Urban water management system and method based on distributed control and integrated control terminal

Abstract

The invention belongs to the technical field of urban water management. The urban water consumption management system based on distributed control comprises a distributed main controller, the integrated control terminal and a field device layer, the integrated control terminal monitors a communication frame of a communication network in real time, and when the distributed main controller controls equipment, the field device layer monitors the communication frame of the communication network in real time; the types of control tasks currently performed by the distributed main controller are judged, each control task type corresponds to basic command data, and when it is detected that the distributed main controller breaks down, the corresponding basic command data are determined according to the control task type at the moment before the fault; forming a basic command control frame to control the working equipment in real time; and higher-precision urban water consumption management is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of urban water management, and particularly relates to a distributed control-based urban water management system, method, and integrated control terminal. Background Art

[0002] The statements in this part merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Today's urban water supply systems not only include a huge network of water intake, purification, transportation, and distribution, but also involve multiple links such as complex water quality monitoring, leakage control, and emergency response. These links are closely connected to form a huge and delicate system, and any oversight in one link may affect the stability and security of the entire water supply system. With the increasing complexity and scale of urban water supply systems, traditional water resource management methods can no longer meet the needs of modern cities.

[0004] In the prior art, urban water management systems usually adopt a decentralized monitoring and control method, with the following problems: (1) There are data islands in the water supply system, and there is a lack of effective data sharing and collaboration between subsystems, resulting in low management efficiency; (2) The reliability of the water supply system is insufficient, with a high failure rate and a lack of effective fault prediction and maintenance mechanisms; (3) The security of the water supply system is weak, vulnerable to cyberattacks or human sabotage, and lacks comprehensive security protection; (4) There is serious resource waste in the water supply system, with a high leakage rate and low water resource utilization rate. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides a distributed control-based urban water management system, method, and integrated control terminal. Using a distributed master controller (i.e., DCS master controller) as the core control unit, responsible for data acquisition, processing, and control instruction issuance, combined with the integrated control terminal, it can effectively avoid data islands, improve the reliability of the entire management system, reduce the system failure rate, improve the system security, avoid resource waste, improve water resource utilization rate, and achieve higher-precision and safer urban water management.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a distributed control-based urban water management system.

[0007] A distributed control-based urban water management system includes: a distributed master controller, an integrated control terminal, and a field device layer. The field device layer is used to collect data of the urban water supply network. The field device layer is respectively communicatively connected to the distributed master controller and the integrated control terminal, and the distributed master controller is communicatively connected to the integrated control terminal; The integrated control terminal is configured to: listen to communication frames of the communication network in real time, determine the type of control task that the current distributed master controller is performing when the distributed master controller implements control over the analog signal communication card and the digital signal communication card, and each type of control task corresponds to basic command data. When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the moment before the failure, and form a basic command control frame to perform real-time control on the cards that are working.

[0008] As a further limitation of the first aspect of the present invention, the field device layer includes: intelligent water meters, flow sensors, pressure sensors, temperature sensors, and valve controllers. The digital signal devices in the field device layer are connected to the digital signal communication cards, and the analog signal devices in the field device layer are connected to the analog signal communication cards. The communication network is communicatively connected to the distributed master controller, the integrated control terminal, the analog signal communication card, and the digital signal communication card respectively. During specific operation, the distributed master controller directly controls the digital signal communication card and the analog signal communication card through the communication network, and then the digital signal communication card and the analog signal communication card control the digital devices and analog devices.

[0009] As a further limitation of the first aspect of the present invention, the distributed master controller adopts a redundant design, including a main controller and a secondary controller. The secondary controller only communicates with the main controller to ensure the normal working state of the main controller. When the control of the main controller is abnormal, the secondary controller immediately takes over the control and restarts the main controller.

[0010] As a further limitation of the first aspect of the present invention, the integrated control terminal listens to communication frames in the communication network and periodically sends heartbeat frames to each device including the distributed master controller. Once the heartbeat frame of a certain device is not replied, the integrated control terminal starts a fault diagnosis process, repeatedly asks the device, and if no reply is received after the repeated query for a set time, it is determined that the current device has failed, and an alarm message is sent to the distributed master controller.

[0011] As a further limitation of the first aspect of the present invention, the basic command data is shutdown command data. When the distributed master control fails, the integrated control terminal replaces the master controller and safely shuts down the controlled cards that are working (including the digital signal communication card and the analog signal communication card) according to the shutdown command data.

