Akhil

Canal automation Seminar report 2018
CHAPTER 1
INTRODUCTION
As water is becoming more and more a scarce resource all over the world, proper management
of the available water is essential. For an optimal use of the available water resources, water
management strategies have to be developed. A water management strategy is based on a water
control system. The two main factors that determine the designated water use are the water
quality and water quantity of a water system. Controlling the quality and quantity of a water
system is done using monitoring devices, water gates, pump stations, power stations and other
operational devices. There are different types of controlling a water system. However, the use of
automatic control has lately proven to have more advantages over other types. Automatic
control provides accuracy, reliability, time-saving and man-power saving. It also enhances
flexibility and saves water and improves production.
Canals are the main water distributor channel for irrigation in our country .Thus it is the
area where proper measures has to be taken to enhance the efficiency .Canal automation is a
advancement in the field of civil engineering where we adopt various electronic devices as well
for the best results .Incorporating more devices and equipments of high accuracy and
functioning help in bringing out maximum result with minimal manual work and errors . It help
in making a large number of innovative inter disciplinary advancements in the field of civil
engineering .The various problems faced in the irrigation field like old and inefficient structures
without proper monitoring , mechanical operating systems, water losses, improper distribution
of water and failure of distribution of water in due time etc could be overcome by establishing
this system of canal automation , which has been proven in some of the foreign countries .After
the emergence of automatic control, the efficiency in water distribution in irrigation systems has
increased considerably. it is well known in its benefits of water distribution like improving
water efficiency, supplying water distribution in due time, reducing water losses, good water
measuring and providing them in required discharge and increasing the efficiency of the system
in various countries.
Department of Civil Engineering 1 SCET

CHAPTER 2
CANALS
2.1 DEFINITION
Canals, or navigations, are human-made channels, or artificial waterways, for water

conveyance, or to service water transport vehicles. In most cases, the engineered works will
have a series of dams and locks that create reservoirs of low speed current flow. These
reservoirs are referred to as slack water levels, often just called levels. A canal is also known as
a navigation when it parallels a river and shares part of its waters and drainage basin, and
leverages its resources by building dams and locks to increase and lengthen its stretches of slack
water levels while staying in its valley.
In contrast, a canal cuts across a drainage divide atop a ridge, generally requiring an external
water source above the highest elevation. Many canals have been built at elevations towering
over valleys and other water ways crossing far below. Canals with sources of water at a higher
level can deliver water to a destination such as a city where water is needed. The Roman
Empire's Aqueducts were such water supply canals.
2.2 TYPES OF CANALS
There are two broad types of canal:
 Waterways: canals and navigations used for carrying vessels transporting goods and people.
These can be subdivided into two kinds:
 Those connecting existing lakes, rivers, other canals or seas and oceans.
 Those connected in a city network: such as the Canal Grande and others
of Venice Italy and the waterways of Bangkok.
 Aqueducts: Water supply canals that are used for the conveyance and delivery
of potable water for human consumption, municipal uses, hydro power
canals and agriculture irrigation.

CHAPTER 3
AUTOMATION IN CANAL
3.1 AUTOMATION
Automation is the technology by which a process or procedure is performed without human

assistance. Automation or automatic control is the use of various control systems for operating
equipment such as machinery, processes in factories, boilers and heat treating ovens, switching
on telephone networks, steering and stabilization of ships, aircraft and other applications and
vehicles with minimal or reduced human intervention. Some processes have been completely
automated.
3.1.1 GENERAL
Automation covers applications ranging from a household thermostat controlling a

boiler, to a large industrial control system with tens of thousands of input measurements and
output control signals. In control complexity it can range from simple on-off control to multi-
variable high level algorithms.
In the simplest type of an automatic control loop, a controller compares a measured

value of a process with a desired set value, and processes the resulting error signal to change
some input to the process, in such a way that the process stays at its set point despite
disturbances. This closed-loop control is an application of negative feedback to a system. The
mathematical basis of control theory was begun in the 18th century, and advanced rapidly in the
20th.
Automation has been achieved by various means including

mechanical, hydraulic, pneumatic, electrical, electronic devices and computers, usually in
combination. Complicated systems, such as modern factories, airplanes and ships typically use
all these combined techniques. The benefit of automation includes labor savings, savings
in electricity costs, savings in material costs, and improvements to quality, accuracy and
precision.
The term automation, inspired by the earlier word automatic (coming from automaton),
was not widely used before 1947, when Ford established an automation department. It was
during this time that industry was rapidly adopting feedback controllers, which were introduced
in the 1930s.

3.1.2 CONTROL ACTIONS IN AUTOMATION
There are 4 actions mainly in automations which are discussed below.
3.2.1 Discrete control
One of the simplest types of control is on-off control. An example is the thermostat used on
household appliances which either opens or closes an electrical contact. (Thermostats were
originally developed as true feedback-control mechanisms rather than the on-off common
household appliance thermostat.)
Sequence control, in which a programmed sequence of discrete operations is performed,

often based on system logic that involves system states. An elevator control system is an
example of sequence control.
3.2.2 PID controller

A block diagram of a PID controller in a feedback loop, r(t) is the desired process value or "set
point", and y(t) is the measured process value. A proportional–integral–derivative controller (PID
controller) is a control loop feedback mechanism (controller) widely used in industrial control systems.
In a PID loop, the controller continuously calculates an error value as the

difference between a desired set point and a measured process variable and applies a correction
based on proportional, integral, and derivative terms, respectively (sometimes denoted P, I,
and D) which give their name to the controller type.
The theoretical understanding and application dates from the 1920s, and they are
implemented in nearly all analogue control systems; originally in mechanical controllers, and
then using discrete electronics and latterly in industrial process computers.[3]
Fig 3.1 Block diagram of PID Controller system

