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

Abstract

The application provides a gate linkage control method and device and a parallel water supply power generation system. The method is applied to the parallel water supply power generation system and comprises the following steps: acquiring current gate opening degree information of the parallel water supply power generation system and a current water level of a third main canal; the current gate opening degree information comprises current first gate opening degree information and current second gate opening degree information; determining a target gate linkage control strategy of the parallel water supply power generation system according to the current gate opening degree information of the parallel water supply power generation system and the current water level of the third main canal; and controlling a gate opening degree of a target gate according to the target gate linkage control strategy of the parallel water supply power generation system. The method provided by the above scheme can determine the target gate linkage control strategy of the parallel water supply power generation system according to the current gate opening degree information of the parallel water supply power generation system and the current water level of the third main canal, thereby achieving accurate control of gate linkage of the multi-gate water diversion project and improving the control efficiency of the gate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water diversion engineering, and in particular to a gate linkage control method and device and a parallel water supply and power generation system. BACKGROUND

[0002] Water diversion engineering is a water conservancy project that uses engineering technology to divert water from a water source to a water demand area through water intake and water conveyance structures. With the construction of intelligent water networks, the comprehensive functions of water conservancy projects are increasingly valued, and water diversion projects also need to be adjusted accordingly. Water conservancy projects that mainly generate power are more focused on the utilization of water energy, and the utilization efficiency of water quantity is relatively low. Water conservancy projects that mainly supply water have a higher utilization efficiency of water quantity, but often ignore the utilization of water energy. Single-target water diversion or power generation projects have been unable to meet the needs of social development, and water quantity and water energy comprehensive utilization water conservancy projects are the future direction of development. However, the more functions a water diversion project has, the more water diversion gates it involves, so how to achieve multi-gate linkage control of multi-functional water diversion projects has become a key research content.

[0003] In the prior art, gate control is usually performed in a manual control manner, but the manual control manner is only suitable for single gate scenarios, and when a water diversion project involves multiple gates, the prior art cannot achieve precise control. SUMMARY

[0004] The present application provides a gate linkage control method and device and a parallel water supply and power generation system to solve the defects of the prior art that cannot achieve precise control of gate opening in the case of a water diversion project involving multiple gates.

[0005] A first aspect of the present application provides a gate linkage control method applied to a parallel water supply and power generation system, the parallel water supply and power generation system comprising a reservoir, a first main canal, a second main canal, a stilling basin and a third main canal, the first main canal and the second main canal being in parallel, the reservoir being located upstream of the first main canal and the second main canal, the stilling basin being located downstream of the first main canal and the second main canal, a first gate being provided between the first main canal and the reservoir, a power generation hole and a generator set being provided in the second main canal in sequence along the water flow direction, a second gate being provided between the power generation hole and the generator set, water flow in the first main canal and the second main canal being merged into the third main canal through the stilling basin, the method comprising:

[0006] obtaining current gate opening information of the parallel water supply and power generation system and a current water level of the third main canal; wherein the current gate opening information comprises current first gate opening information and current second gate opening information;

[0007] According to the current gate opening information of the parallel water supply power generation system and the current water level of the third main canal, a target gate linkage control strategy of the parallel water supply power generation system is determined;

[0008] According to the target gate linkage control strategy of the parallel water supply power generation system, the gate opening of the target gate is controlled.

[0009] Optionally, the determining of the target gate linkage control strategy of the parallel water supply power generation system according to the current gate opening information of the parallel water supply power generation system and the current water level of the third main canal comprises:

[0010] The target water level of the third main canal is obtained;

[0011] Based on a preset water power model, a gate linkage control strategy set of the parallel water supply power generation system is determined according to the difference between the current water level and the target water level and the current gate opening information;

[0012] Based on a preset water level error optimization objective function, a target gate linkage control strategy with the minimum water level error is selected from the gate linkage control strategy set.

[0013] Optionally, the selecting of the gate linkage control strategy with the minimum water level error from the gate linkage control strategy set based on the preset water level error optimization objective function comprises:

[0014] Based on the preset water level error optimization objective function, a target gate linkage control strategy with the minimum water level error is selected from the gate linkage control strategy set.

[0015]

[0016]

[0017] wherein, U * represents the target gate linkage control strategy, U represents any gate linkage control strategy in the gate linkage control strategy set, x0 represents the initial water level of the third main canal corresponding to the gate linkage control strategy U, J(U, x0) is a water level error calculation function, k is a time step, N h is a prediction interval, the prediction interval includes a plurality of time steps, x(k) is a water level prediction value of the third main canal at the time step k, Q and R are constant weighting matrices of preset quadratic deviation penalties, Q l is a constant weighting matrix of preset linear penalties, T is a transpose symbol, u(k) is the gate opening of each gate represented by the gate linkage control strategy U, x(N h ) is the final error between the water level prediction value in the prediction interval and the target water level value.

[0018] Optionally, the third main canal is composed of multiple series-connected sub-main canals, each connected by a stilling basin. The third main canal is equipped with multiple outlet gates, and the target gate includes the outlet gate. The method further includes:

[0019] Based on a preset differential error calculation formula, the differential error of each stilling basin is predicted when the gate opening is controlled according to the target gate linkage control strategy.

[0020] When the differential error of any of the stilling pools is not less than the preset differential error threshold, the target gate linkage control strategy is optimized.

[0021] Optionally, the step of predicting the differential error of each stilling basin based on a preset differential error calculation formula when the gate opening of the target gate is controlled according to the target gate linkage control strategy includes:

[0022] Based on the following preset differential error calculation formula, the differential error of each stilling basin is predicted when the gate opening of the target gate is controlled according to the target gate linkage control strategy:

[0023]

[0024] Among them, D j For the differential error of the stilling pool j, e j Let j be the water level error of stilling basin j, n be the total number of stilling basins, and e be the water level error of stilling basin j. i This refers to the water level error of the stilling basins other than stilling basin j.

[0025] Optionally, controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system includes:

[0026] Based on a preset PID controller, the gate opening of the target gate is controlled according to the target gate linkage control strategy of the parallel water supply and power generation system.

[0027] Optional, also includes:

[0028] The gain parameters of the preset PID controller are optimized according to the following formula based on a preset period:

[0029]

[0030] Among them, O h For gain parameters, The bias of the neural network is adaptively adjusted, and N1 is the length of the neuron sequence in the first hidden layer of the neural network. mc Let l be the length of the neuron sequence in the mc-th hidden layer of the neural network, where mc represents the total number of hidden layers in the neural network, and l = 3. H represents the adaptively adjusted neural network connection weights. j It is an intermediate variable.

[0031] Optionally, after controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system, the method further includes:

[0032] Monitor the current actual opening degree of each of the target gates;

[0033] Based on the deviation between the current actual opening degree of each target gate and the target opening degree of each target gate as characterized by the target gate linkage control strategy, a target gate opening degree correction strategy is determined.

[0034] A second aspect of this application provides a gate linkage control device applied to a parallel water supply and power generation system. The parallel water supply and power generation system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel. The reservoir is located upstream of the first and second main canals, and the stilling basin is located downstream of the first and second main canals. A first gate is provided between the first main canal and the reservoir. A power generation tunnel and a generator set are sequentially provided along the water flow direction in the second main canal. A second gate is provided between the power generation tunnel and the generator set. Water from the first and second main canals flows into the third main canal through the stilling basin. The device includes:

[0035] The acquisition module is used to acquire the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; wherein, the current gate opening information includes the current first gate opening information and the current second gate opening information;

[0036] The determination module is used to determine the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal.