[0012] As a further limitation of the first aspect of the present invention, the distributed master controller caches the received traffic data, detects the cached traffic data, and when an anomaly is detected, determines the anomaly location point, performs Fourier transform processing on the process data within a set time period of the determined anomaly location point to obtain spectral information, and determines whether a leak occurs at this anomaly location point according to the spectral information; When it is preliminarily determined that a leak has occurred, a verification instruction is sent to the controlled card corresponding to the anomaly location point, and the controlled card corresponding to the anomaly location point calculates spectral information for the data cached by itself within a larger time range to finally determine the leak location.

[0013] In a second aspect, the present invention provides a method for urban water management based on distributed control.

[0014] A method for urban water management based on distributed control, which is applied to an integrated control terminal, includes the following processes: Real-time monitor the communication frames of the communication network, obtain the types of control tasks when the distributed master controller implements control of the device, and each type of control task corresponds to basic command data; When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the previous moment of the failure, and form a basic command control frame to perform real-time control on the device that is working.

[0015] As a further limitation of the second aspect of the present invention, monitor the communication frames in the communication network, and regularly send heartbeat frames to each device including the distributed master controller. Once the heartbeat frame of a certain device is not replied, start the fault diagnosis process and repeatedly inquire about the device; If no reply is obtained after repeatedly inquiring for a set time, it is determined that the current device has failed, and an alarm message is sent to the distributed master controller.

[0016] As a further limitation of the second aspect of the present invention, the basic command data is shutdown command data. When the distributed master control fails, the controlled card that is working is safely shut down according to the shutdown command data.

[0017] In a third aspect, the present invention provides an integrated control terminal, including a processor, and the processor is configured to execute the following processes: Real-time monitor the communication frames of the communication network, obtain the types of control tasks when the distributed master controller implements control of the device, and each type of control task corresponds to basic command data; When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the previous moment of the failure, and form a basic command control frame to perform real-time control on the device that is working.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention innovatively proposes a distributed control-based urban water management system, method and integrated control terminal. Using a distributed master controller (i.e., DCS master controller) as the core control unit, which is responsible for data collection, processing and control instruction issuance, combined with an integrated control terminal (i.e., RAMS control terminal) integrating reliability, availability, maintainability and safety, it realizes higher-precision urban water management, can effectively avoid data islands, improves the reliability of the entire management system, reduces the system failure rate, improves the system security, avoids resource waste, and improves water resource utilization rate.

[0019] 2. The integrated control terminal of the present invention listens to the communication frames of the communication network in real time. When the distributed master controller implements control on the device, it judges the type of control task currently being performed by the distributed master controller. Each type of control task corresponds to basic command data. When detecting a failure of the distributed master controller, it determines the corresponding basic command data according to the type of control task at the moment before the failure, and forms a basic command control frame to perform real-time control on the working device, ensuring the stability and security of the system.

[0020] 3. The distributed master controller of the present invention adopts a redundant design, including a main controller and a secondary controller. The secondary controller only communicates with the main controller to ensure the normal working state of the main controller. When the control of the main controller is abnormal, the secondary controller immediately takes over the control and restarts the main controller. Through the redundant design method, the interruption of system control is avoided, and the continuity of the water supply system control is ensured.

[0021] 4. The integrated control terminal of the present invention listens to the communication frames in the communication network and periodically sends heartbeat frames to each device including the distributed master controller. Once the heartbeat frame of a certain device is not replied, the integrated control terminal starts a fault diagnosis process, repeatedly asks the device, and if no reply is obtained after repeating the inquiry for a set time, it determines that the current device has failed and sends an alarm message to the distributed master controller. By monitoring all devices including the distributed master controller, the comprehensive detection of faults is effectively realized.

[0022] 5. The distributed master controller of the present invention caches the received traffic data, detects the cached traffic data, determines the abnormal position point when an abnormality is detected, performs Fourier transform processing on the process data within a set time period of the determined abnormal position point to obtain spectral information, and determines whether there is a leak at this abnormal position point according to the spectral information; when it is preliminarily determined that there is a leak, a verification instruction is sent to the controlled card corresponding to the abnormal position point, and the controlled card corresponding to the abnormal position point calculates the spectral information for the data cached by itself within a larger time range, and finally determines the leakage position. Through the combined use of the distributed master controller and each controlled card, more accurate identification of the leakage position is achieved.

