Control system for opening and closing gate by means of grab beam and control method thereof

Abstract

The application discloses a control system and a control method for opening and closing a gate by means of a grab beam of an inclined gate slot, and belongs to the technical field of the opening and closing control system of the inclined gate of a hydropower station. The system comprises a gate machine, a data acquisition device, a control system host, a gate machine controller and a grab beam controller. The data acquisition device is connected with the control system host. The control system host is connected with the controller. The data acquisition device collects data and transmits the data to the control system host. According to the measurement data fed back by each data acquisition device, process control is carried out according to a preset PLC logic, and a command is sent to the gate machine controller and the grab beam controller. The gate machine controller and the grab beam controller control the gate machine and the grab beam according to the command of the control system host. The application adopts a special deep-water hydraulic grab beam of the dam cable gate type opening and closing machine applied to the inclined gate slot, adopts a specific control system and a control method, realizes the direct connection of the gate by the grab beam of the inclined gate slot, and realizes the rapid opening and closing of the gate of the inclined gate slot.

Description

Technical Field

[0001] This invention relates to the opening and closing control system of inclined gates in hydropower stations, and more specifically to a control system and control method for opening and closing inclined gate slots using grab beams. Background Technology

[0002] Currently, hyperbolic arch dams are generally equipped with both straight-hole and inclined-hole gates. Straight-hole gates are used to control water levels and prevent overflow. They are typically used in lift-type dam gates to directly control the water level above the dam. Inclined-hole gates are usually used on the dam span to balance the water levels above and below the dam. By adjusting the gate opening, the flow rate on the dam span can be controlled, thus achieving a balance between the water levels above and below the dam.

[0003] Because traditional grab beams cannot smoothly descend to the gate's water-blocking level within the inclined gate slot, they cannot connect to the gate at the water-blocking level. When opening the gate, the traditional lever-operated opening and closing method requires a dam-top gantry crane connected to a boom. One section of boom is lifted at a time, locked at the orifice, the upper section is removed and transferred to the boom storage tank, and this process is repeated until the gate is lifted and locked at the orifice. At this point, the dam-top gantry crane is used to connect the grab beam, which is then used to hoist the gate into the gate storage tank. Closing the gate is the reverse process. This traditional opening and closing method has disadvantages such as an extremely long opening and closing cycle (typically about 3 days), long crane downtime, poor flexibility, high labor intensity, high risk, and the need for a separate boom storage tank.

[0004] If a gantry-type mobile hoist is used to place the special deep-water hydraulic grab beam for the inclined gate slot into the inclined gate slot to open and close the gate, the wire rope will have different sags in the inclined gate slot due to its own weight and the tension of the gate on the wire rope. This will cause the wire rope to interfere with the inner wall of the inclined gate slot, and the wire rope will wear due to friction with the gate slot, shortening the life of the wire rope. The wire rope may break during operation due to wear, and the gate slot will be damaged due to wear.

[0005] Therefore, there is an urgent need for an efficient and reliable method to achieve the rapid, efficient, safe and reliable opening and closing of the inclined gate slot gate by directly connecting the gate through the grab beam. Summary of the Invention

[0006] The purpose of this invention is to solve the problem in existing inclined gate hoists where the sag of the wire rope changes due to the movement of the grab beam and the change in the tension of the wire rope, leading to interference between the wire rope and the inclined gate slot. This invention uses a dam-type inclined gate hoist in conjunction with a special deep-water hydraulic grab beam applied to the inclined gate slot, and employs a specific control system and control method to achieve rapid, efficient, safe and reliable opening and closing of the inclined gate slot through direct connection to the gate via the grab beam.

[0007] The present invention is achieved through the following technical solution: a control system for opening and closing a gate with a grab beam by means of a slanted gate slot includes: a gate operator, a data acquisition device, a control system host, a gate operator controller, and a grab beam controller.

[0008] The gantry crane includes a trolley traveling mechanism, a trolley running mechanism, and a gantry frame. The trolley traveling mechanism is located at the bottom of the gantry frame, and the trolley running mechanism is located at the top of the gantry frame. The trolley running mechanism is equipped with a lifting mechanism. The trolley traveling mechanism can move the gantry crane position on the dam surface, and the trolley running mechanism can move on the gantry frame in the upstream and downstream directions of the water flow to adjust the position of the lifting mechanism. The lifting mechanism can retract and extend the wire rope to control the raising and lowering of the grab beam.

