A Compensation Method for Double-cylinder Hydraulic Gate Cylinder Stroke Error Based on Kalman Filter

Abstract

The invention provides a Kalman filter-based double-cylinder hydraulic gate oil cylinder stroke error compensation method, which is applied in the gate debugging operation process, and uses instruments to detect the stroke deviation value of the left and right oil cylinders and the water seal extrusion of the gate during the opening and closing operation process of the gate. Value, gate noise value, gate vibration value and other observation data of the gate operating state, and input into the Kalman filter equation, the updated predicted value is used as the cylinder stroke correction value, as the actual cylinder stroke value, the gate electrical control system according to According to the predicted stroke value of the cylinder, adjust the voltage value of the setting proportional control valve, so that the operating speed of the left and right cylinders changes, and the stroke difference between the two cylinders changes accordingly, and then adjust the state of the gate in the gate slot, and run with the best track to ensure 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...

AI Technical Summary

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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