[0023] Advantages of additional aspects of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0025] Figure 1 Schematic diagram of the urban water management system based on distributed control provided in Embodiment 1 of the present invention; Figure 2 Architecture diagram of the integrated control terminal (i.e., RAMS control terminal) provided in Embodiment 1 of the present invention; Figure 3 Algorithm flowchart of leakage detection and positioning provided in Embodiment 1 of the present invention; Figure 4 Schematic diagram of anomaly detection provided in Embodiment 1 of the present invention; Figure 5 Flow schematic diagram of the urban water management method based on distributed control provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0028] Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0029] Embodiment 1: This implementation proposes a distributed control-based urban water management system. For example, Figure 1 As shown, the distributed master controller (i.e., the DCS master controller): uses a distributed control system (DCS) as the core control unit, responsible for data collection, processing, and issuing control instructions; the field device layer: includes intelligent water meters, flow sensors, pressure sensors, temperature sensors, valve controllers, etc., for real-time collection of data from the water supply network; the communication network: adopts a hybrid communication method of wired (such as optical fiber) and wireless (such as LoRa, NB-IoT) to ensure the stability and real-time of data transmission. For example, Figure 2 As shown, the integrated control terminal (i.e., the RAMS control terminal): integrates the management systems of reliability, availability, maintainability, and safety, and is used for system performance optimization and risk control. The present invention collects data such as water consumption, pressure, and temperature in real time through the field device layer and transmits it to the DCS master controller; utilizes the data processing ability of the DCS system, combines with the RAMS control terminal, conducts intelligent analysis on the water supply network, and optimizes the water supply strategy; through the reliability analysis module in the RAMS control terminal, predicts equipment failures and generates maintenance plans to reduce system downtime; based on data analysis algorithms, quickly identifies and locates pipeline leakage points to reduce water resource waste; through the security module in the RAMS system, provides network security protection and physical security protection to prevent the system from being attacked or damaged.

[0030] In this implementation, preferably, reliability refers to ensuring the stability of the system during long-term operation through redundant design and fault self-diagnosis functions; availability refers to adopting a highly available architecture to ensure that the system can still provide basic services in case of failures; maintainability refers to providing remote maintenance and automated diagnosis functions to reduce maintenance costs and time; safety refers to integrating network security protocols (such as SSL / TLS) and physical security measures (such as access control) to ensure the security of system data and equipment.

[0031] The specific working process of this implementation includes: data collection: the field device layer collects data from the water supply network in real time and transmits it to the DCS master controller through the communication network; data processing: the DCS master controller processes and analyzes the data to generate control instructions and optimization strategies; RAMS evaluation: the RAMS control terminal evaluates the system performance, identifies potential risks, and generates improvement suggestions; control execution: the DCS master controller issues control instructions to adjust valve openings, pump station operating states, etc.; leakage location: detects leakage and locates faults through real-time data analysis.

[0032] More specifically, the DCS main controller adopts a high-performance industrial processing controller, which supports multi-task parallel processing. And to further enhance the system security, a redundant design is adopted, that is, two DCS main controllers are used for real-time control simultaneously. One is used as the main controller to provide real-time control; the other is used as the secondary controller, which only communicates with the main controller as necessary to ensure the normal working state of the main controller and does not participate in real-time control. Once the control of the main controller shows abnormality, the secondary controller will immediately take over the bus control and restart the main controller. The redundant design improves the control stability of the overall system. It should be noted that Figure 1 both of the two devices are labeled with the name "DCS main controller". This means that the names of both devices are DCS main controller, which does not represent whether they act as the main controller or the secondary controller during operation. In actual application, whether these two devices act as the main controller or the secondary controller is determined by a random algorithm. Each time when powered on and started, one of them will be randomly selected as the main controller and the other as the secondary controller. Obviously, the device acting as the main controller needs to handle much more work than the secondary controller. Such a design of randomly determining the main and secondary controllers can ensure that the aging degrees of the two devices are the same as much as possible.

[0033] In this implementation method, high-precision sensors and intelligent water meters are selected for the field device layer to ensure the accuracy of data collection. There are many types of these devices, and as long as the devices meeting the industrial communication specifications can be connected to the communication card, so that the DCS main controller can collect data and conduct real-time control on them. In the present invention, two types of communication cards are provided to connect with the field devices. The digital signal communication card is specifically used to handle the communication of field devices with digital signal input and output, and the analog signal communication card is specifically used to handle the communication of field devices with analog signal input and output.