3.2.3 Sequential Control and Logical Sequence or System State Control
Sequential control may be either to a fixed sequence or to a logical one that will perform
different actions depending on various system states. An example of an adjustable but otherwise
fixed sequence is a timer on a lawn sprinkler.
States refer to the various conditions that can occur in a use or sequence scenario of the
system. An example is an elevator, which uses logic based on the system state to perform
certain actions in response to its state and operator input. For example, if the operator presses
the floor n button, the system will respond depending on whether the elevator is stopped or
moving, going up or down, or if the door is open or closed, and other conditions.
An early development of sequential control was relay logic, by which electrical relays engage
electrical contacts which either start or interrupt power to a device. Relays were first used in
telegraph networks before being developed for controlling other devices, such as when starting
and stopping industrial-sized electric motors or opening and closing solenoid valves. Using
relays for control purposes allowed event-driven control, where actions could be triggered out
of sequence, in response to external events. These were more flexible in their response than the
rigid single-sequence cam timers. More complicated examples involved maintaining safe
sequences for devices such as swing bridge controls, where a lock bolt needed to be disengaged
before the bridge could be moved, and the lock bolt could not be released until the safety gates
had already been closed.
The total number of relays, cam timers and drum sequencers can number into the
hundreds or even thousands in some factories. Early programming techniques and languages
were needed to make such systems manageable, one of the first being ladder logic, where
diagrams of the interconnected relays resembled the rungs of a ladder. Special computers
called programmable logic controllers were later designed to replace these collections of
hardware with a single, more easily re-programmed unit.
In a typical hard wired motor start and stop circuit (called a control circuit) a motor is
started by pushing a "Start" or "Run" button that activates a pair of electrical relays. The "lock-
in" relay locks in contacts that keep the control circuit energized when the push button is
released. (The start button is a normally open contact and the stop button is normally closed
contact.) Another relay energizes a switch that powers the device that throws the motor starter
switch (three sets of contacts for three phase industrial power) in the main power circuit. Large
motors use high voltage and experience high in-rush current, making speed important in making
and breaking contact. This can be dangerous for personnel and property with manual switches.
The "lock in" contacts in the start circuit and the main power contacts for the motor are held

engaged by their respective electromagnets until a "stop" or "off" button is pressed, which de-
energizes the lock in relay.
Commonly interlocks are added to a control circuit. Suppose that the motor in the
example is powering machinery that has a critical need for lubrication. In this case an interlock
could be added to insure that the oil pump is running before the motor starts. Timers, limit
switches and electric eyes are other common elements in control circuits.Solenoid valves are
widely used on compressed air or hydraulic fluid for powering actuators on mechanical
components. While motors are used to supply continuous rotary motion, actuators are typically
a better choice for intermittently creating a limited range of movement for a mechanical
component, such as moving various mechanical arms, opening or closing valves, raising heavy
press rolls, applying pressure to presses.
3.2.4 Computer control
Computers can perform both sequential control and feedback control, and typically a single
computer will do both in an industrial application. Programmable logic controllers(PLCs) are a
type of special purpose microprocessor that replaced many hardware components such as timers
and drum sequencers used in relay logic type systems. General purpose process control
computers have increasingly replaced stand alone controllers, with a single computer able to
perform the operations of hundreds of controllers. Process control computers can process data
from a network of PLCs, instruments and controllers in order to implement typical (such
as PID) control of many individual variables or, in some cases, to implement complex
control algorithms using multiple inputs and mathematical manipulations. They can also
analyze data and create real time graphical displays for operators and run reports for operators,
engineers and management.

3.2 AUTOMATION IN CANALS
The Task Committee on Recent Advances in Canal Automation, which is part of the Irrigation
Delivery and Drainage Systems Committee (IDDS) of the Irrigation and Drainage Council
(IDC) of the Environmental and Water Resources Institute (EWRI) of the American Society of
Civil Engineers (ASCE), prepared a Manual of Practice (MOP) on canal automation for
irrigation systems. Formally referred to as MOP 131 Canal Automation for Irrigation Systems,
this book focuses on the technical aspects of modernizing irrigation systems through the use of
automated canal control systems. MOP 131 is an essential reference for professionals in
agricultural and irrigation engineering, as well as owners, managers, and operators of irrigation
water delivery systems. The Task Committee was formed because although there has been
continual research in the field of canal automation, there has not been a formal publication on
the topic for some time. From the beginning, the Task Committee wanted the final product to be
a truly international effort that would be useable in all countries. Indeed, the Task Committee
itself was composed of researchers and engineers in multiple countries including the United
States, the Netherlands, Australia, France, Spain, Portugal, China, and Mexico. In all, more than
40 different professionals from 8 different countries participated in the development of MOP
131.
3.2.1 GENERAL
Canal automation always has had the potential to save water and improve efficiency of
irrigation water supply projects or of irrigation district operations. Recently, there have been a
number of technological and engineering advances in the field of canal automation. While these
advances have been documented via conference proceedings and peer-reviewed journal articles,
a comprehensive document outlining the state-of-the-art in canal automation was lacking. The
American Society of Civil Engineers (ASCE) decided to fill this void by commissioning the
development of the Manual of Practice (MOP) 131:
Canal Automation for Irrigation Systems (Wahlin and Zimbelman, 2014). MOP 131 was
developed by the Task Committee on Recent Advances in Canal Automation (TCRACA) which
was formed under the Irrigation Delivery and Drainage Systems (IDDS) Committee under the
Environmental and Water Resources Institute (EWRI) of 1 Vice President, WEST Consultants,
Inc.8950 S. 52nd Street, Suite 210, Tempe, AZ 85284, United States of America. E-mail:
bwahlin@westconsultants.com 2 President, Water Systems Operations and Management, LLC.
8258 Spinnaker Bay Drive, Windsor, CO 80528, United States of America. E-mail:
ddz.wtr.engr@mac.com 2nd World Irrigation Forum (WIF2) 6-8 November 2016, Chiang Mai,