[0009] The data acquisition device is connected to the control system host, which in turn is connected to the gantry crane controller and the grab beam controller. The data acquisition device collects and transmits the data to the control system host. Based on the measurement data fed back by each data acquisition device, the control system host performs process control according to the preset PLC logic and issues commands to the gantry crane controller and the grab beam controller. The gantry crane controller, according to the commands from the control system host, controls the gantry crane to perform the following actions: the gantry crane trolley travels to adjust the gantry crane position; the gantry crane trolley running mechanism moves to adjust the trolley position; and the lifting mechanism moves to adjust the grab beam height. The grab beam controller, according to the commands from the control system host, controls the hydraulic grab beam to move.

[0010] The data acquisition device includes a height sensor and a position sensor. The height sensor is used to monitor the position of the grab beam in real time, and the position sensor is used to collect position data of the gantry crane trolley running mechanism.

[0011] The height sensor is mounted on the lifting mechanism, and the position sensor is mounted on the trolley running mechanism.

[0012] The data acquisition device also includes a monitoring system, which is installed on the inner wall of the inclined door slot to monitor the status of the wire rope and the inner wall of the door slot in real time.

[0013] The data acquisition device also includes a hoisting mechanism load sensor, which is installed on the hoisting mechanism to read the hoisting mechanism load reading in real time.

[0014] A guide pulley is installed at the opening of the inclined gate slot. At the opening, when the tension of the wire rope is low and the distance between the two support points of the wire rope is large, the sag of the wire rope itself is large, which may interfere with the opening. To address this situation, a guide pulley is installed at the point of interference to adjust the catenary of the wire rope.

[0015] Furthermore, the data acquisition device also includes a stroke encoder and a proximity sensor; the stroke encoder is installed on the trolley traveling mechanism and is used to collect data on the position of the gantry crane on the dam surface; the proximity sensors are installed in pairs at the opening of the inclined gate slot and the corresponding position of the gantry crane, and are used for the precise positioning of the gantry crane at the gate opening.

[0016] Furthermore, the control system host is also connected to an operating parameter library to store and memorize various operating data information during the gate opening and closing process;

[0017] Furthermore, the operating parameter database also includes a fully automatic control system. The fully automatic control system controls the gantry crane to operate automatically and position itself above the corresponding gate opening. Then, it reads the operating information of the corresponding working mode of the opening stored in the system and starts and operates the corresponding mechanism according to the information.

[0018] Furthermore, the operating parameter library can also remember the continuous operation data of multiple gates. After the fully automatic control system is turned on, when the end position of the first path information is located, the system reads and runs according to the second path information until each step of the operation process in the historical operation is completed, and the opening and closing of all gates is completed.

[0019] Furthermore, the fully automatic control system is also equipped with an emergency stop mechanism. During operation, the operator can pause the system at any time through the emergency stop mechanism, fine-tune and save historical operation data based on the actual operation, and further optimize the control of the door opening operation.

[0020] A control method for a control system for opening and closing a gate via a grab beam in a slanted gate slot includes the following steps:

[0021] a. The empty grab beam begins to be lowered. During the lowering process, the control system host performs theoretical calculations based on the data collected by the data acquisition device. Based on the calculation results, the control system host commands the gantry crane controller to adjust the position of the trolley running mechanism during the lowering of the empty grab beam.

[0022] b. The empty grab beam is lowered to the gate's water-blocking level. After the grab beam controller completes the connection between the grab beam and the gate, the grab beam controller transmits a signal to the control system host.

[0023] c. The control system host receives the signal from the grab beam controller and commands the gantry crane controller to control the hoisting mechanism to start the static water gate opening, and adjusts the position of the trolley running mechanism according to the calculation results during the gate opening process;

[0024] d. After the gate leaves the water-blocking position, calculate and adjust the position of the gantry crane trolley traveling mechanism based on the gate's lifting process in the inclined gate slot;

[0025] e. The gate is pulled out of the inclined gate slot opening to complete the gate opening operation;

[0026] f. The closing process of the gate is the reverse of the above steps.

[0027] The calculation method uses parabolic theory, and the calculation formula is as follows:

[0028] = =

[0029] In the formula: --- Bending moment at any point on the suspension cable with respect to the support;

[0030] ---Horizontal force in the wire rope, kg;

[0031] g----Weight of wire rope per meter, kg / m;

[0032] x---- Calculation point is the horizontal distance from the fulcrum, in meters;

[0033] L----Horizontal distance between the two points of support, in meters;

[0034] β --- The angle between the line connecting the two fulcrums and the horizontal.

