Kalman filtering-based double-cylinder hydraulic gate oil cylinder stroke error compensation method

A Kalman filter and hydraulic gate technology, which is applied in special data processing applications, instruments, electrical digital data processing, etc., can solve the problems of inconsistency in actual gate states, low efficiency, and inability to widely apply various gate cylinder stroke corrections, etc. Achieve the effect of improving debugging work efficiency, solving low efficiency, and requiring less storage resources

CN110245404AActive Publication Date: 2019-09-17CHANGJIANG SURVEY PLANNING DESIGN & RES
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-09-17

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Abstract

The invention provides a Kalman filtering-based double-cylinder hydraulic gate oil cylinder stroke error compensation method. The method is applied to a gate debugging operation process, and comprises the steps of detecting the observation data of the gate operation states, such as the left and right oil cylinder stroke deviation values, a gate water seal extrusion value, a gate noise value, a gate vibration value, etc., during the gate opening and closing operation process through an instrument; inputting the observation data into a Kalman filtering equation; taking the updated predicted value as an oil cylinder stroke correction value and as an actual oil cylinder stroke value, enabling a gate electrical control system to adjust and set the voltage value of the proportional regulating valve according to the predicted oil cylinder stroke value, so that the operating rate of the left oil cylinder and the right oil cylinder is changed, the stroke difference of the left oil cylinder and the right oil cylinder is changed accordingly, and further the state of the gate in a gate groove is adjusted, the gate operates in an optimal track, and the gate is efficient, stable and reliable.
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Description

technical field

[0001] The invention relates to the technical field of gate hoist automatic control, in particular to a method for compensating the stroke error of a double-cylinder hydraulic gate cylinder based on Kalman filtering. Background technique

[0002] Large gates are important facilities in water conservancy projects, and play a key role in flood control, drought resistance, water supply and other applications. Large gate hoists generally use hydraulic hoists, while gates with large dimensions and large lifting point spacing use double-cylinder hydraulic hoists.

[0003] Due to factors such as gate load asymmetry, gate deformation under long-term load, building and mechanical equipment errors, etc., large gates are often biased to one side during the opening and closing process, or even jammed, such as Figure 4 shown. The double-cylinder hydraulic hoist uses an electrical synchronous deviation correction system to keep the gate running in the center during the g...

Examples

Embodiment Construction

[0052] The technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention.

[0053] In actual engineering, the specific implementation time of the present invention is when various software and hardware such as the gate metal structure, hydraulic system, electrical equipment, and computer system have been installed in place, and run in the joint debugging stage of all equipment.

[0054] Hereinafter, the method of this aspect will be described by taking Zaoshi Hydropower Station as a specific example. There are 5 surface holes and 4 bottom holes in Zaoshi Hydropower Station, and the surface hole gates adopt double-bar hydraulic hoists. This paper takes the elimination of gate vibration and noise during the commissioning process of the 3# surface gate gate hoist as an example to illustrate the application of the method of the present invention in the joint commissioning stage of ...