[0037] The control module is used to control the gate opening degree of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system.

[0038] A third aspect of this application provides a parallel water supply and power generation system, comprising:

[0039] The reservoir, the first main canal, the second main canal, the stilling basin, and the third main canal;

[0040] The first main canal and the second main canal are connected in parallel, the reservoir is located upstream of the first main canal and the second main canal, and the stilling basin is located downstream of the first main canal and the second main canal;

[0041] A first gate is installed between the first main canal and the reservoir;

[0042] The second main canal is provided with a power generation tunnel and a generator set in sequence along the water flow direction, and a second gate is provided between the power generation tunnel and the generator set;

[0043] The water flowing from the first and second main canals flows into the third main canal through the stilling basin;

[0044] It also includes electronic devices, which include at least one processor and memory;

[0045] The memory stores computer-executed instructions;

[0046] 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.

[0047] 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.

[0048] The technical solution of this application has the following advantages:

[0049] This application provides a gate linkage control method, device, and parallel water supply and power generation system, applied to a parallel water supply and power generation system. The parallel water supply and power generation system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel. The reservoir is located upstream of the first and second main canals, and the stilling basin is located downstream of the first and second main canals. A first gate is provided between the first main canal and the reservoir. A power generation tunnel and a generator set are sequentially arranged along the water flow direction in the second main canal. A second gate is provided between the power generation tunnel and the generator set. The water flow from the second main canal flows into the third main canal through a stilling basin. The method includes: acquiring the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; wherein the current gate opening information includes the current opening information of the first gate and the current opening information of the second gate; determining the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; and controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system. The method provided above, by determining the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, improves the gate control efficiency while achieving precise gate linkage control in multi-gate water diversion projects. Attached Figure Description

[0050] 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.

[0051] Figure 1 A schematic flowchart illustrating the gate linkage control method provided in this application embodiment;

[0052] Figure 2 A flowchart illustrating an exemplary gate linkage control method provided in this application embodiment;

[0053] Figure 3 A flowchart illustrating another exemplary gate linkage control method provided in this application embodiment;

[0054] Figure 4 This is a schematic diagram of the gate linkage control device provided in the embodiments of this application;

[0055] Figure 5 This is a schematic diagram of the structure of a parallel water supply and power generation system provided in an embodiment of this application;

[0056] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0057] 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

[0058] 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.

[0059] 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.

[0060] Water diversion projects are water conservancy projects that use engineering technology to divert water from a water source to a water-demanding area through intake and conveyance structures. The development of water diversion projects can be roughly divided into three stages. The first stage involved directly excavating channels within natural water systems, a method that lacked effective control over the water volume. The second stage developed dam-based water diversion, which improved artificial control over water volume and became widely used, although it could potentially damage the ecological environment. The third stage, with the construction of smart water networks, has seen increasing emphasis on the comprehensive functions of water conservancy projects, requiring corresponding adjustments to water diversion projects. Water conservancy projects primarily focused on power generation utilize hydropower more efficiently, with relatively low water volume utilization. Conversely, water conservancy projects primarily aimed at water supply have higher water volume utilization efficiency, often neglecting hydropower utilization. Single-objective water diversion or power generation projects are no longer sufficient to meet the needs of social development; water conservancy projects that comprehensively utilize both water volume and hydropower are the future direction.

[0061] River and lake connectivity projects aim to maintain the hydraulic connections and material cycles between different water bodies. Based on natural water systems, they maintain, reshape, or construct water flow channels that meet specific functions and objectives through natural and human-driven processes. Traditional water diversion projects already possess a certain degree of water system connectivity and are an important way to solve the problem of severe water shortages in some areas caused by uneven spatial and temporal distribution of water resources. Nowadays, the number of water diversion projects is increasing, bringing economic benefits but also introducing many problems. From the current development perspective, water resources have an extremely important impact on people's production and lives. To improve the economic efficiency of water diversion projects, it is necessary to upgrade and transform the design, operation, and management of these projects to meet the needs of social development and achieve scientific scheduling. This ranges from small-scale water distribution between irrigation districts within a basin, where unreliable irrigation canal supply often leads to excessive water upstream and insufficient water downstream, causing water shortages in downstream areas and affecting the lives of downstream residents, to large-scale water transfer between basins. Nowadays, with the advancement of river and lake connectivity projects, traditional water diversion projects can no longer meet the development needs of the new era. Single-objective water diversion projects will be phased out, and multi-objective and multi-functional water conservancy projects are the future development direction.

[0062] Because the water supply channels required for water conveyance are primarily for water supply, this type of channel has not fully utilized the energy of falling water during construction, leaving room for improvement in water resource utilization efficiency. With the advancement of smart water networks, water conservancy projects often need to undertake more functions while simultaneously maximizing their level of intelligence. Furthermore, in terms of river and lake connectivity, water conservancy projects must maximize water volume regulation capacity while meeting construction requirements. Firstly, from an engineering structure perspective, traditional water diversion projects draw water from natural rivers, extracting only the quantity of water but not its energy potential. This method also lacks effective control over water volume, as the flow in branch canals is controlled by the flow in main canals, and regulating the flow in main canals is difficult. Dam-based water diversion can achieve a more stable water flow, but dam construction is time-consuming and labor-intensive, and may have environmental impacts. Therefore, when designing water diversion projects, a combination of dam-based and damless water diversion methods should be used, taking into account topographical features and hydrological characteristics to rationally design the water diversion scheme. Additionally, generator units should be incorporated into the water diversion process to realize the utilization of hydropower. The dam-based water diversion method requires significant investment, and the utilization of water volume and hydropower cannot be simultaneously achieved. Furthermore, it is difficult to construct hydropower stations for small water volumes. Hydropower stations supply water by diverting water from upstream of the reservoir area, and the water diversion process is primarily for power generation. This method is only suitable for large rivers, where the water volume is particularly abundant and has high redundancy, allowing for stable regulation of the water volume.

[0063] To achieve parallel and coordinated control of water supply and power generation, a complete control system is required. This system needs a clear understanding of the overall situation of the water diversion project. Therefore, sensors need to be deployed throughout the project to acquire data and monitor its operational status. After acquiring water level data, the control system controls the gates. Monitoring indicators are a scientific criterion for judging whether the project's operational status is normal. Developing operational safety monitoring indicators based on project monitoring data can effectively identify the project's safety status, promptly detect potential safety hazards, and thus achieve health diagnosis and safety early warning for the project. Monitoring indicators also serve as a basis for making reasonable adjustments to the project. They are not limited to monitoring the project's status by monitoring equipment but also include water usage information from various parts of the project. Due to the lag in channel water volume adjustments, this information needs to be acquired in advance so that professionals can make pre-adjustments. Monitoring indicators are expressed in both quantitative and qualitative forms. Quantitative values ​​mainly define the safety limits for the magnitude and trend of the monitored effect at a single measuring point. Qualitative criteria are several qualitative evaluation criteria or models formed by integrating monitoring information from multiple measuring points and multiple effects.