[0035] ---The sag of the suspension cable at a distance of x meters from the fulcrum, in meters.

[0036] The horizontal force of the wire rope The tension of the wire rope can be read directly from the load sensor installed on the lifting mechanism. The height of the grab beam can be obtained from the height sensor on the lifting mechanism. The grab beam runs along the inclined gate slot, and the angle of the gate slot is constant. The horizontal position of the grab beam can be calculated using trigonometric functions. The position sensor installed on the gantry crane trolley traveling mechanism can determine the horizontal position of the wire rope exit point at one end of the lifting mechanism. The height position of this point remains constant. Given the coordinates of two points in a plane, the horizontal angle between the lines connecting the two points can be solved. The horizontal force of the wire rope can be obtained by decomposing the tension of the wire rope in the horizontal direction.

[0037] The distance L between the two fulcrums and the horizontal angle β can both be measured using data from the position sensor; the weight per meter of the wire rope is a constant.

[0038] The control method also includes monitoring in real time whether there is a deviation between the theoretical calculation result of the wire rope and the actual result on site during the gate opening and closing process. If there is no deviation, the process proceeds directly to the next step. If there is a deviation, the system host commands the gate controller to precisely adjust the position of the trolley through the data feedback control of the position sensor set on the trolley running mechanism. After adjustment, the process proceeds to the next step.

[0039] Furthermore, during the opening and closing of the gate, only one of the hoisting action of the hoisting mechanism and the trolley adjustment action of the trolley traveling mechanism can be performed. That is, when the gate is hoisted or lowered, the trolley traveling mechanism should be held, and when the trolley traveling mechanism is adjusted, the hoisting mechanism should be braked.

[0040] Furthermore, the control method also includes the gantry crane controller controlling the trolley traveling mechanism to move the gantry crane to the gate opening based on data collected by the stroke encoder and proximity sensor;

[0041] Furthermore, the control method also includes the step of saving the running data of each step and the running data after adjustment based on the actual results on site to the running parameter library;

[0042] Furthermore, the control method also includes the step of retrieving the operating parameter library data with one click and completing the above actions when the gate is opened for the second time;

[0043] Furthermore, the control method also includes, after locating the end point of a path information in the operating parameter library, the system reads and runs the next path information until each step of the operation process in the historical operation is completed, and all gates are opened and closed.

[0044] Furthermore, the control method also includes the step of fine-tuning and saving historical operation data information based on actual operation after manual pause, thereby further optimizing the control of the door opening operation.

[0045] The beneficial effects of this invention are:

[0046] 1. This invention continuously adjusts the lifting mechanism downstream or upstream as the grab beam rises or falls within the inclined gate slot, changing the position of the lifting mechanism and thus the position of the upper support point. This alters the sag of the wire rope, ensuring that the wire rope does not interfere with the gate slot, preventing wear caused by friction between the wire rope and the gate slot, extending the wire rope's lifespan, preventing breakage due to wear during operation, and preventing damage to the gate slot due to wear. This ensures safety and reliability.

[0047] 2. This invention uses a method of direct connection between the grab beam and the gate for gate opening and closing, which eliminates the heavy work of frequent installation and disassembly of the boom, shortening the original three-day working time for opening and closing the gate with the boom to about 0.5 days, and completing the gate opening and closing quickly and efficiently.

[0048] 3. The present invention is equipped with a travel encoder and a proximity sensor at the positions of the trolley traveling mechanism and the gate opening, which are used to collect data on the position of the gantry crane on the dam surface and accurately position the gantry crane at the gate opening. The position data of the gantry crane on the dam surface is collected in real time and fed back to the control system host. The control system host can accurately align the gantry crane with the inclined gate slot opening position according to the data, avoiding errors and eliminating the need for manual adjustment.

[0049] 4. The dam crest gantry crane operating system can memorize information such as the gate opening position, the gantry crane's traveling mechanism, the trolley's running mechanism, and the position of the grab beam during the opening and closing process. When performing repeated gate opening and closing processes, the above operations can be completed with a single click, greatly shortening the operation time and reducing the labor intensity of dam face workers.

