Intelligent operation and maintenance and health monitoring system for water conservancy and hydropower radial gate

Abstract

According to the intelligent operation and maintenance and health monitoring system for the water conservancy and hydropower radial gate, a physical quantity detection module, a data acquisition and processing module, a gate opening and closing control module, a data transmission module, an interface display module and a system management module of the monitoring system are constructed; on-line monitoring parameters of the system are established and analyzed, and the control requirements of the hoist are determined to be opening control and synchronous control; a distributed system overall structure and a communication mode combining an Ethernet bus and optical fiber communication are established; a hardware structure of a monitoring system is constructed, and anti-interference measures of a twisted-pair shielding cable, a filter circuit, single-point grounding, floating ground shielding and a UPS power supply are adopted; a software structure of the monitoring system is constructed, and detailed analysis and program design are carried out on each functional module of software. The system can accurately monitor various state parameters such as stress strain and vibration when the radial gate operates, intelligent operation and maintenance of the radial gate and long-term stable detection of the health state are achieved, and safe and efficient operation of the hydraulic and hydroelectric gate is promoted.

Description

Technical Field

[0001] The present application relates to an intelligent operation and maintenance and health monitoring system for gates, and in particular to an intelligent operation and maintenance and health monitoring system for water conservancy and hydropower arc gates, belonging to the technical field of water conservancy gate operation and maintenance monitoring. Background Art

[0002] The radial gate is widely used in water conservancy and hydropower projects because of its advantages such as relatively small opening and closing force, high system reliability, and small installation and construction volume. After several years from the completion of the hydropower station gate to safe operation, due to the influence of natural factors such as floods and rainstorms and insufficient protection of construction and management, the gate has changed from a safe gate to an unsafe gate, which brings great potential accidents to the safe operation of water conservancy and hydropower projects. The operating status of the radial gate is directly related to the safe operation of water conservancy and hydropower projects. There are many cases of hydropower production accidents caused by the failure of the radial gate to operate normally. Therefore, it is of great significance to conduct real-time online monitoring of the operating status and operating life of the radial gate, issue early warnings or alarms before the gate accident occurs, and realize unmanned operation of the gate.

[0003] It is extremely necessary to obtain the real-time status of gate operation through certain technical means, issue early warnings or alarms before the gate system structural stress changes, gate vibrations are strong, deformations are large, and accidents occur, and automatically control the gate to perform relevant risk avoidance actions to avoid accidents or reduce the hazards of accidents.

[0004] For a long time, due to the imperfection of relevant technical means, the status monitoring of gates has mostly remained at the stage of manual visual inspection and simple monitoring. Real-time online monitoring of structural stress, deformation, gate slot hydraulic parameters, opening and closing force, etc., which are related to the safe operation of gates, has not been achieved.

[0005] At the same time, the engineering design method commonly used for hydraulic steel gates is "static design, dynamic verification and compensation", that is, the gate design calculation is carried out according to the static load, and the dynamic state is used for verification and compensation. However, prototype observation and regular inspection are temporary and can only objectively reflect the operating status of the gate at the time of inspection. Since the gate has to be opened thousands of times during operation, it is subjected to fluid-solid coupling vibration caused by high-speed water flow, and the gate is extremely susceptible to cavitation and rust damage, and it cannot ensure safe operation within two inspection cycles or under extreme conditions such as floods. The lack of real-time online monitoring data of the gate system has hindered the advancement of the automatic control technology of the gate system, and has also become a shortcoming in the automated operation of water conservancy and hydropower projects. Therefore, it is even more necessary to monitor and intelligently control the gate system online throughout its entire operating cycle.

[0006] The problems that need to be solved by the existing water conservancy gate operation and maintenance health monitoring system and the key technical difficulties of this application include:

[0007] (1) After the gates of a hydropower station have been in operation for several years, or due to the influence of natural factors such as floods and rainstorms, and the lack of protection in construction and management, the safety performance of the gates will decline, bringing great potential accidents. The operation status of the gates is directly related to the safe operation of water conservancy and hydropower projects. For a long time, due to the imperfection of relevant technical means, the existing technology for gate status monitoring has mostly remained at the stage of manual visual inspection and simple monitoring. Real-time online monitoring of structural stress, deformation, gate slot hydraulic parameters, opening and closing force, etc. related to the safe operation of the gates has not been achieved. The existing technology lacks intelligent operation and maintenance and health monitoring technical means for water conservancy and hydropower arc gates, and cannot accurately obtain the real-time status of gate operation. It cannot issue warnings or alarms before the gate system structural stress changes, gate vibration is strong, deformation is large, and accidents occur. It cannot automatically control the gates to perform relevant risk avoidance actions, and cannot avoid accidents or reduce the harm of accidents. There are many cases of hydropower production accidents caused by the failure of arc gates to operate normally. There is an urgent need to conduct real-time online monitoring of the operating status and service life of the radial gate, issue early warning or alarm before an accident occurs at the gate, and realize unmanned safety, intelligent operation and maintenance, and health monitoring of the gate.

[0008] (2) Since the gates are opened thousands of times during operation, they are subjected to fluid-solid coupling vibration caused by high-speed water flow, and are extremely susceptible to cavitation and rust damage. They cannot ensure safe operation within two inspection cycles or under extreme conditions such as floods. The lack of real-time online monitoring data of the gate system has hindered the progress of the automatic control technology of the gate system and has become a shortcoming in the automated operation of water conservancy and hydropower projects. Therefore, it is even more necessary to monitor and intelligently control the gate system throughout its entire operation cycle. The existing technology lacks the use of advanced technical means for the online monitoring system of the radial gate. The technology can monitor the key parameters of the radial gate system of the water conservancy and hydropower project, such as structural stress, vibration, opening and closing force, etc. online, and cannot obtain the corresponding data and provide it to the background computer for evaluating the safety performance of the gate system, and cannot accurately and easily maintain and repair the equipment; it cannot predict harmful trends, and cannot prevent the occurrence of defects and accidents in advance; it lacks methods for opening and closing the gate in emergency situations to avoid or mitigate accidents. The existing technology has not yet achieved safe online monitoring of gates and hoists, and no one has carried out corresponding work. Online monitoring of gate hoist control systems is still blank.

[0009] (3) The existing technology lacks a CRIO embedded measurement and control system for online monitoring of radial gates, and is unable to build the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system; it is unable to establish and analyze the system online monitoring parameters including strain, vibration, inclination, flow rate, water level, temperature, humidity, wind speed, opening and closing force, opening, oil pressure and video, and cannot determine that the control requirements of the gate opening machine are opening control and synchronous control; it is unable to establish a distributed system overall structure and a communication method combining Ethernet bus and optical fiber communication; it lacks the hardware structure for building a monitoring system, and lacks anti-interference measures for the common impedance coupling interference, capacitive coupling interference, inductive coupling interference and radiation interference factors suffered by the system; it lacks the software structure for building a monitoring system, and is unable to monitor various state parameters such as stress, strain, vibration, etc. during the operation of the radial gate, and the existing gate operation and maintenance monitoring system cannot operate stably for a long time. Summary of the invention

[0010] This application conducts accurate and reliable online monitoring of the radial gate based on the CRIO embedded measurement and control system, and constructs the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system; establishes and analyzes the system online monitoring parameters, and determines the control requirements of the gate opening and closing machine as opening control and synchronous control; establishes a distributed system overall structure and a communication method combining Ethernet bus and optical fiber communication; constructs the hardware structure of the monitoring system, using twisted pair shielded cable, filter circuit, single point grounding, floating ground shielding and UPS power supply anti-interference measures; constructs the software structure of the monitoring system, and conducts detailed analysis and program design of each functional module of the software. The system operation test shows that the system can accurately monitor various state parameters such as stress, strain, vibration, etc. during the operation of the radial gate, realize the intelligent operation and maintenance of the radial gate and the long-term stable detection of the health status, and promote the safe and efficient operation of water conservancy and hydropower gates.

[0011] In order to achieve the above technical effects, the technical solutions adopted in this application are as follows:

[0012] The intelligent operation and health monitoring system of the radial gate of water conservancy and hydropower is used to monitor the radial gate online based on the CRIO embedded measurement and control system. First, the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system are constructed; the online monitoring parameters of the system are established and analyzed, including strain, vibration, inclination, flow rate, water level, temperature, humidity, wind speed, opening and closing force, opening, oil pressure and video; the control requirements of the gate opening and closing machine are determined to be opening control and synchronous control; the overall structure of the distributed system and the communication method combining Ethernet bus and optical fiber communication are established; secondly, the hardware structure of the monitoring system is constructed, and finally, the various modules of the gate intelligent operation and maintenance health monitoring system software are analyzed and programmed in detail based on the hardware structure;

[0013] S1: Construct the overall architecture of the radial gate online monitoring system: Based on the CRIO measurement and control system, a local centralized and overall distributed structure is adopted, and the system communication adopts a combination of Ethernet bus and optical fiber communication;

[0014] S2: Based on the overall system architecture, the system hardware is designed in detail: including stress and strain, vibration, inclination, water level, flow rate, wind speed, temperature, humidity sensors, CRIO host, stress and strain acquisition module, acceleration acquisition module, current acquisition module, voltage acquisition module, RS485 signal acquisition module design; detailed design of three-wire stress and strain bridge circuit and derivation of calculation formula; detailed design of acceleration, voltage, and current acquisition circuits; detailed design of gate control circuit; finally, the common impedance coupling interference, capacitive coupling interference, inductive coupling interference and radiation interference factors of the system are analyzed, and effective anti-interference measures are taken from multiple angles for the system, including the use of twisted-pair shielded cables, the selection of filters, the grounding of equipment, floating ground shielding and the use of UPS power supply;

[0015] S3: Detailed design of intelligent operation and maintenance software based on system hardware: Design and development based on the virtual instrument LabVIEW platform, including interface design, communication program, data acquisition program, gate control program, and database operation program. The interface design includes real-time display of online monitoring parameters, gate opening and closing control, data query and output, and alarm information; the communication program uses LabVIEW's TCP toolkit to realize data exchange between the background industrial computer and the CRIO host; the data acquisition and gate opening and closing machine control program follow the collection and control process; the database operation is based on the LabSQL toolkit;

[0016] Preferably, the overall system architecture consists of four layers:

[0017] (1) Detection device layer: It consists of various sensors, cameras and inverters. The sensors convert various physical parameters of the gate system, including strain and acceleration, into electrical signals for output. The inverter receives the control signal transmitted by the control module and sends the control motor operation status parameters.

