Control method and system of river model sand adding system

Abstract

The invention provides a control method and system for a river model sand adding system, and relates to the technical field of automatic control, effective water flow parameter data are generated by obtaining and verifying water flow parameter data in a river model, and the optimal sand adding amount proportion matched with the water flow state of the river model is calculated; through the control center, a sand adding control signal used for adjusting the sand adding rate is generated and verified, and a verified signal is obtained; the river model sand adding system is controlled to send a frequency adjusting instruction to the variable frequency pump so as to calculate the sand conveying flow power of the verified signal, a sand adding execution component in the river model sand adding system is adjusted, and the actual sand adding rate of the sand adding execution component after adjusting operation is adjusted; according to the method, dynamic matching between the actual sand conveying amount of the sand adding execution component and the theoretical sand needing amount is kept, rapid response and accurate matching of the sand adding rate to the unsteady-state water flow condition are achieved, and the accuracy and stability of water-sand balance simulation in a river model test are improved.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a control method and system for a river engineering model sand-addition system. Background Technology

[0002] In river engineering physical model tests, accurately simulating the water-sediment interaction process of natural rivers is a key aspect of studying river channel evolution, the impact of hydraulic engineering projects, and flood control measures. Due to the complex and variable flow conditions of actual rivers, model tests need to dynamically adjust the sediment supply based on real-time flow conditions to maintain water-sediment balance and accurately reproduce the scouring and deposition process of the prototype.

[0003] Current research employs feedback control strategies based on fixed empirical curves to automate the sediment addition process. By pre-setting a mapping table between water flow parameters and sediment addition, the system collects water flow information in real time during operation and retrieves the corresponding sediment addition setpoint from the table, thereby driving the sediment addition device to supply sediment at a constant rate. When a change in water flow conditions is detected, the controller adjusts the output signal according to preset rules, driving the actuator to change the sediment addition frequency. However, existing solutions rely on static empirical mapping relationships, making it difficult to adapt to dynamic changes in the water-sediment coupling relationship under unsteady or abrupt water flow conditions. This leads to sediment addition response lag or overshoot. When water flow velocity fluctuates rapidly or sediment concentration changes abruptly, the system cannot promptly reflect the actual required sediment addition intensity, easily causing localized excessive sedimentation or scouring instability. Furthermore, the lack of a dynamic evaluation mechanism for the effectiveness and timeliness of control commands means that even with sensor data delays or untimely actuator responses, the original commands are still output, exacerbating control deviations and affecting overall simulation accuracy. Summary of the Invention

[0004] The purpose of this application is to provide a control method and system for a river engineering model sediment addition system, in order to solve the problems of delayed or overshooting response, easy occurrence of local excessive siltation or scouring instability, and insufficient overall simulation accuracy in the existing technology.

[0005] To address the aforementioned technical problems, in a first aspect, this application provides a control method for a river engineering model sediment addition system, comprising: The flow parameter data within the river engineering model is acquired, and the validity of the flow parameter data is verified to generate valid flow parameter data. The valid flow parameter data is then transmitted to the control center of the river engineering model sediment addition system. The flow parameter data includes flow velocity, sediment concentration, and water depth monitoring information. Based on the effective water flow parameter data received by the control center, the optimal sediment addition ratio that adapts to the water flow state of the river engineering model is calculated. Based on the optimal sand addition ratio, a sand addition control signal for adjusting the sand addition rate is generated through the control center. The timeliness of the sand addition control signal is verified to obtain a verified signal. After receiving the verified signal, the control center sends a frequency adjustment command to the variable frequency pump to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component in the river model sediment transport system used to regulate the water and sediment transport flow. Based on the aforementioned sediment transport flow dynamics, the sediment feeding execution components in the river engineering model sediment feeding system are adjusted, and the actual sediment feeding rate of the sediment feeding execution components after the adjustment operation is adjusted, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution components and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

[0006] Optionally, based on the effective flow parameter data received by the control center, the optimal sediment addition ratio adapted to the flow state of the river engineering model is calculated, including: Based on the effective water flow parameter data received by the control center, the flow velocity change between adjacent time moments is calculated, the average value of all flow velocity changes is taken as the flow velocity change trend value, and a trend correction coefficient is determined based on the flow velocity change trend value. Based on the flow velocity change trend value, determine the allowable sediment carrying range of the water flow within the river engineering model; The real-time sediment concentration and real-time water depth values ​​of each monitoring point in the river engineering model are extracted from the effective flow parameter data, and the comprehensive sediment concentration is calculated by combining the total number of monitoring points. The comprehensive sediment concentration is compared with the allowable sediment carrying range to obtain the sediment load rate matched by the comprehensive sediment concentration in the allowable sediment carrying range; Based on the sediment load rate, the target sediment loading ratio that matches the water flow velocity in the effective water flow parameter data is queried from the table of correspondence between preset water flow velocity and sediment loading ratio. Based on the effective flow parameter data, the water depth correction coefficient is determined. The target sediment addition ratio, the water depth correction coefficient, and the trend correction coefficient are multiplied to obtain the optimal sediment addition ratio that fits the flow state of the river engineering model.

[0007] Secondly, this application provides a control method and system for a river engineering model sediment addition system, including: The acquisition module is used to acquire water flow parameter data within the river engineering model, and to verify the validity of the water flow parameter data to generate valid water flow parameter data. The valid water flow parameter data is then transmitted to the control center of the river engineering model sediment addition system. The water flow parameter data includes water flow velocity, sediment concentration, and water depth monitoring information. The first calculation module is used to calculate the optimal sediment addition ratio that adapts to the flow state of the river engineering model based on the effective flow parameter data received by the control center. The verification module is used to generate a sand addition control signal for adjusting the sand addition rate through the control center according to the optimal sand addition ratio, and to perform timeliness verification on the sand addition control signal to obtain a verified signal. The second calculation module is used to control the river model sediment addition system to send a frequency adjustment command to the variable frequency pump after the control center receives the verified signal, so as to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component of the river model sediment addition system used to regulate the water and sediment transport flow. The adjustment module is used to adjust the sediment feeding execution component in the river engineering model sediment feeding system according to the sediment transport flow dynamics, and adjust the actual sediment feeding rate of the sediment feeding execution component after the adjustment operation, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution component and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

[0008] Thirdly, this application provides an electronic device, comprising: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of a method as described in the first aspect above.

[0009] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of a control method for a river engineering model sand-addition system as described in the first aspect above.

[0010] The control method for a sediment addition system in a river engineering model provided in this application acquires and verifies the validity of water flow parameter data within the river engineering model, thereby eliminating abnormal or unreliable monitoring information and ensuring that the data input to the control system accurately reflects the current water flow state, avoiding erroneous decisions due to sensor failure or interference. After transmitting the valid water flow parameters to the control center, the optimal sediment addition ratio is dynamically calculated based on real-time flow velocity, sediment concentration, and water depth information, enabling the sediment addition strategy to adaptively adjust with changes in water flow conditions. This overcomes the problem of response lag or mismatch caused by traditional methods relying on static empirical relationships. Based on this, a sediment addition control signal is generated and its timeliness is verified, which can evaluate the reliability of the signal. The time delay from signal generation to execution is mitigated by parameter compensation for commands exceeding the response window, improving the time synchronization between control actions and the current water and sediment state. Subsequently, frequency adjustment commands are sent to the variable frequency pump through the control center, using it as the core power component to precisely regulate the sediment transport flow rate, achieving continuous adjustability of the water and sediment mixture transport capacity. Finally, the actual sediment supply rate of the sediment supply execution component is adjusted according to the sediment transport flow rate, and the theoretical sediment demand calculated by combining it with historical effective data is dynamically compared to continuously optimize the execution parameters, ensuring that the actual sediment supply always remains coordinated with the model requirements, thus enhancing the response capability and control stability of the sediment supply process under unsteady and abrupt water flow conditions. Furthermore, regarding the adjustment process of the sediment-addition actuator, the target rotational speed and target opening degree are first calculated based on its inherent characteristic parameters such as mechanical transmission ratio and orifice coefficient, combined with the current sediment transport flow dynamics. This ensures that the control command matches the physical characteristics of the actuator, improving control accuracy. Subsequently, the actuator is started and its actual sediment-addition rate is collected. The rate deviation is obtained by comparing it with the target value in real time, and the parameter correction step size is determined accordingly, forming a closed-loop feedback adjustment mechanism to gradually approach the ideal sediment-addition state. Based on the initial correction, the difference between the historical effective water flow parameters and the data of the previous cycle is further analyzed. When the change exceeds the set threshold, the sediment-addition rate after the initial correction is readjusted according to the latest water and sediment dynamic conditions. This enables the system to respond quickly to significant changes in the water flow state, avoiding control disconnection due to sudden environmental changes. This solves the problems of slow sediment-addition response, adjustment oscillation, or steady-state deviation caused by the lack of dynamic feedback and multi-level correction capabilities. It enhances the adaptability and robustness of the sediment-addition actuator to complex and unsteady water flow environments, ensuring the continuity and authenticity of the water and sediment transport process in the model test. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart illustrating a control method for a river engineering model sand-addition system provided in an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of the control system of a river engineering model sand-addition system provided in an embodiment of this application. Detailed Implementation

[0014] Traditional methods often employ fixed, empirical parameter mapping relationships for sediment supply control, neglecting the impact of water flow evolution trends and system response delays. When sudden changes in flow velocity, rapid adjustments in water depth, or non-uniform sediment concentration distribution occur within the model, such static strategies struggle to adjust sediment supply intensity in a timely manner, easily leading to excessive localized siltation or intensified scouring during the simulation. Existing control procedures typically ignore the time delays in sensor data acquisition and transmission, as well as the impact of actuator response lags. Control signals are executed directly once generated, lacking a mechanism to assess the compatibility of the command with the actual operating conditions at the time of command effectiveness. This results in control actions being out of sync with the current water and sediment state, further reducing the accuracy and stability of system regulation. To address the aforementioned issues, this application constructs a two-layer verification mechanism that includes data validity verification and control signal timeliness verification. First, it collects and verifies the validity of water flow velocity, sediment concentration, and water depth information from the river engineering model, ensuring the accuracy of the input data. Then, the valid data is transmitted to the control center. The optimal sediment addition ratio is calculated based on real-time water flow conditions, generating a sediment addition control signal. The execution time is predicted based on the signal transmission path and generation time, determining if it falls within the allowable time range. If it does, the control parameters are dynamically adjusted to ensure the command remains applicable during execution. The required sediment transport flow rate is matched by adjusting the operating frequency and duration of the variable frequency pump, which then drives the sediment addition execution component to adjust the actual sediment addition rate. Combined with the theoretical sediment requirement, this achieves dynamic matching between the actual sediment transport volume and the theoretical demand, improving the response capability and control accuracy of the sediment addition process to complex water flow changes.

[0015] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] The core of this application is to provide a control method for a river engineering model sediment addition system, and a flowchart of one specific implementation is shown below. Figure 1 As shown, the method includes: Step 101: Obtain the water flow parameter data in the river engineering model, and verify the validity of the water flow parameter data to generate valid water flow parameter data. Transmit the valid water flow parameter data to the control center of the river engineering model sediment addition system. The water flow parameter data includes water flow velocity, sediment concentration and water depth monitoring information.