[0050] 5. This invention solves the problem of ensuring the smooth descent of the hydraulic grab beam within the inclined gate slot to the gate's water-blocking level, thereby opening and closing the gate. This simplifies the layout, shortens overall operation time, reduces personnel workload, simplifies and flexibly manages operation, and lowers project costs. Efficient gate maintenance ensures the overall safety of the dam and lays the foundation for the stable economic and social development of downstream areas. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0052] Figure 2 This is a schematic diagram of the gantry crane structure of the present invention;

[0053] Figure 3 This is a schematic diagram of the control system of the present invention;

[0054] Figure 4 This is a logical sequence diagram of the present invention;

[0055] Figure 5 A schematic diagram showing the arrangement and function of the guide pulley device at the opening of the inclined door slot;

[0056] Figure 6 This is a schematic diagram of the grab beam structure of the present invention;

[0057] Figure 7 A schematic diagram showing the relationship between the hoisting mechanism's wire rope and the gantry groove during the lowering of the empty grab beam;

[0058] Figure 8 A schematic diagram showing the positional relationship between the hoisting mechanism wire rope and the upstream side of the gate slot when opening the gate in still water.

[0059] The components are: 1. Gantry crane; 11. Trolley traveling mechanism; 12. Trolley traveling mechanism; 13. Gantry frame; 14. Lifting mechanism; 15. Grab beam; 15-1. Grab beam body; 15-2. Guide wheel device; 15-3. Guide and positioning device; 15-4. Pin threading device; 16. Wire rope. Detailed Implementation

[0060] The present invention will be further described in detail below with reference to embodiments, but the implementation of the present invention is not limited thereto.

[0061] Example 1

[0062] like Figure 1-5 As shown, this embodiment provides a control system for opening and closing a gate with the aid of a grab beam in a slanted gate slot, including: a gate operator 1, a data acquisition device, a control system host, a gate operator controller, and a grab beam controller.

[0063] The gantry crane 1 includes a trolley traveling mechanism 11, a trolley traveling mechanism 12, and a gantry frame 13. The trolley traveling mechanism 12 is located at the bottom of the gantry frame 13, and the trolley traveling mechanism 12 is located at the top of the gantry frame 13. A lifting mechanism 14 is provided on the trolley traveling mechanism 12. The trolley traveling mechanism 11 can move and move the position of the gantry crane on the dam surface. The trolley traveling mechanism 12 can move and adjust the position of the lifting mechanism 14 on the gantry frame 13 in the upstream and downstream directions of the water flow. The lifting mechanism 14 can retract and extend the wire rope to control the raising and lowering of the grab beam 15.

[0064] The data acquisition device is connected to the control system host, which is connected to the gantry crane controller and the grab beam controller. The data acquisition device collects data and transmits it to the control system host. Based on the measurement data fed back by each data acquisition device, the control system host performs process control according to the preset PLC logic and issues commands to the gantry crane controller and the grab beam controller. The gantry crane controller controls the gantry crane to perform actions such as the gantry crane trolley traveling mechanism 11, the gantry crane trolley running mechanism 12, and the hoisting mechanism 13 according to the commands of the control system host. The grab beam controller controls the hydraulic grab beam 15 to operate according to the commands of the control system host.

[0065] The data acquisition device includes a height sensor and a position sensor. The height sensor is used to monitor the position of the grab beam 15 in real time, and the position sensor is used to collect position data of the gantry crane trolley traveling mechanism 12. The height sensor is installed on the hoisting mechanism 14, and the position sensor is installed on the trolley traveling mechanism 12. The data acquisition device also includes a monitoring system installed on the inner wall of the inclined gate slot to monitor the state of the wire rope relative to the inner wall of the gate slot in real time. The data acquisition device also includes a travel encoder and a proximity sensor. The travel encoder is installed on the trolley traveling mechanism 11 to collect data on the position of the gantry crane on the dam surface, and the proximity sensor is installed at the opening of the inclined gate slot for precise positioning of the gantry crane 1 at the gate opening. The data acquisition device also includes a load sensor for the hoisting mechanism 14, which is installed on the hoisting mechanism 14 to read the load reading of the hoisting mechanism 14 in real time.

[0066] like Figure 5 As shown, a guide pulley is installed at the opening of the inclined gate slot. At the opening, when the tension of the wire rope is low and the distance between the two support points of the wire rope is large, the sag of the wire rope itself is large, which may interfere with the opening. To address this situation, a guide pulley is installed at the point of interference to adjust the catenary of the wire rope.