[0018] (2) Data acquisition control layer: It consists of the CRIO host and its related acquisition and control modules. The data acquisition control program runs in the embedded host CRIO. The data acquisition module collects analog signals transmitted by the sensor according to the program instructions. The equipment control module sends control signals according to the program instructions. The CRIO host performs corresponding operations and processing on the collected data, and then packages and sends it to the background host through Ethernet. At the same time, it also receives instructions sent by the background host through Ethernet and performs corresponding processing.

[0019] (3) Communication layer: It is composed of Ethernet bus and optical fiber communication and is responsible for data exchange between CRIO host and background host;

[0020] (4) Management layer: It is the backend host. The backend host receives data processed by the frontend CRIO host, displays various information parameters in real time on the interface, and stores them on the host hard disk. The gate equipment is operated through the backend host software interface.

[0021] Preferably, the sensor configuration:

[0022] (1) Stress and strain measurement sensor: It is a strain gauge, using a three-wire waterproof welded resistance strain gauge with temperature self-compensation. The maximum water pressure is 10MPa. When in use, it is welded to the measuring point of the arc gate with a welding machine. The temperature self-compensation characteristic can eliminate the temperature drift of the resistance strain gauge in the range of 10 to 90℃;

[0023] (2) Vibration measurement sensor: Use an accelerometer, a waterproof piezoelectric accelerometer, with a maximum water pressure of 490.3 kPa, an operating temperature of -40-120°C, and a measurement frequency range of 1-10000 Hz;

[0024] (3) Attitude measurement sensor: A single-axis inclination sensor is used. The inclination sensor is installed on the gate to monitor the current inclination angle of the gate in real time and calculate the gate offset. The measurement inclination range is ±759, which meets the requirements of online attitude monitoring. The sensitivity is 35mV / 9, the zero-degree voltage is 2.5V, and the protection level is IP66.

[0025] (4) Flow velocity measurement sensor: radar flow velocity sensor with a measurement range of 0.1-90m / s, an operating temperature of -40-85°C, an output signal type of RS485, and a protection level of IP66;

[0026] (5) Water level sensor: It adopts a submersible static pressure level gauge, which is immersed in water when in use. The measuring range is 0-100m, the sensitivity is ±0.01%FS / ℃, and the output signal is 4-20mA;

[0027] (6) Environmental parameter measurement sensor: Ultrasonic wind speed sensor with wind speed range of 0-60m / s, wind direction range of 0-359, protection grade IP65, working temperature of -35-70℃, output signal of RS485;

[0028] (7) Opening and closing system: The measurement parameters are opening and closing force, opening, and pressure. The opening and closing system is equipped with opening and pressure sensors, which are directly connected to the system for use. The opening and closing force is measured by strain gauges based on the indirect measurement method, and the strain value is converted into the opening and closing force using Hooke's law;

[0029] (8) Video surveillance: The network camera uses the TCP / IP protocol to connect the video signal to the backend computer through the system Ethernet bus.

[0030] Preferably, the sensor layout:

[0031] (1) Strain gauges: Before arranging the points, firstly, perform force analysis and calculation on the gate, then find out the dangerous sections with large calculated stress and calculated displacement of each gate component, the representative parts that need to be monitored, and the special individual parts that are seriously corroded or damaged, arrange the measuring points more densely within their range, and determine the layout of 16 strain measuring points;

[0032] (2) Acceleration sensor: Arrange at points where the calculated stress and displacement are large, and determine a total of 9 acceleration sensor measurement points;

[0033] (3) Inclination sensor: one is installed at the intersection of the gate panel center axis and the upper and lower main beams, with the upper main beam as the benchmark and the lower main beam as the reference;

[0034] (4) Flow rate sensor: Installed on the backwater side of the radial gate, in the same plane as the radial gate support hinge and 2 meters higher;

[0035] (5) Water level sensor: Use an immersion-type static pressure level gauge, which is placed at the corner where the reservoir and the dam intersect. Check the historical water level data of the reservoir and place it at an altitude lower than the historical lowest water level.

[0036] (6) Temperature and humidity sensor: installed on the wall above the gate;

[0037] (7) Wind speed sensor: placed above the gate panel, on the wall near the left gate slot, to measure the wind speed at the gate slot during water discharge;

[0038] (8) Cameras: One is located at the temperature and humidity sensor to monitor the gate opening and closing device status; the other is located above the flow rate sensor to monitor the gate opening and closing status.

[0039] Preferably, the measurement and control system configuration and corresponding circuit design:

[0040] 1-CRIO host and module configuration: the acquisition and control module includes strain acquisition module, vibration acquisition module, current acquisition module, voltage acquisition module, RS485 acquisition module, and switch input and output module;

[0041] 2-Online monitoring acquisition circuit: including strain acquisition circuit, acceleration acquisition circuit, current signal acquisition circuit, voltage signal acquisition circuit, RS485 signal acquisition circuit;

[0042] (1) Strain acquisition circuit

[0043] Bridge circuit: The resistance change rate of the resistance strain gauge is proportional to the strain, and the relationship is shown in equation 1:

[0044]

[0045] △R is the resistance change of the strain gauge, R is the resistance of the strain gauge, k is the sensitivity coefficient of the strain gauge, and the voltage or current output by the bridge circuit is used to obtain the resistance change of the resistance strain gauge △R, and then the strain value of the component is calculated using formula 1;

[0046]

[0047] R1 is a resistance strain gauge, R2, R3 and R4 are bridge arm resistors, Ue is the bridge excitation voltage, and UO is the bridge output voltage;

[0048]

[0049] A three-wire DC 1 / 4 bridge circuit is used. The resistance strain gauge R1 has three leads with a resistance value of r, which are located at the bridge arm R1, bridge arm R2 and input terminal U O The line resistance r is in the same environment, the bridge arms R1 and R2 are adjacent bridge arms, and the changes in their resistance values ​​cancel each other out on the bridge output. O Connected to the acquisition module, the input impedance of the acquisition module is high, the input terminal U O The upper line resistance r is negligible, and the three-wire 1 / 4 bridge circuit can eliminate the measurement error caused by temperature;

[0050] (3) Current acquisition circuit: The positive current signal output by the sensor is connected to the AI ​​terminal, and the negative current signal is connected to the COM port. The NI9203 uses a standard resistor R inside to convert the current signal into a voltage signal, which is then acquired by the ADC chip.

[0051] (4) RS485 signal acquisition circuit: NI9871 is used to collect RS485 signals. Its module interface is RJ50, which is converted to DB9 terminal through a special adapter cable. A DC power supply is connected to the VSUP and COM ports to power the RS485 transceiver to ensure the normal operation of NI9871. The voltage range is 8-28V.

[0052] 3-Hoist control circuit

[0053] The control circuit of the radial gate hydraulic hoist is allocated with the controller IO port according to the hoist power circuit and the hydraulic circuit. The controller used in the radial gate control circuit is PLC. The system gate control circuit controller uses the NI9375 digital input and output module. The NI9375 requires an external power supply to work normally. The hoist is equipped with two oil pumps, oil pump 1 is the main oil pump, and oil pump 2 is the backup oil pump. When opening and closing the gate, it can switch between the two oil pumps. The interlocking circuit is used to realize that when oil pump 1 is working, oil pump 2 is disconnected, and when oil pump 2 is working, oil pump 1 is disconnected. Automatic control or manual control is selected by selecting switch SB0. The position of solenoid valves 1, 2, 3, 4, and 5 is controlled by SB1 and SB2 to control the movement of the hoist piston to realize the gate opening and closing function. SB3, SB4, SB5, and SB6 control the opening and closing of pump 1 and pump 2 respectively. SQ1 and SQ2 are the upper and lower limit switches for gate movement, and lights PL1 to PL6 are indicator lights for each button respectively.

[0054] Preferably, the system signal anti-interference design:

[0055] (1) Use twisted pair shielded cable: The pitch of the twisted pair shielded cable used is 5mm;

[0056] (2) Select a reasonable filter circuit: use an active filter amplifier built into the analog data acquisition module;

[0057] (3) Use floating shield: Use floating shield connection to suppress common-mode interference. The acquisition module uses internal and external double shielding, and the inner shield is floating to the outer shield. The inner shield and the sensor and signal line shield are grounded at a single point at the sensor end. The measured signal uses differential input, which greatly improves the common-mode impedance, reduces the common-mode current, and reduces the common-mode interference.

[0058] (4) Grounding: The shielded shells of the sensors, acquisition and control modules, and host devices in the system are grounded at a single point, and the shielded layer of the twisted-pair shielded cable is grounded at a single point and at a single end. When the signal source is grounded and the acquisition module is floating, the shielded layer is grounded at the signal source; when the signal source is floating and the acquisition module is grounded, the shielded layer is grounded at the acquisition module.

