Proceedings of the 35th Chinese Control Conference

July 27-29, 2016, Chengdu, China

The optimization of location and control of pump stations in

urban drainage system
CUI Yiqun1 , HOU Shufang1 , LI Dewei1 , XI Yugeng1 , CEN Lihui2
1. Key Laboratory of System Control and Information Processing, Ministry of Education of China, Department of Automation, Shanghai
Jiao Tong University, Shanghai, 200240
E-mail: dwli@sjtu.edu.cn
2. School of Information Science and Engineering, Central South University, Changsha, 410083

Abstract: To reduce the overflow of the wastewater and high expense caused by redundant arrangement of the stations of pumps
in the urban drainage system, a hybrid logistic optimization model is proposed to choose the locations of pump stations and the
corresponding optimal control algorithm is also developed in this paper. The inflow in the conduit from rainfall is estimated
based on rainfall-runoff model and meanwhile the performance of the pump is described by the nonlinear pump model. After
determining the optimal pump locations by the optimization algorithm, this paper further studies the energy saving optimal
control of the system. When taking both the position and the working situation of the pumps into consideration, the energy
consumption of the system and the frequency of overflow can be brought down effectively.

Key Words: Urban Drainage System, Pump Station Locations, Energy Saving, Hybrid Optimization

1 Introduction pivotal pump stations up to a lead time of 20 min. [9] pro-

posed a successive linear approximation method, and used
Urban drainage systems are generally of paramount im-
a hierarchical tuning method to adaptively control the speed
portance to the normal operation of the city life, which are
of water pumps. In addition, [10] used genetic algorithm to
responsible for collecting and discharging the wastewater
optimize running state of the pump.
and rainwater into treatment plants [1] . The urban sewer
Considering the details mentioned above, this study fo-
network is a complex system with the flow of uncertainty,
cuses on the optimization of pumps locations in the urban
nonlinearity and hysteresis characteristics. It is also a high
drainage system. A hybrid logistic model is built based on
energy consuming system because of unreasonable arrange-
typical topological structure of the urban drainage system
ment of the locations of the pump devices. In 2002, Gold-
with the aim of cutting down the extra expense. The conduit
stein and Smith [2] reported that nearly 4% of the nations
inflow caused by rainfall is calculated on the basis of the
electricity is consumed by wastewater treatment plants and
rainfall-runoff model, and the pump performance is approx-
almost 80% of the electricity in the wastewater treatment
imately estimated by nonlinear pump model. By the pump
process is used by the pumps. Meanwhile, the pump stations
locations optimization algorithm we have put forward, the
are the most important flood control facilities of an urban
optimal pump locations in drainage system can be obtained.
drainage system with the function of accelerating the pro-
Besides the optimal solution of a certain drainage system,
cess of draining wastewater. Therefore, a further study of
this paper further come up with a better strategy for the en-
the pumps in the domain of energy is warranted. Accord-
ergy saving. Hence, the dispensable energy consumption
ing to incomplete statistics, in 2013, severe waterlogging in
and wastewater overflow can be reduced efficiently.
Chinese city occurred 11 times, about 6 million people were
This paper is organized as follows. In Section 2, we give
affected, and direct economic loss was nearly one hundred
the model of a sewer network and propose the hybrid model
million yuan [3] . Hence, the optimization of the pump sta-
of an urban drainage system. Section 3 develops the method
tions is very important for the urban drainage system to save
of optimization for the location of the pump stations and
energy and avoid wastewater overflow.
proposes the corresponding optimal control approach of the
System analysis is the most effective decision-making
pumps. In section 4, a case study is given to verify the pro-
method in planning and management. Nien-Sheng Hsu et
posed method.
al. [4] used artificial intelligence to construct the real-time
control model of two pump stations and study on overflow 2 Hybrid Modeling of Urban Drainage System
control of urban drainage system. Yagi et al. [5] applied ge-
netic algorithms and fuzzy control to optimize the operating 2.1 Modeling of Sewer Networks
of a combined sewer station. Raggl et al. [6] discussed an Urban drainage systems are generally networks composed
approach for sensorless control of a permanent-magnet syn- of sewers which collect urban wastewater and discharge
chronous bearingless pump. Chang et al. [7] used a counter them into one or more terminal points. As shown in Fig-
propagation fuzzy-neural network to obtain fuzzy informa- ure 1, it is a typical topological structure of urban drainage
tion about flood control. Chiang et al. [8] used an adaptive systems.
network-based fuzzy inference system and a CFNN for one When building the mathematical model, we select the
line prediction of the number of open and closed pumps in a storage condition of each conduit as state variable. Accord-
ing to the relationships among sewage inflow, outflow, stor-
This work is supported by National Natural Science Foundation
of China (NSFC) under Grant No. 61333009, 61374110, 61521063, age condition and the structure of urban drainage system,
61473317. the simplified mathematical model is built to reserve the ma-

