Hydraulic gate operation attitude monitoring and early warning device and method

Abstract

The invention discloses a hydraulic gate operation posture monitoring and early warning device and method. The device comprises a force measuring sensor, an acceleration sensor and a rocking-turn sensor which are arranged on the surface of a hydraulic gate metal structure, and meanwhile a controller module, a power module and a communication module are arranged on the top of a gate leaf. Through sensors arranged at specific positions, monitoring data such as gate opening and closing force F, gate attitude (a ', omega', alpha, beta and gamma) information and operation excitation acceleration (vibration frequency f and amplitude h) are obtained, then the monitoring data of the sensors are processed in a centralized mode through a monitoring control module, and an information frequency spectrum of the gate operation attitude is extracted; and obtaining the operation attitude of the gate according to a maximum membership principle fuzzy comprehensive evaluation method, and verifying and comparing the operation attitude with the limit value and the inherent frequency to identify the operation safety attitude of the gate.

Description

Technical Field

[0001] The invention relates to a gate operation posture monitoring technology and provides an online monitoring and early warning technology for hydraulic working gates of a hydropower station. Background Art

[0002] As an important control facility in water conservancy projects, hydraulic gates have always been used to regulate water flow, control water levels, and prevent floods and waterlogging. With the continuous expansion and complexity of water conservancy projects, the operational safety and reliability of gates are particularly important. Traditional gate monitoring methods mostly rely on manual inspections, which have problems such as delayed response and inaccurate data, and are difficult to meet the needs of modern water conservancy projects for real-time monitoring and early warning.

[0003] At present, the above problems need to be solved urgently. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a hydraulic gate operation posture monitoring and early warning device and method in view of the deficiencies in the above-mentioned prior art, so as to provide a reliable intelligent method for monitoring the operation posture of the hydraulic gate.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In the first aspect, the present invention discloses a hydraulic gate operation posture monitoring and early warning device, which is applied to the metal structure of the hydraulic gate.

[0007] It includes a controller module, a power module and a communication module located at the top of the hydraulic gate leaf; a force sensor module located at the wire rope of the gate hoist; a swing sensor module located at the top beam of the gate leaf; and an acceleration sensor module located at the main crossbeam at the bottom edge of the gate leaf.

[0008] The controller module is connected with the power module, the communication module, the swing sensor module, and the acceleration sensor module to centrally collect and process the monitoring data of each sensor, extract the information spectrum of the gate operation posture, obtain the gate operation posture according to the fuzzy comprehensive evaluation method of the maximum membership principle, and verify and compare it with the limit value and the natural frequency to identify the gate operation safety posture, and store the processed data in real time;

[0009] The power supply module is connected to the controller module to supply power to the entire device;

[0010] The communication module uses the ModBus wireless communication protocol to establish information interaction with the force sensor module and the user terminal, and is used to receive or send monitoring data of the force sensor module and monitoring data centrally processed by the controller module;

[0011] The force sensor module has the functions of monitoring, communicating and storing the information of the gate opening and closing force F;

[0012] The swing sensor module has the gate attitude a′, ω′, α, β, γ information monitoring function; gate variable acceleration a′, angular acceleration ω′, three-dimensional inclination angle α, β, γ, where α, β, γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively;

[0013] The acceleration sensor module has the function of monitoring the acceleration information of the running excitation; the acceleration includes the vibration frequency f and the amplitude h.

[0014] As an improvement of a hydraulic gate operation posture monitoring and early warning device disclosed in the present invention,

[0015] The device also includes an information storage module, which writes the gate opening and closing force F, gate posture a′, ω′, α, β, γ information, vibration frequency f and amplitude h of the operation excitation acceleration, and monitoring data of the gate operation posture safety identification result collected and processed by the controller module into the information storage module of the user terminal in real time;

[0016] The acceleration sensor modules are: 1 to 3 groups of acceleration sensor modules are arranged symmetrically along the main cross beam at the bottom edge of the gate, and the modules are ensured to be located in the center of the web;

[0017] The swing sensor modules are: 1 to 3 sets of swing sensor modules are evenly arranged symmetrically along the top beam of the gate, and the modules are ensured to be located in the center of the web;

[0018] The controller module is: 1 to 2 groups of controller modules, power modules and communication modules are symmetrically arranged at the top of the hydraulic gate;

[0019] The force sensor modules are: one group of force sensor modules are arranged at the steel wire rope positions on both sides of the balance pulley.

[0020] In a second aspect, the present invention further discloses a method for monitoring and warning the operation posture of a hydraulic gate: using any of the above-mentioned devices, performing the following steps:

[0021] (1) Arrange 1 to 3 groups of acceleration sensor modules symmetrically along the main cross beam at the bottom edge of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 3 groups of roll sensor modules symmetrically and evenly along the top beam of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 2 groups of controller modules, power modules and communication modules symmetrically at the top of the hydraulic gate; arrange 1 group of force sensor modules at the wire rope on both sides of the balance pulley;

[0022] (2) Real-time acquisition, calculation and storage of gate opening and closing force F monitoring data through the force sensor module;

[0023] (3) Obtain and calculate the gate posture a′, ω′, α, β, γ monitoring data in real time through the swing sensor module;

[0024] (4) Acquire and solve the running excitation acceleration monitoring data in real time through the acceleration sensor module;

[0025] (5) The monitoring data of each sensor is collected and centrally processed through the controller module. The data collection process includes: directly obtaining the monitoring data of the gate posture a′, ω′, α, β, γ and the operation excitation acceleration from the sensor module through the cable, and then using the ModBus wireless communication protocol to obtain the monitoring data of the gate opening and closing force F through the communication module; the data centralized processing process includes: extracting the information spectrum of the gate operation posture, obtaining the gate operation posture according to the fuzzy comprehensive evaluation method based on the maximum membership principle, and verifying and comparing it with the limit value and the natural frequency, identifying the gate operation safety posture, and storing the processed data in real time;

[0026] (6) When the device has communication conditions, the communication module uses the ModBus wireless communication protocol to receive the monitoring data of the force sensor module and transmits the data processed by the controller module to the user terminal.