[0059] (5) Use UPS power supply: Using UPS uninterruptible power supply can maintain the reliability of system power supply on the one hand, and provide clean and stable power on the other hand.

[0060] Preferably, the software structure of the gate intelligent operation and maintenance health monitoring system: the overall software structure is divided into two layers, the upper computer software of the management layer and the lower computer software of the acquisition control layer;

[0061] The host computer software runs on the background industrial computer and consists of four modules:

[0062] (1) Software interface: including online monitoring parameter display interface, gate control interface, historical data query and output interface, and alarm interface;

[0063] 1) Online monitoring parameter display interface: Various virtual icons are used to display the online monitoring parameter values ​​in real time, allowing staff to intuitively check the status of the gate system;

[0064] 2) Gate control interface: It consists of various virtual function buttons, and can also input relevant operating parameters including gate opening;

[0065] 3) Historical data query and output interface: According to the query conditions, query the historical data of the gate online monitoring parameters and output them in relevant formats;

[0066] 4) Alarm interface: When relevant data is abnormal, a warning window will pop up to remind staff of the abnormality.

[0067] (2) Data communication: Data communication is responsible for exchanging data with the lower computer CRIO host, receiving online monitoring parameter data sent from the CRIO host, and sending control instructions to the upper computer;

[0068] (3) Data storage: Data received from the lower computer is directly stored in the database according to certain storage rules;

[0069] (4) Data output: When users need to use other software or tools to further operate historical data, use data output to output the queried data in a certain format for other related processing;

[0070] The lower computer software runs on the CRIO host and also includes four modules:

[0071] (1) Software interface: The acquisition and control cabinet is equipped with a touch screen to display online monitoring parameters and input gate control operation parameters;

[0072] (2) Data communication: responsible for data exchange with the host computer, sending processed monitoring data, receiving instructions from the host computer and performing related operations;

[0073] (3) Data acquisition: Control the relevant data acquisition module to receive the analog or digital quantity sent by the sensor, perform A / D conversion or data decoding, and perform relevant operations and logic processing;

[0074] (4) Gate control: The gate control module receives the switch signal, performs relevant processing, outputs the switch signal, and performs relevant opening and closing operations on the gate.

[0075] Preferably, system communication refers to data transmission between the CRIO host and the background industrial computer, using the TCP communication protocol. LabVIEW provides a TCP function module for network connection and process communication. When programming, you only need to select the relevant function module, set the relevant parameters, and connect the lines.

[0076] The two ends of TCP communication are the server and the client. The server first listens to the specified port, and the client sends a request to the port specified by the server. After receiving the request, the server establishes a connection between the client and the server. Then the system uses this connection to communicate, with the CRIO host as the server and the background host as the client to establish a TCP connection.

[0077] Preferably, data storage: data sent from the CRIO host is directly stored in the database of the background host, the data storage program uses LabSQL to access the database and perform related operations, CommandVis completes basic ADO operations, including creating or deleting a Command command, reading and writing databases, ConnectionVis manages the connection between LabVIEW and the database, RecordsetVis operates the records in the database, and there are 3 TopLevelVis, which encapsulate some underlying VIs and provide a simple interface. Users can execute SQL statements by entering some parameters;

[0078] The procedure to achieve query, modification, addition and deletion is divided into four steps;

[0079] Steps to implement the query: connect to the database, execute SQL query statements, get query results, and disconnect;

[0080] Steps to add records: connect to the database, connect to the recordset object, add records, and disconnect the database.

[0081] Preferably, gate control is divided into gate opening and closing program, fixed water level control program, fixed flow control program and synchronous control program;

[0082] 1) Gate opening and closing program design

[0083] The design process of the gate opening program is to first start the selected hydraulic pump. When the hydraulic pump is started, the electromagnetic overflow valve YA1 is energized and works, and the oil pressure required to open the gate is established after a delay of 10 seconds; then the three-position four-way solenoid valve YA2 is energized, the rod chamber of the hydraulic cylinder enters oil, the gate is opened, and the rodless chamber is discharged. The hydraulic oil returns to the oil tank through the three-position four-way solenoid valve; during the gate opening process, the acquisition module will collect the stroke signals of the two hydraulic cylinders, the reservoir water level signal, the gate opening signal and the limit signal in real time, compare the strokes of the two cylinders, and run the synchronous control program to correct the deviation when they are not synchronized. When the gate reaches the specified opening or upper limit position or receives a stop command, YA2 loses power and the gate opening ends;

[0084] The design of the gate closing procedure is similar to that of the gate opening procedure, except that when the gate is closed, the three-position four-way solenoid valve YA3 is energized, and when the gate is closed, YA3 is de-energized;

[0085] The preset opening value in the program is a constant in the constant flow control of the gate hoist, and the opening is calculated based on the set flow value and related formulas; it is a variable in the constant water level control, and the gate opening is controlled to increase or decrease in real time according to the change of water level;

[0086] 2) Synchronous control program design

[0087] The hydraulic synchronization of the gate hoist adopts a closed-loop master-slave synchronization control method with bypass correction, selects an oil-replenishing synchronization circuit, and is implemented using proportional solenoid valves YA4 and YA5. During the gate opening and closing process, the gate hoist stroke on the right is used as a reference, and the difference in the left and right gate hoist strokes is compared in real time. The solenoid valve YA4 or YA5 is automatically controlled to be energized, thereby automatically replenishing oil to the gate hoist cylinder with a lagging stroke.

[0088] Design process of radial gate synchronous control correction program: △H is the absolute value of the difference between the strokes of the hoists on both sides, △H1, △H2 and △H3 are different critical values ​​for judgment, and their values ​​are 10mm, 20mm and 30mm respectively. The specific work flow of the correction program is to first determine whether △H exceeds △H1. If not, no correction is performed. If it exceeds △H1, dynamic correction is performed during the gate opening and closing process; then during the dynamic correction process, if △H exceeds △H2, the gate stops opening and closing, and static correction is performed; then during the static correction process, if △H exceeds △H3, the gate is shut down, correction is stopped, and wait for staff to handle it.

[0089] 3) Design of water level control program

[0090] Based on the difference between the current water level and the set water level, it is determined in real time whether the gate opening should be increased or decreased, and the gate is automatically controlled to open or close.

[0091] Fixed water level control program design process: Ll is the current water level value detected by the water level sensor, L is the set target water level value, when Ll>L, the current water level is too high, then the gate is opened; when L1<L, the current water level is too low, then the gate is closed; when Ll=L, the gate stops running.

[0092] 4) Constant flow control program design

[0093] The gate opening is calculated based on the discharge flow rate and the set flow value, and then compared with the current gate opening to control the gate opening or closing in real time;

[0094] G is the required gate opening calculated in real time, G1 is the current gate opening detected in real time, when G>G1, the gate is opened; when G<G1, the gate is closed; when G=G1, the gate is shut down.

[0095] Compared with the prior art, the innovations and advantages of this application are:

[0096] (1) This application conducts accurate and reliable online monitoring of radial gates based on the CRIO embedded measurement and control system, and constructs the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system; establishes and analyzes the system online monitoring parameters, and determines that the control requirements of the gate opening machine are opening control and synchronous control; establishes a distributed system overall structure and a communication method combining Ethernet bus and optical fiber communication; constructs the hardware structure of the monitoring system, including the configuration and layout of sensors, the configuration of the CRIO host, the configuration of strain, acceleration, current, voltage and RS485 signal acquisition modules, the configuration of switch input and output modules, strain, acceleration, current, voltage and RS485 signal acquisition circuits and gate opening machine control circuits, and adopts twisted pair shielded cables, filtering circuits, single-point grounding, floating ground shielding and UPS power supply anti-interference measures; constructs the software structure of the monitoring system, and conducts detailed analysis and program design of each functional module of the software, including software interface, data transmission, data storage, data output, data acquisition, and gate control. The system operation test shows that the system can accurately monitor various state parameters of the radial gate during operation, such as stress, strain, vibration, etc., to achieve intelligent operation and maintenance of the radial gate and long-term stable detection of its health status, and promote the safe and efficient operation of water conservancy and hydropower gates.

[0097] (2) This application studies and develops an efficient and reliable online monitoring system for radial gates, analyzes and compares various system structures and communication methods, completes the design of the overall architecture of the online monitoring system for radial gates, adopts a local centralized and overall distributed structure based on the CRIO measurement and control system, and selects a combination of Ethernet bus and optical fiber communication for system communication. The system has the advantages of high reliability, strong scalability, and simple and convenient maintenance. Based on the overall system architecture, the detailed design of the system hardware is completed, including stress and strain, vibration, inclination, water level, flow rate, wind speed, temperature, humidity sensors, CRIO host, stress and strain acquisition module, acceleration acquisition module, current acquisition module, voltage acquisition module, RS485 signal acquisition module selection; detailed design of three-wire stress and strain bridge circuit and derivation of calculation formula; detailed design of acceleration, voltage, and current acquisition circuit; detailed design of gate control circuit; various effective anti-interference measures are taken for the system, including the use of twisted pair shielded cables, the selection of filters, the grounding of equipment, floating ground shielding, and the use of UPS power supply, to build a stable and efficient overall system architecture and hardware detailed design, providing guarantee for intelligent operation and maintenance and health monitoring of gates.