[0017] In this step, the river engineering model refers to a physical model constructed by scaling up the natural river according to its topography, hydrology, and sediment characteristics. It reflects the water and sediment movement patterns of the natural river and is used to study river channel evolution, the impact of water conservancy projects, and flood control measures. It is obtained by scaling up the prototype river's measured parameters (such as channel width, water depth, and flow velocity) using the principle of similarity. The flow parameter data refers to the basic data set reflecting the flow state within the river engineering model, including flow velocity, sediment content, and water depth monitoring information. It reflects the current flow speed, sediment content, and water depth within the model and is collected in real time by various sensors deployed within the model (flow velocity sensors, sediment content sensors, and water depth sensors). Valid flow parameter data refers to the data that meets the requirements after validating the flow parameter data. It reflects the actual flow state within the river engineering model and is used to provide accurate calculation basis for the control center. It is obtained by comparing the flow parameter data with a preset reasonable value range and removing abnormal data. A sediment supply system for a river engineering model refers to a system used to provide and regulate sediment replenishment to the model. It includes sensors, a control center, a variable frequency pump, and sediment supply actuators. This system dynamically adjusts the sediment supply rate based on the water flow conditions within the model and is designed and constructed according to the experimental requirements and water-sediment balance requirements of the model. The control center is the core control unit of the system, responsible for receiving and processing effective water flow parameter data, generating and verifying sediment supply control signals, and issuing adjustment commands to the variable frequency pump and sediment supply actuators. It reflects the system's decision-making and control capabilities and integrates data processing, command generation, and signal transmission functions. Water depth monitoring information refers to water depth data collected by water depth sensors at different locations within the model, reflecting the vertical distribution of water within the model.

[0018] In this embodiment, data collected by all sensors at the same timestamp are first acquired and integrated into flow parameter data in the format of timestamp + cross-section number + sensor type + parameter value. Specifically, three flow velocity sensors, two sediment concentration sensors, and one water depth sensor are deployed at each of the three typical cross-sections of the river engineering model (corresponding to the upstream inflow area, the midstream main channel area, and the downstream outlet area, respectively). The flow velocity sensor adopts a propeller structure, the sediment concentration sensor is based on the optical scattering principle, and the water depth sensor is ultrasonic (the water depth is calculated by the time difference between transmitting and receiving ultrasonic waves). All sensors work synchronously at a frequency of collecting data once every 10 seconds, collecting water flow velocity, sediment concentration, and water depth monitoring information at each monitoring point to ensure that each set of data can be traced back to the specific monitoring location and sensor. Next, the threshold comparison method was used to verify the validity of the flow parameter data by parameter and scenario. The specific process is as follows: Validation of flow velocity: First, based on the velocity range of the prototype river corresponding to the river engineering model, and combined with the scaling ratio between the model and the prototype, the reasonable range of flow velocity in the river engineering model was calculated to be 0.002-0.03 m / s (i.e., the prototype velocity divided by the scaling ratio); then, each velocity value in the flow parameter data was extracted one by one and compared with the range of 0.002-0.03 m / s: If the velocity value is within this range and is consistent with the same cross-section... If the difference between the flow velocity values ​​collected by two adjacent flow velocity sensors is less than 0.005 m / s (to avoid single sensor malfunction), the flow velocity value is considered valid. If the flow velocity value is less than 0.002 m / s (indicated as an anomaly caused by water flow stagnation) or greater than 0.03 m / s (indicated as an anomaly caused by sensor disturbance), or the difference between the flow velocity value and the adjacent sensor value exceeds 0.005 m / s, the flow velocity value is marked as abnormal data and temporarily replaced by the average of two other valid flow velocity values ​​at the same cross-section (if the other two are also abnormal, the flow velocity data for that cross-section at that timestamp is removed). Validation of sediment concentration: Based on the research objectives of the river engineering model test (e.g., the sediment concentration range is set to 0.1-5 kg / m³ for simulating normal river scouring and deposition, and 5-20 kg / m³ for simulating flood season), a reasonable range of sediment concentration values ​​is determined. Each sediment concentration value is extracted from the flow parameter data. If the sediment concentration value is within the reasonable range, and the variation range of the sediment concentration value collected for three consecutive times is less than 1 kg / m³ (to avoid instantaneous anomalies caused by sudden interference), then the sediment concentration value is considered valid. If the sediment concentration value is less than 0.1 kg / m³ (indicated as the sensor did not capture the sediment signal) or greater than the set upper limit (indicated as sensor mismeasurement caused by sediment accumulation), or the variation range exceeds 1 kg / m³ for three consecutive times, then it is marked as abnormal data and replaced with the moving average of the previous five valid sediment concentration values ​​of the sensor (if there is no valid data in the previous five times, then the sediment concentration data of the sensor at that time stamp is removed).Verification of the validity of water depth monitoring information: Based on the physical design parameters of the river engineering model (e.g., the depth of the model trench is 0.5m, and a safety distance of 0.05m is reserved when installing the sensor), the reasonable range of water depth monitoring information is determined to be 0.05-0.45m (to avoid the sensor being exposed above the water surface or buried in the bottom of the trench); each water depth value is extracted from the flow parameter data. If the water depth value is within the range of 0.05-0.45m, and the difference between the water depth value and the water depth value of the adjacent monitoring point (2m apart) at the same cross section is less than 0.03m (consistent with the gradual change of water depth in natural rivers), then the water depth value is considered valid; if the water depth value is less than 0.05m (indicated as the sensor being exposed above the water surface) or greater than 0.45m (indicated as the sensor being buried by sediment), or the difference between the water depth value and the water depth value of the adjacent monitoring point exceeds 0.03m, then it is marked as abnormal data and replaced with the value obtained by linear interpolation of the water depth values ​​of the two adjacent monitoring points (if the data of the adjacent monitoring point is also abnormal, then the water depth data of the monitoring point under that timestamp is removed). After validating all parameters, the flow parameter data at the same time stamp undergoes a second screening: only datasets with valid (or valid after reasonable substitution) flow velocity, sediment concentration, and water depth monitoring information are retained. These datasets are then integrated in the format of timestamp + average value of valid parameters at each cross-section to form valid flow parameter data. Finally, the valid flow parameter data is transmitted to the control center of the river engineering model sediment addition system via the bus-type signal transmission module, with a 16-bit cyclic redundancy check code (generated by a specific algorithm to detect whether the data has been tampered with or lost during transmission) attached. After receiving the data, the control center first verifies the 16-bit cyclic redundancy check code using a preset algorithm. After confirming that the data transmission is error-free, the valid flow parameter data is stored in the local database, providing an accurate and traceable data foundation for subsequent processing.

[0019] Step 102: Based on the effective water flow parameter data received by the control center, calculate the optimal sediment addition ratio that is suitable for the water flow state of the river engineering model.

[0020] In this step, the flow state refers to the overall movement of the water flow and the distribution of sediment within the river engineering model, reflecting the comprehensive characteristics of flow velocity, sediment concentration, and water depth, and is used to determine the appropriate sediment addition ratio. The optimal sediment addition ratio refers to the sediment supply ratio suitable for the current flow state, reflecting the sediment supply intensity required by the river engineering model under the current flow conditions, and is used to generate sediment addition control signals.

[0021] Step 103: Based on the optimal sand addition ratio, a sand addition control signal for adjusting the sand addition rate is generated through the control center. The timeliness of the sand addition control signal is verified to obtain the verified signal.

[0022] In this step, the sand-addition control signal refers to the command signal generated by the control center to adjust the sand-addition rate. It includes the target sand-addition rate and the initial operating parameters of the variable frequency pump, and is used to drive the sand-addition actuator and the variable frequency pump. The verified signal refers to the valid command signal obtained after verifying the timeliness of the sand-addition control signal. It reflects the sand-addition control requirements without delay or with the delay corrected, and is used to ensure that the variable frequency pump and the sand-addition actuator can match the current water flow state when they operate.

[0023] Step 104: After receiving the verified signal, the control center sends a frequency adjustment command to the variable frequency pump to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component in the river model sediment transport system used to regulate the water and sediment transport flow.

[0024] In this step, the frequency adjustment command refers to the instruction signal issued by the control center of the river engineering model sediment addition system to the variable frequency pump to adjust the operating frequency of the variable frequency pump. It reflects the specific adjustment requirements of the control center for the operating frequency of the variable frequency pump and is the core instruction carrier connecting the verified signal with the actual operation of the variable frequency pump. Sediment transport flow power refers to the amount of power provided by the variable frequency pump for water and sediment transport, reflecting the pump's ability to drive sediment transport and used to determine the adjustment range of the sediment addition actuator. Water and sediment transport flow rate refers to the volume of water and sediment mixture transported by the variable frequency pump per unit time, reflecting its sediment transport capacity. It is used to calculate the sediment transport flow power and is obtained based on the flow sensor deployed at the output end of the variable frequency pump.

[0025] Step 105: Based on the sediment transport flow dynamics, adjust the sediment feeding execution component in the river engineering model sediment feeding system, and adjust the actual sediment feeding rate of the sediment feeding execution component after the adjustment operation, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution component and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

[0026] In this step, the sediment-adding execution component refers to the part of the sediment-adding system in the river engineering model that directly completes sediment transport and rate regulation, such as sediment transport pipeline valves and sediment transport motors, used to adjust the actual sediment-adding rate. The actual sediment-adding rate refers to the amount of sediment actually transported by the sediment-adding execution component per unit time, reflecting the actual working effect of the component, and is used to compare with the target sediment-adding rate to adjust parameters. The theoretical sediment requirement refers to the amount of sediment required by the river engineering model under a certain flow condition, reflecting the sediment supply benchmark for maintaining water-sediment balance under that flow condition, and is used to compare with the actual transported sediment amount to achieve dynamic matching. It is calculated based on the effective flow parameter data (flow velocity × sediment concentration × water depth × river engineering model coefficient) received by the control center before historical time nodes. The effective flow parameter data received before historical time nodes refers to the effective flow parameter data received and verified by the control center at one or more preset time nodes in the past (such as the previous calculation cycle, the previous 10 minutes, etc.), reflecting the historical flow state of the river engineering model.

[0027] The embodiments of this application solve the problems of traditional sediment supply systems, such as reliance on static empirical curves, response lag, and low water-sediment matching accuracy. They improve the real-time performance and accuracy of sediment replenishment in river engineering model tests, effectively adapt to water-sediment coupling changes under unsteady flow conditions, reduce local excessive siltation or scouring instability, improve the simulation accuracy of water-sediment interaction processes in natural rivers in river engineering physical model tests, and meet the technical requirements of high precision, strong real-time performance, and adaptive adjustment.

[0028] This application provides a specific embodiment. Step 102 involves calculating the optimal sediment addition ratio to match the flow state of the river engineering model based on the effective flow parameter data received by the control center. This specifically includes the following steps:

[0029] Step 201: Based on the effective water flow parameter data received by the control center, calculate the velocity change between adjacent time points, take the average value of all velocity changes as the velocity change trend value, and determine the trend correction coefficient based on the velocity change trend value.