[0064] Quantitative monitoring indicators are intuitive, clear, and easy to apply, but they target individual monitoring points and monitor only local conditions. Water diversion projects involve long canals and embankments, large-scale projects, and complex construction and operational conditions. Relying solely on quantitative indicators from a single monitoring point is insufficient for comprehensive monitoring of project safety. A holistic approach is needed, considering monitoring information from multiple monitoring points and various monitoring effects. Furthermore, project safety itself is an uncertain concept with fuzzy attributes, making it difficult to define its boundaries with a precise, absolute value. Moreover, not all indicators characterizing project safety can be measured quantitatively; some require qualitative expression. Therefore, while researching quantitative monitoring indicators, qualitative safety assessment criteria should also be studied.

[0065] The most direct manifestation of abnormal engineering operation is the anomaly in the measured values ​​of monitored effect quantities. Anomalies in the measured values ​​of a single measuring point mainly manifest in four basic forms: abnormal numerical magnitude, abnormal change process, abnormal change trend, and abnormal change pattern. Studying the forms of abnormal measured values ​​can provide a scientific basis for identifying abnormal phenomena and safety hazards in engineering projects, and provide a classification foundation for establishing evaluation criteria based on multi-indicator fusion. When multiple measuring points and multiple effect quantities simultaneously exhibit the same or multiple types of abnormal phenomena, a comprehensive judgment of the engineering operation status can be achieved by analyzing the inherent correlation between these abnormal phenomena at different measuring points and with different effect quantities.

[0066] Current water control methods primarily employ gate regulation for water distribution, and gate control is often manual. While some research has made progress in automated and online gate control, these technologies only address the issue of manual control and offer limited assistance for multi-gate control in water conveyance systems. The parallel and interconnected control method for water supply and power generation is a multi-objective nonlinear system. It requires treating the system as a whole, ensuring overall stability, while also accurately regulating individual nodes and implementing coordinated control to ensure their combined function. Similarly, engineering and natural systems must coordinate to meet the needs of the project while preventing catastrophic environmental damage.

[0067] With the development of IoT technology, its application in channel gate control is also gradually being developed. Designing an intelligent gate control system using IoT technology enables remote control and real-time monitoring of water transfer in irrigation areas, improving the management level of irrigation and increasing the utilization rate of water resources. However, this system still has some shortcomings. On the one hand, the issuance of operating instructions is still done manually; on the other hand, gate control relies on human judgment based on knowledge and experience, lacking in the scientific and rational aspects of gate control.

[0068] Integrated measurement and control gates combine gate, opening and closing equipment, flow measurement equipment, control equipment, and power supply equipment into one unit. They integrate gate opening and closing, flow calculation, remote control, and communication functions. By calculating gate opening degree, channel water level, instantaneous flow rate, and water volume over a period of time, and through a computer and communication network system, they can remotely monitor and control the canal gates, or automatically adjust the water distribution of the gates under a given flow rate, water level, or opening degree, thus automating the flow measurement and control of channel water measurement sections or direct openings. With the advancement of technology, the types of equipment and flow measurement and control methods are becoming increasingly diverse, and product quality and technical requirements vary considerably. In practical applications, problems such as poor flow measurement accuracy, signal transmission obstacles, and frequent gate automation opening and closing failures have emerged. The application of integrated measurement and control gates can accelerate the modernization of irrigation areas and realize the automation and intelligence of water distribution. However, this technology primarily addresses the water intake control problem of irrigation channels, offering limited assistance in the linkage control between the channel inlet and outlet gates. For main canals, a dynamic balance between inflow and outflow should be achieved, and reasonable control is required when water volume changes. Controlling the two gates separately could lead to water overload, insufficient water supply, or water level fluctuations.

[0069] In the modernization of irrigation canals, a wide range of automatic control technologies have been proposed, designed, tested, and implemented. Decentralized local controllers, using single-input single-output (SISO) behavior, calculate control actions using only measurements taken near the gate. In this regard, many scholars have conducted different studies on the use of hydraulic gates, resulting in the application of various schemes of classical local controllers. Due to the large-scale nature of main irrigation canals and the urgent need to utilize modern operational strategies (such as on-demand water supply, online reservoirs, and combined operation of surface and groundwater), centralized controllers have been widely applied to water level control in main irrigation canals. Currently, many irrigation canals are still manually operated, which is not only due to the high cost of implementing automated systems but also because field control equipment is frequently damaged, leading to high maintenance costs. Therefore, a new approach to studying automated canal management is to apply intelligent methods to achieve water management, using modern control as a reliable decision support system to improve manual canal control. However, due to spatial diversity, the selection of appropriate control methods for main and secondary canals remains controversial. On the one hand, the linkage between canals and irrigation districts is difficult to regulate through simple methods; on the other hand, water use within irrigation districts is inconsistent, resulting in diverse water consumption patterns, which poses a challenge for water flow control with its inherent lag.

[0070] Currently, the methods for measuring flow in open irrigation canals mainly rely on hydraulic methods, such as standard weirs and flumes, hydraulic structures, or manually controlled cross-sections built on the canals. However, technical challenges remain regarding data extraction, data transmission, and data analysis in terms of the means, methods, and equipment selection for water intake metering and testing. Controlling the water level upstream of canal gates is the most commonly used method for canal automation in practice. If the correct flow (i.e., the sum of downstream demand) enters the head gate, this method will correctly distribute the flow to all downstream gates. Errors in canal inflow will result in incorrect flow available in the last pool, either leading to canal leakage or insufficient flow at the irrigation outlet. Operators then need to adjust the pipeline inflow to correct this flow error. In most cases, this control is done manually, although automatic control is becoming increasingly common. With automatic control, if the controller of a single gate is not properly tuned, disturbances may be amplified, meaning the gate position and water level oscillate downstream with increasing amplitude. This problem can be avoided by adjusting the controllers of all canal pools simultaneously. The common practice for implementing upstream automatic control is to build a simulation model of the canal, determine the canal's response through simulation experiments, develop optimized control parameters, and then test the suitability of the controller through simulation. When adapted to a real pipeline, the parameters will be further adjusted through testing. This can be a time-consuming and therefore costly process.

[0071] Adjusting the flow rate of free-flow channels to meet the needs of farmers at specific distribution points requires a certain level of control and the study of flow transients, especially when demand varies greatly in time and space. Typically, operators can only measure water depth at a few locations along the canal; to determine the initial conditions of the model, it is necessary to know the water depth and velocity at all discrete points. The main objective of irrigation canal control is to supply water to users in a equitable manner. One reason the control objective has not been fully achieved is the difficulty in measuring flow rate. Although flow measurement is an old problem, it is still under investigation. Gate models are used as an indirect method for measuring local flow; these structures can both regulate flow and distribute water across the irrigation area, while also providing flow measurement functionality. However, under certain flooding conditions, the procedure is still not entirely accurate. Furthermore, flow measurement presents additional problems when multiple gates operate in parallel. If one gate is in free flow while another is in a transition zone, lateral flow occurs, and flow estimation based solely on gate openings and upstream / downstream water levels can become a thorny issue.