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jor dynamic characteristic of the system in reality. In this
model, each conduit can be seen as a delay connection unit
combined with a storage unit [11] as shown in Figure 2. The
storage unit represents water storage capacity, and the delay
connection unit has the function of flow transmission with
delay characteristics.
Fig. 1: Network Topology of the Urban Drainage System
Fig. 2: Water-level Model of Single Chanel
According to the law of quality of conservation, the cal-
culation equation of the storage unit in conduit i is,
vi (k + 1) = vi (k) + Tc (qex,i (k) + qup,i (k) − qu,i (k)) (1)
where vi (k) is the water storage of conduit i at time k, Tc
is control period,qex,i (k) is the inflow caused by rainfall of
conduit i at time k, qup,i (k) is the inflow from the upstream
conduit, qu,i (k) is the outflow from conduit i at time k.
The delay connection unit is a first order delay unit, and
the calculation equation of inflow and outflow in conduit i
satisfies that,
Tc Tc
qout,i (k + 1) = (1 − )qout,i (k) + qout,i (k − τ ) (2)
ξ ξ
where ξ is time constant, τ is time delay factor.
By formula (1), (2), and the topology structure of ur-
ban drainage system, we can get the mathematical model of
sewer network as
v(k + 1) = Av(k) + Bqu (k) + Cqup (k) + Dqex (k) (3)
whereA = In∗n , v(k) = [v1 (k) v2 (k) . . . vn (k)]T , B =
−Tc ∗ In∗n , qu (k) = [qu1 (k) qu2 (k) . . . qun (k)]T , C is
system coupling matrix based on relationship among the
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conduits,qup (k) = [qup1 (k) qup2 (k) . . . qupn (k)]T , D =
Tc ∗ In∗n , qex (k) = [qex1 (k) qex2 (k) . . . qexn (k)]T , n is the
number of conduits.
Rainfall may have an impact on every inflow of each con-
duit in urban drainage system. That is to say, qex is the
resulting inflow caused by precipitation. It is necessary to
build rainfall-runoff model applied for calculating the inflow
qex accurately. We can obtain the equation below.
1
h2 − h1 l 2 h1 + h2 5
=I −f − [ − dp ] 3 (4)
Δt Sn 2
where Δt is time interval, h1 is initial water depth, h2 is final
water depth, I is average rainfall intensity, and f is average
infiltration rate.
By using the runoff model, the rainfall data in the sub-
catchment can be converted into rainfall inflow of each con-
duit in the model of sewer network. Upon the calculated
conduit inflow and constraints, the optimal outflow qu can
be obtained.
In a current urban drainage system, there exist some un-
reasonable operating procedures such as fixed pump-rev op-
eration, arbitrary running and stopping and so on. Those
problems directly lead to fairly low efficiency of the pump
and extra expenses of energy. Hence, proposing a model for
evaluating the performance of the pump is necessary.
According to [12], pump head characteristic curve can be
modeled by quadratic equation as,
H = aQ2 + bQ + c (5)
where H is pump head,Q is pump outflow,a,b,c are the cor-
responding coefficients to be identified.
The calculation equation among pump efficiency, pump
head and pump flow is described as follows [11],
η=
QH
2 3 (6)
Km H +(H +(Kf Q2 +Kz (Q−Q0 ) ))(Q+Kv Hv 2 )
where η is pump efficiency, Q is pump flow, H is pump
head, Km ,Kf ,Kz ,Kv are the corresponding coefficients to
be identified.
On the basis of the real data we have attained, the corre-
sponding coefficients can be obtained by the method of least
squares fitting and polynomial fitting.
2.2 Hybrid Modeling of Urban Drainage Systems
To optimize pump locations in urban drainage system, it
is necessary to get the hybrid model of urban drainage sys-
tem. The mathematical model of sewer networks is shown
in formula (3), which is a continuous model. After that, we
can use n ∗ n diagonal matrix Λn∗n (where diagonal ele-
ment λi ∈ (0, 1) )to determine whether there should be a
pump at the corresponding point. Element 0 means there is
no need for a pump at conduit i, while element 1 represents
opposite. When there is no pump at conduit i, the outflow of
the conduit depends on water level of the both upstream and
downstream conduits and several conduits parameters like
cross-section area. So it can be described as,