[0034] In this implementation method, preferably, the communication network adopts a hybrid communication method to ensure the stability and coverage of data transmission. In addition to Figure 1 the wired connection shown in

[0035] the communication network can also receive wireless signals to communicate with the field devices supporting wireless communication. The RAMS control terminal is a device specifically used for RAMS management. It ensures the reliability of the system by providing a fault self-diagnosis function; it has the function of collecting and transmitting basic commands during faults to ensure the availability of the system; it is embedded with a remote upgrade and maintenance module to ensure the maintainability of the system; it ensures the security of the system through network security protocols and physical security measures. The specific measures for the RAMS control terminal to conduct RAMS management are described in Figure 2

[0036] ​In this implementation, based on the RAMS control terminal, self-diagnosis of faults is realized. For example, Figure 4 As shown, during the operation of the entire system, the RAMS control terminal constantly monitors the communication frames in the communication network and regularly sends heartbeat frames to each device on the bus to ensure the normal working status of each device. Once the heartbeat frame of a certain device is not replied, the RAMS control terminal will start the fault diagnosis process, repeatedly query the card, and if no reply is received after the set time of repeated query, it is determined that the current card has failed, and then an alarm message is sent to the DCS main controller.

[0037] The flowchart of the self-diagnosis of faults of the RAMS control terminal is as shown in Figure 4 As shown. It should be noted that the method of using heartbeat frames to confirm the device status and diagnose faults is common in the prior art. However, most of the functions in the prior art are integrated inside the main controller. Obviously, the existing fault detection technology integrated in the main controller cannot detect the faults of the main controller itself. The advantage of the present invention is that in addition to the heartbeat frame fault detection independent of the main controller, a dedicated RAMS control terminal is additionally set up. It also uses the heartbeat frame technology to monitor the working status of all devices (including the DCS main controller) on the bus in real time, can detect the faults of the main controller that cannot be recognized in the prior art, thereby improving the reliability of the entire system, and this implementation also reduces the monitoring and status confirmation burden of the main controller to a certain extent and improves the working efficiency of the DCS main controller in terms of control and data algorithm processing.

[0038] In this implementation, the RAMS control terminal constantly monitors the communication frames of the communication network during the operation of the system. Therefore, when the DCS main controller implements the control of the card, it can judge the type of control task that the current DCS main controller is performing. According to different types of control tasks, the RAMS control terminal stores the basic command data when the main controller fails. When detecting the failure of the DCS main controller, the RAMS control terminal will immediately select the corresponding basic command data according to the type of the main controller control task at the moment before the failure, and form a basic command control frame to perform real-time control on the working card. These commands are generally commands for closing the card (digital signal communication card and analog signal communication card). When the main controller fails, the RAMS control terminal will replace the main controller to safely close the other working cards to avoid danger caused by the cards not receiving the correct control commands.

[0039] In this implementation method, preferably, a remote upgrade and maintenance module is integrated in the RAMS control terminal, enabling the system to perform online upgrade and maintenance through wireless communication. Users can view the version information of each card of the device anywhere with network connection and upgrade the version of the card at any time. For the RAMS control terminal itself, it connects to the network and automatically upgrades the version according to remote network commands; for the DCS main controller and other cards, after the RAMS control terminal receives the version upgrade information, it upgrades the main controller and other cards through the communication network.

[0040] In this implementation method, preferably, dedicated data encryption is adopted for the data transmission of the RAMS control terminal accessing the network to ensure the security of the system information transmission content. At the same time, to ensure that the system is not attacked from the network, the RAMS control terminal has a communication handshake frame, and the RAMS control terminal will only receive data from the data source with successful handshake, ensuring the security of the system's communication on the network through these methods.

[0041] In this implementation method, preferably, the RAMS control terminal has a built-in energy storage device, which can maintain the operation of the RAMS device for at least 48 hours in case of a power failure accident. During this period, the RAMS control terminal records and saves the bus monitoring data before the power failure to ensure the basis for the system to restore its state when the power is restored. This physical security measure ensures that the system can still maintain the same working state as before after a power failure and restart.

[0042] In this implementation method, preferably, the software of the DCS main controller supports real-time data processing and control instruction issuing for leakage detection and location. The processing flow chart of the leakage detection algorithm is shown in Figure 3 It is reflected. When the DCS main controller is running, in addition to issuing control commands to each card, it also receives and processes the data fed back by the card in real time. During this period, the DCS main controller caches the received data and analyzes the data types. The DCS main controller caches the flow data fed back from the field device layer and performs real-time detection on these data. Once an abnormality is detected in the data detection, the leakage detection algorithm is used to screen the cached data during this period to confirm whether a real leakage has occurred. Among them, the data detection is achieved through the calculation of the total flow and the sub-flows. For a certain summary node, its total flow should be equal to the sum of the flows of its downstream sub-nodes. Once a leakage phenomenon occurs, there will be a deviation between this calculated value and the actual value. By analyzing the data of different summary nodes layer by layer, the location of the leakage can be found.