[0027] As an improvement of a hydraulic gate operation posture monitoring and early warning method disclosed in the present invention:

[0028] The specific steps to obtain the hydraulic gate opening and closing force F and its information spectrum are as follows: (201):

[0030] The force sensor obtains the support force F of the test part through electronic measurement method N , then the opening and closing force F′ of the test part is obtained according to formula (1):

[0031]

[0032] In formula (1), β is the angle between the wire rope and the pulley block at the test position; considering the friction between the wire rope and the pulley block and the mechanical efficiency of the pulley block during the gate opening and closing process, the hydraulic gate opening and closing force F is calculated according to formula (2):

[0033]

[0034] In formula (2), η is the mechanical efficiency of the pulley block; ξ is the friction coefficient generated during the operation of the pulley block, and its value is obtained through experiments at the engineering site according to the corresponding standards; (202):

[0036] The opening and closing force F of the hydraulic gate during opening and closing is characterized by dynamic development. The opening and closing force F of the hydraulic gate is sampled N times continuously by the force sensor, where N is 128, 256 or 512. The dynamic information set {F (0) , F (1) ……F (N-1)}, further let the finite length discrete signal f(n) = {F (0) , F (1) ……F (N-1)}(n=0,1,2……,N-1), use the fast Fourier integration method to perform spectrum analysis on the discrete signal f(n) according to formula (3);

[0037]

[0038] In formula (3), A(k) is the energy of the finite-length discrete signal f(n) corresponding to frequency k during the measurement process; W N It is a fast Fourier integral butterfly type iterative calculation of the process variable,

[0039] Decompose f(n) into the sum of two sequences of even numbers and odd numbers: f(n) = f1(n) + f2(n). Let f1(n) be the even number sequence and f2(n) be the cardinality sequence, and we can derive equation (4).

[0040]

[0041] In formula (4), k = 0, 1, 2, ..., N-1; A1(k) and A2(k) are the N / 2-point discrete Fourier transforms of f1(n) and f2(n), respectively, and So A(k) can be expressed as formula (5);

[0042]

[0043] The fast Fourier transform FFT analysis method of 128-point, 256-point or 512-point data is used. After butterfly-type iterative calculation, the energy value A(k) of each frequency k value point is solved according to formula (6), and the corresponding fluctuation frequency information spectrum is obtained;

[0044]

[0045] By solving formula (6), N energy values ​​can be obtained: The energy value Sort from largest to smallest to get a sequential set The largest three energy values ​​in the set The corresponding frequency That is the main frequency of the frequency information spectrum of the gate opening and closing force T Frequency and again

[0046] As an improvement of a hydraulic gate operation posture monitoring and early warning method disclosed in the present invention:

[0047] The specific steps to obtain the hydraulic gate attitude information and its information spectrum are as follows: (301):

[0049] The swing sensor module includes a 3-axis accelerometer and a 3-axis gyroscope sensor. The components of the hydraulic gate acceleration a in the X, Y, and Z directions are obtained by the 3-axis accelerometer through an electronic measurement method. x 、a y 、a z ; Then the 3-axis gyro sensor obtains the components of the hydraulic gate angular velocity ω in the X, Y, and Z directions respectively: x ,ω y ,ω z ; (302):

[0051] According to the three-axis acceleration a measured by the roll sensor x 、a y 、a z and the three-axis angular velocity ω x ,ω y ,ω z , according to formula (7), the gate variable acceleration a′ and angular acceleration ω′ are obtained:

[0052]

[0053] In formula (7), a′ x,t , a′ y,t , a′ z,t are the components of the gate's variable acceleration a' on the X, Y, and Z axes respectively; ω' x,t ,ω′ y,t ,ω z ' ,t are the components of the gate angular acceleration ω′ on the X, Y, and Z axes respectively; t is time; (303):

[0055] The measured three-axis acceleration α x , α y , α z and the three-axis angular velocity ω x ,ω y ,ω z The digital motion processor in the input swing sensor uses the quaternion method to perform hydraulic gate posture fusion solution and calculates the angular velocity error compensation ω according to formula (8): bias ;

[0056]

[0057] In formula (8), a * is the normalized vector of the accelerometer measurement value; v′ is the gravity direction vector; Err is the error; ω bias is the error compensation of angular velocity; K p is the proportionality coefficient, K i is the integral coefficient; q0, q1, q2, q3 are a real part and three imaginary parts of the quaternion (q=q0+q1i+q2j+q3k);

[0058] The corrected angular velocity value ω is obtained by formula (8): * , and then recursively deduce the gate attitude according to the quaternion differential equation, and obtain the fused attitude according to formula (9);

[0059]

[0060] In formula (9), the subscript b is the body coordinate system; the subscript n is the navigation coordinate system; ω * is the corrected angular velocity, ω * x ,ω * y ,ω * z They are the corrected angular velocity ω * Components on the X, Y, and Z axes; b ω * is the corrected angular velocity in the body coordinate system; t is the time;

[0061] Then, the quaternion is converted into the attitude angle of the gate through formula (10);

[0062]

[0063] In the formula, α, β, and γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively; (304):

[0065] During the opening and closing process of the hydraulic gate, its attitude angles α, β, and γ show dynamic development characteristics. The hydraulic gate attitude angles α, β, and γ information are sampled N times continuously by the swing sensor, where N is 128, 256, or 512, and the main frequency of the frequency information spectrum of the hydraulic gate attitude angles α, β, and γ information is obtained according to the above step (202). Frequency and again

[0066] As an improvement of a hydraulic gate operation posture monitoring and early warning method disclosed in the present invention:

[0067] The steps to obtain the hydraulic gate operation excitation acceleration (vibration frequency f, amplitude h) and its information spectrum are as follows: (401):

[0069] The acceleration sensor measures the vibration of the hydraulic gate through a 3-axis accelerometer, and the natural frequency f of the vertical vibration of the test part is n The response is obtained through formula (11):

[0070]

[0071] In formula (11), E is the material elastic modulus of the hydraulic gate wire rope; g is the gravitational acceleration; l is the length of the steel cable; σ is the stress value of the steel wire rope; and the vibration differential equation of the resonance and frequency response of the test part is obtained by formula (12):