Thailand. EWRI is an entity within ASCE that focuses on water resources instead of civil
engineering in general. The TCRACA members gathered information on canal automation
research and practice from around the world in their efforts to document the application of new
[4]
technology to the progress of designing and implementing irrigation canal automation.
The TCRACA was a truly international effort with researchers and practitioners from
the USA, the Netherlands, Australia, France, Spain, Portugal, China, and Mexico all
participating in the development of MOP 131. MOP 131 is designed to provide guidance on
how and when to implement canal automation within the context of canal modernization but not
covering the full range of canal modernization issues. The manual also provides practical
guidance on some of the more routine aspects of canal automation. Note that while MOP 131
was developed by the cooperative efforts of eight different countries, it has not been formally
adopted by the administrations of those countries.
3.3 JOURNEY THROUGH THE MANUAL OF PRACTISE ( MOP 131 )
MOP 131 consists of eight chapters and a glossary. A brief summary of each chapter follows.
3.3.1 Chapter 1: Modernization Process, Constraints, and Concepts
This first chapter in MOP 131 is probably the most important one. It provides a general
overview of the potential benefits of irrigation canal modernization and discusses considerations
for assessing whether or not an irrigation or water district should implement automation as it
modernizes. If automation appears to be a viable component of modernization, then Chapter 1
describes how to proceed. This chapter also provides a general overview of the potential
benefits of canal automation. First, it is important to define the concept of modernization.
Modernization is a combination of technical, managerial and organizational upgrading (as
opposed to mere physical rehabilitation) of irrigation schemes with the objective of improving
resource utilization (e.g., water, labor, economics, and environment) and water delivery service
to farms . [1]
Such modernization investment focuses on the details of the inner workings of an irrigation
project. Planners and engineers for irrigation projects frequently equate modernization with
practices such as canal lining, piping, and computerized automation; however, such investments
are often of low initial priority if one examines the steps needed to improve overall
performance. Computerized automation is typically implemented in later stages of
modernization, after basic needs such as flow measurement and accounting procedures have
already been completed. Modernization is a process that sets specific objectives and selects

specific actions and tools to achieve them over an extended period of time. There are no "single
answers" as to how and when to implement automation as part of modernization because of the
complexity and variety of combinations of the water supplies (surface versus conjunctive use),
water allocation policies, water quality, timing of flows, adequacy of the water supplies,
topography, aquatic weed problems, soil types as related to seepage and bank stability, usage of
return flows, types of existing structures, and so on. There are, however, some basic principles
that should be followed to achieve a high level of success in designing, constructing, and
implementing a canal automation project.
Concepts discussed in this chapter include:
(i) Defining potential benefits of modernization and automation.
(ii) Defining incentives for modernization.
(iii) Defining realistic/evolving expectations and costs.
(iv) Assessing the existing system.
(v) Defining institutional and operational constraints as related to automation.
(vi) Selecting the appropriate canal operation strategy.
(vii) Developing a plan for emergency response/safeguards.
(viii) Defining where automation fits into a modernization plan.
(ix) Defining the typical sequence of actions in the modernization process. 2 nd World
[1]
Irrigation Forum (WIF2) 6-8 November 2016, Chiang Mai, Thailand W.1.4.01 5 3.2.
3.3.2 Chapter 2: Physical Infrastructure
Chapter 2 provides an overview of the types of structures and devices used for flow or water
level control in canal systems. For each structure or device included, there is a photograph along
with a discussion on the advantages/disadvantages, the power requirements, and the
serviceability of the structure. In addition, the presentation includes a discussion on what
measurements need to be made while using the structure. Only structures or devices useful from
an automation perspective are discussed.
(i) Working with an existing irrigation system. Decisions need to be made regarding
whether to incorporate existing irrigation system infrastructure or to replace the existing
infrastructure with new infrastructure.
(ii) Conveyance system considerations. The type of canal automation that is physically
possible and practical is dependent upon the physical characteristics of the existing canals and
water allocation policies.
(iii) Gates for check structures. A summary of widely available check structure

configurations is provided, including PLC-based, electrically moved check structures and non-
PLC controlled “automatic” check structures.
(iv) Instrumentation and measurement. A discussion is provided regarding instrument
considerations that are common to canal automation including water level, gate position, and
flow rate measurements.
(v) Pumps. Pumps are an integral part of many automation schemes that must supply or
accept water at variable rates that can change from minute to minute without advance notice.
(vi) Regulating (buffer) reservoirs within the irrigation system. Regulating reservoirs
have been used successfully in the western USA to reduce canal spillage, simplify canal
operation, and increase the flexibility of the water delivery systems. [1]
3.3.3 Chapter 3: SCADA Systems
Chapter 3 presents considerations regarding the design and implementation of a Supervisory

Control and Data Acquisition (SCADA) system that will support the advanced automation of
irrigation canals. This chapter includes discussion of design criteria, applicable technologies,
installation, testing, and commissioning of the system. This section of MOP 131 focuses on the
SCADA infrastructure itself and not on the control algorithms in the SCADA system
processors, which is left for a later chapter. Concepts discussed in this chapter include:
(i) Basic introduction to SCADA systems. SCADA refers to a broad and everchanging
spectrum of electronic hardware, computer software, and communications infrastructure that
provides a platform for remote monitoring and control in a variety of industrial applications. In
canal applications (or irrigation systems),SCADA system complexity ranges from simple
systems that allow operators to monitor a few water levels or flow rates over a radio network, to
large-scale, multi-server systems capable of automatically controlling large canal networks over
fibre optic and microwave communication networks. Whether small or large, SCADA systems
can provide real-time monitoring; remote supervisory or automatic control; alert or emergency
notifications; troubleshooting; and automatic data reporting and archiving capabilities. 2 nd
World Irrigation Forum (WIF2) 6-8 November 2016, Chiang Mai, Thailand W.1.4.01 6
(ii) Basic SCADA system components and function. In simple terms, a SCADA system
consists of a central base unit, which provides facilities for data storage, manipulation, and
visualization. The base unit communicates with one or more remote units (e.g., at a canal check
structure) through some communications infrastructure. The remote unit communicates with
sensors and implements control instructions issued from the base unit.
(iii) Control options in SCADA systems. Automatic control options for SCADA systems
can be categorized into three basic groups: local control, central control, and distributed control.

(iv) SCADA project considerations. A discussion is provided detailing considerations

for SCADA projects such as system evaluation, building an integration team, system
maintenance, and cost.
3.3.4 Chapter 4: Control Operation and Control

Concepts Chapter 4 presents basic canal control methods and their intended operational goals. A
brief discussion of concepts required for implementation is also provided. The limitations for
each method are described in terms of the overall control strategy. It is important to note that the
concepts discussed in this chapter are not necessarily mutually exclusive, because different
concepts can often be used on different parts of the same canal network. Each concept has
advantages and drawbacks and each fits better with certain overall strategies.

