood itself, by the mentioned poisonous substances and last but not least by the possible spread of epidemics.
2.1.2. Wastewater Treatment Plant
In general, the wastewater treatment plants of major municipalities receive combined wastewater flows. The wastewater treatment plants are designed on a maximum flow which must not be exceeded. otherwise the microorganisms might be swept out of the final clarifiers causing an extreme reduction of treatment efficiency for several days.
If overflow discharge devices within the sewer network prevent the wastewater treatment plant from peaks exceeding the maximum design flow the receiving watercourses are negatively influenced by the consequently occurring discharge events.
2.1.3. Receiving Watercourses
The receiving watercourses get immissions of the surrounding areas, of the overflow discharge devices included into the sewer network and of the outlet of the wastewater treatment plant. These immissions lead to a situation of fast arising floods and pollution quantities. Their aquatic biotope might be negatively influenced by the immediate change of flow and concentration as well as by the presence of poisonous substances.
As a result the environment of municipality might be confronted with the same consequences as being pointed out for the surcharge events of the sewer network.
2.2. Possible Countermeasures
In order to avoid the described consequences a wide range of engineering countermeasures can be projected being roughly outlined in this section.
The precipitation's direct surface-runoff causing the major stormwater flows of the sewer network might be significantly reduced by decentralized measures. This kind of solution is assumed as the most ecologic and economic one solving the problem itself and not only its impacts. Opening soil sealing, decoupling catchment areas as well as realizing natural retention / storage spaces belong to this kind of countermeasures.
Structural countermeasures on the sewer network might adapt themself to major stormwater flows. The capacity of the sewer network to drain major stormwater flows is increased by rehabilitation or construction measures enlarging local invert slopes / nominal widths or creating additional sewer tracts and special structures.
One operational countermeasure on the sewer network might be the realization of remote control [5]. This kind of operation makes unused local capacities of the sewer network capable for the major stormwater flows [6].
3. Remotely Controlled Sewer network This section of publication describes the basic principle of remote control, the therefore required structures / equipment and the differences between local remote control and a global remote control network [7].
3.1. Basic Principle
The basic principle of remote control comprises the ability to manage stormwater flow curves. In general any stormwater flow curve within any point of the sewer network depends on the topology of its catchment areas and sewer lines as well as on the integrated structures. The combination of these elements creates a characteristic drainage behavior at any point of the sewer network which cannot be changed by the elements themself. Hence, the stormwater flow curve oscillates in a wide range causing surcharge events as sketched by figure 3.
Figure 3: Surcharge event due to oscillating flow
The remote control additionally integrates automatically initiated steering processes into the described system of sewer elements. The superordinate target of these processes is to reduce the oscillation of stormwater flow curves. Consequentially a most efficiently acting remotely controlled sewer network would create an ideal but unattainable constant stormwater flow curve as sketched by figure 4.
Such optimum remotely controlled sewer network would minimize the surcharge events to none. The discharges into the receiving watercourses would also significantly decrease.
Figure 4: Avoided surcharge event due to equalized flow
3.2. Structures
Any structure of the sewer network which comprises (unless the one of discharge) an intended or fortuitous storage capacity might be useful for the integration of remote control. In this case the structures function as the basic key elements of a remotely controlled sewer network enabling the equalization of stormwater flow peaks.
If a sewer network comprising no structures cannot be used to act as a remotely controlled one the realization of both the structures and the control system would be unfeasible.
Sketched schematic figure 5 shows the interaction of structures within the Leipzig project area where Luppe watercourse functions as the receiving water body.
Capacity-Sewer Overflow Tank Discharge Wastewater
A: Gravity Flow Structure Treatment
B: Throttled Flow Plant
Figure 5: Interaction of structures within the Leipzig project area
3.2.1. Sewer with Storage Capacity
Most of the sewers with storage capacity are characterized by minor invert slopes and major nominal widths. The described attributes might be the consequence of a sewer design which is based on stationary dimension calculations. Several sewers which are designed from the first with storage capacity are equipped with a throttle device often supporting the discharge of overflows.
3.2.2. Storage Structure
The storage structures are designed as stormwater tanks whose main functional differentiation is, if any discharge flow shall be emitted (stormwater overflow tank) or not (stormwater detention tank). The tanks can be additionally detailed into functional types with bypassed design flow or clarified discharge flow.
The intention of integrating stormwater tanks into the sewer network is both to reduce the peak flow into the connected wastewater treatment plant and to minimize the impact on the receiving watercourses by the discharged overflows.
3.2.3. Discharge structure
Discharge structures are designed as stormwater overflow devices which do not include a distinct detention capacity. These structures are placed in the sewer network where the discharged overflows have no considerable negative influence on the ecology of the receiving watercourses.