[0030] In this step, the velocity change refers to the difference in flow velocity between two adjacent data collection moments within the river engineering model. It reflects the magnitude and direction of the velocity change between adjacent moments (positive values ​​indicate increasing velocity, negative values ​​indicate decreasing velocity). This is used to calculate the velocity change trend value, based on the flow velocity at adjacent moments from the effective flow parameter data received by the control center. The velocity change trend value is the arithmetic mean of the velocity changes at all adjacent moments, reflecting the overall direction and average intensity of velocity change within the river engineering model (positive values ​​indicate increasing overall velocity, negative values ​​indicate decreasing overall velocity). This is used to determine the trend correction coefficient and the allowable sediment-carrying range. The trend correction coefficient is a coefficient set based on the magnitude and sign of the velocity change trend value to correct the sediment addition ratio. It reflects the impact of flow velocity changes on sediment replenishment demand (the sediment addition ratio needs to be appropriately increased when the velocity increases and appropriately decreased when the velocity decreases). This is used to subsequently calculate the optimal sediment addition ratio, determined based on the velocity change trend value and a preset trend-coefficient correspondence rule.

[0031] This step filters out adjacent data points generated at preset acquisition intervals (e.g., once every 10 seconds) from the valid water flow parameter data received by the control center, and then extracts the corresponding water flow velocity for each adjacent time point. For each group of adjacent time points, the flow velocity change is calculated by subtracting the flow velocity of the previous time point from the flow velocity of the next time point. After the flow velocity change for all adjacent time points has been calculated, all changes are added together to obtain the total change, which is then divided by the total number of flow velocity changes (i.e., the number of groups of adjacent time points) to obtain the flow velocity change trend value. Subsequently, it is compared with the system's preset trend value-correction coefficient correspondence rule. (This rule is based on the influence of changes in water flow velocity on sediment replenishment demand in the river engineering model. For example, when the trend value of the flow velocity change is >0.002 m / s, it indicates that the overall flow velocity is increasing and the sediment carrying capacity of the water is enhanced, so the sediment addition ratio needs to be increased. Therefore, the trend correction coefficient is set to 1.1; when -0.002 m / s ≤ trend value ≤ 0.002 m / s, the overall flow velocity is stable and the sediment carrying capacity does not change significantly. The coefficient is set to 1.0; when the trend value < -0.002 m / s, the overall flow velocity is decreasing and the sediment carrying capacity is weakening. The sediment addition ratio needs to be reduced. The coefficient is set to 0.9.) Determine the current trend correction coefficient.

[0032] Step 202: Determine the allowable sediment carrying range of the water flow within the river engineering model based on the flow velocity change trend value.

[0033] In this step, the allowable sediment-carrying range refers to the upper and lower limits of the amount of sediment that the water flow can stably carry under the current flow velocity change trend within the river engineering model. It reflects the dynamic range of the water flow's sediment-carrying capacity (the upper limit of the range increases when the flow velocity increases and decreases when the flow velocity decreases). It is used to compare with the comprehensive sediment load to determine the sediment load rate, and is determined based on the flow velocity change trend value and the preset trend-sediment-carrying range correspondence rule.

[0034] This step uses the flow velocity change trend value as the core basis, and compares it with the system's preset trend value-allowable sediment-carrying range corresponding rules. These rules are based on the influence of flow velocity change on the sediment-carrying capacity of water flow. For example, when the flow velocity change trend value is 0.0015 m / s, the flow velocity shows a slight increasing trend, and the sediment-carrying capacity of water flow is slightly improved. Therefore, the allowable sediment-carrying range is set to 0.5-2.5 kg / m³. When the flow velocity change trend value is -0.001 m / s, the flow velocity shows a slight decreasing trend, and the sediment-carrying capacity is slightly reduced. The range is set to 0.3-2.0 kg / m³. This determines the allowable sediment-carrying range of the water flow in the current river engineering model. This range clarifies the upper and lower limits of the water flow that can stably carry sediment under the current water flow conditions.

[0035] Step 203: Extract the real-time sediment concentration and real-time water depth values ​​of each monitoring point in the river engineering model from the effective water flow parameter data, and calculate the comprehensive sediment concentration by combining the total number of monitoring points.

[0036] In this step, the total number of monitoring points refers to the total number of sensor deployment points within the river engineering model used to collect water flow parameter data. This reflects the coverage and density of data collection and is preset based on the scale of the river engineering model (such as model length and width) and the required monitoring accuracy. The comprehensive sediment concentration refers to the average real-time sediment concentration of all monitoring points within the river engineering model, weighted by the real-time water depth of the corresponding monitoring points. This reflects the average level of overall sediment distribution within the model (monitoring points with greater water depth have a higher weight in terms of influence on the comprehensive sediment concentration) and is used for comparison with the allowable sediment carrying range.

[0037] This step extracts the real-time sediment concentration and corresponding real-time water depth of each monitoring point from the effective flow parameter data, according to the monitoring point number (e.g., monitoring points 1 to 10). At the same time, it retrieves the preset total number of monitoring points from the system's preset parameter library. For each monitoring point, the weighted sediment concentration of the individual monitoring point is calculated by multiplying the real-time sediment concentration of that monitoring point by the corresponding real-time water depth (the greater the water depth of the monitoring point, the greater its impact on the overall sediment state, so weighting is required). After the weighted sediment concentration of all monitoring points is calculated, all weighted sediment concentrations are added together to obtain the total weighted sediment concentration, and the real-time water depth of all monitoring points is added together to obtain the total water depth. The comprehensive sediment concentration = total weighted sediment concentration ÷ total water depth.

[0038] Step 204: Compare the comprehensive sediment concentration with the allowable sediment carrying range to obtain the sediment load rate that matches the comprehensive sediment concentration within the allowable sediment carrying range.

[0039] In this step, the sediment load rate refers to the ratio of the total sediment content to the upper limit of the allowable sediment carrying range. It reflects the load degree of the actual sediment content in the current model relative to the maximum sediment carrying capacity of the water flow (the smaller the ratio, the larger the sediment carrying capacity of the water flow is, and the larger the ratio is, the larger the sediment carrying capacity of the water flow is, and it is used to query the target sediment addition base ratio.

[0040] This step compares the overall sediment concentration with the allowable sediment carrying range, extracts the upper limit value from the allowable sediment carrying range (this value represents the maximum sediment carrying capacity of the current water flow), and the sediment load rate of the overall sediment concentration within the allowable sediment carrying range = overall sediment concentration ÷ upper limit value of the allowable sediment carrying range. This load rate can intuitively reflect the load degree of the current actual sediment concentration relative to the maximum sediment carrying capacity of the water flow.

[0041] Step 205: Based on the sediment load rate, query the target sediment loading ratio that matches the water flow velocity in the effective water flow parameter data from the preset correspondence table between water flow velocity and sediment loading ratio; In this step, the pre-defined correspondence table between water flow velocity and sediment addition ratio refers to a table pre-established based on river engineering model test data, recording the initial sediment addition ratio corresponding to different water flow velocities. This table reflects the foundational strength of sediment replenishment at different flow velocities (the higher the flow velocity, the higher the initial sediment addition ratio). It is used to query the target sediment addition ratio and is compiled based on adaptation data of water flow velocity and sediment addition from a large number of river engineering model tests. The target sediment addition ratio refers to the initial sediment addition ratio found in the pre-defined correspondence table, which is adapted to the water flow velocity in the current effective water flow parameter data. It reflects the initial sediment replenishment ratio at the current flow velocity without considering other factors (such as water depth and flow velocity trend), and is used to subsequently calculate the optimal sediment addition ratio in conjunction with correction coefficients.

[0042] This step involves using a pre-defined table of water flow velocity and sediment loading ratio (based on extensive river engineering model test data, recording the initial sediment loading ratio at different flow velocities, e.g., a flow velocity of 0.02 m / s corresponds to a base ratio of 0.7, and 0.023 m / s corresponds to 0.8); then extracting the current actual water flow velocity from the effective water flow parameter data; and fine-tuning the base ratio found in the table based on the sediment load rate (e.g., when the load rate is >0.8, it indicates that the current sediment content is close to the upper limit of sediment carrying capacity, and the sediment loading ratio needs to be reduced, so the base ratio for the corresponding flow velocity in the table is reduced by 5%; when the load rate is <0.5, it indicates that the current sediment content is far below the upper limit of sediment carrying capacity, and the sediment loading ratio needs to be increased, so the base ratio for the corresponding flow velocity in the table is increased by 5%; when the load rate is between 0.5 and 0.8, the sediment load is moderate, and the corresponding value in the table is directly taken), to finally determine the target sediment loading base ratio that matches the current water flow velocity.

[0043] Step 206: Based on the effective flow parameter data, determine the water depth correction coefficient, and multiply the target sediment addition base ratio, the water depth correction coefficient, and the trend correction coefficient to obtain the optimal sediment addition ratio that matches the flow state of the river engineering model.

[0044] In this step, the water depth correction coefficient refers to the water depth-related information (average water depth, water depth fluctuation, water depth gradient) in the effective flow parameter data, which reflects the impact of water depth distribution characteristics on sediment replenishment demand and is used to calculate the optimal sediment addition ratio in subsequent calculations.

[0045] Optionally, step 206 involves determining the water depth correction factor based on the effective flow parameter data, specifically including the following steps: Step 211: Calculate the average water depth based on the real-time water depth values ​​of each monitoring point and the total number of monitoring points.

[0046] In this step, the average water depth value refers to the arithmetic mean of the real-time water depth values ​​of all monitoring points within the river engineering model, reflecting the overall average level of water depth within the model (used to determine whether the overall water depth is too shallow, moderate, or too deep).

[0047] Step 212: Calculate the water depth deviation between the real-time water depth value and the average water depth value at each monitoring point, and take the sum of the absolute values ​​of the maximum positive and the maximum negative values ​​of the water depth deviation as the water depth fluctuation amplitude.

[0048] In this step, the water depth deviation value refers to the difference between the real-time water depth value and the average water depth value at each monitoring point. It reflects the degree of deviation of the water depth at a single monitoring point relative to the overall average water depth (positive values ​​indicate above the average, negative values ​​indicate below the average), and is used to calculate the water depth fluctuation amplitude. The maximum positive value refers to the largest positive deviation value among all water depth deviation values, reflecting the maximum deviation of the water depth above the average. The maximum negative value refers to the smallest negative deviation value among all water depth deviation values, reflecting the maximum deviation of the water depth below the average. The water depth fluctuation amplitude is the sum of the absolute values ​​of the maximum positive and maximum negative water depth deviation values, reflecting the overall fluctuation degree of the water depth distribution within the river engineering model (a larger value indicates a more uneven water depth distribution).

[0049] Step 213: Based on the average water depth value, combined with the water flow characteristics and sediment deposition patterns, determine the baseline correction coefficient; based on the water depth fluctuation amplitude, combined with the water flow characteristics and sediment distribution patterns, calculate the fluctuation influence coefficient; multiply the baseline correction coefficient and the fluctuation influence coefficient to obtain the preliminary water depth correction coefficient.