[0067] Example 2

[0068] like Figure 1-8 As shown, this embodiment provides a control method for a control system that opens and closes a gate using a grab beam, comprising the following steps:

[0069] a. The empty grab beam begins to be lowered. During the lowering process, the control system host performs theoretical calculations based on the data collected by the data acquisition device. Based on the calculation results, the control system host commands the gantry crane controller to adjust the position of the trolley during the lowering of the empty grab beam.

[0070] b. The empty grab beam is lowered to the gate's water-blocking level. After the grab beam controller completes the connection between the grab beam and the gate, the grab beam controller transmits a signal to the control system host.

[0071] c. The control system host receives the signal from the grab beam controller and commands the gantry crane controller to control the hoisting mechanism to start the static water gate opening, and adjusts the position of the trolley running mechanism 12 according to the calculation results during the gate opening process;

[0072] d. After the gate leaves the water-blocking position, calculate and adjust the position of the gantry crane trolley traveling mechanism 12 based on the lifting process of the gate in the inclined gate slot;

[0073] e. The gate is pulled out of the inclined gate slot opening to complete the gate opening operation;

[0074] f. The closing process of the gate is the reverse of the above steps.

[0075] The calculation method uses parabolic theory, and the calculation formula is as follows:

[0076] = =

[0077] In the formula: --- Bending moment at any point on the suspension cable with respect to the support;

[0078] ---Horizontal force in the wire rope, kg;

[0079] g----Weight of wire rope per meter, kg / m;

[0080] x---- Calculation point is the horizontal distance from the fulcrum, in meters;

[0081] L----Horizontal distance between the two points of support, in meters;

[0082] β --- The angle between the line connecting the two fulcrums and the horizontal.

[0083] ---The sag of the suspension cable at a distance of x meters from the fulcrum, in meters.

[0084] The horizontal force of the wire rope The tension of the wire rope can be read directly from the load sensor installed on the lifting mechanism. The height of the grab beam can be obtained from the height sensor on the lifting mechanism. The grab beam runs along the inclined gate slot, and the angle of the gate slot is constant. The horizontal position of the grab beam can be calculated using trigonometric functions. The position sensor installed on the gantry crane trolley can determine the horizontal position of the wire rope exit point at one end of the lifting mechanism. The height position of this point remains constant. Given the coordinates of two points in a plane, the horizontal angle between the lines connecting the two points can be solved. The horizontal force of the wire rope can be obtained by decomposing the tension of the wire rope in the horizontal direction.

[0085] The distance L between the two fulcrums and the horizontal angle β can be measured using data from the position sensor; the weight per meter of the wire rope, g, is a constant.

[0086] The closing process of the gate is as follows:

[0087] a. Begin grabbing the gate with the grabbing beam and lowering it. Calculate and adjust the position of the gantry crane trolley traveling mechanism 12 based on the lowering process of the gate in the inclined gate slot. The calculation and adjustment are the reverse of the process of lifting the gate out of the orifice during the gate opening process.

[0088] b. The gate is lowered into the gate slot to begin the closing process, and the position of the trolley running mechanism 12 is adjusted according to the calculation results during the closing process;

[0089] c. The grab beam controller controls the grab beam to complete the disengagement from the gate;

[0090] d. Start lifting the empty grab beam. During the lifting process, the control system host performs theoretical calculations based on the data collected by the data acquisition device. Based on the calculation results, the control system host commands the gantry crane controller to adjust the position of the trolley during the lifting of the empty grab beam.

[0091] e. The empty grab beam is lifted out of the inclined gate slot opening to complete the gate closing operation;

[0092] The closing and opening processes of the gate are completely opposite in terms of their steps, the force on the wire rope, and the adjustment direction of the trolley running mechanism; they are inverse processes.

[0093] Furthermore, the control method also includes real-time monitoring of whether there is a deviation between the theoretical calculation result of the wire rope and the actual result on site during the gate opening and closing process. If there is no deviation, the process proceeds directly to the next step. If there is a deviation, the system host commands the gate controller to precisely adjust the position of the trolley through the data feedback from the trolley position sensor set on the trolley. After adjustment, the process proceeds to the next step.

[0094] Furthermore, during the opening and closing of the gate, only one of the lifting action of the hoisting mechanism 14 and the trolley adjustment action of the trolley traveling mechanism 12 can be performed. That is, when the gate is raised or lowered, the trolley traveling mechanism should be held, and when the trolley traveling mechanism 12 is adjusting its position, the hoisting mechanism 14 should be braked.