(i) Introduction to the control of irrigation canals. In general, control for irrigation canals
can be grouped into two categories: supply-oriented and demand-oriented. It is important to
note that most canal control strategies include aspects of both supply-oriented and demand-
oriented systems.
(ii) General strategies for control of irrigation canals. A common approach to canal
automation is to make gate adjustments at each site successively and then return to each gate to
make corrections depending on the observed situation. These initial changes and the later
corrections can be interpreted as feed forward and feedback control actions, respectively. The
initial changes in settings to provide the new flows downstream are feed forward actions, while
the corrections based on the actual situation are feedback actions. Remote control, where
observations are communicated to a central control room and, from there, gate adjustments can
be remotely implemented, simply allows the users to perform these actions more quickly, more
often, with better timing, and with the ability to see more of the canal conditions at once.
Automatic controls allow these adjustments to be made automatically. Automation allows
control actions to be made more often and, in theory, more precisely. But fundamentally, these
[1]
different approaches (manual/local, manual/remote, automatic) use the same basic strategies.
3.3.5 Chapter 5: Canal Hydraulic Properties
Chapter 5 discusses the hydraulic properties of canal pools and structures, as they relate to
needs for canal automation. Since this publication is geared toward modernization of existing
canal networks or systems, detailed design considerations are not included. However, changes
may be needed to the infrastructure to implement new technologies during modernization, so

that the system will allow greater flexibility and thus potentially improve performance. This
chapter also presents methods for describing the hydraulic response of canal pools, particularly
2 nd World Irrigation Forum (WIF2) 6-8 November 2016, Chiang Mai, Thailand W.1.4.01 7
how water levels respond to changes in flow rate. Concepts discussed in this chapter include:
(i) Design issues. Various design issues such as freeboard, canal lining, intermediate
structures, and flow capacity are discussed.
(ii) Canal structure hydraulics. Summary information regarding the hydraulics of typical
weirs and gates used in irrigation canals is provided.
(iii) Canal pool hydraulics. Each pool is unique in its response to changes in flows
through control structures. Physical parameters that influence this behavior are longitudinal bed
slope, cross section size and shape, length, and bed material. Concepts regarding flow
conditions, changes in canal conveyance, pool volumes, and travel time of waves are also
discussed.
(iv) Resonance Waves. Resonance waves and their influence on automatic control can
be minimized using the filtering procedures discussed.
(v) Identification. Methods for determining important hydraulic properties of the canal
pool are discussed. These parameters are crucial for controller design.
information regarding the hydraulics of typical weirs and gates used in irrigation canals is
provided
waves and their influence on automatic control can be minimized using the filtering procedures
discussed.
3.3.6 Chapter 6: Control Methods
Chapter 6 presents control system fundamentals and control techniques that are used to develop
controllers for water level or flow rate in irrigation canals. This chapter presents methods by
which the control strategies discussed earlier in MOP 131 can be implemented via electronic
devices such as PLCs, RTUs, computers, etc. The intent of canal automation is to improve the
operation of the water distribution system, which typically means better service to farmers;
canal automation is intended to improve some aspect of operations by performing controls that
would be difficult to do manually and to enhance system monitoring and emergency responses.
(i) Introduction to control methods. Various control method concepts are defined
including control variables and control-action variables.
(ii) Implementation options. Automatic controls can be organized in a variety of ways:
local control, centralized control, hierarchical control, and distributed coordination control.

(iii) Decoupling pools and structures. To simplify the design of controllers (which are
usually linear) and to simplify implementation, most canal controllers determine the flow rate
change needed for a check structure and then the gate position change required to achieve the
prescribed flow rate in separate computations (algorithms).
(iv) Routing demand changes through a canal .Routing water through a canal, also called
feed forward control, can be done by using the time it takes a flow rate change to travel from the
head gate to turnouts (delay times). Various methods for routing water through a canal, an
essential control function, are discussed.
(v) Feedback control. This section describes the mathematical procedures needed to tune
controllers for the control of water levels, flow rates and/or volumes within a canal. These
methods use measurements of water level and/or flow rate to determine what control actions
will bring the water level, flow rate or canal pool volume to a set point value. Details on specific
feedback control algorithms such as Linear Quadratic Regulator (LQR), H- 2 nd World
Irrigation Forum (WIF2) 6-8 November 2016, Chiang Mai, Infinity, Model Predictive Control
(MPC), and Proportional Integral (PI) flow control are discussed. There is also a discussion on
combining feedforward and feedback control. [3]
3.3.7Chapter 7: Verification of Controller Performance
The users of canal automation want to be sure that the automatic control system will function in
a way that is useful for their operations. Two essential questions must be answered. First, are
the right processes being controlled? Second, is the automatic control functioning in an
acceptable manner? This chapter discusses the process that control system designers and
integrators should go through so that they can document a successful automation
implementation. Concepts discussed in this chapter include:
(i) Performance testing issues. This section deals with performance testing of automated
canal structure logic.
(ii) Performance testing with unsteady-flow simulation models. Simulation models are a
useful tool for determining the potential performance of canal automation. Many canal
automation developers routinely test control algorithm performance for even a single gate with
unsteady-flow simulation. This allows the gate to be tested under a variety of flow and
operating conditions.
(iii) Performance measures. This section outlines concrete performance measures that
can be used to evaluate how effectively a canal automation scheme is controlling the irrigation
delivery system. Performance measures for both water level control and flow rate control are
presented.

3.3.8 Chapter 8: Implementation of Control Systems
Chapter 6 addresses the practical implementation of canal automation as a project within a

wider modernization program. The automation of an entire lateral or whole canal system is
described, rather than just a single check structure, because the challenges and benefits are
much larger. This chapter describes the sequence of required tasks, including the customization
of control software, the installation and commissioning of the field devices and central server
software, the progressive activation of control throughout the canal system, the measurement of
overall performance of the new system, and the training of operations staff. Ongoing
operational tasks and system maintenance are also discussed.