[0098] (3) According to the various functions of the system, a gate intelligent operation and health monitoring software system was constructed. The system software was designed and developed with the help of the virtual instrument LabVIEW platform, including interface design, communication program, data acquisition program, gate control program, and database operation program. The interface design includes real-time display of online monitoring parameters, gate opening and closing control, data query and output, and alarm information; the communication program uses the LabVIEW TCP toolkit to realize data exchange between the background industrial computer and the CRIO host; the data acquisition and gate opening and closing machine control program follows the acquisition and control process; the database operation is completed using the LabSQL toolkit. The system trial operation was successfully realized, and the system was installed and debugged in the laboratory, focusing on the stress strain signal test and vibration signal test. The system can operate normally, and the structural stress, deformation, gate slot hydraulic parameters, opening and closing force, etc. related to the safe operation of the gate are monitored in real time online, and the real-time status of the gate operation is obtained. When the gate system structural stress changes, the gate vibrates strongly, the deformation is large, and the accident has not occurred, an early warning or alarm is issued. At the same time, the gate is automatically controlled to perform relevant risk avoidance actions to avoid accidents or reduce the hazards of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Figure 1 This is the overall architecture diagram of the radial gate operation and maintenance health monitoring system.

[0100] Figure 2 This is the hardware structure diagram of the gate operation and maintenance health monitoring system.

[0101] Figure 3It is the distribution diagram of the acceleration sensor measurement points.

[0102] Figure 4 It is a schematic diagram of a three-wire DC quarter-bridge circuit.

[0103] Figure 5 This is a schematic diagram of floating shield connection to suppress common mode interference.

[0104] Figure 6 It is the software structure diagram of the gate intelligent operation and maintenance health monitoring system.

[0105] Figure 7 It is the flow chart of the synchronous control and deviation correction program design of the radial gate.

[0106] Figure 8 It is a flow chart of water level control program design.

[0107] Fig. 9 It is a flow chart of constant flow control program design.

[0108] Fig.10 It is a schematic diagram of system signal scanning 10Hz vibration signal monitoring.

[0109] Fig.11 It is a schematic diagram of system signal scanning 30Hz vibration signal monitoring. DETAILED DESCRIPTION

[0110] The following, in conjunction with the accompanying drawings, further describes the technical solution of the intelligent operation and maintenance and health monitoring system of the water conservancy and hydropower arc gate provided by the present application, so that technicians in this field can better understand the present application and implement it.

[0111] Radial gates are widely used in water conservancy and hydropower projects because of their relatively small opening and closing force, high system reliability, and small installation and construction volume. The operating status of radial gates is directly related to the safe operation of water conservancy and hydropower projects. There are many cases of hydropower production accidents caused by the failure of radial gates to operate normally. Therefore, it is of great significance to conduct real-time online monitoring of the operating status and operating life of radial gates, issue early warnings or alarms before accidents occur, and realize unmanned operation of gates.

[0112] This application is based on the CRIO embedded measurement and control system to carry out online monitoring of the radial gate. First, the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system are constructed; the system online monitoring parameters are established and analyzed, including strain, vibration, inclination, flow rate, water level, temperature, humidity, wind speed, opening and closing force, opening, oil pressure and video; the control requirements of the gate opening machine are determined to be opening control and synchronous control; the distributed system overall structure and the communication method combining Ethernet bus and optical fiber communication are established; secondly, the hardware structure of the monitoring system is constructed, including the configuration and layout of sensors, the configuration of the CRIO host The configuration of the strain, acceleration, current, voltage and RS485 signal acquisition modules, the configuration of the switch input and output modules, the strain, acceleration, current, voltage and RS485 signal acquisition circuits and the hoist control circuit are analyzed. The common impedance coupling interference, capacitive coupling interference, inductive coupling interference and radiation interference factors of the system are analyzed, and twisted-pair shielded cable, filtering circuit, single-point grounding, floating ground shielding and UPS power supply anti-interference measures are adopted; finally, the software structure of the monitoring system is constructed, and the various functional modules of the software are analyzed and programmed in detail, including software interface, data transmission, data storage, data output, data acquisition and gate control.

[0113] The radial gate online monitoring system uses advanced technical means to monitor the key parameters of the radial gate system of water conservancy and hydropower projects online, such as structural stress, vibration, opening and closing force, etc., and obtains relevant data and information to provide it to the background computer for evaluating the safety performance of the gate system, and accurately and easily maintaining and repairing the equipment; predicting harmful trends, preventing defects and accidents in advance; and performing relevant opening and closing operations on the gate in an emergency to avoid or reduce accidents. Finally, the gate system can be operated automatically.

[0114] The system operation test shows that the system can monitor various state parameters of the radial gate during operation, such as stress, strain, vibration, etc., and the system can operate stably for a long time.

[0115] 1. System overall architecture

[0116] The overall architecture of the radial gate operation and maintenance health monitoring system is as follows: Figure 1 As shown, it consists of four layers, namely:

[0117] (1) Detection device layer: It consists of various sensors, cameras and inverters. The sensors convert various physical parameters of the gate system, including strain and acceleration, into electrical signals for output. The inverter receives the control signal transmitted by the control module and sends the control motor operation status parameters.

[0118] (2) Data acquisition control layer: It consists of the CRIO host and its related acquisition and control modules. The data acquisition control program runs in the embedded host CRIO. The data acquisition module collects analog signals transmitted by the sensor according to the program instructions. The equipment control module sends control signals according to the program instructions. The CRIO host performs corresponding operations and processing on the collected data, and then packages and sends it to the background host through Ethernet. At the same time, it also receives instructions sent by the background host through Ethernet and performs corresponding processing.

[0119] (3) Communication layer: It is composed of Ethernet bus and optical fiber communication and is responsible for data exchange between CRIO host and background host;

[0120] (4) Management layer: It is the backend host. The backend host receives data processed by the frontend CRIO host, displays various information parameters in real time on the interface, and stores them on the host hard disk. The gate equipment is operated through the backend host software interface.

[0121] 2. Hardware structure of gate operation and maintenance health monitoring system

[0122] The system hardware structure is as follows Figure 2 As shown, it is divided into six parts: sensor and gate hoist, acquisition and control circuit, acquisition and control module, CRIO host, optical cable and background host.

[0123] 1. Sensor configuration and layout

[0124] Sensors are located at the bottom of the overall system structure, and the data collected by the sensors is the basis for the operation decisions of the entire system.

[0125] 1. Sensor configuration

[0126] The radial gate operates in a harsh natural environment, often facing extreme conditions such as strong winds, rain, lightning, sun exposure, flooding, etc. The sensors for measuring various parameters are selected as follows:

[0127] (1) Stress and strain measurement sensor: It is a strain gauge, using a three-wire waterproof welded resistance strain gauge with temperature self-compensation. The maximum water pressure is 10MPa. When in use, it is welded to the measuring point of the arc gate with a welding machine. The temperature self-compensation characteristic can eliminate the temperature drift of the resistance strain gauge in the range of 10 to 90℃;

[0128] (2) Vibration measurement sensor: Use an accelerometer, a waterproof piezoelectric accelerometer, with a maximum water pressure of 490.3 kPa, an operating temperature of -40-120°C, and a measurement frequency range of 1-10000 Hz;

[0129] (3) Attitude measurement sensor: A single-axis inclination sensor is used. The inclination sensor is installed on the gate to monitor the current inclination angle of the gate in real time and calculate the gate offset. The measurement inclination range is ±759, which meets the requirements of online attitude monitoring. The sensitivity is 35mV / 9, the zero-degree voltage is 2.5V, and the protection level is IP66.

[0130] (4) Flow velocity measurement sensor: radar flow velocity sensor with a measurement range of 0.1-90m / s, an operating temperature of -40-85°C, an output signal type of RS485, and a protection level of IP66;

[0131] (5) Water level sensor: It adopts a submersible static pressure level gauge, which is immersed in water when in use. The measuring range is 0-100m, the sensitivity is ±0.01%FS / ℃, and the output signal is 4-20mA;

[0132] (6) Environmental parameter measurement sensor: Ultrasonic wind speed sensor with wind speed range of 0-60m / s, wind direction range of 0-359, protection grade IP65, working temperature of -35-70℃, output signal of RS485;

[0133] (7) Opening and closing system: The measurement parameters are opening and closing force, opening, and pressure. The opening and closing system is equipped with opening and pressure sensors, which are directly connected to the system for use. The opening and closing force is measured by strain gauges based on the indirect measurement method, and the strain value is converted into the opening and closing force using Hooke's law;

[0134] (8) Video surveillance: The network camera uses the TCP / IP protocol to connect the video signal to the backend computer through the system Ethernet bus.

[0135] 2. Sensor layout

[0136] (1) Strain gauges: Before arranging the strain gauges, firstly, perform stress analysis and calculation on the gate, then find out the dangerous sections with large calculated stress and calculated displacement of each gate component, the representative parts that need to be monitored, and the special individual parts that are seriously corroded or damaged. Then, arrange the measuring points more densely within their range and determine the layout of 16 strain measuring points.

[0137] (2) Acceleration sensor: Arrange at points where the calculated stress and displacement are large. Determine a total of 9 acceleration sensor measurement points, and the layout is as follows: Figure 3 As shown;

[0138] (3) Inclination sensor: one is installed at the intersection of the gate panel center axis and the upper and lower main beams, with the upper main beam as the benchmark and the lower main beam as the reference;

[0139] (4) Flow rate sensor: Installed on the backwater side of the radial gate, in the same plane as the radial gate support hinge and 2 meters higher;

[0140] (5) Water level sensor: Use an immersion-type static pressure level gauge, which is placed at the corner where the reservoir and the dam intersect. Check the historical water level data of the reservoir and place it at an altitude lower than the historical lowest water level.

[0141] (6) Temperature and humidity sensor: installed on the wall above the gate;

[0142] (7) Wind speed sensor: placed above the gate panel, on the wall near the left gate slot, to measure the wind speed at the gate slot during water discharge;

[0143] (8) Cameras: One is located at the temperature and humidity sensor to monitor the gate opening and closing device status; the other is located above the flow rate sensor to monitor the gate opening and closing status.