[0072]

[0073] In formula (12), G is the disturbing force; Ω is the spring constant; f f / f n is the ratio of natural frequency to forced frequency; C v / C vc is the damping ratio; C vc is the critical damping coefficient; θ is the phase angle; t is the time; when the hydraulic gate leaf is subjected to pulsating pressure or submerged hydraulic jump, the maximum amplitude h of the gate is obtained by formula (13):

[0074]

[0075] In formula (13), C c is the constant friction force; B is D is (f n / f f )·tan(πf n / 2f f ); (402):

[0077] During the hydraulic gate opening and closing process, the hydraulic gate operation excitation acceleration information is sampled N times continuously by the acceleration sensor, where N is 128, 256 or 512, and the main frequency spectrum of the hydraulic gate operation excitation acceleration information frequency information is obtained according to the process of the above step (202). Frequency and again

[0078] As an improvement of a hydraulic gate operation posture monitoring and early warning method disclosed in the present invention:

[0079] The specific steps to identify the gate's safe operating posture are: (501):

[0081] The fuzzy comprehensive evaluation method is used to comprehensively identify the operation posture of hydraulic gates based on the maximum membership principle;

[0082] Firstly, the monitoring data collected by the device are divided into 8 single factors, and the evaluation index {Γ1, Γ2, Γ3, Γ4, Γ5, Γ6, Γ7, Γ8} is evaluated for each single factor. Based on the degree of influence on the safe operation posture of the hydraulic gate, it is divided into 4 levels: slight, general, heavy, and severe according to the principle of equal proportion distribution. Let the evaluation set be V = {V1, V2, V3, V4}, then the single factor classification and evaluation principle can be obtained, as shown in Table 1:

[0083] Table 1 Classification and evaluation principles of single factors

[0084]

[0085] In order to eliminate the influence of dimension, each factor index is normalized according to formula (14):

[0086]

[0087] In formula (14), L Vi is the disaster assessment membership function of the hydraulic gate operation posture; x1, x2, x3, x4 are the critical standard values ​​of the single factor evaluation level; x is the assessment amplitude of the single factor;

[0088] According to formula (14), the evaluation results of each single factor after normalization are calculated, and then the fuzzy recognition evaluation matrix H of hydraulic gate is constructed according to the single factor classification and evaluation principles shown in Table 1. 8×4 , as shown in formula (15):

[0089]

[0090] According to the maximum membership principle, the fuzzy comprehensive evaluation method is used to comprehensively identify the operation posture of the hydraulic gate according to formula (16);

[0091]

[0092] In formula (16), μ is the maximum membership degree of disaster severity identification; M is the disaster severity identification evaluation matrix; W 1×8 The weight vector matrix of the evaluation factor is usually determined by expert experience judgment method, and W = [0.3, 0.05, 0.05, 0.1, 0.1, 0.1, 0.15, 0.15] is considered; H 8×4 Evaluation matrix for fuzzy recognition;

[0093] From the calculation results of formula (16), we can know that the element M corresponding to the maximum membership degree μ of comprehensive multi-factors in the disaster identification assessment matrix M is i The operating attitude of the hydraulic gate can be quickly identified, that is, the gate operating attitude disaster level is V i Within the interval, the device should generate corresponding warning information at the same time; (502):

[0095] The main frequency of the gate operation attitude information spectrum obtained above Frequency and again The frequency is checked and compared with the natural frequency of hydraulic gates to ensure the safe operation of the equipment and to provide decision-making data for the identification of water-induced vibration disease information and warning information.

[0096] As an improvement of a hydraulic gate operation posture monitoring and early warning method disclosed in the present invention:

[0097] The following steps are also included:

[0098] When there is no water pressure on the hydraulic gate, the whole process from closing to opening of the hydraulic gate is run once to detect the background characteristics of the hydraulic gate's operating posture at this time; when the hydraulic gate is in a static state, it is affected by water pressure, and the operating posture characteristics and data of the hydraulic gate when it is static are detected; when the hydraulic gate is opened and closed, it is affected by the coupling of the water dynamics of the water discharge torrent, and the operating posture characteristics and data of the hydraulic gate when it is held at various openings are detected. At the same time, the entire opening and closing operation process of the gate is completed, and the whole process monitoring to the target opening is completed.

[0099] The beneficial effects of the present invention are:

[0100] The present invention arranges a hydraulic gate operation posture monitoring and early warning device to detect the posture information of the gate in real time during the opening and closing process, avoids blind operation during the opening and closing process of the hydraulic gate, and realizes visualization and data-based control of the gate operation posture, which has important engineering practical significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] Figure 1 This is a schematic diagram of the hydraulic gate leaf structure;

[0102] Figure 2-1 Layout of hydraulic gate hoist

[0103] Figure 2-2 This is the principle diagram of hydraulic gate hoist;

[0104] Figure 3 It is a structural schematic diagram of the force sensor module;

[0105] Figure 4It is a comprehensive identification process of the fuzzy comprehensive evaluation method for the safe operation posture of hydraulic gates.

[0106] Description of reference numerals:

[0107] Communication module 1, swing sensor 2, acceleration sensor 3, gate leaf 4, force sensor 5, movable pulley 6, wire rope 7, balance pulley 8, frame 9, reducer 10, motor 11, drum 12, fixed pulley 13. DETAILED DESCRIPTION

[0108] The specific implementation of the present invention is described below in conjunction with the accompanying drawings and embodiments:

[0109] As shown in Example 1

[0110] like Figure 1 As shown in Figure 2, the hydraulic gate operation posture monitoring and early warning device includes a controller module, a power module, a communication module 1, a swing sensor 2, an acceleration sensor 3, a gate leaf 4, a force sensor 5, a movable pulley 6, a wire rope 7, a balance pulley 8, a frame 9, a reducer 10, a motor 11, a drum 12, and a fixed pulley 13.