3.3. Control Equipment
The accurate design of the required control equipment (mechanical units, measuring units, control unit) [8] transforms the relevant sewer, tank or overflow device into a remotely controlled element of the sewer network. Measuring unit,
control unit [9] and pipe fitting have to be designed as a fast and simultaneously interacting system. The main elements of remote control are sketched by figure 6.
Figure 6: Main elements of remote control
3.3.1. Mechanical Units
The mechanical units are designed to directly manipulate the effluent of the relevant structure. Electrically or pneumatically moved valves, slide valves or throttles as well as moveable weirs and integrated pumps support the intended simultaneous interaction with the control unit.
Any mechanical unit being already mounted onto the relevant storage ore discharge structure should be reviewed on its possible integration into the intended concept of remote control.
3.3.2. Measuring Units
The measuring units are designed to simultaneously transfer the current information like on flow, water levels and overflow events to the control unit. The units have to be situated at locations of the structure where representative values are measured.
Already existing measuring units should also be reviewed on their possible integration into the intended concept of remote control.
3.3.3. Control Unit
The control unit functions as the basic key element of the local control system situated at a structure of the sewer network. It has to simultaneously interact with the measuring units whereof getting the relevant source data. The integrated control algorithm analyzes the source data in order to directly operate the connected mechanical units. The control algorithm must be well-designed and tested based on simulation / analog data of the structure's hydrodynamic behavior which is explained in a further section of this publication.
3.4. Network
The remotely controlled sewer network can be realized either as a chain of local control systems including locally adapted control algorithms or as a global control network wherein the mentioned local control systems and additional components are combined ensuring an optimum interaction of the algorithms in order to achieve the most efficient equalization of stormwater flows.
3.4.1. Local Control Systems
Each member of the local control systems comprises one of the former mentioned structures together with the required control equipment. It depends on the local environmental conditions of the sewer network as well as on the results of the required investigations described later if the local control systems themselves fulfill the design criteria or if an additional global control network is needed.
3.4.2. Global Control Network
A global control network [10] might be realized if the local control systems on their own do not fulfill the design criteria. The global control network needs additional gauging units for instance measuring the current precipitation [11] and some key characteristics of the receiving watercourses [12]. The spreading density of precipitation gauging stations is related to the observed minimum expansion of point precipitations.
The required central key device managing any information of the global control network is the control data processor. Tele-control installations and guidance systems ensure the analog interaction with the local control systems as well as with the gauging units. A sketch of the network is given by figure 7.
Figure 7: Main elements of the remote control network
4. Control Algorithms
The present used control algorithms base on two different control philosophies either meaning fixed control rules or fixed control aims. The algorithms must be integrated into each of the control units and might be part of the global control network if it is required.
While algorithms using the fixed control rules yield an optimum reaction rate the ones using fixed control aims yield optimum reaction flexibilities for any potential event which might occur in the sewer network.
4.1. Fixed Control Rules
The fixed control rules algorithm is based on several runs of hydrodynamic simulation [13] considering the whole sewer network as well as solely its critical zones or structures. It is essentially important to always compare the input and output data of the hydrodynamic simulation with the real situation within the sewer network.
All data needed for the remote control system which might later be realized must be considered by the hydrodynamic simulation. The input data must necessarily comprise several characteristic situations of point precipitation events because these are the main pre-condition of implementing a remote control solution.
Concerning the results of the hydrodynamic calculation runs fixed rules must be defined whereon based the control algorithm has to automatically manage the actions of the connected mechanical units depending on the measuring data which continuously run into the control unit.
A sketched flowchart of the fixed rules algorithm is shown by figure 8.
Figure 8: Sketched flowchart of the fixed rules algorithm
4.2. Fixed Control Aims
A sketched flowchart of the fixed aims algorithm is shown by figure 9.
Figure 9: Sketched flowchart of the fixed aims algorithm
The fixed control aims algorithm is based on several characteristics being detectable by each measuring unit which is intended concerning the remote control concept. Within a test and investigation period covering the same topics as required for the hydrodynamic simulation (see above) the fixed control aims must be defined and adapted until they seem to be optimum.
If the fixed aims have been approved a dynamic calculation program must be integrated into each control unit. The program must be capable to immediately simulate the optimum solution for to act the connected mechanical units based on the measuring data which continuously run into the control unit. Presently some programs using linear [14] as well as non-linear [15] optimization fulfill the described criteria. Nevertheless this field of remote control needs further research [16] in order to optimize the reaction rates.
5. Decision Aspects
The aspects influencing the decision for or against an implementation of remote control depend on a wide range of environmental conditions as well as on the individual characteristics of the sewer network. Preliminary and more detailed investigations must be done before the municipality comes to a conclusive decision. A matrix [4] published by the German DWA gives the decision maker a primary impression on the potential feasibility [17] of a remote control investigation project.