[0144] (II) Measurement and control system configuration and corresponding circuit design

[0145] 1. CRIO host and module configuration: The acquisition and control module includes strain acquisition module, vibration acquisition module, current acquisition module, voltage acquisition module, RS485 acquisition module, and switch input and output module;

[0146] 2. Online monitoring and acquisition circuit: including strain acquisition circuit, acceleration acquisition circuit, current signal acquisition circuit, voltage signal acquisition circuit, and RS485 signal acquisition circuit.

[0147] (1) Strain acquisition circuit

[0148] Bridge circuit: The resistance change rate of the resistance strain gauge is proportional to the strain, and the relationship is shown in equation 1:

[0149]

[0150] △R is the resistance change of the strain gauge, R is the resistance of the strain gauge, k is the sensitivity coefficient of the strain gauge, and the voltage or current output by the bridge circuit is used to obtain the resistance change of the resistance strain gauge △R, and then the strain value of the component is calculated using formula 1;

[0151]

[0152] R1 is a resistance strain gauge, R2, R3 and R4 are bridge arm resistors, Ue is the bridge excitation voltage, and UO is the bridge output voltage;

[0153]

[0154] Use a three-wire DC 1 / 4 bridge circuit, such as Figure 4 The resistance strain gauge R1 has three leads, all with resistance r, located at bridge arm R1, bridge arm R2 and input terminal U OThe line resistance r is in the same environment, the bridge arms R1 and R2 are adjacent bridge arms, and the changes in their resistance values ​​cancel each other out on the bridge output. O Connected to the acquisition module, the input impedance of the acquisition module is high, the input terminal U O The upper line resistance r is negligible, and the three-wire 1 / 4 bridge circuit can eliminate the measurement error caused by temperature.

[0155] (3) Current acquisition circuit: The positive current signal output by the sensor is connected to the AI ​​terminal, and the negative current signal is connected to the COM port. The NI9203 uses a standard resistor R inside to convert the current signal into a voltage signal, which is then acquired by the ADC chip.

[0156] (4) RS485 signal acquisition circuit: NI9871 is used to collect RS485 signals. Its module interface is RJ50, which is converted to DB9 terminal through a special adapter cable. A DC power supply is connected to the VSUP and COM ports to power the RS485 transceiver to ensure the normal operation of NI9871. The voltage range is 8-28V.

[0157] 3. Hoist control circuit

[0158] The radial gate hydraulic hoist control circuit allocates the controller IO port according to the hoist power circuit and hydraulic circuit.

[0159] The controller used in the arc gate control circuit is PLC, and the system gate control circuit controller uses NI9375 digital input and output module. NI9375 requires an external power supply to work normally. The hoist is equipped with two oil pumps, oil pump 1 is the main oil pump, and oil pump 2 is the backup oil pump. When opening and closing the gate, you can switch between the two oil pumps. The interlocking circuit is used to achieve that when oil pump 1 is working, oil pump 2 is disconnected, and when oil pump 2 is working, oil pump 1 is disconnected. Automatic control or manual control is selected by selecting switch SB0. The position of solenoid valves 1, 2, 3, 4, and 5 is controlled by SB1 and SB2 to control the movement of the hoist piston to realize the gate opening and closing function. SB3, SB4, SB5, and SB6 control the opening and closing of pump 1 and pump 2 respectively. SQ1 and SQ2 are the upper and lower limit switches for gate movement, and lights PL1 to PL6 are indicator lights for each button respectively.

[0160] (III) System signal anti-interference design

[0161] During the acquisition and transmission process, the system signal will be subject to various types of interference, causing a lot of noise in the signal. If it is not handled properly, it will cause large errors in the results, and even cause misjudgment, causing the gate to malfunction, which will have a serious impact on industrial production. The system analyzes the signal interference factors and takes a variety of measures to suppress the interference.

[0162] (1) Use twisted pair shielded cable: The pitch of the twisted pair shielded cable used is 5mm;

[0163] (2) Select a reasonable filter circuit: use an active filter amplifier built into the analog data acquisition module;

[0164] (3) Use floating shield: Use Figure 5 The floating shield connection shown in the figure suppresses common-mode interference. The acquisition module adopts double shielding inside and outside, and the inner shield is floating to the outer shield. The inner layer and the sensor and signal line shield are grounded at a single point at the sensor end. The measured signal adopts differential input, which greatly improves the common-mode impedance, reduces the common-mode current, and reduces the common-mode interference.

[0165] (4) Grounding: The shielded shells of the sensors, acquisition and control modules, and host devices in the system are grounded at a single point, and the shielded layer of the twisted-pair shielded cable is grounded at a single point and at a single end. When the signal source is grounded and the acquisition module is floating, the shielded layer is grounded at the signal source; when the signal source is floating and the acquisition module is grounded, the shielded layer is grounded at the acquisition module.

[0166] (5) Use UPS power supply: Using UPS uninterruptible power supply can maintain the reliability of system power supply on the one hand, and provide clean and stable power on the other hand. The power output of the distribution transformer of the hydropower station is of low quality and contains a large number of harmonics. At the same time, the hydropower station adjusts the load of the generator set, and the voltage will be unstable when it is shut down for maintenance, which will interfere with the power supply of the equipment and signal collection. UPS isolates these interferences and provides clean and stable power for the collection system.

[0167] 3. Software Structure of Gate Intelligent Operation and Maintenance Health Monitoring System

[0168] The overall software structure is divided into two layers, the upper computer software of the management layer and the lower computer software of the acquisition control layer, such as Figure 6 shown.

[0169] The host computer software runs on the background industrial computer and consists of four modules:

[0170] (1) Software interface: including online monitoring parameter display interface, gate control interface, historical data query and output interface, and alarm interface;

[0171] 1) Online monitoring parameter display interface: Various virtual icons are used to display the online monitoring parameter values ​​in real time, allowing staff to intuitively check the status of the gate system;

[0172] 2) Gate control interface: It consists of various virtual function buttons, and can also input relevant operating parameters including gate opening;

[0173] 3) Historical data query and output interface: According to the query conditions, query the historical data of the gate online monitoring parameters and output them in relevant formats;

[0174] 4) Alarm interface: When relevant data is abnormal, a warning window will pop up to remind staff of the abnormality.

[0175] (2) Data communication: Data communication is responsible for exchanging data with the lower computer CRIO host, receiving online monitoring parameter data sent from the CRIO host, and sending control instructions to the upper computer.

[0176] (3) Data storage: The data received from the lower computer is directly stored in the database according to certain storage rules.

[0177] (4) Data output: When users need to use other software or tools to further operate historical data, use data output to output the queried data in a certain format for other related processing.

[0178] The lower computer software runs on the CRIO host and also includes four modules:

[0179] (1) Software interface: The acquisition and control cabinet is equipped with a touch screen to display online monitoring parameters and input gate control operation parameters;

[0180] (2) Data communication: responsible for data exchange with the host computer, sending processed monitoring data, receiving instructions from the host computer and performing related operations;

[0181] (3) Data acquisition: Control the relevant data acquisition module to receive the analog or digital quantity sent by the sensor, perform A / D conversion or data decoding, and perform relevant operations and logic processing;

[0182] (4) Gate control: The gate control module receives the switch signal, performs relevant processing, outputs the switch signal, and performs relevant opening and closing operations on the gate.

[0183] (II) Module Programming

[0184] (1) Interface design

[0185] LabVIEW interface design uses various packaged controls, including numeric controls, Boolean controls, text controls, graphic controls, etc. Different controls are selected to create the interface according to different online monitoring parameters and viewing and operating habits.

[0186] 1) Online monitoring parameter display interface: Use various controls to display stress and strain, displacement, water level, flow rate, wind speed, inclination, opening, opening and closing force, oil pressure, temperature and humidity values ​​in real time.

[0187] 2) Gate control interface: Contains button controls, parameter display controls, and parameter input controls for monitoring the status values ​​of each switch input and output port and related to gate control. The button controls include a gate opening control button, a door closing control button, a pump 1 start button, a pump 1 stop button, a pump 2 start button, a pump 2 stop button, and an emergency stop button. The parameter input controls have gate opening value inputs, and the display controls display the current gate opening value, oil pressure value, and water level value. The input and output port status value monitoring can display the relevant port status values ​​in real time.

[0188] 3) Historical data query and output interface: The historical data query interface consists of query condition setting controls, query buttons, data display charts and data output buttons. The required data can be queried by selecting the parameter name, start time, etc. The query results will be displayed in the form of tables and graphs.

[0189] 4) Alarm interface: pops up when a parameter is abnormal, displaying the abnormal parameter type and value and the cause of the alarm.

[0190] (2) System communication

[0191] It refers to the data transmission between the CRIO host and the background industrial computer. It uses the TCP communication protocol. LabVIEW provides the TCP function module for network connection and process communication. When programming, you only need to select the relevant function module, set the relevant parameters, and connect the lines.

[0192] The two ends of TCP communication are the server and the client. The server first listens to the specified port, and the client sends a request to the port specified by the server. After receiving the request, the server establishes a connection between the client and the server. Then the system uses this connection to communicate, with the CRIO host as the server and the background host as the client to establish a TCP connection.

[0193] (3) Data storage

[0194] The data sent from the CRIO host is directly stored in the database of the background host. The data storage program uses LabSQL to access the database and perform related operations. CommandVis completes basic ADO operations, including creating or deleting a Command command, reading and writing databases, ConnectionVis manages the connection between LabVIEW and the database, RecordsetVis operates the records in the database, and there are 3 TopLevelVis, which encapsulate some underlying VIs and provide a simple interface. Users can enter some parameters to execute SQL statements.