[0043] However, in actual operation, the opening or closing of the user's water use is random. Just using the above calculations of the total flow rate and the split flow rate, the results of the data calculations at certain moments are affected by the water use switches of users in different positions, making the calculated values difficult to analyze. Therefore, after detecting abnormal data, a leakage detection algorithm is used to accurately determine whether there is a leak. Although the user's water use switch is random, the leakage is a continuous process. For the position points with abnormal data detection, extract the data within a certain period from the flow rate data of this position cached in the main controller, and then use Fourier transform on these data to obtain the spectrum information. Due to its continuity, the flow rate data with leakage will make its spectrum appear particularly sharp at a certain frequency, while the randomness of the user's water use switch will not affect this sharp value.

[0044] The present invention designs and develops a leakage detection algorithm using the above characteristics. Specifically, it includes: Extract the flow rate data of the abnormal position point within a specific period from the cache of the main controller, perform Fourier transform on the extracted flow rate data to convert it from the time domain to the frequency domain, obtain the spectrum information, and extract key features from the spectrum information, such as frequency peaks, spectrum energy distribution, etc. Pay special attention to whether there are sharp peaks in the spectrum because the spectrum of the flow rate data with leakage will appear particularly sharp at a certain frequency.

[0045] Design a neural network model. The number of neurons in the input layer should be the same as the number of extracted spectrum features, and use the spectrum features as input data; design multiple hidden layers, with each layer containing an appropriate number of neurons. Activation functions such as ReLU can be used to increase the non-linear fitting ability of the model. The number of hidden layers and the number of neurons can be adjusted according to the experimental results to achieve the best detection effect; the output layer contains one neuron, indicating whether there is a leak, and the Sigmoid activation function can be used to limit the output value between 0 and 1, representing the probability of leakage occurrence.

[0046] The training of the above neural network model includes: collecting the flow rate data under known leakage and normal conditions, performing Fourier transform on it and extracting spectrum features as training samples. Among them, the label of the leakage data is 1, and the label of the normal data is 0; use the binary cross-entropy loss function to measure the difference between the model output probability and the true label; select an appropriate optimization algorithm, such as the Adam optimizer, to adjust the weights and biases of the neural network to minimize the loss function; input the training data into the neural network model, calculate the output value through forward propagation, then calculate the loss function value, and use the backpropagation algorithm to update the model parameters. Repeat the iterative training until the loss function converges or reaches the preset number of training epochs.

[0047] Verify the authenticity of water leakage according to the designed leakage detection algorithm. If water leakage occurs, start the leakage investigation. Send a verification instruction through the DCS main controller to verify the control card at the leakage location inferred by the algorithm. The control card will investigate the leakage data in a larger time range according to the command of the DCS main controller, so as to locate the leakage. The digital signal communication card and the analog signal communication card verify the leakage in the same way as the controller. However, since the devices managed by the card are much fewer than those of the DCS main controller, the card can store the flow data for a longer time, so the leakage calculation is more accurate. After determining and locating the leakage, the card feeds back an alarm command to the DCS main controller, and the DCS main controller will issue an alarm. The alarm information of the DCS main controller is displayed through the man-machine interface. Before manual confirmation, the alarm information will not disappear. During the alarm period, the alarm indicator of the DCS main controller will keep flashing.

[0048] Through the centralized control of the DCS system and the comprehensive protection of the RAMS system, the present invention significantly improves the management efficiency of the water supply system; the redundant design and fault prediction function of the present invention ensure the long-term stable operation of the system; the multi-layer security protection mechanism of the present invention effectively prevents the system from being attacked or damaged; through leakage detection and optimized water supply strategies, the present invention reduces water resource waste and operation costs; through intelligent and automated means, the present invention realizes the comprehensive monitoring and efficient management of the urban water supply network, has high reliability, high security and low cost, and can meet the water supply management requirements of modern cities.

[0049] Embodiment 2: As Figure 5 shown, this implementation provides a distributed control-based urban water management method, which is applied to an integrated control terminal and includes the following processes: S1: Continuously monitor the communication frames of the communication network, and obtain the types of control tasks when the distributed main controller implements control over devices. Each type of control task corresponds to basic command data; S2: When detecting a failure of the distributed main controller, determine the corresponding basic command data according to the type of control task at the previous moment before the failure, and form a basic command control frame to implement real-time control over the devices that are working.

