Gate linkage control method and device and series water supply power generation system

Abstract

The application provides a gate linkage control method and device and a series water supply and power generation system. The method is applied to the series water supply and power generation system. The method comprises the following steps: obtaining water demand and current water level information of the series water supply and power generation system; wherein the current water level information at least comprises current river channel water level information and current water diversion main canal water level information; determining gate opening control decisions of a first water diversion gate and a second water diversion gate according to the water demand and the current water level information of the series water supply and power generation system; and performing linkage control on the first water diversion gate and the second water diversion gate according to the gate opening control decisions. The method provided by the above scheme can determine the gate opening control decisions according to the current water demand and the current water level information, so that the gate opening of the multiple water diversion gates can be controlled according to the gate opening control decisions, and the series water supply and power generation system can be accurately controlled.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a gate linkage control method, device and series water supply and power generation system. Background Technology

[0002] Currently, open channel water diversion and supply projects that combine water conveyance, water distribution, power generation, and safe operation are referred to as water supply-power generation channels, or water supply-power generation systems. If the guiding principles of safe water conveyance, accurate water measurement, real-time safety monitoring of the project, and scientific, timely, and effective scheduling are implemented, the water supply project can be operated and managed safely, reliably, economically, and scientifically while achieving efficient utilization of hydropower and water resources, demonstrating significant advantages. However, the system's operation and control involve multiple aspects such as hydrology, meteorology, and water conditions and regulation, making stable control inherently difficult. Therefore, how to achieve stable system control has become a key research focus.

[0003] In existing technologies, operators typically estimate the target water level and flow velocity in the water diversion channel based on the water demand, and then control the opening of each gate in the water supply and power generation system. However, due to the randomness, multi-objective nature, and real-time nature of changes in water demand, existing technologies cannot achieve precise control of the water supply and power generation system. Summary of the Invention

[0004] This application provides a gate linkage control method, device, and series water supply and power generation system to solve the defects of the prior art, such as the inability to achieve precise control of the water supply and power generation system.

[0005] The first aspect of this application provides a gate linkage control method applied to a series water supply and power generation system. The series water supply and power generation system includes a reservoir, a river, an overflow weir, and a main water diversion canal. One end of the river is connected to the reservoir. A first water diversion gate is provided between the river and the reservoir. A axial-flow turbine unit and an overflow weir are sequentially arranged on the river according to the water flow direction. The main water diversion canal is arranged parallel to the river downstream. A second water diversion gate is provided between the main water diversion canal and the overflow weir. The method includes:

[0006] Obtain the water demand and current water level information of the series water supply and power generation system; wherein, the current water level information includes at least the current river water level information and the current water diversion canal water level information;

[0007] Based on the water demand and current water level information of the series water supply and power generation system, the gate opening control decision of the first water intake gate and the second water intake gate is determined.

[0008] According to the gate opening control decision, the first and second water intake gates are controlled in a coordinated manner.

[0009] Optionally, the step of determining the gate opening control decision for the first and second water intake gates based on the water demand and current water level information of the series water supply and power generation system includes:

[0010] Based on the water level and flow rate change trend information of the series water supply and power generation system, water demand, and current water level information, the gate opening control decision of the first water intake gate and the second water intake gate is determined; wherein, the river channel and the diversion canal are equipped with multiple water level monitoring stations, and the water level and flow rate change trend information represents the correspondence between the water level change and the flow rate at each of the water level monitoring stations.

[0011] The water demand includes at least the target water level of the main water diversion canal.

[0012] Optionally, the series water supply and power generation system includes two main water diversion canals located on both sides of the river channel and parallel to the river channel downstream. Each main water diversion canal is equipped with a second water diversion gate between itself and the overflow weir. The decision to determine the gate opening of the first and second water diversion gates based on the water level and flow rate change trend information, water demand, and current water level information includes:

[0013] Based on the water demand and current water level information, determine the water shortage in the main irrigation canal;

[0014] Based on the linkage effect between the water intake gates in the series water supply and power generation system, and according to the water shortage in the main water intake canal and the water level and flow rate change trend information, the preliminary control decision of the gate opening of the first water intake gate and the second water intake gate is determined.

[0015] Obtain environmental interference information of the series water supply and power generation system;

[0016] Based on the environmental interference information, the system error of the series water supply and power generation system is determined;

[0017] Based on the gate linkage control results characterized by the preliminary control decision of the gate opening of the first and second water intake gates, the gate adjustment error is determined.

[0018] Based on the system error and the gate adjustment error, the preliminary control decisions on the gate opening of the first and second water intake gates are corrected to obtain the gate opening control decisions for the first and second water intake gates.

[0019] Optionally, the method further includes:

[0020] The linkage effect between the water intake gates in the series water supply and power generation system is determined according to the following formula:

[0021] K1(k+1)=αK1(k)+βK2(k)+γK3(k)

[0022] Wherein, K1 represents the first water intake gate, K2 and K3 represent the two second water intake gates respectively, K1(k+1) represents the gate opening of the first water intake gate at time k+1, K1(k), K2(k) and K3(k) represent the gate opening of the first water intake gate and the two second water intake gates at time k respectively, and α, β and γ represent the flow index of the first water intake gate and the two second water intake gates at the gate opening at time k respectively.

[0023] Optionally, determining the gate adjustment error based on the gate linkage control results characterized by the preliminary control decision of the gate opening of the first and second water intake gates includes:

[0024] Based on the hydrodynamic model and large time-delay control model of the series water supply and power generation system, and according to the preliminary control decision of the gate opening of the first and second water intake gates, the gate linkage control result is predicted.

[0025] Based on the water level difference between the predicted water level represented by the gate linkage control result and the target water level represented by the water demand, the gate adjustment error corresponding to the preliminary gate opening control decision is determined.

[0026] Optionally, obtaining the current water level information of the series-connected water supply and power generation system includes:

[0027] Obtain the current water level monitoring results from each of the aforementioned water level monitoring stations;

[0028] Based on the water level fluctuation information of the river and the main water diversion canal, the current water level monitoring results are filtered to obtain the current water level information of the series water supply and power generation system.