[0195] The procedure to achieve query, modification, addition and deletion is divided into four steps;

[0196] Steps to implement the query: connect to the database, execute SQL query statements, get query results, and disconnect;

[0197] Steps to add records: connect to the database, connect to the recordset object, add records, and disconnect the database.

[0198] (4) Data output

[0199] The queried data is saved in the form of files on the disk. These data files can exchange data with other VIs written in LabVIEW language and can be shared by other programs. The queried data is saved in the form of exported EXECL.

[0200] (5) Data collection

[0201] According to the system requirements, complete the configuration of strain, acceleration, current, voltage and RS485 modules, including sampling port number, sampling frequency, sampling range, etc. and the processing of sampling data, including digital filtering, numerical conversion, data analysis, and data packaging.

[0202] (6) Gate control

[0203] It is divided into gate opening and closing program, constant water level control program, constant flow control program and synchronous control program.

[0204] 1) Gate opening and closing program design

[0205] The design process of the gate opening program is to first start the selected hydraulic pump (No. 1 or 2). When the hydraulic pump is started, the electromagnetic overflow valve YA1 is energized and works, and the oil pressure required to open the gate is established after a delay of 10 seconds; then the three-position four-way solenoid valve YA2 is energized, oil enters the rod chamber of the hydraulic cylinder, the gate is opened, oil is discharged from the rodless chamber, and the hydraulic oil returns to the oil tank through the three-position four-way solenoid valve; during the gate opening process, the acquisition module will collect the stroke signals of the two hydraulic cylinders, the reservoir water level signal, the gate opening signal and the limit signal in real time, compare the strokes of the two cylinders, and run the synchronous control program to correct them when they are not synchronized. When the gate reaches the specified opening or upper limit position or receives a stop command, YA2 loses power and the gate opening ends.

[0206] The gate closing procedure design is similar to that of opening, the difference is that when the gate is closed, the three-position four-way solenoid valve YA3 is energized, and when the gate is closed, YA3 loses power.

[0207] The preset opening value in the program is a constant in the constant flow control of the gate hoist, and the opening is calculated based on the set flow value and related formulas; it is a variable in the constant water level control, and the gate opening is controlled in real time to increase or decrease according to the change of water level.

[0208] 2) Synchronous control program design

[0209] The hydraulic synchronization of the gate hoist adopts a closed-loop master-slave synchronization control method with bypass correction, selects an oil-replenishing synchronization circuit, and is implemented using proportional solenoid valves YA4 and YA5. During the gate opening and closing process, the gate hoist stroke on the right is used as a reference, and the difference in the left and right gate hoist strokes is compared in real time. The solenoid valve YA4 or YA5 is automatically controlled to be energized, thereby automatically replenishing oil to the gate hoist cylinder with a lagging stroke.

[0210] The design process of radial gate synchronous control correction program is as follows Figure 7 As shown, △H is the absolute value of the difference between the strokes of the gate hoists on both sides, △H1, △H2 and △H3 are different critical values ​​for judgment, and their values ​​are 10mm, 20mm and 30mm respectively. The specific working process of the correction program is to first determine whether △H exceeds △H1. If not, no correction is performed. If it exceeds △H1, dynamic correction is performed during the gate opening and closing process; then during the dynamic correction process, if △H exceeds △H2, the gate stops opening and closing, and static correction is performed; then during the static correction process, if △H exceeds △H3, the gate is shut down, the correction is stopped, and the staff waits for processing.

[0211] 3) Design of water level control program

[0212] Based on the difference between the current water level and the set water level, it is determined in real time whether the gate opening should be increased or decreased, and the gate is automatically controlled to open or close.

[0213] Figure 8 Design a flow chart for the water level control program. Ll is the current water level value detected by the water level sensor, and L is the set target water level value. When Ll>L, the current water level is too high, so the gate is opened; when L1<L, the current water level is too low, so the gate is closed; when Ll=L, the gate stops running.

[0214] 4) Constant flow control program design

[0215] The gate opening is calculated based on the discharge flow rate and the set flow value, and then compared with the current gate opening to control the gate opening or closing in real time. The program design process is as follows: Fig. 9 shown.

[0216] G is the required gate opening calculated in real time, G1 is the current gate opening detected in real time, when G>G1, the gate is opened; when G<G1, the gate is closed; when G=G1, the gate is shut down.

[0217] 4. System Assessment Test

[0218] (I) Strain signal monitoring test

[0219] The system strain signal test consists of two tests: saw blade bending and stretching. The purpose of the saw blade bending test is to verify whether the system can collect relevant structural strain signals, and the purpose of the stretching test is to verify the accuracy of strain signal collection and stress calculation.

[0220] (1) The test steps for saw blade bending test are as follows:

[0221] l) Polish the middle of the saw blade and clean it with alcohol, draw a line on the polished part, paste the resistance strain gauge, weld the strain gauge lead and fix it with insulating tape;

[0222] 2) Connect the strain gauge to the NI9235 strain acquisition module and bend the saw blade repeatedly to obtain the stress signal curve;

[0223] The test results show that the system can collect strain signals normally.

[0224] (2) Tensile test

[0225] On the tension and compression testing machine, standard specimens were used for tension and compression testing, and the values ​​measured by the static strain tester and the NI9235 module were compared under the same tension.

[0226] The test related parameters are as follows:

[0227] 1) The resistance strain gauge is a three-wire system with a resistance of 120Q and a sensitivity of 2.0;

[0228] 2) The lead wire specification of the resistance strain gauge is a 3-core 0.2mm2 shielded cable, 50m long, and the line resistance value r is 4.4Q;

[0229] 3) The sample material is 45# steel, and the elastic modulus is 206GPa;

[0230] 4) The static resistance strain gauge model is XL2101A4 handheld programmable static resistance strain gauge, with a maximum sampling frequency of 50HZ; the strain acquisition module is N19235;

[0231] 5) The testing machine model is 100KN hydraulic universal tester.

[0232] Since two devices cannot measure the same measuring point at the same time, the stress verification test is divided into two groups:

[0233] The first group uses NI9235 and static resistance strain gauge XL2101A4 to measure different measuring points on the same axis of the sample at the same time under the same loading force. According to the mechanical properties of the material, the stress values ​​of the two measuring points are the same.

[0234] The second group used NI9235 and static resistance strain gauge XL2101A4 to measure the same measuring point on the same axis of the sample twice under the same loading force. According to the mechanical properties of the material, the two measurement values ​​are the same.

[0235] The test steps are as follows:

[0236] 1) Prepare a standard sample and use a ruler and a stylus to draw the axis on the sample surface;

[0237] 2) Select 4 evenly distributed measuring points on the axis of the sample, paste the strain gauges, and connect the leads. The strain gauges are numbered 1, 2, 3, and 4 from top to bottom. Select measuring point 2 to connect the static resistance strain gauge, and measuring point 3 to connect the NI9235.

[0238] 3) Use the tensile test fixture of the testing machine to clamp the sample, load the preload, and then adjust the static resistance strain gauge and NI9235 to zero;

[0239] 4) Carry out loading test on the specimens with loading forces of 100kg, 200kg, 300kg, 500kg, 700kg and 900kg respectively. Read and record the value 30s after each loading. Unload the specimens after all loading is completed. The first set of tests is completed.

[0240] 5) Perform the second test 5 minutes after the first test. Connect the No. 2 test point to the NI9235, adjust the zero value, and repeat step 4. The second test is completed.

[0241] From the test results, it can be seen that the error between the stress value measured by NI9235 and the stress value measured by the static resistance strain gauge does not exceed 1%, which is within the reasonable error range.

[0242] (II) Vibration signal monitoring test

[0243] The system vibration test consists of two tests: hammer test and sweep test. The purpose of hammer test is to test the response of the system to transient signals, and the purpose of sweep test is to verify the accuracy of vibration signal acquisition.

[0244] (1) Hammer test

[0245] The test related parameters are as follows:

[0246] 1) The acceleration sensor model is DH187, with a measuring range of 100g, a sensitivity of 10mV / ms-2, a frequency response range of 1Hz to 10kHz, and an operating temperature of -20 to 80°C. 2) The force sensor can be fixed with threads at the front end of the hammer.

[0247] The system hammer test test steps are as follows:

[0248] 1) Use a magnetic base to fix the accelerometer on the test bench, use a coaxial cable to connect the accelerometer to the NI9234 vibration acquisition module, set the sampling frequency to 10kHz, and start the monitoring system;

[0249] 2) Use a hammer to hit the vibration platform at a distance of about 10 cm from the accelerometer to obtain a transient response signal.

[0250] The test results show that the system can collect transient vibration signals and has good response performance.

[0251] (2) Scan test

[0252] The relevant parameters of the system vibration signal scanning test are as follows:

[0253] 1) DHVTC vibration test simply supported beam;

[0254] 2) DH1301 sweep signal generator, frequency setting range 0.1Hz to 9999.9Hz, harmonic distortion <1%, maximum output power 60W, output current 0A to 5.5A, power consumption 20W. DH1301 sweep signal generator has a built-in power amplifier, which can realize fixed frequency, sweep frequency and random signal generation functions by selection.

[0255] 3) DH40020 contact vibrator, excitation frequency range 6Hz to 5000Hz, maximum excitation force 2000g, maximum stroke ±4mm.

[0256] The scanning test steps are as follows:

[0257] 1) Use a magnetic base to fix the accelerometer on the vibration test simply supported beam, and use a coaxial cable to connect the accelerometer to the NI9234 vibration acquisition module.