(i) Project initiation. The first step in any automation project is to determine the project
objectives. These might include the improvement of irrigator service levels, water savings, and
better control of water levels, operational cost savings, or rate of return on investment. Clear,
quantified objectives help ensure success by aligning the irrigation district and implementation
team and allowing for objective measurement of performance.
(ii) Configuration and customization of software. Discussions are provided regarding
RTU/PLC software, communications software, SCADA software, water ordering and demand
management software, and network representation software. 2 nd World Irrigation Forum
(WIF2) 6-8 November 2016, Chiang Mai, Thailand
(iii) Commissioning. Commissioning is the process by which equipment, a facility, or a
plant is tested to verify if it functions according to its design objectives or specifications.
(iv) Control rollout and tuning . Once the commissioning of the SCADA system is
complete, the next step is to roll out or activate the control system. In this section, rollout of
control refers to the control on a network scale as it encompasses the processes involved in
rolling out control at each location. Sometimes the behavior of the actual system may differ
from what has been modelled initially. Hence, fine tuning of controller(s) may be required at
intermittent stages.
(v) Performance assessment and acceptance. As important as setting the overall project
objective is the measurement of the performance of the canal system against those objectives.
(vi) Post-acceptance operation and maintenance. Post-acceptance operations and
maintenance is an important part of canal automation. It is the analog of a routine maintenance
program that irrigation districts generally undertake anyway, but includes new equipment like
the software and new operating procedures.

(vii) Training. An automated canal system requires that operators learn a number of new
computer skills and adapt to a new style of operation that involves reacting to operational
problems rather than simply implementing routines. This is not dissimilar to the role of a pilot
when an airplane is operating in auto-pilot. The pilot must vigilantly monitor instruments and
correct for unforeseen circumstances or deal with alarms.
(viii) Manuals. In addition to the training, the irrigation district must be supplied with
manuals for every component that makes up its system.

CHAPTER 4
EL- SALAM CANAL AUTOMATION SYSTEM
In Egypt irrigation water is becoming more scarcer with the continuously increasing demand for
agriculture, domestic and industrial purposes. To face this increasing irrigation demand, the
available water supply in Egypt is supplemented by the reuse of agricultural drainage water as
in El-Salam Canal that do not satisfy water quality standards defined for the canal. This paper
introduces an automation system for El-Salam Canal to control the flow of the fresh water and
drainage water supplied to the canal.
This automatic control system (ACS) is able to process data of various flows and water
quality data along the canal. This control system is represented by a canal computer model. This
system computes the required control actions at the Damietta branch and the feeding drains. It is
also able to generate optimum solutions for the canal to satisfy the pre-defined canal conditions
and standards. As water is becoming more and more a scarce resource all over the world, proper
management of the available water is essential. For an optimal use of the available water
resources, water management strategies have to be developed. A water management strategy is
based on a water control system.
The two main factors that determine the designated water use are the water quality and
water quantity of a water system. Controlling the quality and quantity of a water system is done
using monitoring devices, water gates, pump stations, power stations and other operational
devices. There are different types of controlling a water system. However, the use of automatic
control has lately proven to have more advantages over other types. Automatic control provides
accuracy, reliability, time-saving and man-power saving. It also enhances flexibility and saves
water and improves production.
This study focuses on introducing El-Salam Canal control system that consists mainly of
an automatic monitoring system and an automatic control system which DONIA represented by
a computer control model based on a data driven model.

4.1 STUDY OF AREA DESCRIPTION
El-Salam Canal is located in the North East of Egypt where it supplies water for the
reclamation of new lands in that part of the country. These areas are originally parts of the
sedimentary formation of the ancient Nile branches in that area. The canal intake is on the right
bank of Damietta Branch at Km 219, 3.0 Km upstream the Faraskur Dam. The canal passes
through five governorates: Damietta, Dakahliya , Sharkiya , PortSaid and North Sinai , the total
length of the canal is about 277 Km and is divided into two main parts. The first part is West of
Suez Canal, it is about 86 Km long and the second part lies east of Suez Canal and is about 191
Km long. The western part of the canal is known as El-Salam Canal. [4]
It starts from the intake at Damietta Branch (Nile River) runs in a south-eastern direction
and crosses the Suez Canal through a siphon, it continues after the siphon and the eastern part of
the canal is known as El-Sheikh Gaber Canal. A layout of El-Salam Canal is shown in Figure 1.
El-Salam Canal was designed to supply the irrigation water to a total area of 620,000 feddans
consisting of 220 thousand feddans on the western side of the Suez Canal and 400 thousand
feddans east of the Suez Canal in Sinai. [4]
The canal was planned to convey a discharge of 4.45 billion m3 /year. About 2.2 billion
m3 /year would be fresh water supplied from the Nile and transferred through the canal at its
intake. And about 2.25 billion m3 /year is to be supplied from two drains called Bahr Hadous
and Lower Serw drains. The water quality represented by salinity was also a concern when
designing the canal. Salinity should not exceed 1250 ppm generally in the canal. Many
structures are constructed along El-Salam Canal. The first group of these structures is for water
regulation purposes, consisting of pump stations and regulators. The second group of structures
is crossing structures such as siphons and bridges.
Some of the objectives and benefits that are gained from implementing El-Salam Canal
are: redistributing population in Egypt, protecting the eastern borders of the country,
strengthening the Egyptian agricultural policy through increasing the cultivated areas and
agricultural yield, increasing agricultural and national production and thus increasing exporting
vegetables and fruits while decreasing food import, benefiting and making good use of
agricultural drainage water as an important water resource, creating work opportunities for the
youth and establishing tourism, industrial and mining projects.
Therefore, careful investigation and prediction of the quality of water throughout the
canal is crucial. Many studies have been carried for assessment of the water quality of Bahr
Hadous and El-Serw drains, also many studies have been conducted about the agriculture
development of El-Salam water , and few studies were conducted to study the water quality
along El-Salam Canal, developed a decision support system (DSS) to choose the required
treatment option of discharging drains in order to satisfy with these guidelines but little attention
has been for real time operational water quality management of the canal. [2]
Damietta Mediterranean Sea

El-Salam Canal Intake Faraskour
Drai
P.S. 1
Port-Said
Manzala P.S. 5 El-Arish
Manzala Lake Bardawil
El-Serw Drain P.S. 2 Suez Lake
P.S. 3
El-Arish Valley
P.S. 4
(4)
Bahr Hadous Drain El-Salam Canal (3) Pressurized
(1)
P.S. 7 pipeline
P.S. 6
(5)
(2)
Sheikh Gaber Canal
Sheikh Gaber Canal (Open Channel)
Ismailliya
Bahr E-lBakar Drain
North Sinai Development Project
Suez Canal (1)Tina Plain Area 50,000 Feddans
El-SalamSyphon El-Morra (2)South Qantara Area 75,000 Feddans

Under Suez Canal N Lakes
(3) Rabaa Area 70,000 Feddans
Suez Canal (4) Bir E-lAbd Area 70,000 Feddans
Pumping Station (5)El-Serr Wa E-lQuarir Area 135,000 Feddans
Fig 4.2. Layout of El-Salam Canal project.
4.3 Computer-Aided Control System for El-Salam Canal
The Control System on El-Salam Canal integrates the water quality monitoring and the water
quality control policy using:
 An automatic monitoring system (AMS), which is capable of collecting data of different
flows and water quality along the canal.