[0029] Optionally, the step of linking the first and second intake gates according to the gate opening control decision includes:

[0030] Based on a preset channel time-delay control model, and according to the gate opening control decision, the first and second water intake gates are linked for control to ensure smooth water level changes in the main water intake canal; wherein, the preset channel time-delay control model is as follows:

[0031]

[0032] Among them, c i (t) represents the deviation between the actual water level and the steady-state water level of the main irrigation canal i at time t, A hi q represents the area of ​​the backwater zone of the main irrigation canal i. jini qchui q qui τ represents the deviation of the inflow, outflow, and intake flow of the main water diversion canal i from the steady state, respectively. i This represents the time delay corresponding to the main water diversion canal i.

[0033] A second aspect of this application provides a gate linkage control device applied to a series water supply and power generation system. The series water supply and power generation system includes a reservoir, a river, an overflow weir, and a main diversion canal. One end of the river is connected to the reservoir. A first diversion gate is provided between the river and the reservoir. A axial-flow turbine unit and an overflow weir are sequentially arranged on the river according to the water flow direction. The main diversion canal is arranged parallel to the river downstream. A second diversion gate is provided between the main diversion canal and the overflow weir. The device includes:

[0034] The acquisition module is used to acquire the water demand and current water level information of the series water supply and power generation system; wherein, the current water level information includes at least the current river water level information and the current water diversion canal water level information;

[0035] The determining module is used to determine the gate opening control decision of the first water intake gate and the second water intake gate based on the water demand and current water level information of the series water supply and power generation system.

[0036] The control module is used to perform linkage control on the first and second water intake gates according to the gate opening control decision.

[0037] A third aspect of this application provides a series water supply and power generation system, the series water supply and power generation system comprising:

[0038] The waterway includes a reservoir, a river, an overflow weir, and a main water diversion canal. One end of the river is connected to the reservoir, and a first water diversion gate is provided between the river and the reservoir.

[0039] A flow-through unit and an overflow weir are sequentially installed on the river channel according to the direction of water flow. The water diversion canal is set parallel to the river channel downstream. A second water diversion gate is installed between the water diversion canal and the overflow weir.

[0040] It also includes electronic devices, including: at least one processor and memory;

[0041] The memory stores computer-executed instructions;

[0042] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect above and various possible designs of the first aspect.

[0043] The fourth aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method described in the first aspect above and various possible designs of the first aspect.

[0044] The technical solution of this application has the following advantages:

[0045] This application provides a gate linkage control method, device, and series water supply and power generation system. The method is applied to a series water supply and power generation system, which includes a reservoir, a river, an overflow weir, and a main diversion canal. One end of the river connects to the reservoir, and a first diversion gate is located between the river and the reservoir. A axial-flow turbine and an overflow weir are sequentially installed on the river according to the river's flow direction. The main diversion canal is located downstream of the river and parallel to it. A second diversion gate is located between the main diversion canal and the overflow weir. The method includes: acquiring the water demand and current water level information of the series water supply and power generation system; wherein the current water level information includes at least the current river water level and the current main diversion canal water level; determining the gate opening control decision for the first and second diversion gates based on the water demand and current water level information of the series water supply and power generation system; and performing linkage control on the first and second diversion gates according to the gate opening control decision. The method provided by the above scheme determines the gate opening control decision based on the current water demand and current water level information. In this way, the gate opening of multiple water intake gates can be controlled according to the gate opening control strategy to achieve precise control of the series water supply and power generation system. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0047] Figure 1 A schematic flowchart illustrating the gate linkage control method provided in this application embodiment;

[0048] Figure 2 This is a schematic diagram of the feedforward-feedback fusion control process provided in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the gate linkage control device provided in the embodiments of this application;

[0050] Figure 4 This is a schematic diagram of the structure of a series water supply and power generation system provided in an embodiment of this application;

[0051] Figure 5This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0052] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the following descriptions of embodiments, "a plurality of" means two or more, unless otherwise explicitly defined.

[0055] This application provides a gate linkage control method applied to a series water supply and power generation system. The method is used to perform linkage control of gates within the system, which includes a reservoir, a river, an overflow weir, and a main diversion canal. One end of the river connects to the reservoir, and a first diversion gate is located between the river and the reservoir. A turbine generator and an overflow weir are sequentially installed along the river according to the flow direction. The main diversion canal is located downstream of the river, parallel to it, and a second diversion gate is located between the main diversion canal and the overflow weir. The execution subject of this application embodiment is an electronic device, such as a server, desktop computer, laptop computer, tablet computer, or other electronic devices that can be used for automated gate control.

[0056] like Figure 1 The diagram shown is a flowchart illustrating the gate linkage control method provided in this application embodiment. The method includes:

[0057] Step 101: Obtain the water demand and current water level information of the series water supply and power generation system.

[0058] The current water level information includes at least the current river water level and the current water diversion canal water level.

[0059] Step 102: Based on the water demand of the series water supply and power generation system and the current water level information, determine the gate opening control decision for the first and second water intake gates.

[0060] Specifically, in order to ensure the reliability of the gate opening control decision, a combination of feedforward regulation and feedback regulation can be adopted. Based on the water demand of the series water supply and power generation system and the current water level information, the gate opening control decision of the first and second water intake gates can be determined.

[0061] Specifically, in one embodiment, the gate opening control decision for the first and second water intake gates can be determined based on the water level and flow rate change trend information of the series water supply and power generation system, water demand, and current water level information.

[0062] The river channel and diversion canal are equipped with multiple water level monitoring stations. The water level and flow rate change trend information represents the correspondence between water level changes and flow rate at each water level monitoring station. The water demand includes at least the target water level of the diversion canal.

[0063] It should be noted that, considering the inherent time required for water flow and its volumetric nature requiring containment, actions should be taken based on the anticipated arrival of the water flow to avoid inappropriate timing during adjustments after the flow has occurred. Therefore, predictive control can be developed based on a model to predict the trend of changes in water level and flow rate, further determining the relationship between water level and flow rate. While the water flow will inevitably reach the water level monitoring station and the intake gate, it still requires a certain amount of time. The information on water level and flow rate changes can at least determine the time it takes for the water flow changes to affect the water level. By combining this information with the water level and flow rate change trends of the series-connected water supply and power generation system, gate opening control decisions are made to avoid water loss or backlog, further ensuring the safety of the series-connected water supply and power generation system.

[0064] Step 103: According to the gate opening control decision, the first water intake gate and the second water intake gate are linked for control.