[0095] Furthermore, the control method also includes the gantry crane controller controlling the trolley traveling mechanism 11 to move the gantry crane 1 to the gate opening based on the data collected by the stroke encoder and proximity sensor;

[0096] Based on the formula and analysis of the movement process of the grab beam within the slot, the following conclusions are drawn:

[0097] ① During the lowering process of the grab beam, the sag of the wire rope is greatest at the midpoint of the horizontal distance between the rope exit point of the moving pulley and the rope exit point of the hoisting mechanism drum.

[0098] ②The smaller the horizontal distance between the two support points, the smaller the sag of the wire rope.

[0099] ③ When the grab beam is lowered to the gate's water-blocking level, the grab beam moves the farthest upstream, and at this time the wire rope sag is the greatest;

[0100] As the grab beam is lowered, it enters the inclined gate slot. By analyzing the operation of the empty grab beam within the slot beforehand, a complete correspondence between the trolley position and the grab beam's lowering position of the inclined gate hoist is calculated. For example... Figure 7 As shown, during the lowering of the grab beam, due to the light weight of the grab beam and the movable pulley, there may be interference between the wire rope and the gate slot due to its own sag. In this case, through theoretical calculation, reducing the position of the two support points, i.e., adjusting the trolley position upstream, can reduce the wire rope sag and avoid interference. Once the grab beam is lowered to the gate's water-blocking level, the connection between the grab beam and the gate is completed.

[0101] After the grab beam is secured with the pin, control the hoisting mechanism to begin opening the gate. For example... Figure 8As shown, due to the accumulation of sediment in the gate, the lifting force required by the hoisting mechanism will be greater than the weight of the gate, grab beam, and moving pulley. At this time, the wire rope will be under the greatest force, and its sag will decrease. Through calculation, it is possible that the wire rope may interfere with the upstream side of the inclined gate slot. Therefore, the position of the gantry crane trolley should be adjusted downstream. The position is calculated based on the gate lifting force. After the wire rope sags, it will not interfere with the gate slot and the safe distance between the upstream and downstream sides will be approximately equal. That is, the horizontal distance between the two support points will be increased, thereby increasing the sag of the wire rope and avoiding interference between the wire rope and the gate slot.

[0102] After the gate completes its opening action, the tension provided by the wire rope is approximately equal to the component of the gate's weight along the inclined gate slot plus the resistance of the gate and grab beam moving within the slot. Compared to the previous process, the wire rope force will decrease. At this point, the wire rope sag will increase, causing interference between the wire rope and the gate slot due to its own sag. The position of the gantry crane trolley is then adjusted upstream, and the distance between the two support points is reduced to decrease the wire rope sag. Since the inclination angle of the inclined gate slot remains constant, the lifting force provided by the hoisting mechanism remains constant during the inclined gate slot's movement. The relationship between the wire rope and the gate slot is calculated using parabolic theory during the gate's movement within the slot, allowing for real-time control of the trolley position and adjustment of the hoisting mechanism's end support point position. When the trolley moves to a point where the hoisting mechanism's wire rope no longer interferes with the gate slot, the gantry crane trolley holds, and the hoisting mechanism continues its operation to open the gate until it is removed from the gate slot.

[0103] Example 3

[0104] This embodiment provides a control system and method for opening and closing gates using a grab beam via a slanted gate slot. The difference between this embodiment and Embodiment 2 is that the control system host is also connected to an operating parameter database to store and memorize various operating data information during the gate opening and closing process. The operating parameter database also includes a fully automatic control system. This system controls the gate operator to automatically operate and position itself above the corresponding gate opening, then reads the operating information stored in the system for that opening's corresponding operating mode, and starts and operates the corresponding mechanism based on the information. The operating parameter database can also memorize continuous operating data information for multiple gates. After activating the fully automatic control system, when it reaches the end point of the first path information, the system reads and operates according to the second path information until each step of the historical operation is completed, thus completing the opening and closing of all gates. The fully automatic control system also has an emergency pause mechanism. During operation, the operator can pause the operation at any time using the emergency pause mechanism, fine-tune and save the historical operating data information based on the actual operating conditions, and further optimize the gate opening operation control.

[0105] Real-time measurement data from the data acquisition device is used to construct real-time spatial coordinate information of the gantry crane's lifting points, providing a foundation for the gantry crane's positioning control operation and data storage. Simultaneously, orifice proximity sensors are installed at each orifice of the dam, working in conjunction with travel encoders to achieve identification and precise positioning of each orifice. With the aforementioned signal sensors and specially designed control software, the gantry crane can achieve path memory and path repetition functions during the gate opening operation.