[0258] 2) Turn on the sweep signal generator and use the instrument panel to set the mode to sweep mode, with a start frequency of 10 Hz, a cutoff frequency of 60 Hz, a sweep speed of 1 OCT / min, and a voltage of 1000 mV.

[0259] 3) Set the sampling frequency to 10KHz and start the monitoring system.

[0260] 4) Start the sweep signal generator to collect 10Hz, 20Hz, 30Hz, 40Hz, and 50Hz vibration signals. Fig.10 and Fig.11As shown in the figure, the vibration signal is collected when the excitation frequency of the vibrator is 10Hz, 20Hz, 30Hz, 40Hz and 50Hz. Analysis shows that the frequency of the collected vibration signal is consistent with the frequency of the vibrator, and the vibration amplitude increases with the increase of the excitation frequency. When the excitation frequency is 10Hz, the signal amplitude is 58mv, 105mv at 20Hz, 172mv at 30Hz, 223mv at 40Hz and 163mv at 50Hz. When the excitation frequency reaches about 40Hz, the amplitude reaches the maximum, which is consistent with the natural frequency range of the simply supported beam measured by the DHVTC vibration test system, indicating that the system can accurately measure the vibration signal.

Claims

1. Intelligent operation and health monitoring system for water conservancy and hydropower arc gates, characterized by: Based on the CRIO embedded measurement and control system, the radial gate is monitored online. First, the physical quantity detection, data acquisition and processing, gate opening and closing control, data transmission, interface display and system management modules of the monitoring system are constructed; the system online monitoring parameters are established and analyzed, including strain, vibration, inclination, flow rate, water level, temperature, humidity, wind speed, opening and closing force, opening, oil pressure and video; the control requirements of the gate opening machine are determined to be opening control and synchronous control; the distributed system overall structure and the communication method combining Ethernet bus and optical fiber communication are established; secondly, the hardware structure of the monitoring system is constructed, and finally, based on the hardware structure, the various modules of the gate intelligent operation and maintenance health monitoring system software are analyzed and programmed in detail; S1: Construct the overall architecture of the radial gate online monitoring system: Based on the CRIO measurement and control system, a local centralized and overall distributed structure is adopted, and the system communication adopts a combination of Ethernet bus and optical fiber communication; S2: Based on the overall system architecture, the system hardware is designed in detail: including stress and strain, vibration, inclination, water level, flow velocity, wind speed, temperature, humidity sensors, CRIO host, stress and strain acquisition module, acceleration acquisition module, current acquisition module, voltage acquisition module, RS485 signal acquisition module; Detailed design of three-wire stress-strain bridge circuit and derivation of calculation formula; detailed design of acceleration, voltage and current acquisition circuit; detailed design of gate control circuit; finally, analysis of common impedance coupling interference, capacitive coupling interference, inductive coupling interference and radiation interference factors to the system, and effective anti-interference measures from multiple angles are taken for the system, including the use of twisted-pair shielded cables, selection of filters, grounding of equipment, floating shielding and use of UPS power supply; S3: Detailed design of intelligent operation and maintenance software based on system hardware: Design and development based on the virtual instrument LabVIEW platform, including interface design, communication program, data acquisition program, gate control program, database operation program. The interface design includes real-time display of online monitoring parameters, gate opening and closing control, data query and output, and alarm information. The communication program uses LabVIEW's TCP toolkit to realize data exchange between the background industrial computer and the CRIO host; the data acquisition and hoist control program follows the acquisition and control process; the database operation is based on the LabSQL toolkit.

2. According to claim 1, the intelligent operation and health monitoring system for water conservancy and hydropower arc gates is characterized in that: The overall system architecture consists of four layers: (1) Detection device layer: It consists of various sensors, cameras and inverters. The sensors convert various physical parameters of the gate system, including strain and acceleration, into electrical signals for output. The inverter receives the control signal transmitted by the control module and sends the control motor operation status parameters. (2) Data acquisition control layer: It consists of the CRIO host and its related acquisition and control modules. The data acquisition control program runs in the embedded host CRIO. The data acquisition module collects analog signals transmitted by the sensor according to the program instructions. The equipment control module sends control signals according to the program instructions. The CRIO host performs corresponding operations and processing on the collected data, and then packages and sends it to the background host through Ethernet. At the same time, it also receives instructions sent by the background host through Ethernet and performs corresponding processing. (3) Communication layer: It is composed of Ethernet bus and optical fiber communication and is responsible for data exchange between CRIO host and background host; (4) Management layer: It is the backend host. The backend host receives data processed by the frontend CRIO host, displays various information parameters in real time on the interface, and stores them on the host hard disk. The gate equipment is operated through the backend host software interface.

3. According to claim 1, the intelligent operation and health monitoring system for water conservancy and hydropower arc gates is characterized in that: Sensor Configuration: (1) Stress and strain measurement sensor: It is a strain gauge, using a three-wire waterproof welded resistance strain gauge with temperature self-compensation. The maximum water pressure is 10MPa. When in use, it is welded to the measuring point of the arc gate with a welding machine. The temperature self-compensation characteristic can eliminate the temperature drift of the resistance strain gauge in the range of 10 to 90℃; (2) Vibration measurement sensor: Use an accelerometer, a waterproof piezoelectric accelerometer, with a maximum water pressure of 490.3 kPa, an operating temperature of -40-120°C, and a measurement frequency range of 1-10000 Hz; (3) Attitude measurement sensor: A single-axis inclination sensor is used. The inclination sensor is installed on the gate to monitor the current inclination angle of the gate in real time and calculate the gate offset. The measurement inclination range is ±759, which meets the requirements of online attitude monitoring. The sensitivity is 35mV / 9, the zero-degree voltage is 2.5V, and the protection level is IP66. (4) Flow velocity measurement sensor: radar flow velocity sensor with a measurement range of 0.1-90m / s, an operating temperature of -40-85°C, an output signal type of RS485, and a protection level of IP66; (5) Water level sensor: It adopts a submersible static pressure level gauge, which is immersed in water when in use. The measuring range is 0-100m, the sensitivity is ±0.01%FS / ℃, and the output signal is 4-20mA; (6) Environmental parameter measurement sensor: Ultrasonic wind speed sensor with wind speed range of 0-60m / s, wind direction range of 0-359, protection grade IP65, working temperature of -35-70℃, output signal of RS485; (7) Opening and closing system: The measurement parameters are opening and closing force, opening, and pressure. The opening and closing system is equipped with opening and pressure sensors, which are directly connected to the system for use. The opening and closing force is measured by strain gauges based on the indirect measurement method, and the strain value is converted into the opening and closing force using Hooke's law; (8) Video surveillance: The network camera uses the TCP / IP protocol to connect the video signal to the backend computer through the system Ethernet bus.

4. According to claim 1, the intelligent operation and health monitoring system for water conservancy and hydropower arc gates is characterized in that: Sensor layout: (1) Strain gauges: Before arranging the points, firstly, perform force analysis and calculation on the gate, then find out the dangerous sections with large calculated stress and calculated displacement of each gate component, the representative parts that need to be monitored, and the special individual parts that are seriously corroded or damaged, arrange the measuring points more densely within their range, and determine the layout of 16 strain measuring points; (2) Acceleration sensor: Arrange at points where the calculated stress and displacement are large, and determine a total of 9 acceleration sensor measurement points; (3) Inclination sensor: one is installed at the intersection of the gate panel center axis and the upper and lower main beams, with the upper main beam as the benchmark and the lower main beam as the reference; (4) Flow velocity sensor: Installed on the backwater side of the radial gate, in the same plane as the radial gate support hinge and 2 meters higher; (5) Water level sensor: Use an immersion-type static pressure level gauge, which is placed at the corner where the reservoir and the dam intersect. Check the historical water level data of the reservoir and place it at an altitude lower than the historical lowest water level. (6) Temperature and humidity sensor: installed on the wall above the gate; (7) Wind speed sensor: placed above the gate panel, on the wall near the left gate slot, to measure the wind speed at the gate slot during water discharge; (8) Cameras: One is located at the temperature and humidity sensor to monitor the gate opening and closing device status; the other is located above the flow rate sensor to monitor the gate opening and closing status.