[0050] In this step, the relationship between flow characteristics and sediment deposition patterns refers to the correlation between flow depth and sediment deposition (e.g., shallow water depth leads to strong flow disturbance and easy sediment deposition; moderate water depth results in a balance between flow and sediment deposition; deep water depth leads to weak flow disturbance and easy sediment deposition, but also easy siltation). This is used to determine the baseline correction coefficient, which is derived from the correlation data of water depth and sediment deposition in river engineering model experiments. The baseline correction coefficient is a coefficient determined based on the average water depth value, flow characteristics, and sediment deposition patterns. It reflects the basic correction effect of average water depth on the proportion of sediment addition and is used to calculate the preliminary water depth correction coefficient, determined based on the correspondence rule between the average water depth value and the preset average water depth-baseline coefficient. The relationship between flow characteristics and sediment distribution patterns refers to the correlation between the amplitude of water depth fluctuations and sediment distribution (e.g., small water depth fluctuations result in uniform sediment distribution; large water depth fluctuations result in sediment accumulation in shallow water areas and sparse distribution in deep water areas). This is used to calculate the fluctuation influence coefficient and is derived from the correlation data of water depth fluctuations and sediment distribution uniformity in river engineering model experiments. The fluctuation influence coefficient is a coefficient calculated based on the amplitude of water depth fluctuations, flow characteristics, and sediment distribution patterns. It reflects the correction effect of water depth fluctuations on the sediment addition ratio and is used to calculate the preliminary water depth correction coefficient. It is determined based on the correspondence rule between the water depth fluctuation amplitude and the preset fluctuation amplitude-influence coefficient. The preliminary water depth correction coefficient is the product of the baseline correction coefficient and the fluctuation influence coefficient, reflecting the comprehensive correction effect of the average water depth and water depth fluctuations on the sediment addition ratio (without considering the influence of water depth gradient).

[0051] Step 214: Extract the real-time water depth values ​​of the deepest monitoring point and the shallowest monitoring point within the river engineering model based on the effective flow parameter data, and calculate the water depth gradient ratio;

[0052] In this step, the deepest monitoring point refers to the monitoring point with the largest real-time water depth value among all monitoring points within the river engineering model, reflecting the deepest location of the water body within the model. The shallowest monitoring point refers to the monitoring point with the smallest real-time water depth value among all monitoring points within the river engineering model, reflecting the shallowest location of the water body within the model. The water depth gradient ratio is the ratio of the real-time water depth value of the deepest monitoring point to the real-time water depth value of the shallowest monitoring point, reflecting the gradient difference in water depth distribution within the model (a larger ratio indicates a larger water depth gradient and a more significant difference in the sediment-carrying capacity of the water flow), and is used to adjust the initial water depth correction coefficient.

[0053] Step 215: Based on the variation law of the water depth gradient ratio and the sediment carrying capacity gradient of the water flow, adjust the preliminary water depth correction coefficient to obtain the water depth correction coefficient.

[0054] In this step, the gradient variation law of water flow sediment carrying capacity refers to the law reflecting the relationship between the water depth gradient ratio and the water flow sediment carrying capacity (for example, when the water depth gradient ratio is large, the difference in water flow sediment carrying capacity between deep and shallow water areas is large, and the correction coefficient needs to be reduced to avoid local siltation; when the gradient ratio is small, the difference in sediment carrying capacity is small, and the correction coefficient can remain unchanged). It is used to adjust the initial water depth correction coefficient and is summarized based on the correlation data of water depth gradient ratio and sediment carrying capacity difference in the river engineering model test.

[0055] In this embodiment, step 206 is implemented as follows: First, sub-step 211 is executed, extracting the real-time water depth values ​​of all monitoring points from the effective water flow parameter data according to the monitoring point number. Combined with the preset total number of monitoring points, the average water depth value = the sum of the real-time water depth values ​​of each monitoring point ÷ the total number of monitoring points; In sub-step 212, for each monitoring point, the water depth deviation value of a single monitoring point = the real-time water depth value of that monitoring point - the average water depth value. A positive value represents that the water depth of that point is higher than the average value, and a negative value represents that it is lower than the average value; From all water depth deviation values, the largest positive value is selected. The deviation (i.e., the maximum positive value) and the smallest negative deviation (i.e., the maximum negative value); the water depth fluctuation amplitude is equal to the value of the maximum positive value plus the absolute value of the maximum negative value; in sub-step 213, when determining the benchmark correction coefficient, the characteristics of water flow and sediment deposition patterns should be clarified first, specifically: when the water depth is shallow, the friction between the water flow and the riverbed is strong, the water flow disturbance is large, and the sediment particles are easily settled due to the disturbance and collision, so the proportion of sediment addition needs to be increased to compensate for the settlement loss; when the water depth is moderate, the water flow disturbance and sediment carrying capacity are balanced, and the sediment settlement and suspension are in a stable state, so there is no need to adjust the proportion of sediment addition. When the water depth is relatively deep, the water flow disturbance is weak, but the space for sediment transport is large. Sediment is not easy to settle but is prone to accumulation and siltation. Therefore, the proportion of sediment added should be reduced to avoid siltation. Then, refer to the preset average water depth - baseline correction coefficient rule. For example, when the average water depth is <0.3 meters, the corresponding coefficient is 1.08; when it is 0.3-0.4 meters, the corresponding coefficient is 1.0; when it is >0.4 meters, the corresponding coefficient is 0.96 to determine the baseline correction coefficient. When determining the fluctuation influence coefficient, first clarify the water flow characteristics and sediment distribution law. Specifically, when the water depth fluctuation is small, the water flow velocity distribution is uniform, and the sediment flows uniformly with the water flow. For diffusion, no significant adjustment of the sediment addition ratio is needed; when water depth fluctuations are moderate, the local flow velocity differences are small, and the sediment distribution is slightly uneven, requiring a small adjustment of the sediment addition ratio; when water depth fluctuations are large, the flow velocity differences between different areas are significant, and sediment tends to accumulate in low-velocity areas and disperse in high-velocity areas, resulting in uneven distribution, requiring a significant adjustment of the sediment addition ratio. Then, refer to the preset water depth fluctuation amplitude - fluctuation influence coefficient rule, for example, when the fluctuation amplitude is <0.04 meters, the corresponding coefficient is 0.99; when it is 0.04-0.08 meters, the corresponding coefficient is 0.97; when it is >0.08 meters, the corresponding coefficient is 0.94), determine the fluctuation influence coefficient; preliminary water depth correction coefficient = benchmark correction coefficient × fluctuation influence coefficient; execute sub-step 214, extract the real-time water depth values ​​of all monitoring points from the effective flow parameter data, and screen out the monitoring point with the largest real-time water depth value (i.e., the deepest monitoring point) and the monitoring point with the smallest real-time water depth value (i.e., the shallowest monitoring point), water depth gradient ratio = real-time water depth value of the deepest monitoring point ÷ real-time water depth value of the shallowest monitoring point; execute sub-step 215, according to the water depth gradient ratio and the gradient change law of water flow sediment carrying capacity, specifically: water depth gradient ratio large When the depth difference between shallow and deep water areas is significant, the sediment-carrying capacity of the water flow varies greatly along the depth direction, requiring a reduction in the correction coefficient to avoid siltation in deep water areas. When the depth gradient ratio is small, the depth difference between shallow and deep water areas is small, and the difference in sediment-carrying capacity is small, so no adjustment of the correction coefficient is needed. According to the preset rules, if the gradient ratio is >1.2, the initial correction coefficient is reduced by 2%; if the gradient ratio is ≤1.2, the initial correction coefficient remains unchanged. The initial depth correction coefficient is then adjusted to obtain the final depth correction coefficient. The optimal sediment addition ratio = target sediment addition base ratio × depth correction coefficient × trend correction coefficient.

[0056] This application's embodiments enable the sediment addition ratio to be flexibly adjusted according to the overall trend of flow velocity changes, improving adaptability to unsteady water flow and reducing local siltation or scouring caused by the mismatch between the sediment carrying capacity and sediment content of the water flow. It considers the influence of water depth distribution characteristics on sediment deposition, distribution, and sediment carrying capacity, compensating for sediment addition deviations caused by water depth differences. It achieves multi-parameter dynamic adaptation of the sediment addition ratio and water flow state, solving the problems of sediment addition response lag and large control deviation, improving the control accuracy and adaptive adjustment capability of the sediment addition system in the river engineering model, and ensuring the accuracy of simulating the water-sediment interaction process of natural rivers in river engineering model experiments.

[0057] This application provides a specific embodiment. Step 103 involves generating a sand-addition control signal for adjusting the sand-addition rate through the control center based on the optimal sand-addition ratio, and performing a timeliness verification on the sand-addition control signal to obtain a verified signal. The specific steps include: Step 301: Determine the generation interval of the sand addition control signal based on the optimal sand addition ratio and the response characteristics of the sand addition execution component in the river engineering model sand addition system.

[0058] In this step, the response characteristics of the sand-adding actuator refer to the time characteristics of the sand-adding actuator (such as a sand-conveying valve or a sand-conveying motor) from receiving a control signal to stabilizing at the target sand-adding rate. This includes the action delay time (i.e., the time from signal reception to the start of action) and the rate stabilization time (i.e., the time from the start of action to rate stabilization). This reflects the speed and stability of the sand-adding actuator's response to the control signal and is used to determine the generation interval of the sand-adding control signal, avoiding excessively frequent signal generation leading to frequent adjustments by the actuator or excessively sparse generation leading to sand-adding lag. The generation interval refers to the time interval between two consecutive sand-adding control signals generated by the control center, reflecting the update frequency of the sand-adding control signal. This ensures that each generated signal can be responded to by the actuator in a timely manner, while avoiding unnecessary signal redundancy.

[0059] In this embodiment, based on the optimal sediment addition ratio and the response characteristics of the sediment addition execution component in the river engineering model sediment addition system, the variation range of the optimal sediment addition ratio is analyzed: if the optimal sediment addition ratio changes significantly within adjacent cycles (e.g., changes exceeding 10%), it indicates that the water flow state changes rapidly, and the generation interval needs to be shortened for a rapid response; if the change is small (e.g., changes less than 5%), it indicates that the water flow state is stable, and the generation interval can be appropriately extended to avoid frequent adjustments by the execution component; at the same time, combined with the response characteristics of the sediment addition execution component (if the response delay is long and the stabilization time is long, the generation interval needs to be greater than its total response time to avoid receiving a new signal before the previous signal has stabilized), the generation interval of the sediment addition control signal is determined by taking the larger value between the interval corresponding to the change in the optimal sediment addition ratio and the interval corresponding to the response characteristics of the execution component.

[0060] Step 302: Based on the optimal sand addition ratio and the generation interval, calculate the target sand addition rate that the sand addition execution component needs to achieve within the generation interval and the operation adjustment parameters that the variable frequency pump needs to match. Integrate the target sand addition rate and the operation adjustment parameters to generate a sand addition control signal and record the generation time of the sand addition control signal.

[0061] In this step, the target sediment loading rate refers to the amount of sediment transported per unit time within a generation interval, reflecting the sediment replenishment intensity within that interval. It is the core parameter of the sediment loading control signal, directly guiding the action of the sediment loading actuator. The operation adjustment parameters refer to the operating parameters set for the variable frequency pump (VFP) to match the power provided by the VFP to the target sediment loading rate. These include the target operating frequency (i.e., the rotation frequency of the VFP, which determines the water and sediment transport flow rate) and the target operating duration (i.e., the continuous operating time of the VFP, consistent with the generation interval). These parameters reflect the power output requirements of the VFP and are integrated into the sediment loading control signal to ensure power coordination between the VFP and the sediment loading actuator. The sediment loading control signal refers to the command signal generated by the control center to adjust the sediment loading rate. It integrates the target sediment loading rate and the VFP's operation adjustment parameters, reflecting the sediment loading demand under the current water flow conditions. It is transmitted to the VFP and the sediment loading actuator as the direct basis for their actions. The generation time refers to the specific point in time when the control center completes the generation of the Gaza control signal. It is recorded by the real-time clock module of the control center and reflects the time of signal generation. It is the basic time reference for judging the timeliness of the signal.