[0111] like Figure 1 As shown in Figure 2, the present invention discloses a hydraulic gate operation posture monitoring and early warning device, which is applied to the hydraulic gate metal structure, including a controller module, a power module and a communication module located at the top of the hydraulic gate leaf; a force sensor module located at the wire rope part of the hoist; a swing sensor module located at the top beam part of the gate leaf; an acceleration sensor module located at the main cross beam part of the bottom edge of the gate leaf;

[0112] The controller module is connected with the power module, the communication module, the swing sensor module, and the acceleration sensor module to centrally collect and process the monitoring data of each sensor, extract the information spectrum of the gate operation posture, obtain the gate operation posture according to the fuzzy comprehensive evaluation method of the maximum membership principle, and verify and compare it with the limit value and the natural frequency to identify the gate operation safety posture, and store the processed data in real time;

[0113] The power supply module is connected to the controller module to supply power to the entire device;

[0114] The communication module uses the ModBus wireless communication protocol to establish information interaction with the force sensor module and the user terminal when communication conditions are met, and is used to receive or send monitoring data of the force sensor module and monitoring data centrally processed by the controller module;

[0115] The force sensor module should have the functions of monitoring, communicating and storing the gate opening and closing force F information;

[0116] The swing sensor module has the gate attitude a′, ω′, α, β, γ information monitoring function; gate variable acceleration a′, angular acceleration ω′, three-dimensional inclination angle α, β, γ, where α, β, γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively;

[0117] The acceleration sensor module has the function of monitoring the acceleration information of the running excitation; the acceleration includes the vibration frequency f and the amplitude h.

[0118] First, the monitoring method of the device is carried out according to the following steps:

[0119] (1) Arrange 1 to 3 groups of acceleration sensor modules symmetrically along the main cross beam at the bottom edge of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 3 groups of roll sensor modules symmetrically and evenly along the top beam of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 2 groups of controller modules, power modules and communication modules symmetrically at the top of the hydraulic gate; arrange 1 group of force sensor modules at the wire rope on both sides of the balance pulley;

[0120] (2) Real-time acquisition, calculation and storage of gate opening and closing force F monitoring data through the force sensor module;

[0121] (3) Obtain and calculate the gate posture a′, ω′, α, β, γ monitoring data in real time through the swing sensor module;

[0122] (4) Acquire and solve the running excitation acceleration monitoring data in real time through the acceleration sensor module;

[0123] (5) The monitoring data of each sensor is collected and centrally processed through the controller module. The data collection process includes: directly obtaining the monitoring data of the gate posture a′, ω′, α, β, γ and the operation excitation acceleration from the sensor module through the cable, and then using the ModBus wireless communication protocol to obtain the monitoring data of the gate opening and closing force F through the communication module; the data centralized processing process includes: extracting the information spectrum of the gate operation posture, obtaining the gate operation posture according to the fuzzy comprehensive evaluation method based on the maximum membership principle, and verifying and comparing it with the limit value and the natural frequency, identifying the gate operation safety posture, and storing the processed data in real time;

[0124] (6) When the device has communication conditions, the communication module uses the ModBus wireless communication protocol to receive the monitoring data of the force sensor module and transmits the data processed by the controller module to the user terminal.

[0125] Furthermore, the specific steps for obtaining the hydraulic gate opening and closing force F and its information spectrum are as follows:

[0126] (1) The force sensor obtains the support force F of the test part through electronic measurement methodN , then the opening and closing force F′ of the test part is obtained according to formula (1):

[0127]

[0128] Where β is the angle between the wire rope and the pulley block at the test position. Considering the friction between the wire rope and the pulley block and the mechanical efficiency of the pulley block during the gate opening and closing process, the hydraulic gate opening and closing force F is calculated according to formula (2):

[0129]

[0130] Where η is the mechanical efficiency of the pulley block; ξ is the friction coefficient generated during the operation of the pulley block, and its value is obtained through experiments at the engineering site according to the corresponding standards.

[0131] (2) The opening and closing force F of the hydraulic gate during opening and closing is characterized by dynamic development. The present invention combines the spectrum analysis method to further study its change law. The hydraulic gate opening and closing force F is sampled N times continuously (N is 128, 256 or 512) by the force sensor to obtain the dynamic information set {F (0) , F (1) ……F (N-1)}, further let the finite length discrete signal f(n) = {F (0) , F (1) ……F (N-1)}(n=0,1,2……,N-1), use the fast Fourier integration method to perform spectrum analysis on the discrete signal f(n) according to formula (3);

[0132]

[0133] Where A(k) is the energy of the finite-length discrete signal f(n) corresponding to frequency k during the measurement process; W N It is a fast Fourier integral butterfly type iterative calculation of the process variable,

[0134] Decompose f(n) into the sum of two sequences of even numbers and odd numbers: f(n) = f1(n) + f2(n). Let f1(n) be the even number sequence and f2(n) be the cardinality sequence, and we can derive equation (4).

[0135]

[0136] Where A1(k) and A2(k) are the N / 2-point discrete Fourier transforms of f1(n) and f2(n), respectively, and So A(k) can be expressed as formula (5);

[0137]

[0138] In order to ensure that the dynamic characteristics of the hydraulic gate opening and closing force A can be accurately and quickly obtained, the present invention adopts the fast Fourier integration FFT analysis method of 128 points, 256 points or 512 points of data. After butterfly type iterative calculation, the energy value A(k) of each frequency k value point is solved according to formula (6), and the corresponding fluctuation frequency information spectrum is obtained;

[0139]

[0140] By solving formula (5), we can obtain N energy values: The energy value Sort from largest to smallest to get a sequential set The largest three energy values ​​in the set The corresponding frequency That is the main frequency of the frequency information spectrum of the gate opening and closing force T Frequency and again

[0141] Furthermore, the specific steps for obtaining the hydraulic gate posture information (including gate variable acceleration a′, angular acceleration ω′, three-dimensional inclination angles α, β, γ) and its information spectrum are as follows:

[0142] (1) The swing sensor module includes a 3-axis accelerometer and a 3-axis gyroscope sensor. The components of the hydraulic gate acceleration a in the X, Y, and Z directions are obtained by the 3-axis accelerometer through an electronic measurement method. x 、a y 、a z ; Then the 3-axis gyro sensor obtains the components of the hydraulic gate angular velocity ω in the X, Y, and Z directions respectively: x ,ω y ,ω z ;