 An automatic control system (ACS), which is able to
process data of various flows and water quality data along the canal. This control system is
represented by a computer model designed for the canal.
This computer model is able to generate optimum solutions for the canal to satisfy the pre-
defined canal conditions and standards. The model can also compute the required control
actions at the Damietta branch and the feeding drains which supply the canal with its water. It
calculates the gate opening required for each mixing drain.

4.3.1 The Automatic Monitoring System (AMS)
The type of automatic monitoring system used consists of a Data Acquisition System (DAS)
which runs a data software collection platform (DCP). This DAS includes at each local
station:
a) A Data Collection Unit (DCU)
b) A Data Terminal Unit (DTU)
c) Computer Control Model
The DCU collects data from sensors and is triggered by the DTU, whereas the DTU is
the part that triggers the DCU and sends data to the computer control model at the main
station . The communication equipment is in- stalled at each DTU and at the main station. The
communication system also supports voice communication between any two stations. The
facilities of the voice communication system include telephone, earpiece and mouthpiece. To
fulfill web communication, a web enabled software is introduced to the control system at the
main station to support remote monitoring and viewing of databases for station details,
historical and actual data through the internet.
In case of failure of the automatic system that sends the control actions from the main
station to all the DTUs of all stations, the data communication system delivers the control
actions to the concerned stations in the form of messages. These messages are displayed on
the DTU for the managing of the station manager and the operators. Upon the reception of a
message, alerting devices like a horn and a flashing light are automatically activated through
digital signals delivered to the DTU. All electrical devices are connected with cables to
deliver power and to transport signals and data. Cable guidance tubes, ducts and similar
connections are used to give the cables proper protection. [2]
4.3.2 Description of the Automatic Real-Time Control System (ARTCS)
 The supply, transport and distribution of the irrigation water are managed through real-
time control of the structures on El-Salam Canal. The structures which we consider in this
study are:
 The head regulator at Damietta Branch admitting fresh water from the Nile.
 The regulators at the Lower Screw drain admitting drainage water from the agricultural
drain.
 Pump station No. 3 lifting water from Bahr Hadous drain to El-Salam Canal.

4.3.2.1 Automatic Real-Time Control System Features

The ARTCS system is based on:
 Full utilization of the available fresh Nile water with a water quantity control at the rest of
the intakes to El-Salam Canal.

 Presence of instantaneous information available on the actual flow of the drains and of
Damietta Branch feeding El-Salam Canal.

 Presence of instantaneous information available onthe salinity of the drains and of Damietta
Branch feeding El-Salam Canal.

 The difference between the actual value (measured)and the set point (desired output
response) is checked every suggested period (e.g. 30 minutes) and control actions are
calculated by the controller. Those actions are automatically communicated and act on the
actuators that execute the control actions physically causing the operation of the gates and
pump stations as desired.
Thus the automatic real-time control system fulfills the following functions:
 Receiving the measured data once every 30 minutes.
 Processing data and comparing it with set point values
 Computing required actions by pump stations and gates.
 Communicating these actions to the needed gates and pump stations and operating them as
desired.
4.3.3 Automatic control system
The type of control system used is the “multivariable closed-loop water management control system with
disturbance and feed forward monitoring”. This control system is a combination of feedback control and
feed forward control methods. Parts of the automatic control system are shown in Figure 2 [8]. The
computer control model represents the automatic control system used. This computer model is based on
a data driven model. The data measured along El-Salam Canal over the years 2006 to 2008 are being
used in this model.
Fig 4.3. Design of automatic monitoring & control of EL Salam Canal[2]

4.4 Scenario Analysis

Scenarios Analysis Input values of discharge and TDS at the Damietta intake, El-Serw drain
and Bahr Hadous drain are shown in Figure 3, and input values of upstream and downstream
water levels at Damietta intake and El-Serw drain are shown in Figure 4. Iinput values of
constants are shown in Figure 5. The input values are used by the model to define the control
actions of water levels of the drains discharging into the canal and to calculate optimum values
of drains discharges at the feeding points, an optimum mixing ratio the output discharge of El-
Salam Canal together with the salinity at the output discharge of the canal. The results of
running different scenarios by the implemented computer control model are shown in Table 1.
Output results of all scenarios presented in this study are displayed for certain months chosen as
an example (February 2006, May 2006, July 2006, June 2008 and one assumed month). The
table shows the control actions taken at Damietta Branch, El-Serw Drain and Bahr Hadous
Drain concerning the gate opening and number of pumps are under different scenarios. In
Figure 6, the results of a run of the model for the selected month January 2007 chosen as an
example are displayed. Values entered shown in Figure 6 are used to compute the control
actions that are required at the Damietta intake and the feeding drains. In Figure 7, the
calculated control actions for the selected month January 2007 chosen as an example are
displayed.
Fig 4.4 Screen displaying the input discharge and TDS at feeding points along El-
Salam Canal year 2007.

Fig 4.5. Screen displaying the input values of levels upstream and downstream water along
El-Salam Canal year 2007.
Fig 4.6. Screen displaying the input values of pumps constants.