[0065] It should be noted that the gate opening control decision includes at least the target opening and opening transition process of the first and second intake gates.

[0066] Specifically, the first and second water intake gates can be linked and controlled according to the target opening and opening transition process of the gate opening control decision characterization, so that the water level and flow of the water intake canal can meet the water demand.

[0067] In one embodiment, to ensure the smooth change of water level in the main water diversion canal during the control process and thus guarantee the safety of the series-connected water supply and power generation system, the first and second water diversion gates can be linked and controlled according to the gate opening control decision based on a preset channel time-delay control model, so as to ensure the smooth change of water level in the main water diversion canal; wherein, the preset channel time-delay control model is as follows:

[0068]

[0069] Among them, c i (t) represents the deviation between the actual water level and the steady-state water level of the diversion main canal i at time t, and A hi represents the backwater area of the diversion main canal i, and q jini 、q chui 、q qui respectively represent the deviations of the inflow, outflow, and water intake flow corresponding to the diversion main canal i from the steady state, and τ i represents the time delay corresponding to the diversion main canal i.

[0070] Specifically, in the process of jointly controlling the first diversion gate and the second diversion gate according to the gate opening control decision, ensure that remains within the preset safety range.

[0071] Based on the above embodiments, as an implementable manner, in one embodiment, the series-connected water supply and power generation system includes two diversion main canals, the two diversion main canals are located on both sides of the river channel, and are both arranged in parallel with the river channel downstream of the river channel. A second diversion gate is provided between each diversion main canal and the overflow weir. According to the water level and flow rate change trend information, water use demand, and current water level information, determine the gate opening control decision for the first diversion gate and the second diversion gate, including:

[0072] Step 1021, determine the water shortage of the diversion main canal according to the water use demand and current water level information;

[0073] Step 1022, according to the linkage influence between the diversion gates in the series-connected water supply and power generation system, determine the preliminary gate opening control decision for the first diversion gate and the second diversion gate according to the water shortage of the diversion main canal and the water level and flow rate change trend information;

[0074] Step 1023, obtain the environmental interference information of the series-connected water supply and power generation system;

[0075] Step 1024, determine the system error of the series-connected water supply and power generation system according to the environmental interference information;

[0076] Step 1025, determine the gate adjustment error according to the gate linkage control result represented by the preliminary gate opening control decision for the first diversion gate and the second diversion gate;

[0077] Step 1026, correct the preliminary gate opening control decision for the first diversion gate and the second diversion gate according to the system error and the gate adjustment error to obtain the gate opening control decision for the first diversion gate and the second diversion gate.

[0078] Specifically, the interrelationship between the water intake gates in a series-connected water supply and power generation system can be determined based on their positional relationships and topographical factors. This interrelationship primarily manifests as gate opening and flow rate effects. Environmental disturbances related to the series-connected water supply and power generation system mainly consist of meteorological information, such as water evaporation and precipitation.

[0079] Specifically, in one embodiment, the linkage effect between the water intake gates in a series water supply and power generation system can be determined according to the following formula:

[0080] K1(k+1)=αK1(k)+βK2(k)+γK3(k)

[0081] Wherein, K1 represents the first water intake gate, K2 and K3 represent the two second water intake gates respectively, K1(k+1) represents the gate opening of the first water intake gate at time k+1, K1(k), K2(k) and K3(k) represent the gate opening of the first water intake gate and the two second water intake gates at time k respectively, and α, β and γ represent the flow index of the first water intake gate and the two second water intake gates at the gate opening at time k respectively.

[0082] It should be noted that, since feedforward regulation is inherently unsuitable for steady-state fine-tuning in everyday applications, a combination of feedforward and feedback control systems is used to compensate for the inaccuracies and partial unmeasurability of feedforward regulation. This also avoids the negative impact of a single feedback control system, where the system always fluctuates behind disturbances due to deviation control, leading to steady-state position tracking errors that affect the system's final trajectory.

[0083] Specifically, a combination of feedforward and feedback regulation can be used to determine the gate opening control decision, such as... Figure 2 The diagram shown is a schematic of the feedforward and feedback fusion control process provided in the embodiment of this application. The feedforward adjustment is defined to adjust according to the disturbance (water shortage) itself, and the feedback adjustment is defined to adjust according to the deviation between the current state and the specified mechanism.

[0084] Specifically, the opening degree of the water intake gate is set as the input quantity u1. Assuming that the initial opening degree u1 = 0 indicates that it is in a closed state, then:

[0085] Ψ(s)=Ψ1(s)+Ψ2(s)=[D n (s)G(s)+G n (s)]N(s)

[0086] Where Ψ(s) represents the output of the superposition of the effects Ψ1 and Ψ2 generated by the disturbance η under the control of U; D n (s) is the function of feedforward regulation, Gn N(s) represents the transfer function of the influence caused by the disturbance η during its generation and transmission; N(s) represents the transfer function of the combined effects of feedforward and feedback regulation.

[0087] The ideal situation is Ψ(s) = 0, that is:

[0088] D n (s)G(s)+G n (s)=0

[0089] This leads to the transfer function of the feedforward regulator:

[0090] D n (s)=-G n (s) / G(s)

[0091] Wherein, G(s0) represents the transfer function of the control process in the water diversion channel.

[0092] By combining feedforward and feedback regulation, a controller with both open-loop and closed-loop operation is formed. X(s) represents the current operating condition (water demand and current water level information), and G... f (s) represents the input measured value of the feedforward controller, which is automatically controlled and regulated. The resulting regulation error and system error are then input into the controller for further regulation and control. Finally, the actuator of the series linkage control system is output as the decision Y(s).

[0093] The transfer function of the system output Y(s) with respect to the input X(s) is:

[0094]

[0095] Among them, G p (s) serves as the feedback transfer function in a controller that exists in both open-loop and closed-loop configurations. b (s) serves as the transfer function for integrating open-loop and closed-loop effects in this controller.

[0096] The systematic error is obtained as follows:

[0097] E(s) = X(s) - Y(s)

[0098] The transfer function of the systematic error with respect to the input is:

[0099]

[0100] Specifically, in one embodiment, based on the hydrodynamic model and large time-delay control model of the series water supply and power generation system, the gate linkage control result can be predicted according to the preliminary control decision of the gate opening of the first and second water intake gates; and the gate adjustment error corresponding to the preliminary control decision of the gate opening can be determined according to the water level difference between the predicted water level represented by the gate linkage control result and the target water level represented by the water demand.