[0062] In this embodiment, using the generation interval as the time reference, the target total sediment load to be transported within a generation interval is calculated based on the preset basic sediment load standard of the river engineering model (e.g., 100 kg of basic sediment load per hour). The target sediment load rate that the sediment loading execution component needs to achieve within this interval is calculated as: target total sediment load ÷ generation interval. Based on the matching relationship between the target sediment load rate and the variable frequency pump, such as a higher target sediment load rate requiring a larger water and sediment transport flow rate from the variable frequency pump and a higher corresponding operating frequency, the operating adjustment parameters that the variable frequency pump needs to match are calculated (including the target operating frequency and target operating duration, where the target operating duration is consistent with the generation interval, and the target operating frequency is consistent with the generation interval). The rotation frequency is calculated based on the target sand addition rate multiplied by the variable frequency pump power coefficient (the coefficient is preset by the variable frequency pump model). Then, the target sand addition rate parameter and the operation adjustment parameter are arranged in a preset order. First, the value of the target sand addition rate parameter is written, and then the value of the operation adjustment parameter is written continuously after the value. A start code to identify the start of the signal is added at the beginning position of the two sets of values, and an end code to identify the end of the signal is added at the end position of the two sets of values, forming a continuous data string containing parameter boundary identifiers. This data string is converted into a signal format supported by the transmission protocol of the river engineering model sand addition system as a sand addition control signal, and the generation time of the sand addition control signal is recorded by the real-time clock module of the control center.

[0063] Step 303: Based on the signal transmission path length in the river engineering model sediment addition system, determine the estimated time from the generation of the sediment addition control signal to its transmission to the variable frequency pump, and calculate the estimated execution time of the sediment addition control signal in conjunction with the generation time.

[0064] In this step, the signal transmission path length refers to the physical transmission distance of the gas control signal from the output of the control center to the receiver of the variable frequency pump, such as the cable length for wired transmission and the spatial distance for wireless transmission. This reflects the physical cost of signal transmission and is used to calculate the estimated transmission time. The estimated transmission time refers to the anticipated time required for the gas control signal to travel from generation to transmission to the variable frequency pump, reflecting the time cost of signal transmission and used to determine the estimated execution time of the signal. The estimated execution time refers to the estimated time at which the gas control signal begins to execute its action after arriving at the variable frequency pump, reflecting the actual time the signal takes to act and used to determine whether the signal is mismatched with the current water flow state due to transmission delay.

[0065] In this embodiment, the signal transmission path length (i.e., the physical distance from the signal output interface of the control center to the signal receiving interface of the frequency converter pump, such as a 5-meter cable for wired transmission and an 8-meter spatial distance for wireless transmission) is retrieved from the hardware parameter library of the river engineering model sand-addition system. Combined with the default speed of the signal transmission medium, the estimated time for the sand-addition control signal to be generated and transmitted to the frequency converter pump is equal to the signal transmission path length divided by the signal transmission speed. The estimated execution time when the sand-addition control signal starts to perform actions after arriving at the frequency converter pump is equal to the generation time of the sand-addition control signal plus the estimated time.

[0066] Step 304: Calculate the time difference between the expected execution time and the time corresponding to the execution time difference calculation action. If the time difference is less than or equal to the upper limit of the preset allowable time range, the sand-adding control signal is directly used as the verified signal. If the time difference is greater than the upper limit of the preset allowable time range, the parameter adjustment range is calculated based on the difference between the time difference and the upper limit of the preset allowable time range. Based on the parameter adjustment range, the target sand-adding rate and the variable frequency pump operation adjustment parameters in the sand-adding control signal are corrected to obtain the verified signal.

[0067] In this step, the time corresponding to the execution of the time difference calculation action refers to the real-time point when the control center calculates the difference between the expected execution time and the current time. It reflects the current actual time and serves as the benchmark time for calculating the time difference and judging the signal's timeliness. The preset allowable time range refers to the maximum allowable delay range from the generation of the sediment-addition control signal to its execution. Determined by the accuracy requirements of the river engineering model test, it reflects the pass standard for signal timeliness and is used to judge whether the signal has timed out, avoiding the disconnect between sediment addition and water flow conditions caused by timed-out signals. The parameter adjustment amplitude refers to the magnitude of correction made to the internal target sediment addition rate and variable frequency pump operation adjustment parameters when the sediment-addition control signal times out. It reflects the degree of parameter correction and is used to compensate for sediment addition deviations caused by transmission delays, ensuring that the corrected signal adapts to the current water flow conditions.

[0068] In this embodiment, the real-time clock module of the control center obtains the time corresponding to the current execution time difference calculation action, calculates the difference between the expected execution time and the current time, and obtains the time difference between the two (if the expected execution time is later than the current time, the time difference is positive, indicating that the signal needs to be delayed; if it is earlier than the current time, the time difference is negative, indicating that the signal has timed out); then, the system's preset allowed time range is retrieved (if this time is exceeded, the sand addition requirement corresponding to the signal may be out of sync with the current water flow state), and it is determined whether the time difference is less than or equal to the upper limit of the preset allowed time range: if it is satisfied, it means that the signal timeliness is qualified, and the sand addition is directly performed. The sand control signal serves as the verified signal. If the condition is not met (time difference greater than the upper limit), the timeout duration is calculated. Timeout duration = time difference - upper limit of the preset allowable time range. The parameter adjustment range = timeout duration × preset adjustment coefficient, which is calibrated by test data. The parameter adjustment range includes the target sand addition rate adjustment range and the variable frequency pump operating frequency adjustment range. The sand addition control signal is corrected according to the parameter adjustment range to obtain a verified signal that can adapt to the current water flow state. For example, if the timeout duration is 0.3 seconds and the adjustment range is 0.03 kg / s, then 0.03 kg / s is added to the original target sand addition rate, and the target operating frequency of the variable frequency pump is increased accordingly.

[0069] This application avoids the problems of excessive signal density leading to frequent adjustments of the execution components and excessive signal sparseness causing delays in sand addition caused by the fixed intervals in existing solutions. It ensures that the signal generation and execution capabilities are matched; it compensates for the deviation caused by transmission delay, avoids the problem of mismatch between sand addition and water flow sand carrying capacity caused by direct execution of timeout signals, improves the real-time performance and accuracy of sand addition control, ensures the dynamic balance of water flow and sediment in river engineering model tests, and accurately reproduces the scouring and deposition process of the prototype river.

[0070] This application provides a specific embodiment. Step 104 involves controlling the river engineering model sediment addition system to send a frequency adjustment command to the variable frequency pump to calculate the sediment transport flow dynamics of the verified signal. This specifically includes the following steps: Step 401: Based on the target sand addition rate in the verified signal and the sand transport efficiency of the sand addition execution component in the river engineering model sand addition system, calculate the target sand transport flow dynamics corresponding to the verified signal.

[0071] In this step, sediment transport efficiency refers to the sediment transport rate corresponding to the unit sediment transport flow rate power of the sediment transport actuator in the river engineering model sediment transport system. It reflects the efficiency of the sediment transport actuator in converting power into actual sediment transport capacity and is determined based on the model specifications and test calibration data of the sediment transport actuator. Target sediment transport flow rate power refers to the sediment transport power value (unit: kilowatt) that the variable frequency pump needs to provide in order for the sediment transport actuator to reach the target sediment transport rate in the calibrated signal. It reflects the core target of sediment transport power and is used as a benchmark to judge whether the variable frequency pump adjustment meets the standard.

[0072] In this embodiment of the application, since the target sand conveying flow power is the power required to drive the sand adding execution component to reach the target sand adding rate, the target sand conveying flow power corresponding to the verified signal is obtained by dividing the target sand adding rate by the sand conveying efficiency characteristic of the sand adding execution component. This power value provides the core target basis for subsequent adjustment of the variable frequency pump.

[0073] Step 402: Obtain the actual operating frequency and actual cumulative operating time of the variable frequency pump in the river engineering model sand addition system, calculate the frequency deviation between the actual operating frequency and the target operating frequency in the verified signal, and calculate the duration deviation between the actual cumulative operating time and the target operating time in the verified signal.

[0074] In this step, the actual operating frequency refers to the actual rotation frequency of the variable frequency pump at the current moment, which is acquired in real time by a frequency sensor deployed on the pump. It reflects the current power output intensity of the pump and is used to calculate the frequency deviation value by comparing it with the target operating frequency. The actual cumulative operating time refers to the actual continuous operating time of the pump from startup to the current moment within this sand-addition cycle. It is obtained through the pump's operating timer module and reflects the current operating time progress. It is used to calculate the time deviation value by comparing it with the target operating time. The target operating frequency refers to the preset operating frequency of the pump in the verified signal that matches the target sand-carrying flow rate. It reflects the power output frequency standard that the pump needs to achieve and is used as the target benchmark for frequency adjustment. The frequency deviation value is the difference between the actual operating frequency and the target operating frequency (actual operating frequency minus target operating frequency). A positive value indicates that the actual frequency is too high, and a negative value indicates that it is too low. It reflects the gap between the pump's frequency and the target requirement and is used to determine the frequency adjustment step size. The target operating time refers to the preset time in the verified signal for the variable frequency pump to continuously operate within this sand-addition cycle. It is consistent with the generation interval of the sand-addition control signal and reflects the operating time standard that the variable frequency pump needs to achieve, serving as the target benchmark for time adjustment. The time deviation value refers to the difference between the actual cumulative operating time of the variable frequency pump and the target operating time. A positive value indicates excessive operation, while a negative value indicates insufficient operation, reflecting the gap between the variable frequency pump and the target requirement in the time dimension, and is used to determine the operating time compensation value.

[0075] In this embodiment, a frequency sensor deployed on the variable frequency pump using the river engineering model sand-addition system collects the actual operating frequency (in Hertz) of the variable frequency pump in real time. Simultaneously, the actual cumulative operating time (in seconds) from the start of the current sand-addition cycle to the current moment is retrieved through the operation timing module of the variable frequency pump. Then, the preset target operating frequency and target operating time are extracted from the verified signal (the target operating time is consistent with the generation interval of the sand-addition control signal). The frequency deviation value = actual operating frequency - target operating frequency, and the duration deviation value = actual cumulative operating time - target operating time. The two deviation values ​​reflect the gap between the variable frequency pump and the target requirements in the frequency and duration dimensions, respectively.

[0076] Step 403: Determine the frequency adjustment step size of the variable frequency pump based on the frequency deviation value.

[0077] In this step, the frequency adjustment step size refers to the magnitude (unit: Hertz / time) of each adjustment to the operating frequency of the variable frequency pump. It is determined based on the magnitude of the frequency deviation value and the mechanical adjustment accuracy of the variable frequency pump, reflecting the single amplitude of the frequency adjustment. This is used to ensure that the frequency adjustment of the variable frequency pump is both efficient and avoids fluctuations in water and sediment flow caused by sudden changes.

[0078] In this embodiment, the frequency adjustment step size is determined based on the frequency deviation value and the mechanical adjustment accuracy of the variable frequency pump (e.g., the minimum adjustable frequency per cycle is 0.5 Hz): If the absolute value of the frequency deviation is greater than 5 Hz (large deviation), the frequency adjustment step size is set to 2 Hz / time (adjusting 2 Hz each time) to accelerate the adjustment efficiency; if the absolute value of the deviation is between 1 and 5 Hz (medium deviation), the step size is set to 1 Hz / time to avoid fluctuations in water and sediment flow caused by sudden frequency changes; if the absolute value of the deviation is less than 1 Hz (small deviation), the step size is set to 0.5 Hz / time (consistent with the mechanical adjustment accuracy) to accurately approximate the target frequency; by using different step sizes corresponding to the size of the deviation, the adjustment is ensured to be both efficient and stable.