[0106] When performing gate opening operations, the operator first sets the gate opening number and operating mode (e.g., gate lifting or gate lowering) on ​​the human-machine interface of the control system. Then, the "path memory" function is activated. Each subsequent operation performed by the operator, such as starting the lifting and lowering to xxx meters, or starting the trolley and moving forward to xxx meters, will be automatically saved sequentially to the operating parameter library, corresponding to the gate opening number. During operation, the operator needs to manually operate the lifting and trolley movement sequentially according to the lifting weight, lifting height, and theoretically calculated trolley position adjustment requirements to control the wire rope sag.

[0107] After completing the path memory operation, the operator can call upon the information stored in the operating parameter library to perform a one-click gate opening operation when needed. To use this function, the operator first selects the gate opening number, then selects the operating mode, such as gate lifting or gate lowering. After making the selection, the operator activates the one-click gate lifting function. The control system automatically controls the gantry crane to operate and position itself above the corresponding gate opening. It then reads the first path operation information from the historical operation for that opening's corresponding operating mode, and starts and operates the corresponding mechanism based on this information. Once the system reaches the end point of the first path, it reads and operates according to the second path information, continuing until each step of the historical operation is completed, thus replicating the lifting and trolley position coordination during manual operation. During operation, the operator can also pause the process at any time using the emergency stop mechanism to fine-tune and save the historical operation data based on the actual operating conditions, further optimizing the gate opening operation control.

[0108] Example 4

[0109] This embodiment provides a control system and control method for opening and closing a gate in an inclined gate slot using a grab beam. The difference between this embodiment and Embodiment 2 is that the grab beam used in this embodiment is a special deep-water hydraulic grab beam for inclined gate slots.

[0110] like Figure 6As shown, the grab beam 15 is a deep-water hydraulic grab beam specifically designed for inclined gate slots, comprising a grab beam body 15-1, a guide positioning device 15-3, and a pin insertion device 15-4. The grab beam body adopts a box-beam structure. The guide positioning device 15-3 is located at the bottom of the grab beam body 15-1 and cooperates with the gate end guide positioning device at the top of the gate. The four sides of the grab beam body 15-1 that contact the inclined gate slot are each provided with one or more sets of embedded track components that mate with the pre-embedded rails around the inclined gate slot. The guide wheel device 15-2 includes two guide wheel devices 15-2 positioned symmetrically at the middle of the grab beam body, which are used to support the deep-water hydraulic grab beam to run at an incline within the inclined gate slot. Two sets of guide wheel devices 15-2 are respectively arranged on the upstream and downstream sides. The two sets of grab beam guide wheel devices 15-2 are symmetrically arranged at the left and right ends of the side of the grab beam body 15-1 at the middle of the grab beam body. One set of guide wheel devices 15-2 is arranged on each side of the grab beam along its length.

[0111] The grab beam is placed into the inclined gate slot. The upper and lower guide wheels of each set of guide wheel devices 15-2 support the grab beam as it moves at an incline within the slot, continuously lowering it to the gate's water-blocking position. When the grab beam reaches the gate's water-blocking position in the inclined gate slot, the center plane of the gate may not be parallel to the center plane of the grab beam. At this time, the grab beam end guide device 15-3 cooperates with the gate end guide device until the guide devices are aligned. After the guide devices are positioned, the grab beam pin-connecting device 15-4 activates, connecting the pin-connecting device 15-4 to the gate lifting lug, thus completing the connection between the grab beam and the gate. At this point, the lifting mechanism on the inclined gate hoist on the dam crest begins winding the wire rope, completing the gate's retrieval.