[0101] Specifically, the concepts of linkage control and digital twin verification are integrated. A large time-delay control model guided by prediction is formed by combining hydrodynamic model simulation. Through verification and correction of time delay and deviation tracking, and based on the regulation system model and transformation, the hydrodynamic model simulation is continued, and feedback is given to the controller in combination with real-time opening feedback and water level change trends. At the same time, measurement error, simulation error, and control error are corrected. The digital twin model is corrected in real time based on the current measured values ​​of water level, flow and actual gate opening of the river and diversion canal. The opening guidance is then issued again. The linkage control is based on the water flow and forms a whole. Changes in water flow require the gates at the upstream and downstream to be adjusted together to restore the deviation to normal. The influence of transmission time is taken into account to ensure the connection and coordination of the gates in the coordination process. The hydrodynamic model prediction, feedback and adjustment are continued. After the current verification is correct, the decision guidance for gate opening control is obtained until the stable value specified by the mechanism is returned. The final mechanism-driven linkage control decision is formed, which forms the linkage control guidance for the opening and closing of each gate and the decision on the operation time.

[0102] Furthermore, in one embodiment, based on a preset channel time-delay control model and according to the gate opening control decision, the first and second water intake gates can be linked for control to ensure smooth changes in the water level of the main water intake canal; wherein, the preset channel time-delay control model is as follows:

[0103]

[0104] Among them, c i (t) represents the deviation between the actual water level and the steady-state water level of the main irrigation canal i at time t, A hi q represents the area of ​​the backwater zone of the main irrigation canal i. jini q chui q qui τ represents the deviation of the inflow, outflow, and intake flow of the main water diversion canal i from the steady state, respectively. i This represents the time delay corresponding to the main water diversion canal i.

[0105] Based on the above embodiments, to ensure the reliability of the acquired data, as an implementable method, in one embodiment, acquiring the current water level information of the series-connected water supply and power generation system includes:

[0106] Step 1011: Obtain the current water level monitoring results from each water level monitoring station;

[0107] Step 1012: Based on the water level fluctuation information of the river and the main water diversion canal, the current water level monitoring results are filtered to obtain the current water level information of the series water supply and power generation system.

[0108] Specifically, considering the fluctuations in water level, and the fact that non-steady-state control water level is inherently dynamic, changing, and fluctuating, filtering is applied to the initial water level information (current water level monitoring results) to ensure data reliability and reduce noise. This involves introducing filtering techniques, including but not limited to ADRC (Active Disturbance Rejection Control), amplitude limiting filtering, median filtering, arithmetic mean filtering, recursive average filtering, median average filtering, amplitude limiting average filtering, debouncing filtering, and Kalman filtering. Real-time current water level monitoring results are used as input to process disturbances and deviations during the monitoring process. By processing the measured data through ADRC and filtering algorithms, accurate water level information free of disturbances and noise can be obtained, supporting subsequent control and learning.

[0109] Specifically, in one embodiment, the ADRC (Active Disturbance Rejection Control) method can be used to monitor the water level at the three intake gate locations in real time.

[0110] C1(t)=C(t)

[0111]

[0112]

[0113] Where C1, C2, and C3 represent the state variables obtained by the active disturbance rejection algorithm, namely the water level information of the water level monitoring stations corresponding to the three water intake gates at time t, and T ab tj represents the inertial time constant of the gate linkage control. x ,tj g ,tj y All are constants of the self-adjustment coefficient, zk h zke q ,zk l Both represent constants for the active disturbance rejection factor, m df This represents a large fluctuation under heavy load. S is the real-time input signal, i.e., the water level monitoring result at time t. S1 is the approximate input extracted by the differential tracker, and S2 is the differential signal. and Used to measure the relative deviation between the current channel water level and flow rate output and the actual value.

[0114] Specifically, in one embodiment, before implementing gate linkage control of the series water supply and power generation system, a prototype model of the system structure can be created based on the concept of digital twins. Existing three-dimensional hydrodynamic models, including but not limited to MIKE21, Hydro Qual, and Fluent, are used, combined with basic continuity equations, momentum equations, and energy equations. Based on this, the corresponding system functions of the devices in the series water supply and power generation system are added, improving the verification mechanism for the model's form and function. This accurately and reliably reflects the simulated operation of the initial channel structure in virtual space. Then, the current structure is verified. Before the final deployment of monitoring points, the accuracy of water level and flow rate measurements is verified through the constructed hydrodynamic model and model experiments. Based on the monitoring station types determined in the preliminary device structure scheme, controlled variable experiments are used to investigate the accuracy of measurements at the initial monitoring station sites under different water levels, flow rates, and states, and to determine whether these limited data can reflect the current overall system status. At the same time, it is necessary to verify whether the channel components are arranged reasonably, whether the channel control operation is feasible under different working conditions, and whether the channel control device system can coordinate and connect when facing different types of working conditions at different times.

[0115] Furthermore, during the feedback adjustment process, based on the deviations between the simulation test results and the actual expected measurement accuracy and control effect, several measures need to be taken, including but not limited to: optimizing and selecting monitoring station types, relocating monitoring stations, and adjusting the location and structure of control devices. After completing one stage of adjustment based on the current model simulation feedback, the next stage of simulation is implemented, with continuous feedback and adjustments, continuing this process until the location of the monitoring stations accurately reflects the operating conditions of the entire system and the device structure can cope with and connect different operating conditions and channel states. Strict review of specifications is conducted throughout the process, thereby forming the framework design of the structure itself and the design of the linkage control platform, pointing out optimization schemes and implementation methods. This ensures that the monitoring station locations accurately correspond to actual needs, and that the devices, mainly control gates and monitoring stations, form a functional linkage, achieving device coordination and response during the control operation of the water supply-power generation series linkage.