[0143] (2) According to the three-axis acceleration a measured by the sway sensor x 、a y 、a z and the three-axis angular velocity ω x ,ω y ,ω z , according to formula (7), the gate variable acceleration a′ and angular acceleration ω′ are obtained:

[0144]

[0145] In the formula, a′ x,t , a′ y,t , a′ z,t are the components of the gate's variable acceleration a' on the X, Y, and Z axes respectively; ω' x,t ,ω′y,t ,ω z ' ,t are the components of the gate angular acceleration ω′ on the X, Y, and Z axes respectively; t is time;

[0146] (3) Further, the measured three-axis acceleration α x , α y , α z and the three-axis angular velocity ω x ,ω y ,ω z The digital motion processor (DMP) in the input swing sensor uses the quaternion method to perform hydraulic gate posture fusion solution and calculates the angular velocity error compensation ω according to formula (8): bias ;

[0147]

[0148] In the formula, a * is the normalized vector of the accelerometer measurement value; v′ is the gravity direction vector; Err is the error; ω bias is the error compensation of angular velocity; K p is the proportionality coefficient, K i is the integral coefficient; q0, q1, q2, q3 are a real part and three imaginary parts of the quaternion (q=q0+q1i+q2j+q3k);

[0149] The corrected angular velocity value ω is obtained by formula (8): * , and then recursively deduce the gate attitude according to the quaternion differential equation, and obtain the fused attitude according to formula (9);

[0150]

[0151] In the formula, the subscript b is the body coordinate system; the subscript n is the navigation coordinate system; ω * is the corrected angular velocity, ω * x ,ω * y ,ω * z They are the corrected angular velocity ω * Components on the X, Y, and Z axes; b ω * is the corrected angular velocity in the body coordinate system; t is the time;

[0152] Then, the quaternion is converted into the attitude angle of the gate through formula (10);

[0153]

[0154] In the formula, α, β, and γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively;

[0155] (4) During the opening and closing process of the hydraulic gate, its attitude angle (α, β, γ) shows a dynamic development feature. In order to accurately and quickly identify the potential jamming or instability of the hydraulic gate, the present invention combines the spectrum analysis method to further study the change law of the attitude angle (α, β, γ), and uses the shaking sensor to continuously sample the hydraulic gate attitude angle (α, β, γ) information N times (N is 128 or 256 or 512), and obtain the main frequency of the frequency information spectrum of the hydraulic gate attitude angle (α, β, γ) information according to the process of (3.2) in claim 3 Frequency and again

[0156] Furthermore, the specific steps of obtaining the hydraulic gate operation excitation acceleration (vibration frequency f, amplitude h) and its information spectrum are as follows:

[0157] (1) The acceleration sensor measures the vibration of the hydraulic gate through a three-axis accelerometer, and the natural frequency of the vertical vibration of the test part is f n The response is obtained through formula (11):

[0158]

[0159] Where, E is the material elastic modulus of the hydraulic gate wire rope; g is the gravitational acceleration; l is the length of the wire rope; σ is the stress value of the wire rope; and the vibration differential equation of the resonance and its frequency response of the test part is obtained by formula (12):

[0160]

[0161] Where: G is the disturbing force; Ω is the spring constant; f f / f n is the ratio of natural frequency to forced frequency; C v / C vc is the damping ratio; C vc is the critical damping coefficient; θ is the phase angle; t is the time; further, when the hydraulic gate leaf is subjected to pulsating pressure or submerged hydraulic jump, the maximum amplitude h of the gate is obtained by formula (13):

[0162]

[0163] In the formula, C c is the constant friction force; B is D is (f n / f f )·tan(πf n / 2ff ).

[0164] (2) During the opening and closing process of the hydraulic gate, its operation excitation acceleration (vibration frequency f, amplitude h) presents a dynamic development feature. In order to accurately and quickly obtain the water-induced vibration characteristics of the main crossbeam at the bottom edge of the hydraulic gate, the present invention combines the spectrum analysis method to further study its change law, and uses the acceleration sensor to continuously sample the hydraulic gate operation excitation acceleration information N times (N is 128, 256 or 512), and obtain the main frequency of the frequency spectrum of the hydraulic gate operation excitation acceleration information according to the process of (3.2) in claim 3 Frequency and again

[0165] Furthermore, the specific steps for identifying the gate's operating safety posture are:

[0166] (1) Considering that the identification of the operating posture of hydraulic gates involves many factors and it is difficult to accurately evaluate it with a single factor, this patent uses a fuzzy comprehensive evaluation method and comprehensively identifies the operating posture of hydraulic gates based on the maximum membership principle;

[0167] Taking into account the industry standards for hydraulic gate operation, in the process of gate operation posture identification, the present invention first divides the monitoring data collected by the device into 8 single factors, and conducts a grade assessment of the evaluation index {Γ1, Γ2, Γ3, Γ4, Γ5, Γ6, Γ7, Γ8} for each single factor. Based on the degree of influence on the safety posture of hydraulic gate operation, it is divided into 4 levels of slight, general, heavy and severe according to the principle of equal proportion distribution. Let the evaluation set be V = {V1, V2, V3, V4}, then the single factor classification and assessment principle can be obtained, as shown in Table (1):

[0168] Table 1 Classification and evaluation principles of single factors

[0169]

[0170]

[0171] Furthermore, in order to eliminate the influence of dimension, each factor index is normalized according to formula (14):

[0172]

[0173] Where, L Vi is the disaster assessment membership function of the hydraulic gate operation posture; x1, x2, x3, x4 are the critical standard values ​​of the single factor evaluation level; x is the assessment amplitude of the single factor;

[0174] Furthermore, the evaluation results of each single factor after normalization are solved according to formula (14), and then the fuzzy recognition evaluation matrix H of hydraulic gate is constructed according to the single factor classification and evaluation principles shown in Table 1. 8×4 , as shown in formula (15):

[0175]