qnout (k) = μf 2g(hu (k) − hd (k)) (7)
Where qnout (k) is natural stream in conduit, μ is flow coeffi- The outflow of conduit i where there is a pump should
cient, f is gate area, hu (k) is water level of upstream at time satisfy that,
k, hd (k) is water level of downstream at time k.
Or if there is a pump at conduit i, the outflow can be cal- lb ≤ qu,i (k) ≤ ub (12)
culated by taking three pivotal factors into consideration, in- where lb and ub are the lower bound and upper bound of
cluding the storage condition, working state of the pump and pump flow of centrifugal pump respectively.
energy consumption of the system. To be specific, the pump To avoid wastewater overflow as well as keep storage con-
will use energy when lifting the wastewater. According to dition satisfied in the process, the storage of each conduit at
the nonlinear model of pump characteristics, the pump head next period should comply that,
can be calculated in formula (5).
Energy consumed by the pumps of lifting waste water can 0 ≤ vi (k + 1) ≤ vi,max (13)
be expressed as,
where vi,max is maximum storage of conduit i.
Ei = ρ ∗ g ∗ H(k) ∗ qu (k) ∗ Tc /ηp (8) In addition, assume that the total number of pumps in the
system is μ, and the diagonal elements λi in the diagonal
Based on the above analysis, we can obtain the hybrid model matrix Λ should satisfy that,
of urban drainage system as, i=n
λi = μ (14)
i=1
v(k + 1) = Av(k) + BΛqu (k) + B(1 − Λ)qnout (k)
The optimization variables include both logistic variable
λi (1 ≤ i ≤ n) and continuous variable qu,i (k) where λi =
+ Cqup (k) + Dqex (k) (9) 1.
The optimization algorithm of pump locations in urban
The total energy consumption of pumps in the system can drainage system can be summarized as below,
be expressed as,
i=n Tc
i=n min J(k) = Λ ∗ ρ ∗ g ∗ Hi (k) ∗ qu,i (k) ∗ (15)
E= Λ ∗ ρ ∗ g ∗ Hi (k) ∗ qu,i (k) ∗ Tc /ηp,i (10) X(k) i=1 ηi
i=1

where n is the conduit number in the system, Λ is the diag- s.t. lb ≤ qu,i (k) ≤ ub (16)
onal matrix to be solved with the diagonal element logistic
variable which means whether there is a pump at correspond-
0 ≤ vi (k + 1) ≤ vi,max (17)
ing location.
3 Optimization of Drainage Pumping Systems i=n
λi = μ (18)
i=1
In general, less number of pumps set in the urban drainage
systems, less energy cost and investment of establishing the
system. But less pumps may lead to the capability insuf- v(k + 1) = Av(k) + BΛqu (k) + B(1 − Λ)qnout (k)
ficient to handle the overflow. That is, there is a conflict +Cqup (k) + Dqex (k) (19)
among the number of pumps, the capability of handling the
overflow and the energy cost. So the location and control of 
qnout (k) = μf 2g(hu (k) − hd (k)), λi = 0 (20)
the pumps in urban drainage systems should be optimized
at the same time to reduce the number of pumps to save the
whole cost. From this idea, we give the following designs. H(k) = Aqu (k)2 + Bqu (k) + C (21)

3.1 Optimization of Pump Locations 

Considering the hybrid logistic optimal control model
above, we can define the performance index with aiming of
saving over-consumed energy by optimizing pump locations.
The optimization objective is to minimize the energy cost of
the drainage system, and the function can be expressed as,
i=n
J(k) = Λ ∗ ρ ∗ g ∗ Hi (k) ∗ qu,i (k) ∗ Tc /ηi (11)
i=1
where Λ is the diagonal matrix with the diagonal element
logistic variable,ρ is sewage density, Hi (k) is pump head,
q( u, i)(k) is pump outflow, TC is control period, ηi is pump
efficiency.
The optimization variable of the problem is the output
qu,i (k) and the diagonal matrix Λ which determines where
to set a pump station. While qu,i (k) is a continuous variable,
the diagonal matrix Λ is a discrete variable.
qnout (k) = μf 2g(hu (k) − hd (k)) (22)
where the optimization problem has a purpose to minimize
system power cost under the premise that no overflow hap-
pens. In the hybrid optimization problem, the optimization
variables can be divided into discrete part Λ and continu-
ous part qu (k). The optimization problem subjects to the
constraints in formulas (16)-(22). Furthermore, the variables
qex (k) are given according to the requirement of the rainfall
the system should handle.
The constants are determined by the initial parameters of
conduits and pumps. The conduits initial storage is close to
the maximum of the conduits capacity. By solving the hybrid
logistic programming problem, we can obtain the optimal
pump locations in a certain urban drainage system. In this
situation, the optimized system can even work effectively
when heavy rainfall occurs.