[0116] Specifically, the hydrodynamic model for channel gate control is improved using a digital twin approach, which includes:

[0117] The gate flow equations are used as boundary conditions for the St. Venant equations. An implicit difference scheme by Preissmann is employed to incrementally linearize the St. Venant equations at steady-state points, constructing a state-space model of the entire channel. The coupling relationship between the channel and the pool is implicitly contained within the model. The transformation of the St. Venant equations includes two sub-equations: the continuity equation and the momentum equation. The continuity and momentum equations are discretized separately, and incremental linearization is performed at steady-state operating points. The continuity equation is then transformed using a four-point eccentric scheme by Preissmann.

[0118]

[0119] Where A is the cross-sectional area of ​​the water passage. Let be the flow area of ​​node j+1 in the n+1 cycle step. Let J be the flow area of ​​node j in the (n+1)th cycle step. Let J be the flow area of ​​node J+1 in n loop steps. Let be the flow area of ​​node j in cycle step n; Δt represents the time step, Δx represents the spatial step; Q is the flow rate. Let J be the flow rate of node J+1 in the (n+1)th iteration. Let J be the flow rate of node j in the (n+1)th cycle. Let the flow rate of node j+1 be the flow rate in the nth cycle. Let be the flow rate at node j in cycle n; θ be the angle between the tangent at the lower edge of the arc gate and the horizontal direction; and q be the lateral outflow rate per unit length of the channel. Let J be the flow rate of node J+1 in the (n+1)th iteration. Let J be the flow rate of node j in the (n+1)th cycle. Let the flow rate of node j+1 be the flow rate in the nth cycle. Let J be the flow rate of node j in cycle n, assuming q je This represents the lateral outflow per unit length at node j under steady-state operating conditions.

[0120] Let e ​​be the steady-state operating point of the canal pool, then we have:

[0121] Q + =Q + ε +δQ +

[0122] Z + =Z + ε +δZ +

[0123] Wherein, the flow rate Q in the n+1 cycle stepn+1 Abbreviated as Q + ,δQ + and δZ + The traffic Q corresponding to the channel equilibrium point is respectively. + ε and water level Z + ε Small deviations.

[0124] Assume the flow area A at node j j For A j =B j δZ j Then the incremental linearization expression is:

[0125]

[0126] Among them, B j A represents the width of node j. j+1 and A j Let δZ represent the flow areas at nodes j+1 and j, respectively. j This represents the small deviation of the equilibrium water level at node j.

[0127] The time-domain momentum equation is discretized using the Pressimann four-point eccentric scheme, and incremental linearization is performed at the steady-state operating point e. The improved momentum equation is transformed into:

[0128]

[0129] Where R is the hydraulic radius, x represents the distance, t represents the time, gravitational acceleration g is used to calculate the impulse, κ represents the constant for calculating momentum, and Z represents the head.

[0130] Specifically, in one embodiment, in order to further improve the accuracy of gate linkage control, after integrating feedforward and feedback regulation to form model-based gate linkage control, the parameterized scheme under mechanism-driven control can be used as a sample. Supervised learning is selected, and the water level values ​​of multiple points at the same time during the control process of each sample are used as independent variables, and the corresponding gate control guidance is used as dependent variables. Regression analysis is used to form a continuous mapping relationship between independent and dependent variables. In terms of classification, the input is classified and hierarchically, and discrete linkage control guidance is output.

[0131] Among them, a tracking differentiator based on the Fhan function is used to quickly track the original signal without overshoot, forming a closed-loop control of the observer. Let e(t) = X1(t) - X(t), and the discrete form can be expressed as:

[0132] fh = fhan(ω,X,r,h0)

[0133] X1(t+1)=X1(t)+σX2(t)

[0134] X2(t+1)=X2(t)+hfh

[0135] Where fh is the discrete representation of the differential tracker, ω is the error signal, X1 and X2 are the input signal and differential observation signal acquired by the differential tracker, respectively, r is the velocity factor of the fhan function, h0 is the filter factor, and σ is the sampling period.

[0136] In the above formula, fhan(ω,X,r,h0) is defined as:

[0137]

[0138] n = n1 + a0

[0139]

[0140] a2=a0+sign(y)(a1-d) / 2

[0141] s n = (sign(n+d)-sign(nd)) / 2

[0142] a=(a0+n-a2)s n +a2

[0143] s a =(sign(a+d)-sign(ad)) / 2

[0144]

[0145] Where d is the sampling parameter of the fhan function, a is the relative deviation factor, a0, a1, and a2 are all deviation factors in the filtering process, n is the disturbance amount, n1 is the difference caused by the disturbance factor, sign is the nonlinear sign function for convergence analysis after the active disturbance rejection system reaches stability, and s n s is the state stability value calculated using perturbation factors. a This is the stable state value calculated using the deviation factor.

[0146] By combining the model simulation of the channel prototype system, incorporating feedback and making adjustments, the state space of the channel is obtained from different inputs and outputs of the sample. The state space expression corresponding to the channel system is then used to describe the state space. The state space is then used as the controlled model object for simulated control, and the output guides the gate control.

[0147] Regression models are used to quantitatively describe the statistical relationship between inputs and outputs in a sample, and to perform tests, feedback, and adjustments, forming regression-predictive analysis as well as statistical tests and tests of the significance of specific issues.

[0148] Next, regression verification is applied to the state-space model to obtain the parameters of the prediction function. Simulation, calculation, and feedback adjustments are then performed to verify and ultimately determine the parameters of the prediction function, resulting in a prediction model. Using water level as input, the model predicts subsequent water level and flow rate trends after control decisions are implemented. For the channel system state-space model, equations for water level and flow rate are obtained for the gate based on the conservation of water flow mass and the gate outflow formula.

[0149] Q j =Q j+1 =Q g

[0150]

[0151] Among them, Q g Let f() represent the flow rate through the gate, and let C be the functional equation relating water level and flow rate. d denoted as the gate flow coefficient, u as the gate opening, b as the gate width, and Δh as the water level difference.