[0079] Step 404: According to the frequency adjustment step size, control the river engineering model sand adding system to send a frequency adjustment command to the variable frequency pump to adjust the actual operating frequency of the variable frequency pump, obtain the adjusted operating frequency, and make the difference between the actual operating frequency and the target operating frequency less than the first preset threshold.

[0080] In this step, the frequency adjustment command refers to the instruction sent by the control center to the variable frequency pump to adjust its operating frequency. This includes the adjustment direction (increase or decrease) and the frequency adjustment step size, reflecting the control center's specific adjustment requirements for the variable frequency pump's frequency, and is used to drive the variable frequency pump to gradually approach the target operating frequency. The adjusted operating frequency refers to the frequency value when the difference between the actual operating frequency and the target operating frequency is less than a first preset threshold after frequency adjustment. This reflects that the variable frequency pump has met the target requirements in the frequency dimension and is used as a stable frequency benchmark for subsequent monitoring of sediment transport power. The first preset threshold refers to the maximum permissible deviation value for judging whether the actual operating frequency of the variable frequency pump meets the standard. It is set based on the requirements of the river engineering model for the stability of water and sediment transport flow, reflects the accuracy standard of frequency adjustment, and is used to terminate the frequency adjustment action.

[0081] In this embodiment, a frequency adjustment command is generated based on the frequency adjustment step size, which includes the adjustment direction (where a positive frequency deviation indicates a decrease, and a negative deviation indicates an increase) and the step size value. This command is sent to the drive unit of the variable frequency pump through the system's signal transmission module. The drive unit gradually adjusts the actual operating frequency of the variable frequency pump according to the command. After each adjustment, the control center re-collects the actual operating frequency through the frequency sensor, calculates the difference between the actual operating frequency and the target operating frequency, and repeats the adjustment action until the difference is less than a first preset threshold (this threshold is set based on the requirements of the river engineering model for the stability of water and sediment flow). The actual operating frequency at this time is the adjusted operating frequency.

[0082] Step 405: Determine the operating time compensation value of the variable frequency pump based on the time deviation value.

[0083] In this step, the operating time compensation value refers to the time value used to correct the operating time deviation of the variable frequency pump, reflecting the range of operating time that needs to be adjusted, and is used to correct the target stop time in the initial operating plan.

[0084] In this embodiment, the operating time compensation value is determined based on the time deviation value and the sand transport volume requirement of the sand-adding execution component: if the time deviation value is negative, the operating time compensation value is set to the absolute value of the time deviation value (e.g., if the deviation value is -2 seconds, the operating time compensation value is 2 seconds, and the operation needs to be extended by 2 seconds); if the time deviation value is positive, the operating time compensation value is set to negative (e.g., if the time deviation value is 3 seconds, the operating time compensation value is -3 seconds, and the operation needs to be shortened by 3 seconds); the magnitude of the operating time compensation value directly corresponds to the operating time that needs to be corrected, ensuring that the total operating time of the variable frequency pump can match the target requirements.

[0085] Step 406: Based on the operating time compensation value, update the target stop time in the initial operating plan of the variable frequency pump to obtain the updated stop time.

[0086] In this step, the initial operation plan refers to the initial operation plan of the variable frequency pump during this Gaza cycle. It includes the initial target stop time (calculated by adding the target operating time to the start time), reflecting the initial operation arrangement of the variable frequency pump and serving as the basis for time compensation. The target stop time refers to the preset stop time of the variable frequency pump in the initial operation plan, reflecting the initial end point of the variable frequency pump's operation time, and is used to update the final stop time based on the operating time compensation value. The updated stop time refers to the stop time point after superimposing the initial target stop time and the operating time compensation value, reflecting the final operating end point of the variable frequency pump after correcting for time deviations, and is used to ensure that the total operating time of the variable frequency pump matches the target requirements.

[0087] In this embodiment, the initial operation plan is retrieved from the operation control module of the variable frequency pump (the plan includes the initial target stop time of the variable frequency pump in this Gaza cycle, which is calculated by adding the target operation time to the initial start time); the operation time compensation value is superimposed on the initial target stop time (if the operation time compensation value is positive, the stop is delayed; if it is negative, the stop is advanced). For example, if the initial target stop time is 10:00:10 and the operation time compensation value is 2 seconds, then the updated stop time is 10:00:12, so as to ensure that the total operation time of the variable frequency pump can correct the time deviation and match the target operation time requirement.

[0088] Step 407: Monitor the instantaneous sand transport flow rate of the sand-adding actuator when the variable frequency pump operates at the adjusted operating frequency and the updated stop time, and calculate the average value of the instantaneous sand transport flow rate within a preset statistical period as the sand transport flow rate to be confirmed.

[0089] In this step, the instantaneous sand transport flow rate refers to the volume of water-sand mixture transported per unit time by the sand-addition actuator during the operation of the variable frequency pump (unit: cubic meters / second). This is collected in real-time by a flow sensor, reflecting the real-time fluctuations in the sand transport flow rate and used to calculate the average sand transport flow rate. The preset statistical period refers to a fixed time interval used to statistically analyze the instantaneous sand transport flow rate and calculate its average value. It needs to cover the time period when the sand transport flow rate fluctuations are stable, reflecting the statistical time range and eliminating the influence of instantaneous fluctuations on the judgment of sand transport power. The sand transport flow power to be confirmed refers to the sand transport power value corresponding to the average instantaneous sand transport flow rate within the preset statistical period (because flow rate and power are in a fixed proportion, the average flow rate can directly correspond to power). This reflects the actual sand transport power output by the current variable frequency pump and is used for comparison and verification with the target sand transport flow power.

[0090] In this embodiment, a flow sensor deployed at the output end of the sand-carrying execution component monitors the instantaneous sand transport flow rate of the variable frequency pump in real time when it operates at the adjusted operating frequency and the updated stop time. A preset statistical period is set (this period needs to cover the time when the flow rate fluctuation is stable), and all instantaneous sand transport flows collected within this period are added together and then divided by the number of collections to calculate the average sand transport flow rate within this period. This average flow rate is used as the driving force of the sand transport flow rate to be confirmed (because the sand transport flow rate and the driving force are in a fixed proportion, the average flow rate can directly correspond to the driving force value) to verify whether the target sand transport flow rate driving force has been reached.

[0091] Step 408: If the power difference between the sand transport flow power to be confirmed and the target sand transport flow power is less than the second preset threshold, then the sand transport flow power to be confirmed is used as the sand transport flow power adapted to the verified signal. If the power difference is greater than or equal to the second preset threshold, then the frequency adjustment step size and operation time compensation value of the variable frequency pump are recalculated until the sand transport flow power adapted to the verified signal is calculated.

[0092] In this step, the power difference refers to the difference between the power of the sediment transport flow rate to be confirmed and the power of the target sediment transport flow rate. It reflects the gap between the current sediment transport power and the target requirement and is used to determine whether the sediment transport power meets the standard. The second preset threshold refers to the maximum allowable deviation value for determining whether the sediment transport power meets the standard. It is set based on the requirements of the river engineering model for the accuracy of sediment transport power and reflects the accuracy standard of sediment transport power. It is used to terminate or restart the variable frequency pump adjustment process.

[0093] In this embodiment, the difference between the sediment transport flow power to be confirmed and the target sediment transport flow power is calculated, which is the power difference. The system retrieves a second preset threshold (this threshold is set based on the requirements of the river engineering model for the accuracy of sediment transport power): if the power difference is less than the second preset threshold, it means that the current sediment transport power has met the target requirements, and the sediment transport flow power to be confirmed is used as the sediment transport flow power of the adapted and verified signal; if the power difference is greater than or equal to the second preset threshold, it means that the power is still mismatched, and the frequency adjustment step size is recalculated (adjusted according to the current frequency deviation value), and the operation time compensation value is recalculated (adjusted according to the current time deviation value). The adjustment and monitoring actions of steps 404-407 are repeated until the power difference is less than the second preset threshold, and the adapted sediment transport flow power is determined.

[0094] The embodiments of this application take into account both adjustment efficiency and stability, avoiding fluctuations in water and sediment flow caused by sudden changes in the frequency of the variable frequency pump or deviations in duration; ensuring that the dynamic power of the sediment transport flow accurately matches the requirements of the calibrated signal, ensuring that the actual sediment loading rate of the sediment loading actuator is consistent with the target rate, and realizing precise control of water and sediment transport within the river engineering model.

[0095] This application provides a specific embodiment. Step 105 involves adjusting the sediment feeding execution component in the river engineering model sediment feeding system based on the sediment transport flow dynamics, and adjusting the actual sediment feeding rate of the sediment feeding execution component after the adjustment operation. This achieves a dynamic match between the actual sediment transported by the sediment feeding execution component and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before historical time nodes. Specifically, this includes the following steps:

[0096] Step 501: Based on the inherent characteristic parameters of the sand-adding actuator and the sand-carrying flow dynamics, calculate the target rotational speed and target opening of the sand-adding actuator. The inherent characteristic parameters include the mechanical transmission ratio and the orifice coefficient.

[0097] In this step, inherent characteristic parameters refer to the inherent physical and mechanical parameters of the sand-adding actuator that do not change with the operating state, including the mechanical transmission ratio and the aperture coefficient. These reflect the power transmission efficiency and opening-flow matching relationship of the sand-adding actuator, and are obtained based on the design specifications and factory calibration data of the sand-adding actuator. The target rotational speed refers to the rotational speed that the sand-adding actuator needs to achieve to meet the power requirements of the sand conveying flow rate, reflecting the power output intensity of the actuator and used to drive the motor of the sand-adding actuator. The target opening degree refers to the degree to which the sand-adding actuator needs to open to match the power of the sand conveying flow rate, reflecting the size of the material channel of the actuator and used to control the width of the channel for sand conveying. The mechanical transmission ratio refers to the ratio of the motor speed to the speed of the actuator in the sand-adding actuator, reflecting the speed conversion relationship in the power transmission process, and used to convert the sand conveying flow power into the target speed of the actuator. The aperture coefficient refers to the proportional relationship between the opening degree of the sand-adding actuator and the corresponding sand conveying flow rate, used to convert the sand conveying flow power into the target opening degree of the actuator.

[0098] Step 502: Based on the target rotational speed and the target opening degree, control the control center to adjust the sand-adding execution component and valve adjustment mechanism in the river engineering model sand-adding system, so as to collect the actual sand-adding rate of the sand-adding execution component after the adjustment operation.

[0099] In this step, the actual sand addition rate refers to the amount of sediment actually transported per unit time after the sand addition execution component has been adjusted. It reflects the actual working effect of the execution component and is used to compare with the target sand addition rate to determine whether the adjustment has met the standard. It is obtained in real time by a sediment flow sensor deployed at the output end of the execution component.

[0100] Step 503: Calculate the rate deviation between the actual sand addition rate and the target sand addition rate in the verified signal, and determine the parameter correction step size of the sand addition execution component based on the rate deviation value.