4.5. Analysis of Scenarios Outputs

In scenario 1 (June 2008), it is concluded that when the available fresh water (Damietta Branch)
is greater or equal to half the required discharge of El-Salam Canal and the salinity at the output
discharge of El-Salam Canal is within canal’s standards, then the optimum mixing ratio between
fresh and drainage waters will be 1:1 as designed. This will increase the discharge of El-Salam
Canal to the required discharge (improve) and will maintain the salinity within the canal’s
standards 1).
In scenario 2 (January 2007), salinity at the output discharge of El-Salam Canal and the
required discharge of the canal are within the canal’s standards, thus the optimum mixing ratio
between fresh and drainage waters will continue to be as measured.
In scenario 3 (July 2006), it is concluded that salinity at the output discharge of El-Salam Canal
is within canal’s standards and the output discharge of El-Salam Canal is increased to the
required discharge (improve).
In scenario 4 (February 2006), it is concluded that salinity at the output discharge of
El-Salam Canal is de- creased (improve) and the output discharge of El-Salam Canal is
increased although not reaching the required discharge (improve).
In scenario 5 (March 2007), it is concluded that salinity at the output discharge of El-
Salam Canal is de- creased to the standard value (improve) and the output discharge of El-
Salam Canal does not increase but may decrease, thus sacrifice with the discharge for the sake
of the improved salinity of the canal.
In scenario 6 (November 2007), it is concluded that salinity at the output discharge of
El-Salam Canal is de- creased to the standard value (improve) and the output discharge of El-
Salam Canal does not increase but may decrease, thus sacrifice with the discharge for the sake
of the improved salinity of the canal.
In all cases, control actions are taken at the Damietta Branch, El-Serw drain and Bahr
Hadous drain to fulfill all scenarios. On El-Salam Canal the gated intakes are at Damietta
Branch and at El-Serw drain. The pumped intake is at Bahr Hadous drain. Thus the gated
intakes use Equation to calculate the control action needed (gate opening height) and the
pumped intake uses Equation to calculate the control action needed (no. of pump units
required to operate).

Chosen months June 2008 Jan. 2007 July 2006 Feb. 2006 March 2007 Nov. 2007
Scenario name Scen. 1 Scen. 2 Scen. 3 Scen. 4 Scen. 5 Scen. 6
GOdama (original) meter 2.75 1.73 1.09 0.54 2.34 0.27
GOdam (calculated) meter 2.55 1.73 1.09 0.54 2.34 1.39
GOserwb (original) meter 0.34 2.4 1.08 0.61 1.34 1

b
GOserw (calculated) meter 0.41 2.4 1.62 1.6 1.04 1.39
c
FChadous (original) No. of pumps 3 2 2 1 2 1
PChadousc (original) No. of pumps 0.17 0.95 0.43 0.3 0.46 0.91
FChadous d (calculated) No. of pumps 3 2 3 3 1 2

d
PChadous (calculated) No. of pumps 0.79 0.95 0.64 0.4 0.91 0.68
841 994 1016 975 1622 1473
TDS total (measured)
871 994 1142 975 1250 1099
TDS total (calculated)
Mixing ratio (measured) 0.77 1.54 1.2 1.14 3.73 3.73

1 1.54 1.8 2.99 3.12 1
Mixing ratio (calculated)
Table 4.1. Measured and calculated Data (GO & No. of Pumps) under different scenarios.
Fig 4.7. Screen displaying the original and calculated control actions at the feeding points
along El-Salam Canal for January 2007.

4.6 Algorithm for canal automation

An algorithm is a step by step instruction given to complete specific task. Algorithm for the
proposed system is made using embedded C language. [4]
Step 1: Start
Step 2: Crop select A
Step 3: Initialize on time = off time – init on = init off = fi off = fi on =0, c1 =0, c2 =0
Step 4: If crop A is selected, go to Step 5 Else, go to Step 46
Step 5: Initialize day D =1, hour H =0
Step 6: If day >= 15, go to Step 7 Else, go to Step 8
Step 7: Reset day =1
Step 8: If day < 8, go to Step 9 Else, go to Step 36
Step 9: Initialize hour H =0
tep 10: Select field A and start hour timer counter.
Step 11: Check for manual control.
Step 12: If command receiver == ON, go to Step 13. Else, go to Step 14.
Step 13: Pump ON, For off time calculation go to Step 15.
Step 14: Pump OFF, For on time calculation go to Step 22.
Step 15: c1 = ON
Step 16: If c2 == 0, go to Step 17. Else, go to Step 21.
Step 17: init on = millis () /1000, Start counter and assign value to init on.
Step 18: fi off = init on.
Step 19: off time = fi off – init on.
Step 20: Increment c2.
Step 21: Display off time, go to step 34.
Step 22: c2 = ON
Step 23: if c1 ==0, go to Step 24. Else, go to step 28.
Step 24: init off = millis () /1000, Start counter and assign value to init off.
Step 25: fi on = init off.
Step 26: increment c1.
Step 27: on time = fi on – init on.
Step 28: Display off time, go to step 34.
Step 29: Initialize analog pin A0 and digital pin D11.
Step 30: If sensor value > moisture value, go to step 41. Else, go to step 33.
Step 31: If rainfalls, go to step 34. Else, go to step 32.
Step 32: Pump ON, For off time calculation go to Step 15.
Step 33: Pump OFF, For on time calculation go to Step 22.
Step 34: If H < = 24, go to step 30. Else, go to Step 35.
Step 35: Increment day and go to Step 6.

4.7 Program using Arduino
#include LiquidCrystal lcd(2, 3, 4, 5, 6, 7);
unsigned int ontime=0, offtime=0, initon=0, initoff=0, fion=0, fioff=0;
int c1=0, c2=0; const int ledPin =8; int sensorValue;
char incomingByte;
void setup()
{
lcd.begin(16, 2);
Serial.begin(9600);
lcd.print("welcome....!");
lcd.clear(); pinMode(ledPin, OUTPUT); millis();
}
void on()
{
c1=0; if(c2==0)
{ initon= millis()/1000;
fioff=initon; offtime=fioff-initoff;
c2++; ontime=0;
}
digitalWrite(ledPin, HIGH);
lcd.setCursor(12, 0);
lcd.print("ON");
lcd.print("OFF time=");
lcd.print(offtime);
digitalWrite(ledPin, HIGH);
lcd.print((millis()/1000)-initon);
Serial.println("LED ON. Press 1 to LED OF!");
}
void off()
{
c2=0; if(c1==0)
{
initoff=millis()/1000;
fion=initoff;
c1++;
ontime=fion-initon; offtime=0;
}
digitalWrite(ledPin, LOW);
lcd.print("OF");
lcd.print("ON time=");
lcd.print(ontime);
lcd.print((millis()/1000)-initoff);
Serial.println("LED OFF. Press 1 to LED ON!");
}
void loop()
{
if (Serial.available() > 0)
{
// if the data came incomingByte = Serial.read (); //
read byte int sensorValue = analogRead(A0);
delay(100); lcd.clear();
lcd.print("ADC=");
lcd.print(sensorValue);
if(incomingByte == 'b')
{
digitalWrite(ledPin, HIGH); Serial.println("Motor ON"); on();
}
while(incomingByte=='a')
{
if (Serial.available() > 0)
{
incomingByte = Serial.read();
}
int sensorValue = analogRead(A0);
if(sensorValue>850)
{
Serial.println("LED ON. Press 1 to LED OFF!");
on();
}
else
{
Serial.println("LED OFF. Press 1 to LED ON!");
off();
}
delay(100)
}
}
}