[0152] Incremental linearization of the equations for water level and flow rate:

[0153]

[0154] The state-space-based prediction model corresponding to the matrix solution is imported into the model transformation space to obtain the prediction model and the corresponding application guidance mechanism for the control actuator:

[0155] L 1 δx(k+1)=R 1 δx(k)+Pδu(k)

[0156] In the formula:

[0157]

[0158]

[0159]

[0160]

[0161] δx(k)=[δQ j δZ j δQ j+1 δZ j+1 ] T

[0162] δu(k)=[δu] T

[0163] Among them, L 1 Let δx(k+1) represent the coefficient matrix mapping the predicted state of the channel system to its impact effects. Let δx(k+1) represent the monitoring and sensing dataset of water level, flow rate, and gate opening at time k+1, where the state of the channel system (series water supply and power generation system) deviates slightly from its steady state. Let δx(k) represent the monitoring and sensing dataset of water level, flow rate, and gate opening at time k, where the state of the channel system deviates slightly from its steady state. R 1 The matrix represents the influence effect mapping coefficient matrix of the current state of the channel system, P represents the comprehensive influence coefficient matrix of opening degree, flow rate and water level under time delay control, and δu(k) represents the gate opening application decision of multiple control actuators in the channel system provided in this application embodiment at different positions.

[0164] To process the disturbance term, let nodes j and j+1 be the two nodes before and after the water diversion point, respectively, and Q... p Let the water flow rate at the water distribution point be denoted as . Then the relationship between water level and flow rate between nodes j and j+1 is as follows:

[0165] Q j -Q p =Q j+1

[0166] Z j+1 =Z j

[0167] Continuing from the state space, the solution from the corresponding matrix is ​​imported into the model transformation space, and the prediction model is applied:

[0168] L 2 δx(k+1)=R 2 δx(k)+Wδq(k)

[0169] In the above formula:

[0170]

[0171]

[0172]

[0173]

[0174] Among them, L 2 R represents the coefficient matrix representing the influence of predicted conditions on water level and flow rate based on the control and operation of the channel system. 2The coefficient matrix represents the influence of the current channel system control on water level and flow rate. W represents the comprehensive influence coefficient matrix of lateral outflow on the system under time-delay control. δq(k) represents the outflow deviation of the channel system in a relatively steady state along the main water diversion canals on both sides of the river.

[0175] According to the model transformation matrix, a computation node corresponds to two variables: water level and flow rate. The introduction of the gate boundary term increases the sparsity of the model transformation matrix, corresponding to L and R:

[0176]

[0177]

[0178] The processed model is transformed into a spatial form and written as a general expression for the system state equations:

[0179] x(k+1)=A A x(k)+B B u(k)

[0180] A A =L -1 R

[0181] B B =L -1 P

[0182] In application, a state space for a series water supply-power generation channel is constructed. Mechanism-driven control schemes are used as samples for learning regression to obtain the function parameters of the prediction model, thereby integrating current status monitoring and perception with the prediction and decision-making of the actuator control. During operation, predictions of the future state of the channel system are made based on the current situation, corresponding control decisions are made, and further prediction verification and follow-up are implemented to continue predicting the evolution of the system devices and maintain steady-state operation.

[0183] Then, by using neural networks for regression and classification, the input of multi-point real-time water level monitoring is stratified and mapped to reasonable states in the state space under fuzzy control, forming a fuzzy neural network decoupled control, and using a predictive function controller to make decisions.

[0184] By establishing rules-based fuzzy control, rules are defined between inputs and outputs. Based on the inputs, the output values ​​can be generated in real time by judging according to the rules.

[0185] The gate linkage control method provided in this application obtains the water demand and current water level information of a series-connected water supply and power generation system. The current water level information includes at least the current river water level and the current water diversion canal water level. Based on the water demand and current water level information of the series-connected water supply and power generation system, the method determines the gate opening control decision for the first and second water diversion gates. According to the gate opening control decision, the first and second water diversion gates are linked for control. The method provided above, by determining the gate opening control decision based on the current water demand and current water level information, can control the gate opening of multiple water diversion gates according to the gate opening control strategy, thereby achieving precise control of the series-connected water supply and power generation system. Furthermore, the linkage between multiple gates verifies the possibility of ensuring stable operation. It not only achieves a deep integration of coarse and fine adjustments in feedforward and feedback, but also implements deviation control for steady-state conditions, further improving the robustness of the control. Simultaneously, by incorporating advanced control methods such as model-based control, the system evolves from single-unit operation to overall coordinated operation. It integrates hydrodynamic models and large time-delay control, corresponding to control theories to form a controller, achieving parallel coarse and fine adjustments and seamless integration of emergency and routine operations. Furthermore, it establishes inter-device coordination, allowing different functions of various devices to be used in tandem. Real-time measurement and sensing data provide feedback, guiding gate control. The coordinated control and collaboration between gates and different devices under various operating conditions ultimately achieve stable water levels.

[0186] Furthermore, a multi-input multi-output state space for gate linkage control is established. The water level and flow rate values ​​of all measuring points at the same time are used as multiple inputs, and the resulting gate opening control guidelines are used as multiple outputs, ensuring efficient and stable connection between control operations under different conditions. Innovative deep learning is applied to achieve optimization methods and operational strategies, and fuzzy neural networks are introduced to perform hierarchical classification of the controlled object, further obtaining correct and reasonable decision guidance from the state space. A predictive function controller based on the state space model is designed based on the predictive function control algorithm principle.

[0187] This application provides a gate linkage control device applied to a series water supply and power generation system. The series water supply and power generation system includes a reservoir, a river, an overflow weir, and a water diversion canal. One end of the river is connected to the reservoir, and a first water diversion gate is provided between the river and the reservoir. A axial flow turbine and an overflow weir are sequentially arranged on the river according to the water flow direction. The water diversion canal is arranged parallel to the river downstream, and a second water diversion gate is provided between the water diversion canal and the overflow weir. This device is used to execute the gate linkage control method provided in the above embodiment.

[0188] like Figure 3 The diagram shown is a structural schematic of the gate linkage control device provided in an embodiment of this application. The gate linkage control device 30 includes: an acquisition module 301, a determination module 302, and a control module 303.

[0189] The system includes an acquisition module for acquiring the water demand and current water level information of the series-connected water supply and power generation system; the current water level information includes at least the current river water level information and the current water diversion canal water level information; a determination module for determining the gate opening control decision of the first and second water diversion gates based on the water demand and current water level information of the series-connected water supply and power generation system; and a control module for performing linkage control on the first and second water diversion gates according to the gate opening control decision.

[0190] Regarding the gate linkage control device in this embodiment, the specific methods by which each module performs its operation have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0191] The gate linkage control device provided in this application embodiment is used to execute the gate linkage control method provided in the above embodiment. Its implementation method and principle are the same, and will not be described again.