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3.2 Energy Saving Optimal Control of Drainage Sys- where v̄ and v are the lower and upper limit of storage con-
tem dition respectively.
By solving the hybrid logistic optimization problem, we To guarantee lower energy consumption and the stability
can obtain the optimal pump locations matrix Λ and the of drainage system, optimization objective of the system is
concrete hybrid drainage system model. After that, energy- to minimize the total energy cost of next two control periods
saving optimization control based on optimized selection of and the penalty term due to the fluctuation of storage con-
pump locations can be applied to reducing system power cost dition ṽ(k). Energy cost is added only if there is a pump
and avoid overflow of wastewater. In the optimization algo- at some conduit where its diagonal element is 1. Thus, the
rithm, λi is diagonal element of matrix Λ. λi = 1 means optimization objective function can be expressed as follows,
there is a pump at conduit i , while λi = 0 means there is no i=k+1 j=m g
pump at conduit i. J(k) = (qu (j, i) ∗ H(j, i) ∗ ρ ∗ )
i=k j=1 η(j, i)
We can achieve the optimal objective by optimizing the
outflow of conduits which have pumps. Therefore, the op-
timizing variables can be chosen as the outflow of relative 2 2
+r1 v(j, i)−ṽ(j, i) +r2 Δv(j, i) (27)
conduits at time k and time k + 1 as well as the expected
storage capacity ṽ(k), that is, From the analysis above, the whole energy saving opti-
U (k) = [qu (k), qu (k + 1), ṽ(k)] (23) mization algorithm can be described as follows,

If there is a pump at conduit i, the outflow depends on min J(K) (28)

U (K)
working status of the pump shown in formula (5) and (6).
Otherwise the outflow of the conduit depends on water level
of the upstream, downstream conduits and the parameters ⎡ ⎤ ⎡ ⎤
Bm 0 0 b̃m1
like cross-section area, which is shown in formula (7). The ⎢ Bm ⎢
⎢ Bm 0 ⎥
⎥ U (k) ≤ ⎢ b̃m2 ⎥
⎥
storage capacity of each conduit can be calculated by the s.t. ⎣ ⎦ ⎣ (29)
−Bm 0 0 b̃m3 ⎦
formula below,
−Bm −Bm 0 b̃m4
vi (k + 1) = vi (k) + Tc (qex,i (k) + qup,i (k)
−λi qu,i (k) − (1 − λi )qnout,i (k)) (24) ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
lb qu (k) ub
where λi = 0 means there is no pump at the conduit, and ⎣ lb ⎦ ≤ ⎣ qu (k + 1) ⎦ ≤ ⎣ ub ⎦ (30)
λi = 1 means there is a pump here. vi (k) and vi (k + 1) are v ṽ(k) v̄
the corresponding storage capacity of conduit i at time k and
time k+1, and qex,i (k) is the inflow caused by rainfall which
can be calculated by rainfall-runoff model. qup,i (k) is inflow v(k + 1) = Av(k) + BΛqu (k) + B(1 − Λ)qnout (k)
upstream. qu,i (k) is the outflow by pumps, and qnout,i (k) is +Cqup (k) + Dqex (k) (31)
the outflow caused by water level difference, when there is
no pump at conduit i. 
To avoid wastewater overflow, the conduit storage in fu- qnout (k) = μf 2g(hu (k) − hd (k)), λi = 0 (32)
ture should be less than the physical capacity and stay pos-
itive at the same time. Therefore, we can obtain the con-
H = aQ2 + bQ + c (33)
straints that the optimization variable should satisfy. That
is,
⎡ ⎤
Bm 0 0 ⎡ ⎤ (34)
⎢ Bm ⎥ qu (k)
⎢ B m 0 ⎥ ⎣ qu (k + 1) ⎦
⎣ −Bm 0 0 ⎦
ṽ(k) η=
−Bm −Bm 0
⎡ ⎤
Ref − w(k)
⎢ Ref − w(k) + Cqup (k + 1) + Dqex (k + 1) ⎥ qu H
≤⎢ ⎣
⎥ (25)
⎦ 2 1 (35)
w(k) Km H +(H +(Kf qu 2 +Kz (qu −qu,0 ) ))(qu +Kv Hv 2)
w(k) − Cqup (k + 1) − Dqex (k + 1)
The optimization objective is to minimize the value of
where w(k) = Av(k) + Cqup (k) + Dqex (k), Ref is the J(k) which is calculated in formula (27). In the optimiza-
physical capacity of the conduits. tion problem, optimal variable U (k) stands for conduit out-
As the outflow is restricted by the effective working range flow and storage condition is shown in formula (23). The
of the pump, the lower bound and upper bound of centrifugal constraints which state variables should subject to are in for-
pump outflow is lb and ub respectively. To guarantee the mula (29) and (30). In addition, the constraints which pump
stability of drainage system, the storage condition of each head and pump efficiency should subject to are shown in for-
conduit should vary in a certain region. Therefore, mula (33) and (34) relatively. Through identifying the corre-
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
lb qu (k) ub sponding coefficients and solving the optimization problem,
⎣ lb ⎦ ≤ ⎣ qu (k + 1) ⎦ ≤ ⎣ ub ⎦ (26) the optimal outflow of each conduit can be obtained, after
v ṽ(k) v̄ that the optimization objective can be achieved.