[0050] For the detailed working method, refer to the content in Embodiment 1, which will not be elaborated here.

[0051] This implementation also proposes an integrated control terminal, including a processor, and the processor is configured to execute the process of the above-mentioned distributed control-based urban water management method The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A distributed control-based urban water management system, characterized in that Including: it includes a distributed master controller, an integrated control terminal, and a field device layer. The field device layer is used to collect data of the urban water supply network. The field device layer is respectively communicatively connected to the distributed master controller and the integrated control terminal, and the distributed master controller is communicatively connected to the integrated control terminal; The integrated control terminal is configured to: monitor communication frames of the communication network in real time, determine the type of control task currently being performed by the distributed master controller when the distributed master controller implements control over analog signal communication cards and digital signal communication cards. Each type of control task corresponds to basic command data. When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the moment before the failure, and form a basic command control frame to perform real-time control on the devices that are working.

2. The distributed control-based urban water management system according to claim 1, characterized in that the field device layer includes: intelligent water meters, flow sensors, pressure sensors, temperature sensors, and valve controllers. The digital signal devices in the field device layer are connected to digital signal communication cards, and the analog signal devices in the field device layer are connected to analog signal communication cards. The communication network is respectively communicatively connected to the distributed master controller, the integrated control terminal, the analog signal communication card, and the digital signal communication card.

3. The distributed control-based urban water management system according to claim 1, characterized in that the distributed master controller adopts a redundant design, including a main controller and a secondary controller. The secondary controller only communicates with the main controller to ensure the normal working state of the main controller. When the control of the main controller is abnormal, the secondary controller immediately takes over the control and restarts the main controller.

4. The distributed control-based urban water management system according to claim 1, characterized in that the integrated control terminal monitors communication frames in the communication network and periodically sends heartbeat frames to each device including the distributed master controller. Once the heartbeat frame of a certain device is not replied, the integrated control terminal starts a fault diagnosis process, repeatedly asks the device, and if no reply is received after repeating the inquiry for a set time, it is determined that the current device has failed, and an alarm message is sent to the distributed master controller.

5. The distributed control-based urban water management system according to claim 1, characterized in that the basic command data is shutdown command data. When the distributed master control fails, the integrated control terminal replaces the master controller and safely shuts down the controlled cards that are working according to the shutdown command data.

6. The distributed control-based urban water management system according to claim 1, characterized in that The distributed master controller caches the received traffic data, detects the cached traffic data, determines the abnormal location point when an abnormality is detected, performs Fourier transform processing on the process data within a set time period of the determined abnormal location point to obtain spectral information, and determines whether there is a leak at this abnormal location point according to the spectral information; When it is preliminarily determined that there is a leak, a verification instruction is sent to the controlled card corresponding to the abnormal location point. The controlled card corresponding to the abnormal location point calculates the spectral information for the data cached by itself within a larger time range, and finally determines the leakage location.

7. A method for urban water management based on distributed control, characterized in that, Applied to the integrated control terminal, it includes the following processes: Real-time monitor the communication frames of the communication network, obtain the types of control tasks when the distributed master controller implements the control of the device, and each type of control task corresponds to basic command data; When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the previous moment of the failure, and form a basic command control frame to perform real-time control on the device that is working.

8. The distributed control-based urban water management method according to claim 7, characterized in that Monitor the communication frames in the communication network, and regularly send heartbeat frames to each device including the distributed master controller. Once the heartbeat frame of a certain device is not replied, start the fault diagnosis process and repeatedly query the device; If no reply is obtained after repeatedly querying for a set time, it is determined that the current device has failed, and an alarm message is sent to the distributed master controller.

9. The distributed control-based urban water management method according to claim 7, characterized in that The basic command data is shutdown command data. When the distributed master control fails, the working controlled card is safely shut down according to the shutdown command data.

10. An integrated control terminal, characterized in that, It includes a processor, and the processor is configured to execute the following process: Real-time monitor the communication frames of the communication network, obtain the types of control tasks when the distributed master controller implements the control of the device, and each type of control task corresponds to basic command data; When a failure of the distributed master controller is detected, determine the corresponding basic command data according to the type of control task at the previous moment of the failure, and form a basic command control frame to perform real-time control on the device that is working.

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