[0192] This application provides a series water supply and power generation system for executing the gate linkage control method provided in the above embodiments.

[0193] like Figure 4 The diagram shown is a schematic representation of a series water supply and power generation system provided in an embodiment of this application. The system includes: a reservoir, rivers (river 1 and river 2), an overflow weir, and a main water diversion canal. One end of the river connects to the reservoir, and a first water diversion gate (water diversion gate 1) is provided between the river and the reservoir. A turbine generator and an overflow weir are sequentially installed on the river according to the water flow direction. The main water diversion canal is located downstream of the river and parallel to it. A second water diversion gate is provided between the main water diversion canal and the overflow weir. The series water supply and power generation system includes two main water diversion canals (e.g.,...). Figure 5 The two water diversion canals (1 and 2) are located on both sides of the river channel and are set parallel to the river channel downstream. Each water diversion canal is equipped with a second water diversion gate (2 and 3) between itself and the overflow weir.

[0194] The system also includes electronic devices, such as Figure 5 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. The electronic device 50 includes at least one processor 51 and a memory 52.

[0195] The memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, causing at least one processor to execute the gate linkage control method provided in the above embodiment.

[0196] Specifically, based on the existing simple water supply and power generation channels, overflow structures such as overflow weirs are added to the hardware. When operational deviations or errors occur, excess and unusable water flow is released outside the channels, supplementing the deficiencies of automatic control and ensuring the realization of backup for risks such as excessive water inflow. Furthermore, the original generator sets are improved into several cross-flow turbine units in a row, so that the water supply function is not affected even when individual units are shut down for maintenance. Considering the possible errors in control operation, sensors for opening feedback are added to the gate actuator position to form feedback of the actual gate opening after control operation to avoid control errors and their superposition and transmission. This adapts to the application of linkage control.

[0197] Furthermore, the current equipment design is optimized to ensure it meets the practical requirements of linkage control. The impact of water surge during gate opening and closing is considered, leading to a channel superelevation design. The flow capacity at different gate opening degrees during linkage control is also considered, resulting in an arc-shaped gate design. The location and layout of the main water diversion canal are determined based on actual water supply and reception conditions, while utilizing existing natural river channels, riverheads, and canals. Gates are then designed for each water diversion facility as a control measure. Additionally, the selection and setup of monitoring stations are improved, determining flow and water level stations and adding precipitation, evaporation, and soil moisture stations as needed. This ensures the hardware design not only better meets practical engineering applications but also aligns with the actual requirements of linkage control.

[0198] Specifically, a cross-flow turbine unit is installed in the river channel, selected at a central location to reduce the damage and disturbance to artificial channels and gates caused by water level fluctuations, and to avoid water supply interruptions due to generator unit shutdowns for maintenance. Two diversion canals are constructed on both sides of the river channel to meet water supply needs, with two diversion gates installed upstream. At the same time, overflow weirs are installed between the diversion gates of the two canals and the river channel to ensure that excess and unusable water is discharged to the downstream channel. Monitoring stations and sensors are installed at appropriate locations, and the installation of monitoring facilities must follow preset standards, placing the stations in the main, central sections of the canal, at similar distances from the two gates, and to avoid potential safety hazards caused by rising water levels.

[0199] In general, the electronic equipment provided in this application embodiment performs linkage control of the water diversion gates based on the methods provided in the above embodiments. When the overall system water level drops, the water level can be raised by increasing the opening of the reservoir's inlet gate and simultaneously opening the gates of the main water diversion canal to increase the inflow. When the water level is too high, the opening of the inlet gate can be reduced and the opening of the outlet gate can be increased. Analysis of actual operation includes, but is not limited to: when water demand increases, resulting in a decrease in the water level of the main water diversion canal or low soil moisture measured by the soil moisture station, the water diversion gates before the main water diversion canal need to be opened to increase the inflow and ensure timely and sufficient water supply; when there is excessive water inflow, including operational errors and increased precipitation measured by the precipitation station, the gates before the main water diversion canal should be closed, and the water diversion gates downstream of the reservoir should be closed as needed to discharge excess, unusable water out of the channel through the overflow weir; when the linkage control causes significant fluctuations in water level and flow, Based on real-time monitoring of water level and flow rate, and considering the influence of the interaction between gates, the opening of each gate should be adjusted through feedback regulation to ensure that the fluctuations in water level and flow rate remain stable within the specified range. When a unit malfunctions, since this embodiment uses a row of through-flow turbines for water energy utilization, the malfunction of individual units does not affect the water supply, and maintenance can be carried out accordingly. When the evaporation rate measured at the evaporation station in the channel system increases, it is necessary to increase the water intake gate downstream of the reservoir to increase the inflow and open the water intake gates of each water intake channel to achieve a steady-state rise in water level.

[0200] The present application provides an electronic device for executing the gate linkage control method provided in the above embodiments. Its implementation method and principle are the same, and will not be described again.

[0201] This application provides a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, it implements the gate linkage control method provided in any of the above embodiments.

[0202] The storage medium containing computer-executable instructions in the embodiments of this application can be used to store computer-executable instructions for the gate linkage control method provided in the foregoing embodiments. Its implementation method and principle are the same, and will not be described again.