5.1. Required Data
Any aspect on the implementation of remote control stands or falls by the quality of the required data. If they have not sufficiently been collected it is proposed to leave the current investigations at this project status or to additionally gather the missing data.
The relevant data comprise general information on the whole catchment area including the receiving watercourses and the connected wastewater treatment plant. All source data of the sewer network concerning construction, dimension, surveying results and topology of the sewers and structures must be up-to-date, available and testable.
The data of sewer inspections and rehabilitations, of operation and maintenance, of indirect dischargers as well as of economics and asset evaluation must also be easily accessible.
Sufficient and standard conforming measurement data of precipitation, watercourse characteristics and of the wastewater treatment plant must always be continued as well as the results of hydraulic calculations.
It is recommended to administrate the required data within an application ensuring the data storage on an open database management system, the access to useful data forms, the data visualization by a standard GIS module as well as the ability to integrate any future remote control network.
5.2. Required Investigations
Detailed schedules, flow charts and descriptions of the required investigations are presented in Advisory Leaflet DWA-M 180E [4] published by the German DWA. This publication itself solely focuses on the main tasks of investigation.
Before beginning with any further investigation the sewer network should be analyzed due to the decision matrix (see below).
If the possible convenience of designing a remote control concept has been approved as to the decision matrix and if the required data basis is totally available the project might be initiated starting with a preliminary feasibility study. Main topics of investigation should be to prepare a sketched definition of control algorithms (see above) and to clarify the required regulatory framework. The decisive one of at least two alternatives should be selected by means of an economic comparison.
After a successful approval of the prepared preliminary study the project might pass through its further required phases until the established remotely controlled sewer system will finally start its operation.
5.3. Decision Matrix
The decision matrix as to German DWA [4] allows a qualitative assessment related to 20 global criteria whereof a slightly revised version is attached in appendix A of this publication. The selected values of the global criteria result to the total score whereon the preliminary decision for or against a remote control concept should be based.
In the appendix the total score is exemplary calculated for a sewer network embedded into an adjacent environment each of them showing average conditions for the realization of a remote control concept.
5.3.1. Wastewater Criteria
- The remote control might be reasonable to drain stormwater run-offs from major polluted catchment areas to the wastewater treatment plant while discharging the run-offs from minor polluted catchment areas.
- Periodic dry-weather flows which are observed at local points of the sewer network might also give the reason to manage them by a remote control concept.
5.3.2. Sewer Network Criteria
- The characteristics of the sewer network's interceptor lines significantly influence the ability to establish a remote control concept. Long interceptor distances combined with point precipitation events, minor invert slopes as well as the number of looped or parallel interceptors increase the controllable capacity reserves.
- A major number of control devices, discharge and storage structures being combined with a large total storage volume also increases the controllable capacity reserves of the sewer network.
5.3.3. Operational Criteria
- Significant variances inter design and reality as well as inter the storage structures' overflow discharges or capacity utilizations show improvement opportunities of operation which would be activated within a remotely controlled sewer system.
- Sections of the sewer network operated with frequent surcharge events and / or a large number of surcharge points [18] are often indicated by locally limited flood plains - a problem which might be solved by remote control.
5.3.4. Watercourses Criteria
- The remote control might be used to drain the peaks of stormwater discharge flow into the resistant sections of watercourses [19] which locally vary in their hydraulic and / or immission capacity.
- At the other hand a remotely controlled sewer network might prevent ecologically sensible watercourses from harmful immission loads.
5.3.5. Wastewater Treatment Criteria
The realization of a remote control network including the control of the connected wastewater treatment plant might be useful it the designed maximum inflow into the plant can be exceeded without negative consequences on the treatment process or if measures are required in order to avoid hydraulic / material peak loads.
6. Conclusions
In Germany infrastructural deficiencies and the rise of extreme point precipitation events cause stormwater flows increasing the surcharges and discharges of the draining sewer networks of municipalities.
Besides the possibility of structural changes the operational measure of remote control might solve the described problems.
Remote control means the utilization of the sewer network's capacity reserves in order to equalize the stormwater flows into the wastewater treatment plant and of the stormwater overflows into the receiving watercourses.
The decision for a remotely controlled sewer network essentially depends on a lot of factors. Therefore it is at least required to accurately administrate an appropriate data basis as well as to prepare feasibility studies including tests of the remote control algorithms which are evolved to be operated.
The decision matrix published by the German DWA helps the decision maker to get a preliminary impression on the feasibility of remote control which in case of unfeasibility might avoid wasting time and costs concerning the mentioned more detailed investigations.