[0101] In this step, the rate deviation value refers to the difference between the actual sand-adding rate of the sand-adding actuator and the target sand-adding rate in the calibrated signal. A positive value indicates that the actual rate is too high, and a negative value indicates that it is too low, reflecting the gap between the actual sand delivery and the target requirement. The parameter correction step size refers to the magnitude of each adjustment to the rotational speed or opening of the sand-adding actuator, reflecting the single change in parameter adjustment. This is used to ensure that the actual sand-adding rate gradually approaches the target rate, avoiding sand delivery fluctuations caused by sudden changes.

[0102] Step 504: Based on the parameter correction step size, control the control center to send parameter correction instructions to the sand-adding execution component to correct the actual sand-adding rate until the absolute value of the rate deviation is less than or equal to the preset deviation threshold, and obtain the sand-adding rate after preliminary correction.

[0103] In this step, the parameter correction command refers to the instruction sent by the control center to the sediment-adding actuator to adjust the rotational speed or opening. It includes the correction direction (i.e., whether the rotational speed / opening needs to be increased or decreased) and the parameter correction step size, reflecting the control center's specific adjustment requirements for the actuator, and is used to drive the actuator to correct the actual sediment-adding rate. The preset deviation threshold refers to the maximum permissible deviation value for judging whether the actual sediment-adding rate meets the standard. It is set based on the requirements for sediment-adding accuracy in the river engineering model, reflecting the accuracy standard of the sediment-adding rate, and is used to terminate the parameter correction process. The sediment-adding rate after preliminary correction refers to the actual rate when the absolute value of the deviation between the actual sediment-adding rate and the target sediment-adding rate is less than or equal to the preset deviation threshold. It reflects the rate at which the actuator meets the standard under static adjustment and is used for further adjustments based on changes in water flow parameters.

[0104] Step 505: Calculate the difference between the effective water flow parameter data received by the control center before the historical time node and the effective water flow parameter data received in the previous calculation cycle. When the difference between the water flow parameters is greater than the preset difference threshold, adjust the sand addition rate after the initial correction according to the sand transport flow dynamic corresponding to the effective water flow parameter data received by the control center, so that the difference between the water flow parameters is less than or equal to the preset difference threshold, so as to achieve dynamic matching between the actual amount of sediment transported by the sand addition execution component and the theoretical amount of sediment required.

[0105] In this step, the effective flow parameter data received in the previous calculation cycle refers to the effective flow parameters (including flow velocity, sediment concentration, and water depth monitoring information) received and verified by the control center within the previous control cycle (e.g., the first 10 seconds) of the river engineering model sediment addition system. This reflects the flow state of the previous cycle and is used to compare with historical data to determine the magnitude of flow changes. The flow parameter difference value refers to the comprehensive difference between the effective flow parameter data received by the control center before the historical time point and the data from the previous calculation cycle. This reflects the degree of change in the flow state and is used to determine whether further adjustments to the sediment addition rate are needed. The preset difference threshold is the critical value for determining whether changes in the flow state require adjustments to the sediment addition rate. It is set based on the degree of impact of flow changes on sediment demand and is used to trigger or terminate the dynamic adjustment of the sediment addition rate.

[0106] Optionally, step 503, determining the parameter correction step size of the Gaza actuator based on the rate deviation value, specifically includes the following steps: Step 511: Based on the mechanical adjustment accuracy of the sand-addition execution components, the allowable sand-addition rate fluctuation range stored in the river engineering model, and the error convergence interval in the historical adjustment data, set the deviation judgment threshold.

[0107] In this step, mechanical adjustment accuracy refers to the minimum change achievable by a single adjustment of the rotational speed or opening of the sediment-adding actuator. It reflects the fineness of the actuator's adjustment and is used to set a deviation judgment threshold to avoid ineffective adjustments due to step sizes smaller than the adjustment accuracy. The allowable sediment-adding rate fluctuation range refers to the maximum range within which the actual sediment-adding rate deviates from the target rate in the river engineering model test without affecting the water and sediment simulation effect. It reflects the test's tolerance for sediment-adding fluctuations and is used to set the grading standard for the deviation judgment threshold. The error convergence interval refers to the range of deviations in historical adjustment data where the parameter correction step size can quickly reduce the rate deviation to a preset threshold. It reflects the correlation between deviation and correction efficiency and is used to set the interval division for the deviation judgment threshold. The deviation judgment threshold is the critical value used to classify the magnitude of the rate deviation. It is set based on mechanical adjustment accuracy, allowable sediment-adding rate fluctuation range, and error convergence interval, and is used to determine the initial parameter correction step size.

[0108] Step 512: Compare the rate deviation value with the deviation judgment threshold to obtain the preliminary parameter correction step size.

[0109] In this step, the initial parameter correction step size refers to the correction step size obtained only by comparing the rate deviation value with the deviation judgment threshold. It reflects the theoretical adjustment range without considering safety constraints and is used to obtain the final step size in subsequent adjustments based on safety parameters.

[0110] Step 513: Based on the safe operating parameters of the Gaza actuator, adjust the preliminary parameter correction step size to obtain the parameter correction step size of the Gaza actuator. The safe operating parameters include the minimum safe speed and the minimum safe opening.

[0111] In this step, the safe operating parameters refer to the operating limits that the sand-adding actuator must adhere to in order to avoid mechanical damage or functional failure. These parameters reflect the safe operating boundaries of the actuator and are used to adjust the initial parameter correction step size to avoid exceeding limits. The minimum safe speed refers to the lowest speed at which the motor or actuator of the sand-adding actuator can operate stably without damage. Speeds below this will cause the motor to stall or the actuator to jam. This parameter is used to limit the speed correction step size. The minimum safe opening degree refers to the minimum opening degree to which the sand-adding actuator (such as a valve) can normally transport silt without clogging. Opening degrees below this will cause silt to accumulate and block the channel. This parameter is used to limit the opening correction step size.

[0112] In this embodiment, firstly, step 501 is performed: the inherent characteristic parameters of the sand-adding actuator are retrieved from the parameter library of the river engineering model sand-adding system. Combined with the sand transport flow dynamics of the verified signal, since the target rotational speed needs to match the rotational speed of the actuator corresponding to the sand transport flow dynamics, the target rotational speed of the sand-adding actuator is calculated as: sand transport flow dynamics × mechanical transmission ratio. Since the target opening needs to match the size of the sediment channel corresponding to the sand transport flow dynamics, the target opening of the sand-adding actuator is calculated as: sand transport flow dynamics ÷ diameter coefficient. Secondly, step 502 is performed: based on the target rotational speed and target opening, an adjustment command is sent to the drive module of the sand-adding actuator to increase the rotational speed of the drive motor to the target rotational speed. An opening adjustment command is sent to the valve adjustment mechanism to drive the valve to adjust the opening to the target opening. After the adjustment is completed, the sediment flow sensor deployed at the output end of the sand-adding actuator is activated to collect the actual sand-adding rate three times. The actual sand-adding rate is calculated as: the sum of the three collected data points ÷ 3. Next, execute step 503 (including sub-steps 511-513): First, calculate the rate deviation value, where the rate deviation value = actual sediment addition rate - target sediment addition rate in the verified signal; then execute sub-step 511, where the control center extracts the mechanical adjustment accuracy of the sediment addition execution component from the system parameter library, the allowable sediment addition rate fluctuation range stored in the river engineering model, and the error convergence interval from the historical adjustment data, and sets deviation judgment thresholds (for example, setting a large threshold of 0.08 kg / s, a medium threshold of 0.04 kg / s, and a small threshold of 0.02 kg / s); execute step 5... The 12 sub-steps first calculate: the absolute value of the rate deviation = |rate deviation|, then compare it with the deviation judgment threshold. Since it equals the lower threshold, determine the preliminary parameter correction step size (e.g., adjust the rotational speed by 2 revolutions per minute, adjust the opening by 1%, with the direction being upward). Execute sub-step 513 to retrieve the safe operating parameters of the sand-adding actuator. First calculate: the adjusted rotational speed = current rotational speed + rotational speed correction step size, and the adjusted opening = current opening + opening correction step size. Confirm that the adjusted parameters are all higher than the safe value, so the preliminary parameter correction step size is the final parameter correction step size. Execute step 504: the control center sends a parameter correction command to the sand-adding actuator based on the parameter correction step size. After the actuator is adjusted, the actual sand-adding rate is re-acquired, the rate deviation value is recalculated, and it is determined that |rate deviation| ≤ the preset deviation threshold. If the condition is met, the correction stops, and the preliminary corrected sand-adding rate is obtained.Finally, dynamic adjustment is achieved through step 505: Retrieve valid flow parameter data received up to a previous historical time point from the historical database (e.g., flow velocity 0.023 m / s, sediment concentration 1.2 kg / m³, and water depth 0.32 m in the previous 5 minutes), and then retrieve valid flow parameter data received in the previous calculation cycle (e.g., flow velocity 0.025 m / s, sediment concentration 1.3 kg / m³, and water depth 0.33 m in the previous 10 seconds); calculate the flow parameter difference value: Flow parameter difference value = √[(previous cycle flow velocity - historical flow velocity)² + (previous cycle sediment concentration - historical sediment concentration)² + (previous cycle water depth - historical water depth)²], such as √[(0.025 - 0.023)² + (1.3 kg / m³ ... [-1.2)²+(0.33-0.32)²]≈0.102) to obtain the difference value of the water flow parameters; if the difference value of the water flow parameters is greater than the preset difference threshold, such as 0.102>0.1, then retrieve the sediment transport flow power corresponding to the current effective water flow parameter data (such as 2.1 kW), and recalculate the target rotation speed (2.1 kW×5=10.5 rpm) and target opening (2.1 kW÷0.004 cubic meters / second・%=525, take 52.5%) according to the logic of 501-504, adjust the sediment addition rate after the initial correction, so that the adjusted |water flow parameter difference value|≤the preset difference threshold, and finally achieve dynamic matching between the actual amount of sediment transported by the sediment addition execution component and the theoretical amount of sediment required.

[0113] This application avoids sediment transport fluctuations caused by blind adjustments; it ensures the mechanical safety of the actuators by limiting the correction step size through safe operating parameters, preventing equipment damage due to exceeding limits; it ensures that the amount of sediment added can adapt to changes in the water flow state, solving the problem that existing solutions cannot adapt to unsteady water flow, resulting in a mismatch between sediment replenishment and the sediment carrying capacity of the water flow.

[0114] Figure 2 This is a schematic diagram illustrating a specific implementation of a control system for a river engineering model sand-addition system provided in this application. (Refer to...) Figure 2 The system may include: The acquisition module 21 is used to acquire water flow parameter data in the river engineering model, and to verify the validity of the water flow parameter data to generate valid water flow parameter data. The valid water flow parameter data is then transmitted to the control center of the river engineering model sediment addition system. The water flow parameter data includes water flow velocity, sediment concentration, and water depth monitoring information. The first calculation module 22 is used to calculate the optimal sediment addition ratio that adapts to the flow state of the river engineering model based on the effective flow parameter data received by the control center. The verification module 23 is used to generate a sand addition control signal for adjusting the sand addition rate through the control center according to the optimal sand addition ratio, and to perform timeliness verification on the sand addition control signal to obtain a verified signal. The second calculation module 24 is used to control the river engineering model sediment addition system to send a frequency adjustment command to the variable frequency pump after the control center receives the verified signal, so as to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component of the river engineering model sediment addition system for regulating the water and sediment transport flow. The adjustment module 25 is used to adjust the sediment feeding execution component in the river engineering model sediment feeding system according to the sediment transport flow dynamics, and adjust the actual sediment feeding rate of the sediment feeding execution component after the adjustment operation, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution component and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

[0115] The control system of the river engineering model sand addition system in this application is used to implement the aforementioned control method of the river engineering model sand addition system. Therefore, the specific implementation of the control system of the river engineering model sand addition system can be found in the embodiment section of the control method of the river engineering model sand addition system above. The specific implementation can be referred to the description of the corresponding embodiment, and will not be repeated here.