8625
4 Case Study Part of the comparison results are shown in Figure 3, 4,
and 5. From the results, we can get the storage condition,
Based on the hybrid logistic model and energy saving
optimal outflow and the real time energy consumption of
optimization algorithm above, the problem is simulated on
each conduit in the sewer network. The corresponding stor-
MATLAB. Firstly, the optimal pump locations of a certain
age condition and outflow in the whole simulation process
drainage system can be solved by toolbox. Then the energy
of conduit 3, 7, 8 is shown below.
saving optimization algorithm of an optimized pump loca-
tions drainage system is simulated.
4.1 Initial Parameters
In the simulation, we use the sewerage network shown in
Figure 1 as the topological structure of urban drainage sys-
tem. The initial values of conduits storage condition, phys-
ical capacity and upper bound of pump outflow are set in
Table 1.
Table 1 Initial Parameters
Upper
Conduit Initial Conduit
Conduit Bound
Capacity Storage Inflow
number of Outflow
(m3 ) (m3 ) (m3 /s)
(m3 /s)
1 150 130 0.1 0.078
2 150 130 0.1 0.014
3 250 230 0.25 0.096
4 150 130 0.1 0.017 Fig. 3: Comparison result of conduit 3
5 150 130 0.1 0.032
6 250 230 0.25 0.102
In the comparison, there are pumps at conduit 3 and 8.
7 450 330 0.25 0.055
8 450 380 0.45 0.233
From the results, we can see that the optimization algo-
9 450 380 0.45 0.158 rithm can make good use of conduit storage and there is no
wastewater overflow happening. Although there is no pump
In addition, control period is set T c = 25s, simulation at conduit 7, there is also no overflow in the simulation.
time length t is about 90 minutes. The rainwater inflow The outflow of conduit 3 is shown below in Figure 6.
is obtained from rainfall runoff model. The upstream and Moreover, the real time energy consumption contrast be-
downstream water levels are shown in Table 2 to calculate tween the above two optimization algorithms is demon-
the conduit outflow caused by water level difference. strated in Figure 7.
Table 2 Water Level of Conduit
Upstream Conduit
Conduit
Water Level Inflow
number
m (m3 /s)
1 3.09 1.74
2 2.94 1.74
3 1.74 1.28
4 3.94 1.67
5 4.44 2.74
6 3.94 1.67
7 1.67 1.28
8 1.28 0.80
9 0.80 0.55

4.2 Comparison with Traditional Algorithm

After optimizing pump locations of the above urban
drainage system, we can obtain optimal matrix,
Λ = diag(0, 0, 1, 0, 0, 1, 0, 1, 1)
Diagonal matrix Λ means that conduit 3, 6, 8, 9 should
install pump stations, while conduit 1, 2, 4, 5, 7 need not
install pump stations.
There are 4 pumps in the optimized system and 9 pumps
in the original drainage system. In the comparison, conduits
and pumps have the same initial parameters.
Fig. 4: Comparison result of conduit 7
(36)
After optimizing pump locations in urban drainage sys-
tem, we can use only 4 pumps in the system to replace 9
pumps. From the simulation results, we may conclude that
we can use less pumps to avoid wastewater overflow. What
is more, when the number of pumps decreased, the real time
energy consumption in urban drainage system falls down,
namely more energy can be saved.

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 5 Conclusion

From the analysis and simulation results above, we can

see that hybrid logistic optimization of pump locations and
operation in urban drainage system is an efficient means to
reduce wastewater overflow and energy consumption. The
hybrid optimization algorithm described in this paper shows
that even through the number of pumps decreased in the sys-
tem, the optimal objective of avoid overflow and reduce en-
ergy cost can be achieved effectively. The simulation re-
sults demonstrate that the proposed optimization algorithm
can reduce energy consumption more efficiently.

Fig. 5: Comparison result of conduit 8

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