Main Criterion Score Criterion Score Score
Position Detail 1 2 3 1 2 3 Selected Criterion
Wastewater Inflows from polluted areas 0 1..2 >3 0 1 2 2 1..2 1
Local periodic dry-weather flows minimal average maximal 0 1 2 2 average 1
Flow through interceptors < 1 km 1.. 5 km >5 km 0 1 2 2 1.. 5 km 1
Slope of interceptors >5%a 2.. 5 96a <2%a 0 2 4 2 2.. 5 96a 2
Capable interceptor loops 0 1..2 >3 0 2 4 2 1..2 2
Sewer M et work Interceptors ahead WWTP 1 2 £3 0 1 3 2 2 1
Integrated control devices 0 1..2 >3 0 2 4 2 1..2 2
Storage structures ^50 m1 0 1..4 >5 0 2 4 2 1..4 2
Discharge structures 0.. 1 2.. 6 >1 0 2 4 2 2.. 6 2
Resulting storage volume < 2,000 m1 2,000.. 5,000 m* > 5,000 m5 0 2 4 2 2,000.. 5,000 m* 2
Storage volume / paved area <20m5/ha 20 ..40 m5/ha >40 m1 /ha 0 2 4 2 20 ..40 m5/ha 2
Change inter design and reality none minimal maximal 0 1 2 2 minimal 1
Operation Different discharge behavior minimal average maximal 0 2 4 2 average 2
Locally limited flood plains 0 1..2 >3 0 1 2 2 1..2 1
Structures with varying capacity 0 1 >2 0 2 4 2 1 2
Locally varying hydraulic capacity none average maximal 0 2 4 2 average 2
Watercourses Locally varying immission capacity none average maximal 0 2 4 2 average 2
Ecologie sensibility minimal maximal 0 2 2 maximal 2
WWTP Combined flow capacity " < f ■ Qw + Qj f ■ Qw + Qj > f ■ Qw + Qj 0 1 3 2 f ■ Qw + Qj 1
Peak load sensibility minimal maximal 0 2 2 maximal 2
Resulting Score Remote control is Remote control Remote control is 0 25 35 Remote control 33
not recommended is possible recommended 24 35 64 is possible
" With:
(f) Design factor .. [Qw) Mean dry-weather flow .. (Qj) Mean
infiltration flow
References
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2. KWL - Kommunale Wasserwerke Leipzig GmbH, March 2013. "Die Kanalnetzsteuerung der Stadt Leipzig", http://www.wasser-leipzig.de/get.php?f=9d61e18e03b003a83a1b5b344dd35463.pdf&m=download.
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4. Jörg Broll-Bickhardt et al., Dec. 2005. "Framework for Planning of Real Time Control of Sewer Networks, Advisory leaflet DWA-M 180E", German DWA Rules and Standards, pp. 9-48.
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12. V. Erbe, M. Schütze, 2005. "An integrated modelling concept for immission-based management of sewer system, wastewater treatment plant and river", Water Science & Technology, 52(5), pp. 95-103.
13. S. Heusch, 2010. "Modellprädiktive Abflusssteuerung mit hydrodynamischen Kanalnetzmodellen [Model Predictive Control by Hydrodynamic Sewer Network Models]", Dissertation, Technical University of Darmstadt, pp. 1-119.
14. C. A. Martínez Ocampo, 2007. "Model Predictive Control of Complex Systems including Fault Tolerance Capabilities: Application to sewer networks", Dissertation, Technical University of Catalonia.
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16. S. Duchesne, A. Mailhot, J. Villeneuve, 2004. "Global Predictive Real-Time Control of Sewers Allowing Surcharged Flows", Journal of Environmental Engineering, 130(5), pp. 526-534.
17. A. I. Zacharof, D. Butler, M. Schütze, M. B. Beck, 2004. "Screening for real-time control potential of urban wastewater systems", Journal of Hydrology, 299(3-4), pp. 349-362.
18. D. Muschalla, G. Pelletier, E. Berrouard, J. Carpenter, B. Vallet, P. Vanrolleghem, 2009. "Ecohydraulic-driven real-time control of stormwater basins", Proceedings of the 8th International Conference on Urban Drainage Modelling, Tokio.
19. P. Vanrolleghem, L. Benedetti, J. Meirlaen, 2005. "Modelling and Real-Time-Control of the Integrated Urban Wastewater System", Environment Modelling & Software, 20(2005), pp. 427442.
Contact:
Jörg Martin (Author)
Barthauer Software GmbH (Ltd) Pillaustraße 1a, 38126 Braunschweig Germany
Tel: +49 (0) 531 23533-0, fax: +49 (0)531 23533-99 Email: [email protected]
Rainer Kurz (Presenter)
Barthauer Software GmbH (Ltd) Pillaustraße 1a, 38126 Braunschweig Germany
Tel: +49 (0) 531 23533-0, fax: +49 (0)531 23533-99 Email: r.kurz@barthauer. de
This presentation has already been held on the 12th International Conference on Computing and Control for the Water Industry, CCWI2013 and published © 2013 The Authors. Published by Elsevier Ltd.
© Jörg Martin, Rainer Kurz, 2014