[0072] To address the aforementioned problems, this application provides a gate linkage control method, device, and parallel water supply power generation system, applied to a parallel water supply power generation system. The parallel water supply power generation system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel. The reservoir is located upstream of both the first and second main canals, and the stilling basin is located downstream. A first gate is provided between the first main canal and the reservoir. A power generation tunnel and a generator set are sequentially arranged along the water flow direction in the second main canal, and a second gate is provided between the power generation tunnel and the generator set. The water flow from the first and second main canals converges into the third main canal via a stilling basin. The method includes: acquiring the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; wherein the current gate opening information includes the current opening information of the first and second gates; determining the target gate linkage control strategy for the parallel water supply and power generation system based on the current gate opening information and the current water level of the third main canal; and controlling the gate opening of the target gate according to the target gate linkage control strategy. The method provided above, by determining the target gate linkage control strategy for the parallel water supply and power generation system based on the current gate opening information and the current water level of the third main canal, improves the gate control efficiency while achieving precise gate linkage control in multi-gate water diversion projects.

[0073] The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0074] This application provides a gate linkage control method applied to a parallel water supply and power generation system. The system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel. The reservoir is located upstream of both canals, and the stilling basin is located downstream. A first gate is located between the first main canal and the reservoir. The second main canal has a power generation tunnel and a generator set arranged sequentially along the water flow direction. A second gate is located between the power generation tunnel and the generator set. Water from the first and second main canals flows into the third main canal through the stilling basin. This method is used for multi-gate linkage control of the parallel water supply and power generation system. 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 multi-gate linkage control of the parallel water supply and power generation system.

[0075] like Figure 1 The diagram shown is a flowchart illustrating the gate linkage control method provided in this application embodiment. The method includes:

[0076] Step 101: Obtain the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal.

[0077] The current gate opening information includes the current first gate opening information and the current second gate opening information.

[0078] Step 102: Determine the target gate linkage control strategy for the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal.

[0079] Specifically, a hydrodynamic model of the parallel water supply and power generation system can be constructed in advance based on the hydrodynamic information of the parallel water supply and power generation system. The gate opening information is used as the input of the hydrodynamic model, and the water level of the third main canal is used as the output of the hydrodynamic model. The water level of the third main canal is adjusted by controlling the change of the gate opening until the water level of the third main canal reaches the target water level.

[0080] It should be noted that the parallel water supply and power generation system provided in this embodiment adds generator sets to the traditional single-channel water conveyance system, effectively utilizing the potential energy of falling water. After adding generator sets, the water conveyance capacity of the channel will be reduced to some extent due to the influence of the generator sets, and there is a possibility that the generator sets may malfunction and fail to convey water. To address this, an additional main channel is laid on one side of the original main channel. The two main channels work together to convey water. Under normal circumstances, the generator set main channel is mainly responsible for water supply, while the side channel provides auxiliary regulation. In special circumstances, the side channel is responsible for water supply. The two channels are constructed to the same standards, so both are capable of meeting the downstream water demand. With the addition of generator sets and main channels, the number of gates also increases accordingly, and the gate control method must be adjusted accordingly. Monitoring equipment is deployed at the reservoir location to monitor the gate opening, monitoring equipment is deployed at the generator set location to monitor changes in generator flow, and water level monitoring equipment is deployed along the downstream main channel. The water level information is fed back to the control system in real time. The control algorithm integrates the data from these three aspects to find the optimal gate control strategy, and sends the result to the actuator to control the gates for adjustment, thus fulfilling the water distribution requirements.

[0081] Specifically, in one embodiment, in addition to acquiring the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, the operating condition information and flow rate of the generator set can also be acquired. Based on the operating condition information of the generator set, it can be determined whether the second main canal where the generator set is located is supplying water normally, and the operating condition detection result of the second main canal can be obtained. Specifically, the target gate linkage control strategy of the parallel water supply and power generation system can be determined by comprehensively considering the current gate opening information of the parallel water supply and power generation system, the current water level of the third main canal, the operating condition detection result of the second main canal, and the flow rate of the generator set.

[0082] Step 103: Control the opening degree of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system.

[0083] Specifically, the gate opening can be adjusted according to the target gate opening of each target gate as characterized by the target gate linkage control strategy of the parallel water supply and power generation system; wherein the target gate includes the first gate and / or the second gate.

[0084] Specifically, the addition of a power generation system to the water supply channel significantly increases the overall complexity of the project. It must simultaneously meet water supply requirements and generate electricity. Since the two projects have different water volume requirements, coordinated control between them is necessary. Water volume control is achieved through gate control. The addition of the generator sets increases the number of gates in the project. Furthermore, due to the increased structural complexity, the commonly used manual gate adjustment method becomes difficult to apply, and it is challenging to coordinate the gates manually. Therefore, the control system is improved by using a control algorithm to collect changes in water level and flow rate in the main canal and generator units. The algorithm then calculates and outputs the gate opening, enabling coordinated adjustment of the intake gates. Water level information is primarily collected by setting up monitoring stations 50 meters downstream of the gates. Since the channels are artificial, the water level is relatively stable when there is no inflow or outflow, so monitoring stations are not required. Gate opening monitoring involves installing monitoring equipment at the gate locations and feeding the gate opening information back to the control subsystem to ensure that control requirements are met.

[0085] Based on the above embodiments, as an implementable approach, in one embodiment, the target gate linkage control strategy for the parallel water supply and power generation system is determined according to the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, including:

[0086] Step 1021: Obtain the target water level of the third main canal;

[0087] Step 1022: Based on the preset hydrodynamic model, determine the gate linkage control strategy set of the parallel water supply and power generation system according to the difference between the current water level and the target water level and the current gate opening information;

[0088] Step 1023: Based on the preset water level error optimization objective function, select the target gate linkage control strategy with the smallest water level error from the gate linkage control strategy set.

[0089] It should be noted that the target water level of the third main canal can be determined based on its water demand. The gate linkage control strategy set determined based on the preset hydrodynamic model includes multiple gate linkage control strategies. The simulation results of the preset hydrodynamic model indicate that all of these gate linkage control strategies can enable the water level of the third main canal to reach the target water level.

[0090] Specifically, the flow state of the channel can be simulated based on a hydrodynamic model to obtain the changes in the water level of the third main canal. By changing the input and output water volume of the channel, the water level fluctuation can be observed to find the input and output water volume that meets the premise of safe operation of the channel, thereby further determining the gate opening.

[0091] Specifically, in one embodiment, to ensure the reliability of the adopted target gate linkage control strategy, the objective function can be optimized based on the following preset water level error, and the target gate linkage control strategy with the smallest water level error can be selected from the set of gate linkage control strategies:

[0092]

[0093]

[0094] Among them, U * Let U represent any gate linkage control strategy in the set of gate linkage control strategies, x0 represent the initial water level of the third main canal corresponding to gate linkage control strategy U, J(U, x0) be the water level error calculation function, k be the time step, and N be the target gate linkage control strategy. h Let x(k) be the predicted interval, which includes several time steps. Let x(k) be the predicted water level of the third main canal at time step k. Let Q and R be constant weighted matrices with a preset quadratic bias penalty. l Let T be the constant weighted matrix with a preset linear penalty, T be the transpose, u(k) be the gate opening degree of each gate represented by the gate linkage control strategy U, and x(N) be the gate opening degree of each gate represented by the gate linkage control strategy U. h ) represents the final error between the predicted water level and the target water level within the prediction interval.

[0095] The values ​​of parameters Q and R can be determined based on the current water level of the third main canal, with preset time steps, prediction periods, and differential error thresholds.