[0176] Furthermore, according to the maximum membership principle, the fuzzy comprehensive evaluation method is used to comprehensively identify the operating posture of the hydraulic gate according to formula (16);

[0177]

[0178] Where, μ is the maximum membership degree of disaster severity identification; M is the disaster severity identification evaluation matrix; W 1×8 The weight vector matrix of the evaluation factor is usually determined by expert experience judgment method, and W = [0.3, 0.05, 0.05, 0.1, 0.1, 0.1, 0.15, 0.15] is considered; H 8×4 Evaluation matrix for fuzzy recognition;

[0179] From the calculation results of formula (16), we can know that the element M corresponding to the maximum membership degree μ of comprehensive multi-factors in the disaster identification assessment matrix M is i The operating attitude of the hydraulic gate can be quickly identified, that is, the gate operating attitude disaster level is V i Within the interval, the device should generate corresponding warning information at the same time;

[0180] (2) In order to eliminate the resonance disease of the equipment operation, the main frequency spectrum of the gate operation attitude information obtained in claims 3, 4, and 5 is Frequency and again The frequency is checked and compared with the natural frequency of hydraulic gates to ensure the safe operation of the equipment and to provide decision-making data for the identification of water-induced vibration disease information and warning information.

[0181] Furthermore, the device also includes an information storage module, which writes the monitoring data such as the gate opening and closing force F, gate posture (a′, ω′, α, β, γ) information, operation excitation acceleration (vibration frequency f, amplitude h) and gate operation posture safety identification results collected and processed by the controller module into the information storage module of the user terminal in real time, so that the user can extract and call the historical operation posture information of the hydraulic gate at any time.

[0182] Furthermore, the method further comprises the following steps:

[0183] When there is no water pressure on the hydraulic gate, the whole process from closing to opening of the hydraulic gate is run once to detect the background characteristics of the hydraulic gate's operating posture at this time; when the hydraulic gate is in a static state, it is affected by water pressure, and the operating posture characteristics and data of the hydraulic gate when it is static are detected; when the hydraulic gate is opened and closed, it is affected by the coupling of the water dynamics of the water discharge torrent, and the operating posture characteristics and data of the hydraulic gate when it is held at various openings are detected. At the same time, the entire opening and closing operation process of the gate is completed, and the whole process monitoring to the target opening is completed.

[0184] Based on the same inventive concept, the present invention discloses a hydraulic gate operation posture monitoring and early warning system, comprising:

[0185] (1) Arrange 1 to 3 groups of acceleration sensor modules symmetrically along the main cross beam at the bottom edge of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 3 groups of roll sensor modules symmetrically and evenly along the top beam of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 2 groups of controller modules, power modules and communication modules symmetrically at the top of the hydraulic gate; arrange 1 group of force sensor modules at the wire rope on both sides of the balance pulley;

[0186] (2) The controller module collects and processes the monitoring data of each sensor, extracts the information spectrum of the gate operation posture, obtains the gate operation posture according to the fuzzy comprehensive evaluation method based on the maximum membership principle, and verifies and compares it with the limit value and natural frequency to identify the gate operation safety posture, and stores the processed data in real time;

[0187] (3) Force sensor module, which acquires, calculates and stores the gate opening and closing force F monitoring data in real time;

[0188] (4) Swing sensor module to obtain and calculate gate attitude (a′, ω′, α, β, γ) monitoring data in real time;

[0189] (5) Acceleration sensor module, which acquires and calculates the running excitation acceleration (vibration frequency f, amplitude h) monitoring data in real time;

[0190] (6) a power module, connected to the controller module, to supply power to the entire device;

[0191] (7) a communication module, which uses the ModBus wireless communication protocol to establish information interaction with the force sensor module and the user terminal when communication conditions are met, and is used to receive or send monitoring data from the force sensor module and monitoring data that has been centrally processed by the controller module;

[0192] (8) Information storage module, which writes the monitoring data collected and processed by the controller module, such as the gate opening and closing force F, gate posture (a′, ω′, α, β, γ) information, operation excitation acceleration (vibration frequency f, amplitude h), and gate operation posture safety identification results, into the information storage module of the user terminal in real time, so that the user can retrieve and call the historical operation posture information of the hydraulic gate at any time.

[0193] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the field without departing from the purpose of the present invention. These changes involve related technologies well known to those skilled in the art, which all fall within the scope of protection of the patent of the present invention.

[0194] Many other changes and modifications may be made without departing from the concept and scope of the present invention.It should be understood that the present invention is not limited to the specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A hydraulic gate operation posture monitoring and early warning device, applied to the hydraulic gate metal structure, Features: It comprises a controller module, a power module and a communication module (1) located at the top of a hydraulic gate leaf; a force sensor module (2) located at the wire rope of a gate hoist; a swing sensor module (3) located at the top beam of the gate leaf; and an acceleration sensor module (4) located at the main cross beam of the bottom edge of the gate leaf. The controller module is connected with the power module, the communication module, the swing sensor module, and the acceleration sensor module to centrally collect and process the monitoring data of each sensor, extract the information spectrum of the gate operation posture, obtain the gate operation posture according to the fuzzy comprehensive evaluation method of the maximum membership principle, and verify and compare it with the limit value and the natural frequency to identify the gate operation safety posture, and store the processed data in real time; The power supply module is connected to the controller module to supply power to the entire device; The communication module uses the ModBus wireless communication protocol to establish information interaction with the force sensor module and the user terminal, and is used to receive or send monitoring data of the force sensor module and monitoring data centrally processed by the controller module; The force sensor module has the functions of monitoring, communicating and storing the information of the gate opening and closing force F; The swing sensor module has the gate attitude a′, ω′, α, β, γ information monitoring function; gate variable acceleration a′, angular acceleration ω′, three-dimensional inclination angle α, β, γ, where α, β, γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively; The acceleration sensor module has the function of monitoring the acceleration information of the running excitation; the acceleration includes the vibration frequency f and the amplitude h.