CHAPTER 5
CONCLUSION
Based on the results of this work, the following may be concluded that the computer-aided control system proposed
in this paper could successfully monitor and control the flow of the fresh and drainage waters supplied to El-Salam
Canal allowing variable mixing ratios. Also, mixing the fresh and drainage waters at the designed ratio 1:1 does not
improve the value of the total output discharge except when using fresh water as half the required discharge of El-
Salam Canal. Finally, fully utilizing the available fresh water together with optimum discharge of drainage water
has improved the total output discharge of El-Salam Canal and the salinity at the output discharge of the canal.
Considering a demand-oriented canal operation, local upstream control and distant downstream control
were the two options to be considered for an existing, sloping canal divided into four pools. Of the two options , the
distant downstream control was able to adjust the entire canal dynamics quickly and automatically in response to
unexpected , sudden demand variations and to variations that mirrored real demands. The spills simulated at the
canal tail, unavoidable for conservative operation under upstream control, were smallest when applying an
operation hypothesis that did not maintain the water at the canal tail near the target level. The operation losses
under distant downstream control were less than 1% in all simulations.
Estimates of the spill losses under the current operational regime of the canal are about 6% on week days and about
2.5% on Sundays, during periods in the irrigation campaign when water demand is increasing (as it is in May).
Therefore, the tested digital local upstream control would be an improvement on the current manual upstream
control , but automation could not be extended to the head canal gate, thus operation would still rely on the skill of
the operator. Only the distant downstream control would guarantee a totally automatic canal operation with
minimal spill losses. In the case study, the current complement of seven canal operators for the irrigation scheme
could be reduced to only one, and the delivery service, improved.

REFERENCES
[1] Brian Wahlin, Darell Zimbelman, “Canal Automation For Irrigation Systems: American
Society Of Civil Engineers Manual Of Practice Number 131”, 1 WEST Consultants, Inc.,
Tempe, Arizona, USA 2 Water Systems Operations and Management, LLC, Windsor,
Colorado, USA, 2017
[2] Noha Samir Donia, “Development of El-Salam Canal Automation

System”,Environmental Studies and Researches Institute, Ain Shams University, Cairo, Egypt,
2017.
[3] C. M. Burt, R. S. Mills, R. D. Khalsa, “Improved Proportional-Integral (Pi) Logic For

Canal Automation”, Journal Of Irrigation And Drainage Engineering, 2015
[4] https://wikipedia.com

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Canal automation Seminar report 2018

Department of Civil Engineering 1 SCET

Canals, or navigations, are human-made channels, or artificial waterways, for water

2.2 TYPES OF CANALS

There are two broad types of canal:

Department of Civil Engineering 2 SCET

Automation is the technology by which a process or procedure is performed without human

Automation covers applications ranging from a household thermostat controlling a

In the simplest type of an automatic control loop, a controller compares a measured

Automation has been achieved by various means including

Department of Civil Engineering 3 SCET

3.1.2 CONTROL ACTIONS IN AUTOMATION

There are 4 actions mainly in automations which are discussed below.

3.2.1 Discrete control

Sequence control, in which a programmed sequence of discrete operations is performed,

3.2.2 PID controller

In a PID loop, the controller continuously calculates an error value as the

Fig 3.1 Block diagram of PID Controller system

Department of Civil Engineering 4 SCET

3.2.3 Sequential Control and Logical Sequence or System State Control

Department of Civil Engineering 5 SCET

3.2.4 Computer control

Department of Civil Engineering 6 SCET

3.2 AUTOMATION IN CANALS

Department of Civil Engineering 7 SCET

3.3 JOURNEY THROUGH THE MANUAL OF PRACTISE ( MOP 131 )

3.3.1 Chapter 1: Modernization Process, Constraints, and Concepts

Department of Civil Engineering 8 SCET

3.3.2 Chapter 2: Physical Infrastructure

Department of Civil Engineering 9 SCET

3.3.3 Chapter 3: SCADA Systems

Chapter 3 presents considerations regarding the design and implementation of a Supervisory

Department of Civil Engineering 10 SCET

(iv) SCADA project considerations. A discussion is provided detailing considerations

3.3.4 Chapter 4: Control Operation and Control

Concepts discussed in this chapter include:

3.3.5 Chapter 5: Canal Hydraulic Properties

Department of Civil Engineering 11 SCET

3.3.6 Chapter 6: Control Methods

Department of Civil Engineering 12 SCET

3.3.7Chapter 7: Verification of Controller Performance

Department of Civil Engineering 13 SCET

3.3.8 Chapter 8: Implementation of Control Systems

Chapter 6 addresses the practical implementation of canal automation as a project within a

Concepts discussed in this chapter include:

Department of Civil Engineering 14 SCET

Department of Civil Engineering 15 SCET

EL- SALAM CANAL AUTOMATION SYSTEM

Department of Civil Engineering 16 SCET

4.1 STUDY OF AREA DESCRIPTION

Damietta Mediterranean Sea

El-SalamSyphon El-Morra (2)South Qantara Area 75,000 Feddans

Suez Canal (4) Bir E-lAbd Area 70,000 Feddans

Pumping Station (5)El-Serr Wa E-lQuarir Area 135,000 Feddans

Fig 4.2. Layout of El-Salam Canal project.

4.3 Computer-Aided Control System for El-Salam Canal

flows and water quality along the canal.

Department of Civil Engineering 18 SCET

4.3.1 The Automatic Monitoring System (AMS)

b) A Data Terminal Unit (DTU)

c) Computer Control Model

4.3.2 Description of the Automatic Real-Time Control System (ARTCS)

Department of Civil Engineering 19 SCET