[0096] Furthermore, in one embodiment, the third main canal is composed of multiple series-connected sub-main canals, each of which is equipped with a stilling basin. The third main canal is equipped with multiple outlet gates, including the target gate. Since both lowering and raising the water level of the third main canal require a certain adjustment time, in order to avoid a sharp rise or fall in water level that would affect the safety of the parallel water supply and power generation system, the differential error of each stilling basin can be predicted based on a preset differential error calculation formula when the gate opening of the target gate is controlled according to the target gate linkage control strategy. When the differential error of any stilling basin is not less than the preset differential error threshold, the target gate linkage control strategy is optimized.

[0097] Specifically, in one embodiment, the differential error of each stilling basin can be predicted based on the following preset differential error calculation formula when the gate opening of the target gate is controlled according to the target gate linkage control strategy:

[0098]

[0099] Among them, D j For the differential error of the stilling pool j, e j Let j be the water level error of stilling basin j, n be the total number of stilling basins, and e be the water level error of stilling basin j. i This refers to the water level error of the stilling basins other than stilling basin j.

[0100] Specifically, when the differential error of any stilling basin is not less than the preset differential error threshold, it can be determined that the water level change rate of the third main canal is relatively large. The opening adjustment speed of the target gate can be reduced to reduce the water level change rate of the third main canal, ensure channel safety, and meet water supply needs.

[0101] In order to monitor the changes in water level in the canal (third main canal) in a timely manner, the water level error model predictive control (DE-MPC) method is used to monitor the changes in water level in the canal while using a hydrodynamic model for simulation.

[0102] MPC is a control strategy based on the continuous reprogramming of a sequence of control operations that must be performed within a certain range. To this end, an MPC controller solves an optimization problem at each time step. In this problem, a mathematical model of the system is used to predict its behavior over the prediction range as a function of the applied input sequence. The behavior of large systems, such as irrigation canals with multiple pools, can be represented with sufficient accuracy using the following linear time-invariant state-space model:

[0103] x(k+1)=Ax(k)+B u u(k)+B d d(k)

[0104] Where x is the error value; u is the gate opening value; d is the vector of the known measurable disturbance at time step k; A is the state transition matrix; B u B is the input to the state matrix. d The state matrix is ​​disturbed by x(k+1), which is the error value at the next time step.

[0105] To optimize the system's behavior, a cost function is defined, which measures its performance against the control objective. Assume there exists a problem of equalizing water distribution in a regulating control channel, meaning the controller must redirect the system state to a given reference value. For simplicity, without loss of generality, we can assume the source is a state reference. Therefore, the control objective can be mathematically defined as the following function:

[0106]

[0107] Where, N h To predict water level values, Q and R are constant weighted matrices, penalizing a quadratic bias relative to the state and the manipulated variable vector, Q l It is also a constant weighted matrix that applies a linear penalty to the deviation of the state.

[0108] The function depends on the current state x0, which is the initial state of the system as it evolves according to the applied sequence of actions, given by U = (u(k), u(k+1), ..., u(k+N)). h -1), and the expected value of the error D=(d(k), d(k+1), ..., d(k+N)). h This indicates that otherwise, it would be impossible to predict the evolution of the system state.

[0109] The controller's behavior varies depending on the relationship between Q and R. If R is relatively greater than Q, the controller will focus on minimizing the use of manipulated variables, at the cost of greater deviation in the state vector. Conversely, if R is relatively less than Q, optimization will lead to significant changes in control actions to reduce the deviation in the state vector.

[0110] The sequence of control actions applied in the system can be computed as minimizing an objective function. Therefore, at each time step, the MPC controller solves the following optimization problem:

[0111]

[0112] Due to the constraints of the system model and the consideration of state and manipulated variables, only the first calculated action, i.e., the actual application of the control action sequence U, is applied. * =(u * (k), u * (k+1), ..., u * (k+N h -1)) in u * (0). The remainder of the sequence provides information about the expected evolution of the control sequence, but it is not implemented. In the next time step, the MPC controller solves the same optimization problem again based on the latest information and applies the corresponding control action. This process is repeated in each time step in a manner known as backtracking.

[0113] Channel flow control can also be equated to water level control, with the goal of adjusting level difference errors and maintaining the pool's water level at a given reference level. MPC requires a model of the control system to predict its behavior within the prediction range. For control purposes, an integrator delay (ID) model is used for the canal pool. The ID model divides the canal pool into a uniform flow with attribute delay time and a backflow section with attribute storage area. The water level h at the downstream end of the pool is the control outflow (q). out (k)), Consider k d Inflow rate (q) of the return section with a water flow delay time step in (kk d )) and emission outflow (q off-take The function of (k). The disturbance flow originates from the water users' water withdrawal plans. The discrete-time invariant canal pool model used in the embodiments of this application is defined as:

[0114]

[0115] Where h(k+1) is the water level at time step k+1, h(k) is the water level at time step k, and A s For average storage area, T c To control the time step.

[0116] From a control perspective, the focus is typically on regulation error rather than water level. This allows for the penalty of deviations relative to zero. For this reason, it is necessary to introduce changes in the variables and rewrite the equation as follows:

[0117]

[0118] In addition to the error related to the target water level, the method for processing the differential error of the water level is further improved in this embodiment, resulting in the following differential error of the water level:

[0119] D j =e j -e j+1 =(y j -SP j )-(y j+1 -SP j+1 )

[0120] Among them, D j For, e j Let e ​​be the water level error at point j. j+1 SP represents the water level error at point j+1. j Let j be the predefined target water level, and y be... j+1 SP represents the downstream (or distant downstream) water level of j+1. j+1 For the predefined target water level at position j+1, y jLet be the downstream (or distant downstream) water level of pool j, SP be the predefined target water level, and e be the water level error. When an error occurs in one pool, the adjacent upstream and downstream pools are first affected, and thus all pools gradually participate in the control process.

[0121] In this embodiment of the application, in order to accelerate the process of sharing errors among all pools, the differential error variable is determined by the following formula:

[0122]

[0123] Among them, e i The error is excluding j, and n is the total number of stilling basins.

[0124] The above formula allows the controller to react faster to shared errors because all canal pools participate in the sharing process simultaneously.

[0125] When using the DE-MPC method to predict and regulate channel water levels, the first step is to measure the current channel water level or estimate the water level at the start of control to obtain the current or a specific moment in the system state. After obtaining the water level information, appropriate Q and R parameter values ​​are selected based on the need for faster control actions or a smoother control process. The time step to be predicted, the prediction interval, and the differential error threshold are selected, with the gate opening as the input control variable. After control begins, the system will formulate a corresponding control plan based on the range of the prediction interval, i.e., u(k), u(k+1), ..., u(k+N). h -1), and obtain the control results and water level error values ​​d(k), d(k+1), ..., d(k+N) of the prediction interval. h Select u(k) for control. After the control ends, based on the actual water level error value, take time k+1 as the control starting point and repeat the above steps until the optimal value is reached.

[0126] The aforementioned MPC control process can all be completed within a hydrodynamic model. The hydrodynamic model first reads the actual water level and the gate openings of each sluice gate. Using the gate openings of each channel section as input variables and the water level as the output variable, the model simulates changes in the channel water level by controlling the changes in the gate openings. Combined with the DE-MPC control method, the channel gates are controlled according to the control strategy formulated by the DE-MPC method. Changing the gate openings is simulated by the hydrodynamic model, and the water level values ​​obtained from the simulation results are input into the DE-MPC for subsequent control. After completing the entire predictive control process, the optimized target gate linkage control strategy is obtained.