2. A hydraulic gate operation posture monitoring and early warning device according to claim 1, characterized in that: The device also includes an information storage module, which writes the gate opening and closing force F, gate posture a′, ω′, α, β, γ information, vibration frequency f and amplitude h of the operation excitation acceleration, and monitoring data of the gate operation posture safety identification result collected and processed by the controller module into the information storage module of the user terminal in real time; The acceleration sensor modules are: 1 to 3 groups of acceleration sensor modules are arranged symmetrically along the main cross beam at the bottom edge of the gate, and the modules are ensured to be located in the center of the web; The swing sensor modules are: 1 to 3 sets of swing sensor modules are evenly arranged symmetrically along the top beam of the gate, and the modules are ensured to be located in the center of the web; The controller module is: 1 to 2 groups of controller modules, power modules and communication modules are symmetrically arranged at the top of the hydraulic gate; The force sensor modules are: one group of force sensor modules are arranged at the steel wire rope positions on both sides of the balance pulley.

3. A method for monitoring and early warning of hydraulic gate operation posture, characterized in that: Using the device as described in any one of claims 1-2, perform the following steps: (1) Arrange 1 to 3 groups of acceleration sensor modules symmetrically along the main cross beam at the bottom edge of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 3 groups of roll sensor modules symmetrically and evenly along the top beam of the gate, and ensure that the modules are located in the center of the web; arrange 1 to 2 groups of controller modules, power modules and communication modules symmetrically at the top of the hydraulic gate; arrange 1 group of force sensor modules at the wire rope on both sides of the balance pulley; (2) Real-time acquisition, calculation and storage of gate opening and closing force F monitoring data through the force sensor module; (3) Obtain and calculate the gate posture a′, ω′, α, β, γ monitoring data in real time through the swing sensor module; (4) Acquire and solve the running excitation acceleration monitoring data in real time through the acceleration sensor module; (5) The monitoring data of each sensor is collected and centrally processed through the controller module. The data collection process includes: directly obtaining the monitoring data of the gate posture a′, ω′, α, β, γ and the operation excitation acceleration from the sensor module through the cable, and then using the ModBus wireless communication protocol to obtain the monitoring data of the gate opening and closing force F through the communication module; the data centralized processing process includes: extracting the information spectrum of the gate operation posture, obtaining the gate operation posture according to the fuzzy comprehensive evaluation method based on the maximum membership principle, and verifying and comparing it with the limit value and the natural frequency, identifying the gate operation safety posture, and storing the processed data in real time; (6) When the device has communication conditions, the communication module uses the ModBus wireless communication protocol to receive the monitoring data of the force sensor module and transmits the data processed by the controller module to the user terminal.