5. According to claim 1, the intelligent operation and health monitoring system for water conservancy and hydropower arc gates is characterized in that: Measurement and control system configuration and corresponding circuit design: 1-CRIO host and module configuration: the acquisition and control module includes strain acquisition module, vibration acquisition module, current acquisition module, voltage acquisition module, RS485 acquisition module, and switch input and output module; 2-Online monitoring acquisition circuit: including strain acquisition circuit, acceleration acquisition circuit, current signal acquisition circuit, voltage signal acquisition circuit, RS485 signal acquisition circuit; (1) Strain acquisition circuit Bridge circuit: The resistance change rate of the resistance strain gauge is proportional to the strain, and the relationship is shown in equation 1: △R is the resistance change of the strain gauge, R is the resistance of the strain gauge, k is the sensitivity coefficient of the strain gauge, and the voltage or current output by the bridge circuit is used to obtain the resistance change of the resistance strain gauge △R, and then the strain value of the component is calculated using formula 1; R1 is a resistance strain gauge, R2, R3 and R4 are bridge arm resistors, Ue is the bridge excitation voltage, and UO is the bridge output voltage; A three-wire DC 1 / 4 bridge circuit is used. The resistance strain gauge R1 has three leads with a resistance value of r, which are located at the bridge arm R1, bridge arm R2 and input terminal U O The line resistance r is in the same environment, the bridge arms R1 and R2 are adjacent bridge arms, and the changes in their resistance values ​​cancel each other out on the bridge output. O Connected to the acquisition module, the input impedance of the acquisition module is high, the input terminal U O The upper line resistance r is negligible, and the three-wire 1 / 4 bridge circuit can eliminate the measurement error caused by temperature; (3) Current acquisition circuit: The positive current signal output by the sensor is connected to the AI ​​terminal, and the negative current signal is connected to the COM port. The NI9203 uses a standard resistor R inside to convert the current signal into a voltage signal, which is then acquired by the ADC chip. (4) RS485 signal acquisition circuit: NI9871 is used to collect RS485 signals. Its module interface is RJ50, which is converted to DB9 terminal through a special adapter cable. A DC power supply is connected to the VSUP and COM ports to power the RS485 transceiver to ensure the normal operation of NI9871. The voltage range is 8-28V. 3-Hoist control circuit The control circuit of the radial gate hydraulic hoist is allocated with the controller IO port according to the hoist power circuit and the hydraulic circuit. The controller used in the radial gate control circuit is PLC. The system gate control circuit controller uses the NI9375 digital input and output module. The NI9375 requires an external power supply to work normally. The hoist is equipped with two oil pumps, oil pump 1 is the main oil pump, and oil pump 2 is the backup oil pump. When opening and closing the gate, it can switch between the two oil pumps. The interlocking circuit is used to realize that when oil pump 1 is working, oil pump 2 is disconnected, and when oil pump 2 is working, oil pump 1 is disconnected. Automatic control or manual control is selected by selecting switch SB0. The position of solenoid valves 1, 2, 3, 4, and 5 is controlled by SB1 and SB2 to control the movement of the hoist piston to realize the gate opening and closing function. SB3, SB4, SB5, and SB6 control the opening and closing of pump 1 and pump 2 respectively. SQ1 and SQ2 are the upper and lower limit switches for gate movement, and lights PL1 to PL6 are indicator lights for each button respectively.

6. The intelligent operation and health monitoring system for water conservancy and hydropower arc gates according to claim 1 is characterized in that: System signal anti-interference design: (1) Use twisted pair shielded cable: The pitch of the twisted pair shielded cable used is 5mm; (2) Select a reasonable filter circuit: use an active filter amplifier built into the analog data acquisition module; (3) Use floating shield: Use floating shield connection to suppress common-mode interference. The acquisition module uses internal and external double shielding, and the inner shield is floating to the outer shield. The inner shield and the sensor and signal line shield are grounded at a single point at the sensor end. The measured signal uses differential input, which greatly improves the common-mode impedance, reduces the common-mode current, and reduces the common-mode interference. (4) Grounding: The shielded shells of the sensors, acquisition and control modules, and host devices in the system are grounded at a single point, and the shielded layer of the twisted-pair shielded cable is grounded at a single point and at a single end. When the signal source is grounded and the acquisition module is floating, the shielded layer is grounded at the signal source; when the signal source is floating and the acquisition module is grounded, the shielded layer is grounded at the acquisition module. (5) Use UPS power supply: Using UPS uninterruptible power supply can maintain the reliability of system power supply on the one hand, and provide clean and stable power on the other hand.

7. The intelligent operation and health monitoring system for water conservancy and hydropower arc gates according to claim 1 is characterized in that: Software structure of gate intelligent operation and maintenance health monitoring system: The overall software structure is divided into two layers, the upper computer software of the management layer and the lower computer software of the acquisition control layer; The host computer software runs on the background industrial computer and consists of four modules: (1) Software interface: including online monitoring parameter display interface, gate control interface, historical data query and output interface, and alarm interface; 1) Online monitoring parameter display interface: Various virtual icons are used to display the online monitoring parameter values ​​in real time, allowing staff to intuitively check the status of the gate system; 2) Gate control interface: It consists of various virtual function buttons, and can also input relevant operating parameters including gate opening; 3) Historical data query and output interface: According to the query conditions, query the historical data of the gate online monitoring parameters and output them in relevant formats; 4) Alarm interface: When relevant data is abnormal, a warning window will pop up to remind staff of the abnormality; (2) Data communication: Data communication is responsible for exchanging data with the lower computer CRIO host, receiving online monitoring parameter data sent from the CRIO host, and sending control instructions to the upper computer; (3) Data storage: Data received from the lower computer is directly stored in the database according to certain storage rules; (4) Data output: When users need to use other software or tools to further operate historical data, use data output to output the queried data in a certain format for other related processing; The lower computer software runs on the CRIO host and also includes four modules: (1) Software interface: The acquisition and control cabinet is equipped with a touch screen to display online monitoring parameters and input gate control operation parameters; (2) Data communication: responsible for data exchange with the host computer, sending processed monitoring data, receiving instructions from the host computer and performing related operations; (3) Data acquisition: Control the relevant data acquisition module to receive the analog or digital quantity sent by the sensor, perform A / D conversion or data decoding, and perform relevant operations and logic processing; (4) Gate control: The gate control module receives the switch signal, performs relevant processing, outputs the switch signal, and performs relevant opening and closing operations on the gate.

8. The intelligent operation and health monitoring system for water conservancy and hydropower arc gates according to claim 1 is characterized in that: System communication: refers to the data transmission between the CRIO host and the background industrial computer. The TCP communication protocol is used. LabVIEW provides TCP function modules for network connection and process communication. When programming, you only need to select the relevant function modules, set the relevant parameters, and connect the lines. The two ends of TCP communication are the server and the client. The server first listens to the specified port, and the client sends a request to the port specified by the server. After receiving the request, the server establishes a connection between the client and the server. Then the system uses this connection to communicate, with the CRIO host as the server and the background host as the client to establish a TCP connection.

9. The intelligent operation and health monitoring system for water conservancy and hydropower arc gates according to claim 1 is characterized in that: Data storage: Data sent from the CRIO host is directly stored in the database of the background host. The data storage program uses LabSQL to access the database and perform related operations. CommandVis completes basic ADO operations, including creating or deleting a Command command, reading and writing databases, ConnectionVis manages the connection between LabVIEW and the database, RecordsetVis operates the records in the database, and there are 3 TopLevelVis, which encapsulate some underlying VIs and provide a simple interface. Users can execute SQL statements by entering some parameters; The procedure to achieve query, modification, addition and deletion is divided into four steps; Steps to implement the query: connect to the database, execute SQL query statements, get query results, and disconnect; Steps to add records: connect to the database, connect to the recordset object, add records, and disconnect the database.

10. The intelligent operation and health monitoring system for water conservancy and hydropower arc gates according to claim 1 is characterized in that: Gate control: divided into gate opening and closing program, fixed water level control program, fixed flow control program and synchronous control program; 1) Gate opening and closing program design The design process of the gate opening program is to first start the selected hydraulic pump. When the hydraulic pump is started, the electromagnetic overflow valve YA1 is energized and works, and the oil pressure required to open the gate is established after a delay of 10 seconds; then the three-position four-way solenoid valve YA2 is energized, the rod chamber of the hydraulic cylinder enters oil, the gate is opened, and the rodless chamber is discharged. The hydraulic oil returns to the oil tank through the three-position four-way solenoid valve; during the gate opening process, the acquisition module will collect the stroke signals of the two hydraulic cylinders, the reservoir water level signal, the gate opening signal and the limit signal in real time, compare the strokes of the two cylinders, and run the synchronous control program to correct the deviation when they are not synchronized. When the gate reaches the specified opening or upper limit position or receives a stop command, YA2 loses power and the gate opening ends; The design of the gate closing procedure is similar to that of the gate opening procedure, except that when the gate is closed, the three-position four-way solenoid valve YA3 is energized, and when the gate is closed, YA3 is de-energized; The preset opening value in the program is a constant in the constant flow control of the gate hoist, and the opening is calculated based on the set flow value and related formulas; it is a variable in the constant water level control, and the gate opening is controlled to increase or decrease in real time according to the change of water level; 2) Synchronous control program design The hydraulic synchronization of the gate hoist adopts a closed-loop master-slave synchronization control method with bypass correction, and uses an oil-supplementing synchronization circuit, which is realized by using proportional solenoid valves YA4 and YA5. During the gate opening and closing process, the stroke of the gate hoist on the right side is used as a reference, and the difference between the strokes of the gate hoists on the left and right sides is compared in real time. The solenoid valve YA4 or YA5 is automatically controlled to be energized, so that the cylinder of the gate hoist with lagging stroke can be automatically replenished with oil; Design process of the synchronous control correction program for the radial gate: △H is the absolute value of the difference between the strokes of the hoisting machines on both sides, △H1, △H2 and △H3 are different critical values ​​for judgment, and their values ​​are 10mm, 20mm and 30mm respectively. The specific workflow of the correction program is to first determine whether △H exceeds △H1. If not, no correction is performed. If it exceeds △H1, dynamic correction is performed during the gate opening and closing process; then, during the dynamic correction process, if △H exceeds △H2, the gate stops opening and closing, and static correction is performed; then, during the static correction process, if △H exceeds △H3, the gate stops, correction is stopped, and waits for staff to handle; 3) Design of water level control program According to the difference between the current water level and the set water level, it is determined in real time whether the gate opening should be increased or decreased, and the gate is automatically controlled to open or close; The design process of the fixed water level control program: Ll is the current water level value detected by the water level sensor, and L is the set target water level value. When Ll>L, the current water level is too high, so the gate is opened; when L1<L, the current water level is too low, so the gate is closed; when Ll=L, the gate stops running; 4) Constant flow control program design The gate opening is calculated based on the discharge flow rate and the set flow value, and then compared with the current gate opening to control the gate opening or closing in real time; G is the required gate opening calculated in real time, G1 is the current gate opening detected in real time, when G>G1, the gate is opened; when G<G1, the gate is closed; when G=G1, the gate is shut down.

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