[0127] The hydrodynamic model is not mandatory and can be selected based on the actual conditions of the channel, such as SMS or WMS, as long as it can simulate water level and flow rate.

[0128] Specifically, the method provided in this application embodiment can quickly obtain the control opening of the channel gate. Furthermore, this method uses water level error as the expected value, and can effectively determine whether there are problems with channel water level changes and whether they affect channel safety and the normal water supply to upstream and downstream water users based on the magnitude of the error. The judgment result will, on the one hand, assist the control system in adjusting to maintain water level stability.

[0129] Based on the above embodiments, in order to further ensure the reliability of the gate linkage control, as an implementable approach, in one embodiment, the gate opening of the target gate is controlled according to the target gate linkage control strategy of the parallel water supply and power generation system, including:

[0130] Step 1031: Based on the preset PID controller, control the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system.

[0131] Specifically, a gate linkage controller can be constructed using a pre-defined PID controller, a multi-input multi-output Fourier series neural network (MILF), a multi-input single-output Fourier series neural network (MILF), and a system controller. The PID controller establishes an optimal objective function based on the difference between the current gate opening value (current gate opening information) and the target gate opening value (the target opening value represented by the target gate linkage control strategy). Combining this with the gain parameters output from the MILF, it outputs the PID-adjusted gate opening value to the system controller. The system controller controls the intake gate based on the PID-adjusted gate opening value and outputs the current gate opening value of the system. The MILF calculates an approximation of the Jacobian matrix system based on the neural network connection weights. Then, it calculates the adaptively adjusted neural network bias and connection weights based on the neural network's adaptive equation. Finally, it calculates the gain parameters of the PID controller based on the adaptively adjusted neural network bias and connection weights, and outputs them to the PID controller to optimize it.

[0132] The optimal objective function established by the PID controller is specifically as follows:

[0133]

[0134] e(k)=R(k)-y(k)

[0135] Where E(k) is the optimal objective function, e(k) is the difference between the current gate opening value and the target gate opening value, R(k) is the current gate opening value, and y(k) is the target gate opening value.

[0136] The neural network adaptive equation is specifically as follows:

[0137]

[0138]

[0139] in, This refers to the adaptively adjusted neural network bias. The original neural network bias is given by η, where η is the learning rate (η∈[0,1]), e(k) is the difference between the current gate opening value and the target gate opening value, y(k) is the target gate opening value, and u(k) is the gate opening value after PID adjustment. h (k) represents the gain parameter of the PID controller. The adaptively adjusted neural network connection weights, These are the original neural network connection weights.

[0140] Specifically, in one embodiment, in order to improve the control efficiency of the PID controller for the gate, the gain parameter of the preset PID controller can be optimized according to the following formula based on a preset period:

[0141]

[0142] Among them, O h For gain parameters, The bias of the neural network is adaptively adjusted, and N1 is the length of the neuron sequence in the first hidden layer of the neural network. mc Let l be the length of the neuron sequence in the mc-th hidden layer of the neural network, where mc represents the total number of hidden layers in the neural network, and l = 3. H represents the adaptively adjusted neural network connection weights. j These are intermediate variables. h = 1, 2, 3, and the gain parameter includes K. p K i K d .

[0143] Specifically, in one embodiment, after controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system, the current actual opening of each target gate can be monitored; and a target gate opening correction strategy can be determined based on the deviation between the current actual opening of each target gate and the target opening of each target gate as characterized by the target gate linkage control strategy.

[0144] like Figure 2 The diagram shown is a flowchart of an exemplary gate linkage control method provided in this application embodiment. The control subsystem receives the gate opening degree uploaded by the simulation subsystem, obtains the preset value of the gate opening degree, and the controller performs linkage control on the target gate involved. The monitoring device uploads the current actual gate opening degree to the control subsystem in real time to achieve real-time feedback.

[0145] The feedback system involves deploying monitoring equipment at various locations along the channel to acquire data such as gate opening, channel water depth, and flow rate through the gate. The feedback system primarily has two data feedback directions. First, while the control subsystem controls the gates, the feedback system monitors changes in gate opening in real time and uploads the data to the control subsystem. The controller then adjusts its control strategy accordingly, determining the target gate opening correction strategy. Second, after the control subsystem completes the control process, it uploads the actual gate opening and water level information to the simulation subsystem. A hydrodynamic model is then used to simulate the results, providing a visual representation of the control findings. Figure 3 The diagram shown is a flowchart illustrating another exemplary gate linkage control method provided in this application embodiment.

[0146] If the control result (the controlled water level) meets the expected requirements (target water level), the control ends; if the control result shows that the channel water level does not meet the expected requirements, the DE-MPC method is used to obtain the gate opening, and the subsequent steps are repeated to continue controlling the channel gate until the expected requirements are met.

[0147] In order to achieve the linkage control of the gate, and considering the multi-objective, nonlinear and time-varying characteristics of channel control, this application uses the Adaptive Fourier Series Neural Network PID (AFSNNPID) control method. This method can realize both parameter adjustment and control functions.

[0148] Discrete form of PID controller:

[0149]

[0150] Where u(k) is the gate opening value, k is the time step, e(k) is the gate opening error, and K p K i K d The gain parameter of the PID controller affects the control efficiency of the gate. (T) s The sampling period.

[0151] This application uses two Fourier series neural networks (FSNNs) to implement the gate linkage controller. The FSNN on the right is the simulator FSNN, which is a multi-input single-output (MISO) FSNN that allows the simulation of the dynamic behavior of the system.

[0152] The input vector X of the simulator FSNN e = [x1, x2, x3, ..., x m The definition is as follows:

[0153] X e =[u(k),u(k-1),...,u(kbe ), y(k-1), y(k-2),..., y(ka e )]

[0154] Where, m e =1+b e +a e This is the number of inputs to the FSNN simulator, b e Let a be the number of u. e The quantity of y.

[0155] Emulator The output is given by the following formula:

[0156]

[0157] Its connection weights are adjusted using the following formula:

[0158]

[0159] W0(k)=W0(k-1)+ηe h (k)

[0160] Where n1 is the sequence length, n m e is the sequence length. h (k) represents the error of the h-th output at time step k.

[0161] The FSNN on the left is a Multiple-Input Multiple-Output (MIMO) FSNN with three outputs (o1, o2, and o3). It provides the controller gain, K. p K i K d Let o1 = K be the three parameters of the PID controller. p o2 = K i o3 = K d The input vector of this network is:

[0162] X c =[e(k),e(k-1),...,e(kb c ),u(k-1),u(k-2),...,u(ka c )]

[0163] Where, m c =1+b c +a c It is the number of input vectors, b c Let a be the quantity of e. c Let u be the number of units.

[0164] The output of FSNN is:

[0165]

[0166] H1=cos(n1ω1x1)cos(n2ω2x2)...cos(n mc-1 ω mc-1 x mc-1 cos(n) mc ω mc x mc )

[0167] H2=cos(n1ω1x1)cos(n2ω2x2)...cos(n mc-1 ω mc-1 x mc-1 sin(n) mc ω mc x mc ) ...