4. A method for monitoring and early warning of hydraulic gate operation posture according to claim 3, characterized in that: The specific steps to obtain the hydraulic gate opening and closing force F and its information spectrum are as follows: (201)： The force sensor obtains the support force F of the test part through electronic measurement method N , then the opening and closing force F′ of the test part is obtained according to formula (1): In formula (1), β is the angle between the wire rope and the pulley block at the test position; considering the friction between the wire rope and the pulley block and the mechanical efficiency of the pulley block during the gate opening and closing process, the hydraulic gate opening and closing force F is calculated according to formula (2): In formula (2), η is the mechanical efficiency of the pulley block; ξ is the friction coefficient generated during the operation of the pulley block, and its value is obtained through experiments at the engineering site according to the corresponding standards; (202)： The opening and closing force F of the hydraulic gate during opening and closing is characterized by dynamic development. The opening and closing force F of the hydraulic gate is sampled N times continuously by the force sensor, where N is 128, 256 or 512. The dynamic information set {F (0) , F (1) ……F (N-1) }, further let the finite length discrete signal f(n) = {F (0) , F (1) ……F (N-1) }(n=0,1,2……,N-1), use the fast Fourier integration method to perform spectrum analysis on the discrete signal f(n) according to formula (3); In formula (3), A(k) is the energy of the finite-length discrete signal f(n) corresponding to frequency k during the measurement process; W N It is a fast Fourier integral butterfly type iterative calculation of the process variable, Decompose f(n) into the sum of two sequences of even numbers and odd numbers: f(n) = f1(n) + f2(n). Let f1(n) be the even number sequence and f2(n) be the cardinality sequence, and we can derive equation (4). In formula (4), k = 0, 1, 2, ..., N-1; A1(k) and A2(k) are the N / 2-point discrete Fourier transforms of f1(n) and f2(n), respectively, and So A(k) can be expressed as formula (5); The fast Fourier transform FFT analysis method of 128-point, 256-point or 512-point data is used. After butterfly-type iterative calculation, the energy value A(k) of each frequency k value point is solved according to formula (6), and the corresponding fluctuation frequency information spectrum is obtained; By solving formula (6), N energy values ​​can be obtained: The energy value Sort from largest to smallest to get a sequential set The largest three energy values ​​in the set The corresponding frequency That is the main frequency of the frequency information spectrum of the gate opening and closing force T Frequency and again 5. A method for monitoring and early warning of hydraulic gate operation posture according to claim 3, characterized in that: The specific steps to obtain the hydraulic gate attitude information and its information spectrum are as follows: (301)： The swing sensor module includes a 3-axis accelerometer and a 3-axis gyroscope sensor. The components of the hydraulic gate acceleration a in the X, Y, and Z directions are obtained by the 3-axis accelerometer through an electronic measurement method. x 、a y 、a z ; Then the 3-axis gyro sensor obtains the components of the hydraulic gate angular velocity ω in the X, Y, and Z directions, respectively: x ,ω y ,ω z ; (302)： According to the three-axis acceleration a measured by the roll sensor x 、a y 、a z and the three-axis angular velocity ω x ,ω y ,ω z , according to formula (7), the gate variable acceleration a′ and angular acceleration ω′ are obtained: In formula (7), a′ x,t , a′ y,t , a′ z,t are the components of the gate's variable acceleration a' on the X, Y, and Z axes respectively; ω' x,t ,ω′ y,t ,ω z ' ,t are the components of the gate angular acceleration ω′ on the X, Y, and Z axes respectively; t is time; (303)： The measured three-axis acceleration α x , α y , α z and the three-axis angular velocity ω x ,ω y ,ω z The digital motion processor in the input swing sensor uses the quaternion method to perform hydraulic gate posture fusion solution and calculates the angular velocity error compensation ω according to formula (8): bias ; In formula (8), a * is the normalized vector of the accelerometer measurement value; v′ is the gravity direction vector; Err is the error; ω bias is the error compensation of angular velocity; K p is the proportionality coefficient, K i is the integral coefficient; q0, q1, q2, q3 are a real part and three imaginary parts of the quaternion (q=q0+q1i+q2j+q3k); The corrected angular velocity value ω is obtained by formula (8): * , and then recursively deduce the gate attitude according to the quaternion differential equation, and obtain the fused attitude according to formula (9); In formula (9), the subscript b is the body coordinate system; the subscript n is the navigation coordinate system; ω * is the corrected angular velocity, ω * x ,ω * y ,ω * z They are the corrected angular velocity ω * Components on the X, Y, and Z axes; b ω * is the corrected angular velocity in the body coordinate system; t is the time; Then, the quaternion is converted into the attitude angle of the gate through formula (10); In the formula, α, β, and γ are the roll angle, pitch angle, and yaw angle of the hydraulic gate respectively; (304)： During the opening and closing process of the hydraulic gate, its attitude angles α, β, and γ show dynamic development characteristics. The hydraulic gate attitude angles α, β, and γ information are sampled N times continuously by the swing sensor, where N is 128, 256, or 512, and the main frequency of the frequency information spectrum of the hydraulic gate attitude angles α, β, and γ information is obtained according to the above step (202). Frequency and again 6. A method for monitoring and early warning of hydraulic gate operation posture according to claim 3, characterized in that: The steps to obtain the hydraulic gate operation excitation acceleration (vibration frequency f, amplitude h) and its information spectrum are as follows: (401)： The acceleration sensor measures the vibration of the hydraulic gate through a three-axis accelerometer, and the natural frequency of the vertical vibration of the test part is f n The response is obtained through formula (11): In formula (11), E is the material elastic modulus of the hydraulic gate wire rope; g is the gravitational acceleration; l is the length of the steel cable; σ is the stress value of the steel wire rope; and the vibration differential equation of the resonance and frequency response of the test part is obtained by formula (12): In formula (12), G is the disturbing force; Ω is the spring constant; f f / f n is the ratio of natural frequency to forced frequency; C v / C vc is the damping ratio; C vc is the critical damping coefficient; θ is the phase angle; t is the time; when the hydraulic gate leaf is subjected to pulsating pressure or submerged hydraulic jump, the maximum amplitude h of the gate is obtained by formula (13): In formula (13), C c is the constant friction force; B is D is (f n / f f )·tan(πf n / 2f f ); (402)： During the hydraulic gate opening and closing process, the hydraulic gate operation excitation acceleration information is sampled N times continuously by the acceleration sensor, where N is 128, 256 or 512, and the main frequency spectrum of the hydraulic gate operation excitation acceleration information frequency information is obtained according to the process of the above step (202). Frequency and again 7. The monitoring method of the hydraulic gate operation posture monitoring and early warning device according to claim 3 is characterized by: The specific steps to identify the gate's safe operating posture are: (501)： The fuzzy comprehensive evaluation method is used to comprehensively identify the operation posture of hydraulic gates based on the maximum membership principle; Firstly, the monitoring data collected by the device are divided into 8 single factors, and the evaluation index {Γ1, Γ2, Γ3, Γ4, Γ5, Γ6, Γ7, Γ8} is evaluated for each single factor. Based on the degree of influence on the safe operation posture of the hydraulic gate, it is divided into 4 levels: slight, general, heavy, and severe according to the principle of equal proportion distribution. Let the evaluation set be V = {V1, V2, V3, V4}, then the single factor classification and evaluation principle can be obtained, as shown in Table 1: Table 1 Classification and evaluation principles of single factors In order to eliminate the influence of dimension, each factor index is normalized according to formula (14): In formula (14), L Vi is the disaster assessment membership function of the hydraulic gate operation posture; x1, x2, x3, x4 are the critical standard values ​​of the single factor evaluation level; x is the assessment amplitude of the single factor; According to formula (14), the evaluation results of each single factor after normalization are calculated, and then the fuzzy recognition evaluation matrix H of hydraulic gate is constructed according to the single factor classification and evaluation principles shown in Table 1. 8×4 , as shown in formula (15): According to the maximum membership principle, the fuzzy comprehensive evaluation method is used to comprehensively identify the operation posture of the hydraulic gate according to formula (16); In formula (16), μ is the maximum membership degree of disaster severity identification; M is the disaster identification and assessment matrix; W 1×8 The weight vector matrix of the evaluation factor is usually determined by expert experience judgment method, and W = [0.3, 0.05, 0.05, 0.1, 0.1, 0.1, 0.15, 0.15] is considered; H 8×4 Evaluation matrix for fuzzy recognition; From the calculation results of formula (16), we can know that the element M corresponding to the maximum membership degree μ of comprehensive multi-factors in the disaster identification assessment matrix M is i The operating attitude of the hydraulic gate can be quickly identified, that is, the gate operating attitude disaster level is V i Within the interval, the device should generate corresponding warning information at the same time; (502)： The main frequency of the gate operation attitude information spectrum obtained above Frequency and again The frequency is checked and compared with the natural frequency of hydraulic gates to ensure the safe operation of the equipment and to provide decision-making data for the identification of water-induced vibration disease information and warning information.

8. A method for monitoring and early warning of hydraulic gate operation posture according to claim 3, characterized in that: The following steps are also included: When there is no water pressure on the hydraulic gate, the whole process from closing to opening of the hydraulic gate is run once to detect the background characteristics of the hydraulic gate's operating posture at this time; when the hydraulic gate is in a static state, it is affected by water pressure, and the operating posture characteristics and data of the hydraulic gate when it is static are detected; when the hydraulic gate is opened and closed, it is affected by the coupling of the water dynamics of the water discharge torrent, and the operating posture characteristics and data of the hydraulic gate when it is held at various openings are detected. At the same time, the entire opening and closing operation process of the gate is completed, and the whole process monitoring to the target opening is completed.

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