[0203] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0204] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0205] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0206] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0207] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0208] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A gate linkage control method applied to a series water supply and power generation system, the series water supply and power generation system comprising a reservoir, a river, an overflow weir, and a main water diversion canal, wherein one end of the river is connected to the reservoir, a first water diversion gate is provided between the river and the reservoir, a axial-flow turbine unit and an overflow weir are sequentially arranged on the river according to the water flow direction, the main water diversion canal is arranged parallel to the river downstream, and a second water diversion gate is provided between the main water diversion canal and the overflow weir, characterized in that... The method includes: Obtain the water demand and current water level information of the series water supply and power generation system; wherein, the current water level information includes at least the current river water level information and the current water diversion canal water level information; Based on the water demand and current water level information of the series water supply and power generation system, the gate opening control decision of the first water intake gate and the second water intake gate is determined. According to the gate opening control decision, the first and second water intake gates are controlled in a coordinated manner. The step of determining the gate opening control decision for the first and second water intake gates based on the water demand and current water level information of the series water supply and power generation system includes: Based on the water level and flow rate change trend information of the series water supply and power generation system, water demand, and current water level information, the gate opening control decision of the first water intake gate and the second water intake gate is determined; wherein, the river channel and the diversion canal are equipped with multiple water level monitoring stations, and the water level and flow rate change trend information represents the correspondence between the water level change and the flow rate at each of the water level monitoring stations. The water demand mentioned above includes at least the target water level of the main water diversion canal; The series-connected water supply and power generation system includes two main water diversion canals located on both sides of the river channel, and both parallel to the river channel downstream. Each main water diversion canal is equipped with a second water diversion gate between itself and the overflow weir. The decision to determine the gate opening degree of the first and second water diversion gates based on the water level and flow rate change trend information, water demand, and current water level information includes: Based on the water demand and current water level information, determine the water shortage in the main irrigation canal; Based on the linkage effect between the water intake gates in the series water supply and power generation system, and according to the water shortage in the main water intake canal and the water level and flow rate change trend information, the preliminary control decision of the gate opening of the first water intake gate and the second water intake gate is determined. Obtain environmental interference information of the series water supply and power generation system; Based on the environmental interference information, the system error of the series water supply and power generation system is determined; Based on the gate linkage control results characterized by the preliminary control decision of the gate opening of the first and second water intake gates, the gate adjustment error is determined. Based on the system error and the gate adjustment error, the preliminary control decisions on the gate opening of the first and second water intake gates are corrected to obtain the gate opening control decisions for the first and second water intake gates.

2. The method according to claim 1, characterized in that, The method further includes: The linkage effect between the water intake gates in the series water supply and power generation system is determined according to the following formula: in, Indicates the first water intake gate. and These represent two second water intake gates. Indicates that the first water intake gate is in The opening degree of the gate at any given moment. , and These respectively indicate the first water intake gate and the two second water intake gates at... The opening degree of the gate at any given moment. , and These respectively indicate the first water intake gate and the two second water intake gates at... Flow rate indicators at different gate opening levels.

3. The method according to claim 1, characterized in that, The gate adjustment error is determined based on the gate linkage control results characterized by the preliminary control decision of the gate opening of the first and second water intake gates, including: Based on the hydrodynamic model and large time-delay control model of the series water supply and power generation system, and according to the preliminary control decision of the gate opening of the first and second water intake gates, the gate linkage control result is predicted. Based on the water level difference between the predicted water level represented by the gate linkage control result and the target water level represented by the water demand, the gate adjustment error corresponding to the preliminary gate opening control decision is determined.

4. The method according to claim 1, characterized in that, The step of obtaining the current water level information of the series-connected water supply and power generation system includes: Obtain the current water level monitoring results from each of the aforementioned water level monitoring stations; Based on the water level fluctuation information of the river and the main water diversion canal, the current water level monitoring results are filtered to obtain the current water level information of the series water supply and power generation system.

5. The method according to claim 1, characterized in that, The step of linking the first and second intake gates according to the gate opening control decision includes: Based on a preset channel time-delay control model, and according to the gate opening control decision, the first and second water intake gates are linked for control to ensure smooth water level changes in the main water intake canal; wherein, the preset channel time-delay control model is as follows: in, Indicates the main irrigation canal exist The deviation between the actual water level and the steady-state water level at any given time. Indicates the main irrigation canal The area of ​​the backwater zone, , , They represent the main irrigation canals. The corresponding deviations of the inflow, outflow, and intake flow rates from the steady state. Indicates the main irrigation canal The corresponding time delay.

6. A gate linkage control device, applied to a series water supply and power generation system, the series water supply and power generation system comprising a reservoir, a river, an overflow weir, and a main water diversion canal, wherein one end of the river is connected to the reservoir, a first water diversion gate is provided between the river and the reservoir, a vortex turbine and an overflow weir are sequentially arranged on the river according to the water flow direction, the main water diversion canal is arranged parallel to the river downstream, and a second water diversion gate is provided between the main water diversion canal and the overflow weir, characterized in that... The device includes: The acquisition module is used to acquire the water demand and current water level information of the series water supply and power generation system; wherein, the current water level information includes at least the current river water level information and the current water diversion canal water level information; The determining module is used to determine the gate opening control decision of the first water intake gate and the second water intake gate based on the water demand and current water level information of the series water supply and power generation system. The control module is used to perform linkage control on the first water intake gate and the second water intake gate according to the gate opening control decision; The determining module is specifically used for: Based on the water level and flow rate change trend information of the series water supply and power generation system, water demand, and current water level information, the gate opening control decision of the first water intake gate and the second water intake gate is determined; wherein, the river channel and the diversion canal are equipped with multiple water level monitoring stations, and the water level and flow rate change trend information represents the correspondence between the water level change and the flow rate at each of the water level monitoring stations. The water demand mentioned above includes at least the target water level of the main water diversion canal; The series water supply and power generation system includes two main water diversion canals located on both sides of the river channel, and both parallel to the river channel downstream. Each main water diversion canal is equipped with a second water diversion gate between itself and the overflow weir. The determining module is specifically used for: Based on the water demand and current water level information, determine the water shortage in the main irrigation canal; Based on the linkage effect between the water intake gates in the series water supply and power generation system, and according to the water shortage in the main water intake canal and the water level and flow rate change trend information, the preliminary control decision of the gate opening of the first water intake gate and the second water intake gate is determined. Obtain environmental interference information of the series water supply and power generation system; Based on the environmental interference information, the system error of the series water supply and power generation system is determined; Based on the gate linkage control results characterized by the preliminary control decision of the gate opening of the first and second water intake gates, the gate adjustment error is determined. Based on the system error and the gate adjustment error, the preliminary control decisions on the gate opening of the first and second water intake gates are corrected to obtain the gate opening control decisions for the first and second water intake gates.

7. A series water supply and power generation system, characterized in that, The series water supply and power generation system includes: The waterway includes a reservoir, a river, an overflow weir, and a main water diversion canal. One end of the river is connected to the reservoir, and a first water diversion gate is provided between the river and the reservoir. A flow-through unit and an overflow weir are sequentially installed on the river channel according to the direction of water flow. The water diversion canal is set parallel to the river channel downstream. A second water diversion gate is installed between the water diversion canal and the overflow weir. It also includes an electronic device, which includes at least one processor and a memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 5.

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