[0169] H l-1 =sin(n1ω1x1)sin(n2ω2x2)...sin(n mc-1 ω mc-1 x mc-1 cos(n) mc ω mc x mc )

[0170] H l =sin(n1ω1x1)sin(n2ω2x2)...sin(n mc-1 ω mc-1 x mc-1 sin(n) mc ω mc x mc )

[0171] in, and These represent the connection weights and the bias of the h-th MISO FSNN, respectively. It is frequency weight, T i Is input x i range (x) i ∈[0 T i ]), l=2 m It is the number of product nodes. These are the connection weights (state weights) between the hidden layer and the output layer. W0 is the network bias, and N is the network weight. i This is the sequence length. Weights. Depend on, Provided.

[0172] The FSNN connection weights, which give the PID controller gain, are adjusted to minimize the following objective function:

[0173]

[0174] e(k)=R(k)-y(k)

[0175] Where y(k) is the system output, i.e., the gate opening, and R(k) is the reference value, i.e., the target gate opening value.

[0176] Adaptive rules are derived using incremental rules, as follows:

[0177]

[0178]

[0179] The calculation method is as follows:

[0180]

[0181] in, The Jacobian matrix for time k is estimated using the FSNN model.

[0182] To achieve fast convergence and good control performance, the FSNN model must have sufficient accuracy; large estimation errors can lead to either convergence or divergence in the control algorithm. The resulting Jacobian matrix system is as follows:

[0183]

[0184] Finally, the adaptive equation is as follows:

[0185]

[0186]

[0187] Specifically, during operation, the controller first obtains the initial gate opening (current gate opening information) and control parameters. Then, the system outputs the difference between the current gate opening and the desired opening (target opening). It first calculates an approximation of the Jacobian matrix system, and then calculates the new... Value, then calculate the new The value is then calculated to determine the control law of the PID controller in order to control the channel gate.

[0188] The use of an AFSNNPID controller for coordinated control of gates within the channel addresses several key challenges. Firstly, it overcomes the limitations of traditional PID controllers in handling multi-objective nonlinearity, enabling automatic parameter adjustment, accelerating gate regulation, and treating the channel and gates as a unified whole. Secondly, this control system achieves intelligent gate control, reducing labor costs, improving the safety of gate regulation, and providing more options for gate regulation methods, thus enhancing the channel's risk management capabilities.

[0189] The gate linkage control method provided in this application acquires the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal. The current gate opening information includes the current opening information of the first gate and the current opening information of the second gate. Based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, a target gate linkage control strategy for the parallel water supply and power generation system is determined. The gate opening of the target gate is controlled according to the target gate linkage control strategy of the parallel water supply and power generation system. The method provided above, by determining the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, improves the gate control efficiency while achieving precise gate linkage control in multi-gate water diversion projects. Furthermore, by efficiently and automatically controlling the canal water level through a simulation-control-feedback-adjustment sequence, the risk response capability and the flexibility of regulation of the canal are improved. This method can comprehensively perceive and efficiently regulate the water status of various types of channels, such as single channels, multiple channels, and water supply-power generation channels, thereby improving the risk response capability and water supply stability of the channels, reducing labor costs, and increasing economic benefits.

[0190] This application provides a gate linkage control device applied to a parallel water supply and power generation system. The parallel water supply and power generation system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel. The reservoir is located upstream of the first and second main canals, and the stilling basin is located downstream of the first and second main canals. A first gate is provided between the first main canal and the reservoir. The second main canal has a power generation tunnel and a generator set arranged sequentially along the water flow direction. A second gate is provided between the power generation tunnel and the generator set. The water flow in the first and second main canals flows into the third main canal through the stilling basin. This device is used to execute the gate linkage control method provided in the above embodiment.

[0191] like Figure 4 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 40 includes: an acquisition module 401, a determination module 402, and a control module 403.

[0192] The system includes an acquisition module for acquiring the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; the current gate opening information includes the current opening information of the first gate and the current opening information of the second gate; a determination module for determining the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; and a control module for controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system.

[0193] 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.

[0194] 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.

[0195] This application provides a parallel water supply and power generation system for executing the gate linkage control method provided in the above embodiments. For example... Figure 5 The diagram shown is a structural schematic of a parallel water supply and power generation system provided in an embodiment of this application. The system includes:

[0196] The system includes a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal. The first and second main canals are connected in parallel, with the reservoir located upstream of both canals and the stilling basin downstream. A first gate is located between the first main canal and the reservoir. The second main canal has a power generation tunnel and a generator set arranged sequentially along the water flow direction, with a second gate located between the tunnel and the generator set. The water flow from the first and second main canals flows into the third main canal through the stilling basin.

[0197] Specifically, the parallel water supply and power generation system provided in this application embodiment has three levels of improvement. First, there is an improvement in engineering design. Generator units are added to a simple water conveyance channel, and to ensure project safety, the previous single-channel water conveyance is replaced with multi-channel parallel water conveyance, increasing the water conveyance system's capacity and adjustment space. It requires less water volume and has a wider application range than a simple power generation project, suitable for small and medium-sized rivers, and can balance water volume and hydropower utilization. The generated electricity is used to start the gate control equipment. Simultaneously, in conjunction with solar and wind power generation, it can achieve automatic operation 24 / 7, 365 days a year. Gate control is only required when there is water for power generation; when there is no water, gate control is unnecessary, and generator power generation is unaffected. Second, a multi-gate control method is adopted for the parallel channels. Gates and monitoring equipment are installed at key nodes in the channels to ensure that professionals can monitor the channel's operating status in real time. Simultaneously, the control system collects channel water level and flow data, analyzes it, and outputs the gate opening, adjusting the channel water volume by regulating the gates. Furthermore, the multiple gates can effectively improve the flexibility of water distribution and risk response capabilities of the channel. The combination of the power generation system and the control system enables the project to operate without human intervention and autonomously.

[0198] To fully utilize the head difference, generator sets are added during water conveyance, reducing the potential energy of falling water and generating some economic benefits. However, relying solely on a single canal for both power generation and water conveyance still carries certain risks. Generator loads fluctuate due to grid influence, resulting in corresponding fluctuations in flow rate. Furthermore, when generators malfunction or shut down, the flow rate drops to zero within a short period, while the main canal's water supply needs to remain relatively stable over a certain timeframe. Significant fluctuations in flow rate over short periods can cause sudden changes in the canal's water level, threatening the canal's safe operation. In the event of a generator failure, the emergency closure of the generator's outlet gate leaves upstream water with nowhere to drain, potentially triggering further risks. Moreover, a halt in water supply will also leave downstream water demand unmet, creating a chain reaction.

[0199] Constructing a second main canal on top of the existing one can solve the problem of water having nowhere to drain when the single canal is blocked, while also ensuring the water supply needs of the downstream areas. This second canal will be the same size as the original main canal, serving as a backup regulating channel during normal generator operation. In the event of a generator failure, water can be pumped from this canal to prevent further damage to the generator while still meeting downstream water demands. This solves the downstream water supply problem and the issue of guiding downstream water flow during generator failures. However, when using the backup canal for water pumping, sudden increases in water flow can still damage the canal lining and cannot effectively address the problem of abrupt changes in canal water level. Given the requirements for controlling canal water level changes, smooth control of the input flow is necessary to ensure slow water level changes without affecting the operation of other water conservancy facilities. Therefore, it is necessary to establish a reliable and efficient water supply and power generation linkage control system to coordinate the balance between power generation and water supply flow. Through the construction of this system, the opening of the main canal's intake gate can be adjusted in a timely manner to ensure the safety of power generation and canal water conveyance. By adding automation elements to this system, the linkage control of water supply and power generation can be realized, and the gate opening can be automatically adjusted. This not only improves the response speed but also saves some labor costs and reduces the labor intensity of operation and management personnel, providing a powerful technical means for scientific scheduling and daily operation.

