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

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.

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...

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Problems solved by technology

[0008] The invention provides a Kalman filter-based double-cylinder hydraulic gate oil cylinder stroke error compensation method, which can solve the inconsistency between the gate state reflected by the double-cylinder hydraulic gate cylinder stroke detection value and the actual gate state and the existing error compensation method existing in the current engineering The problem is that the efficiency is low, and it cannot be widely used in the stroke correction of various gate cylinders

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