[0112] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A control method of a control system for opening and closing a gate by means of a grab beam for a skew gate slot, the control system comprising: The system comprises a gantry crane, a data acquisition device, a control system host, a gantry crane controller, and a grab beam controller; the gantry crane includes a trolley traveling mechanism (11), a trolley traveling mechanism (12), and a gantry frame (13), wherein a lifting mechanism (14) is provided on the trolley traveling mechanism (12). The system is characterized in that: the data acquisition device is connected to the control system host, the control system host is connected to the gantry crane controller and the grab beam controller, the data acquisition device collects data and transmits it to the control system host, and the control system host performs process control according to the preset PLC logic based on the measurement data fed back by each data acquisition device and issues commands to the gantry crane controller and the grab beam controller. The gantry controller and the grab beam controller control the gantry (1) and the grab beam (15) according to the command of the control system host. The data acquisition device includes a height sensor and a load sensor installed on the lifting mechanism (14), a position sensor installed on the trolley running mechanism (12), and a monitoring system installed on the inner wall of the inclined gate slot. The height sensor is used to monitor the position of the grab beam (15) in real time, the position sensor is used to collect the position data of the gantry trolley running mechanism (12), the monitoring system is used to monitor the state of the wire rope (16) and the inner wall of the gate slot in real time, and the load sensor is used to read the load reading of the lifting mechanism (14) in real time. The control method includes the following steps: a. Start lowering the empty grab beam (15). During the lowering process, the control system host performs theoretical calculations based on the data collected by the data acquisition device. Based on the calculation results, the control system host commands the gantry crane controller to adjust the position of the trolley running mechanism (12) during the lowering of the empty grab beam (15). b. The empty grab beam is lowered to the gate water level. After the grab beam controller controls the grab beam (15) to complete the connection with the gate, the grab beam controller transmits the signal to the control system host. c. The control system host receives the signal from the grab beam controller and commands the gantry crane controller to control the lifting mechanism (14) to start the static water gate opening, and adjusts the position of the trolley running mechanism (12) according to the calculation results during the gate opening process; d. After the gate leaves the water-blocking position, adjust the position of the gantry crane trolley running mechanism (12) according to the lifting process of the gate in the inclined gate slot; e. The gate is pulled out of the inclined gate slot opening to complete the gate opening operation; f. The closing process of the gate is the reverse of the above steps; The calculation method uses parabolic theory, and the calculation formula is as follows: = = In the formula: --- Bending moment of any point on the suspension cable on the fulcrum; - horizontal force of the wire rope, kg; g----Weight of wire rope per meter, kg / m; x----The horizontal distance from the calculation point to the fulcrum, in meters; L----Horizontal distance between the two points of support, in meters; β --- The angle between the line connecting the two fulcrums and the horizontal. ---sag of the catenary at a distance x meters from the support point, m; The control method also includes monitoring in real time whether there is a deviation between the theoretical calculation result of the wire rope (16) and the actual result on site during the gate opening and closing process. If there is no deviation, the next step is directly entered. If there is a deviation, the host of the control system commands the gate controller to accurately adjust the position of the trolley through the data feedback control system of the position sensor set on the trolley running mechanism (12), and then enter the next step after adjustment.

2. The control method according to claim 1, characterized by: The data acquisition device also includes a stroke encoder and a proximity sensor; the stroke encoder is set on the trolley traveling mechanism (11) and is used to collect data on the position of the gantry crane (1) on the dam surface; the proximity sensors are set in pairs at the position of the inclined gate slot opening and the corresponding position of the gantry crane (1) and are used for the precise positioning of the gantry crane (1) at the gate opening.

3. The control method according to claim 2, characterized in that: The control method also includes the step of the gantry crane controller controlling the trolley traveling mechanism to move the gantry crane to the gate opening based on the data collected by the stroke encoder and proximity sensor.

4. The control method according to claim 2, characterized by: The control system host is also connected to an operating parameter library, which stores and memorizes various operating data information during the gate opening and closing process. The operating parameter library can memorize continuous operation data information of multiple gates.

5. The control method according to claim 4, characterized in that: The control method also includes saving the operation data of each step and the operation data after adjustment based on the actual results on site to the operation parameter library. When the gate is opened for the second time, the operation parameter library data is retrieved with one click to complete the above steps.

6. The control method according to claim 4, characterized by: The operating parameter library also includes a fully automatic control system. The fully automatic control system controls the gantry crane (1) to run automatically and position itself above the corresponding gate opening. It reads the operating information of the corresponding working mode of the opening stored in the operating parameter library and starts and runs the corresponding mechanism according to the information.

7. The control method according to claim 6, characterized in that: The control method also includes that after locating the end point of a path information in the operating parameter library, the system reads and runs the next path information until each step of the historical operation is completed and all gate opening and closing steps are completed.

8. The control method of the control system according to claim 6, characterized by: The fully automatic control system is equipped with an emergency stop mechanism.

9. The control method according to claim 6, characterized in that: The control method also includes steps such as manually pausing the operation, fine-tuning and saving historical operation data based on actual operating conditions, and further optimizing the control of the door opening operation.

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