[0200] The system also includes electronic devices, such as Figure 6 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. The electronic device 60 includes at least one processor 61 and a memory 62.

[0201] 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.

[0202] This application provides a parallel water supply and power generation system 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] 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 described in 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.

[0209] 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.

[0210] 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 parallel water supply and power generation system, the parallel water supply and power generation system comprising a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal, wherein the first and second main canals are connected in parallel, the reservoir is located upstream of the first and second main canals, the stilling basin is located downstream of the first and second main canals, a first gate is provided between the first main canal and the reservoir, the second main canal is provided with a power generation tunnel and a generator set sequentially along the water flow direction, a second gate is provided between the power generation tunnel and the generator set, and the water flow in the first and second main canals flows into the third main canal through the stilling basin, characterized in that... The method includes: Obtain the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; wherein, the current gate opening information includes the current first gate opening information and the current second gate opening information; Based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal, determine the target gate linkage control strategy of the parallel water supply and power generation system. According to the target gate linkage control strategy of the parallel water supply and power generation system, control the gate opening of the target gate; The step of determining the target gate linkage control strategy for the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal includes: Obtain the target water level of the third main canal; Based on a preset hydrodynamic model, the gate linkage control strategy set of the parallel water supply and power generation system is determined according to the difference between the current water level and the target water level and the current gate opening information. Based on the preset water level error optimization objective function, the target gate linkage control strategy with the smallest water level error is selected from the set of gate linkage control strategies. The process of optimizing the objective function based on a preset water level error, and selecting the gate linkage control strategy with the smallest water level error from the set of gate linkage control strategies, includes: Based on the following preset objective function for optimizing water level error, the target gate linkage control strategy with the smallest water level error is selected from the set of gate linkage control strategies: in, This indicates the target gate linkage control strategy. This represents any gate linkage control strategy in the set of gate linkage control strategies. Indicates the gate linkage control strategy The corresponding initial water level of the third main canal, This is the function for calculating water level error. For time step, The prediction interval includes several time steps. For the third main canal at the time step The predicted water level below The constant weighting matrix is ​​a pre-defined quadratic bias penalty. Let T be a constant weighted matrix with a pre-defined linear penalty, and let T be the transpose. Gate linkage control strategy The gate opening degree of each gate is represented. This is the final error between the predicted water level and the target water level within the predicted range.

2. The method according to claim 1, characterized in that, The third main canal is composed of multiple series-connected sub-main canals, each connected by a stilling basin. The third main canal is equipped with multiple outlet gates, and the target gate includes the outlet gate. The method further includes: Based on a preset differential error calculation formula, the differential error of each stilling basin is predicted when the gate opening is controlled according to the target gate linkage control strategy. When the differential error of any of the stilling basins is not less than the preset differential error threshold, the target gate linkage control strategy is optimized.

3. The method according to claim 2, characterized in that, The method of predicting the differential error of each stilling basin based on a preset differential error calculation formula when the gate opening of the target gate is controlled according to the target gate linkage control strategy includes: Based on the following preset differential error calculation formula, the differential error of each of the stilling pools is predicted when the gate opening is controlled according to the target gate linkage control strategy: in, For the differential error of the stilling pool j, The water level error in stilling basin j, The total number of stilling basins, This refers to the water level error of the stilling basins other than stilling basin j.

4. The method according to claim 1, characterized in that, The control of the gate opening degree of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system includes: Based on a preset PID controller, the gate opening of the target gate is controlled according to the target gate linkage control strategy of the parallel water supply and power generation system.

5. The method according to claim 4, characterized in that, Also includes: The gain parameters of the preset PID controller are optimized according to the following formula based on a preset period: in, For gain parameters, The adaptively adjusted neural network bias. The length of the neuron sequence in the first hidden layer of the neural network. For the neural network The length of the neuron sequence in the hidden layer. This represents the total number of hidden layers in a neural network. , The adaptively adjusted neural network connection weights, It is an intermediate variable.

6. The method according to claim 1, characterized in that, After controlling the gate opening of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system, the method further includes: Monitor the current actual opening degree of each of the target gates; Based on the deviation between the current actual opening degree of each target gate and the target opening degree of each target gate as characterized by the target gate linkage control strategy, a target gate opening degree correction strategy is determined.

7. A gate linkage control device, applied to a parallel water supply and power generation system, the parallel water supply and power generation system comprising a reservoir, a first main canal, a second main canal, a stilling basin, and a third main canal, wherein the first and second main canals are connected in parallel, the reservoir is located upstream of the first and second main canals, the stilling basin is located downstream of the first and second main canals, a first gate is provided between the first main canal and the reservoir, the second main canal is provided with a power generation tunnel and a generator set sequentially along the water flow direction, a second gate is provided between the power generation tunnel and the generator set, and the water flow in the first and second main canals flows into the third main canal through the stilling basin, characterized in that... The device includes: The acquisition module is used to acquire the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal; wherein, the current gate opening information includes the current first gate opening information and the current second gate opening information; The determination module is used to determine the target gate linkage control strategy of the parallel water supply and power generation system based on the current gate opening information of the parallel water supply and power generation system and the current water level of the third main canal. The control module is used to control the gate opening degree of the target gate according to the target gate linkage control strategy of the parallel water supply and power generation system. The determining module is specifically used for: Obtain the target water level of the third main canal; Based on a preset hydrodynamic model, the gate linkage control strategy set of the parallel water supply and power generation system is determined according to the difference between the current water level and the target water level and the current gate opening information. Based on the preset water level error optimization objective function, the target gate linkage control strategy with the smallest water level error is selected from the set of gate linkage control strategies. The determining module is specifically used for: Based on the following preset objective function for optimizing water level error, the target gate linkage control strategy with the smallest water level error is selected from the set of gate linkage control strategies: in, This indicates the target gate linkage control strategy. This represents any gate linkage control strategy in the set of gate linkage control strategies. Indicates the gate linkage control strategy The corresponding initial water level of the third main canal, This is the function for calculating water level error. For time step, The prediction interval includes several time steps. For the third main canal at the time step The predicted water level below The constant weighting matrix is ​​a pre-defined quadratic bias penalty. Let T be a constant weighted matrix with a pre-defined linear penalty, and let T be the transpose. Gate linkage control strategy The gate opening degree of each gate is represented. This is the final error between the predicted water level and the target water level within the predicted range.

8. A parallel water supply and power generation system, characterized in that, include: The reservoir, the first main canal, the second main canal, the stilling basin, and the third main canal; The first main canal and the second main canal are connected in parallel, the reservoir is located upstream of the first main canal and the second main canal, and the stilling basin is located downstream of the first main canal and the second main canal; A first gate is installed between the first main canal and the reservoir; The second main canal is provided with a power generation tunnel and a generator set in sequence along the water flow direction, and a second gate is provided between the power generation tunnel and the generator set; The water flowing from the first and second main canals flows into the third main canal through the stilling basin; It also includes electronic devices, which include at least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1 to 6.

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