[0116] This application also provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the control method for a river engineering model sand-addition system described above.

[0117] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for a river engineering model sand-addition system described above.

[0118] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0119] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above embodiments of the control method for a river engineering model sand-addition system.

[0120] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0121] The control method and system for a river engineering model sand-addition system provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A control method for a sediment feeding system in a river engineering model, characterized in that, include: The flow parameter data within the river engineering model is acquired, and the validity of the flow parameter data is verified to generate valid flow parameter data. The valid flow parameter data is then transmitted to the control center of the river engineering model sediment addition system. The flow parameter data includes flow velocity, sediment concentration, and water depth monitoring information. Based on the effective water flow parameter data received by the control center, the optimal sediment addition ratio that adapts to the water flow state of the river engineering model is calculated. Based on the optimal sand addition ratio, a sand addition control signal for adjusting the sand addition rate is generated through the control center. The timeliness of the sand addition control signal is verified to obtain a verified signal. After receiving the verified signal, the control center sends a frequency adjustment command to the variable frequency pump to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component in the river model sediment transport system used to regulate the water and sediment transport flow. Based on the aforementioned sediment transport flow dynamics, the sediment feeding execution components in the river engineering model sediment feeding system are adjusted, and the actual sediment feeding rate of the sediment feeding execution components after the adjustment operation is adjusted, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution components and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

2. The method according to claim 1, characterized in that, Based on the effective flow parameter data received by the control center, the optimal sediment addition ratio adapted to the flow state of the river engineering model is calculated, including: Based on the effective water flow parameter data received by the control center, the flow velocity change between adjacent time moments is calculated, the average value of all flow velocity changes is taken as the flow velocity change trend value, and a trend correction coefficient is determined based on the flow velocity change trend value. Based on the flow velocity change trend value, determine the allowable sediment carrying range of the water flow within the river engineering model; The real-time sediment concentration and real-time water depth values ​​of each monitoring point in the river engineering model are extracted from the effective flow parameter data, and the comprehensive sediment concentration is calculated by combining the total number of monitoring points. The comprehensive sediment concentration is compared with the allowable sediment carrying range to obtain the sediment load rate matched by the comprehensive sediment concentration in the allowable sediment carrying range; Based on the sediment load rate, the target sediment loading ratio that matches the water flow velocity in the effective water flow parameter data is queried from the table of correspondence between preset water flow velocity and sediment loading ratio. Based on the effective flow parameter data, the water depth correction coefficient is determined. The target sediment addition ratio, the water depth correction coefficient, and the trend correction coefficient are multiplied to obtain the optimal sediment addition ratio that fits the flow state of the river engineering model.

3. The method according to claim 2, characterized in that, Based on the effective flow parameter data, determine the water depth correction factor, including: The average water depth is calculated based on the real-time water depth values ​​at each monitoring point and the total number of monitoring points. Calculate the water depth deviation between the real-time water depth value and the average water depth value at each monitoring point, and take the sum of the absolute values ​​of the maximum positive and maximum negative values ​​of the water depth deviation as the water depth fluctuation amplitude; Based on the average water depth value, combined with the water flow characteristics and sediment deposition patterns, a baseline correction coefficient is determined. Based on the water depth fluctuation amplitude, combined with the water flow characteristics and sediment distribution patterns, a fluctuation influence coefficient is calculated. The baseline correction coefficient and the fluctuation influence coefficient are multiplied to obtain a preliminary water depth correction coefficient. Based on the effective flow parameter data, the real-time water depth values ​​of the deepest monitoring point and the shallowest monitoring point in the river engineering model are extracted, and the water depth gradient ratio is calculated. Based on the variation law of the water depth gradient ratio and the sediment carrying capacity gradient of the water flow, the preliminary water depth correction coefficient is adjusted to obtain the water depth correction coefficient.

4. The method according to claim 1, characterized in that, Based on the optimal sand addition ratio, a sand addition control signal for adjusting the sand addition rate is generated through the control center. The timeliness of the sand addition control signal is verified to obtain a verified signal, including: Based on the optimal sediment addition ratio and the response characteristics of the sediment addition execution components in the river engineering model sediment addition system, the generation interval of the sediment addition control signal is determined; Based on the optimal sand addition ratio and the generation interval, the target sand addition rate that the sand addition execution component needs to achieve within the generation interval and the operation adjustment parameters that the variable frequency pump needs to match are calculated. The target sand addition rate and the operation adjustment parameters are integrated to generate a sand addition control signal, and the generation time of the sand addition control signal is recorded. Based on the signal transmission path length in the river engineering model sediment addition system, the estimated time from the generation of the sediment addition control signal to its transmission to the variable frequency pump is determined. Combined with the generation time, the estimated execution time of the sediment addition control signal is calculated. Calculate the time difference between the expected execution time and the time corresponding to the execution time difference calculation action. If the time difference is less than or equal to the upper limit of the preset allowable time range, the sand-adding control signal is directly used as the verified signal. If the time difference is greater than the upper limit of the preset allowable time range, the parameter adjustment range is calculated based on the difference between the time difference and the upper limit of the preset allowable time range. Based on the parameter adjustment range, the target sand-adding rate and the variable frequency pump operation adjustment parameters in the sand-adding control signal are corrected to obtain the verified signal.

5. The method according to claim 1, characterized in that, The control system of the river engineering model sends frequency adjustment commands to the variable frequency pump to calculate the sediment transport flow dynamics of the verified signal, including: Based on the target sand addition rate in the verified signal, and combined with the sand transport efficiency of the sand addition execution component in the river engineering model sand addition system, the target sand transport flow dynamics corresponding to the verified signal are calculated. Obtain the actual operating frequency and actual cumulative operating time of the variable frequency pump in the river engineering model sand addition system, calculate the frequency deviation between the actual operating frequency and the target operating frequency in the verified signal, and calculate the duration deviation between the actual cumulative operating time and the target operating time in the verified signal. The frequency adjustment step size of the variable frequency pump is determined based on the frequency deviation value. According to the frequency adjustment step size, the river engineering model sand addition system is controlled to send a frequency adjustment command to the variable frequency pump to adjust the actual operating frequency of the variable frequency pump, so as to obtain the adjusted operating frequency and make the difference between the actual operating frequency and the target operating frequency less than the first preset threshold. Based on the aforementioned time deviation value, determine the operating time compensation value of the variable frequency pump; Based on the aforementioned operating time compensation value, the target stop time in the initial operating plan of the variable frequency pump is updated to obtain the updated stop time; The instantaneous sand transport flow rate of the sand-adding actuator is monitored when the variable frequency pump operates at the adjusted operating frequency and the updated stop time, and the average value of the instantaneous sand transport flow rate within a preset statistical period is calculated as the sand transport flow rate to be confirmed. If the power difference between the unconfirmed sediment transport flow power and the target sediment transport flow power is less than a second preset threshold, then the unconfirmed sediment transport flow power is used as the sediment transport flow power adapted to the verified signal. If the power difference is greater than or equal to the second preset threshold, then the frequency adjustment step size and operating time compensation value of the variable frequency pump are recalculated until the sediment transport flow power adapted to the verified signal is calculated.

6. The method according to claim 1, characterized in that, Based on the aforementioned sediment transport flow dynamics, the sediment feeding actuators in the river engineering model sediment feeding system are adjusted, and the actual sediment feeding rate of the actuators after the adjustment operation is adjusted to achieve a dynamic match between the actual sediment transported by the actuators and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective flow parameter data received by the control center before historical time points, including: Based on the inherent characteristic parameters of the sand-carrying actuator and the sand-carrying flow dynamics, the target rotational speed and target opening of the sand-carrying actuator are calculated. The inherent characteristic parameters include the mechanical transmission ratio and the caliber coefficient. Based on the target rotational speed and the target opening degree, the control center adjusts the sand-adding execution components and valve adjustment mechanisms in the river engineering model sand-adding system to collect the actual sand-adding rate of the sand-adding execution components after the adjustment operation; Calculate the rate deviation between the actual sand-adding rate and the target sand-adding rate in the verified signal, and determine the parameter correction step size of the sand-adding execution component based on the rate deviation. Based on the parameter correction step size, the control center sends a parameter correction command to the sand-adding execution component to correct the actual sand-adding rate until the absolute value of the rate deviation is less than or equal to a preset deviation threshold, thus obtaining the sand-adding rate after preliminary correction. The difference between the effective water flow parameter data received by the control center before the historical time node and the effective water flow parameter data received in the previous calculation cycle is calculated. When the difference value of the water flow parameter is greater than the preset difference threshold, the sand addition rate after the initial correction is adjusted according to the sand transport flow dynamic corresponding to the effective water flow parameter data received by the control center, so that the difference value of the water flow parameter is less than or equal to the preset difference threshold, so as to achieve dynamic matching between the actual amount of sediment transported by the sand addition execution component and the theoretical amount of sediment required.

7. The method according to claim 6, characterized in that, Based on the rate deviation value, the parameter correction step size of the Gaza execution component is determined, including: Based on the mechanical adjustment accuracy of the Gaza execution components, the allowable fluctuation range of the Gaza rate stored in the river engineering model, and the error convergence interval in the historical adjustment data, a deviation judgment threshold is set. The rate deviation value is compared with the deviation judgment threshold to obtain the preliminary parameter correction step size; Based on the safe operating parameters of the Gaza actuator, the preliminary parameter correction step size is adjusted to obtain the parameter correction step size of the Gaza actuator. The safe operating parameters include the minimum safe rotational speed and the minimum safe opening degree.

8. A control system for a river engineering model sand-addition system, characterized in that, include: The acquisition module is used to acquire water flow parameter data within the river engineering model, and to verify the validity of the water flow parameter data to generate valid water flow parameter data. The valid water flow parameter data is then transmitted to the control center of the river engineering model sediment addition system. The water flow parameter data includes water flow velocity, sediment concentration, and water depth monitoring information. The first calculation module is used to calculate the optimal sediment addition ratio that adapts to the flow state of the river engineering model based on the effective flow parameter data received by the control center. The verification module is used to generate a sand addition control signal for adjusting the sand addition rate through the control center according to the optimal sand addition ratio, and to perform timeliness verification on the sand addition control signal to obtain a verified signal. The second calculation module is used to control the river model sediment addition system to send a frequency adjustment command to the variable frequency pump after the control center receives the verified signal, so as to calculate the sediment transport flow power of the verified signal. The variable frequency pump is the core power component of the river model sediment addition system used to regulate the water and sediment transport flow. The adjustment module is used to adjust the sediment feeding execution component in the river engineering model sediment feeding system according to the sediment transport flow dynamics, and adjust the actual sediment feeding rate of the sediment feeding execution component after the adjustment operation, so as to achieve dynamic matching between the actual sediment transported by the sediment feeding execution component and the theoretical sediment demand. The theoretical sediment demand is calculated based on the effective water flow parameter data received by the control center before the historical time node.

9. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a control method for a river engineering model sand-addition system as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The system contains a computer program that, when executed by a computer, implements a control method for a river engineering model sand-addition system as described in any one of claims 1 to 7.

Images