Winch hoist and water level linkage control method and system

Abstract

The invention provides a winching type hoist and water level linkage control method and system, a winching type hoist device is adopted, the winching type hoist device comprises a winching mechanism, a braking system, a counterweight system and a gate groove design, a built motor self-adaptive neural network control model is adopted, the braking system is used for controlling the motor self-adaptive neural network through the built motor self-adaptive neural network control model, and the counterweight system is used for controlling the motor self-adaptive neural network control model. Through the motor adaptive neural network control model, motor operation parameters can be adjusted according to real-time data, adaptive adjustment is carried out, a speed regulator fluid mechanics model is constructed in a counterweight system, and gate closing time is deduced according to an output result of the motor adaptive neural network control model. Factors of braking effect of spring pressure, magnetic force generated by electrification of an electromagnet, self weight of the gate, buoyancy and flow velocity of water and friction force between the gate and a gate groove are fully considered, and adjustment of closing time is achieved. Automatic control over accident early warning and gate closing is achieved, controllability and accuracy of closing time are achieved, and the closing time is shortened.

Description

Technical Field

[0001] The present application relates to the technical field of automatic gate control for hydropower stations, and in particular to a method and system for controlling a winch-type gate hoist in conjunction with a water level. Background Art

[0002] The water inlet gate of the power station's pressure pipe is usually located at the inlet of the pressure pipe (as shown in the figure). In the event of an emergency, it closes quickly to cut off the water flow. The water inlet gate structure mainly includes three types: manual screw hoist, manual screw hoist, and electric screw hoist.

[0003] An investigation revealed that a certain group planned to retain 12 power stations, of which nine were run-of-river power stations, accounting for 75%. The forebay penstock inlet gates were all controlled by winches or screw-type hoists. Two power stations used winches, four electric ones used screw-type hoists, and three used manual screw-type hoists. None of these were connected to proper start-up signal automatic control, and the gate closing instructions were all manually issued. The following issues existed: 1. No signal alarms or actions occurred when an accident occurred, relying solely on human judgment; 2. Gate closing commands were sometimes delayed or missed when an accident occurred; 3. Gate closing operations took a long time; 4. The power supply capacity was large, single, and unreliable; 5. For electrically operated screw and winch-type hoists, if the power supply was lost, manual operation was required or the closing operation could not be performed.

[0004] Through an investigation into the opening and closing time of the gates in the forebay of the power station, it was found that the existing pressure pipe water inlet gates had problems such as no signal, long closing time, and poor power supply reliability. The manual screw-type opening and closing machine took more than 20 minutes to close the gate. It was impossible for the on-duty personnel to stay by the gate all the time, and the actual time required was even longer.

[0005] Existing gate opening and closing devices do not have a quick closing function, cannot meet the requirements of automatic control, and cannot meet the requirements of quickly closing and shutting off water flow. Therefore, developing a gate control method and device that can quickly shut off water flow, realize automatic control, and save manpower, material and financial resources is an important research topic for technicians in this field. Summary of the Invention

[0006] In view of this, it is necessary to provide a winch-type gate hoist and water level linkage control method that can meet the requirements of automatic control and rapid gate closure to cut off water flow, is easy to promote and apply, is relatively simple to operate, and is suitable for promotion and application in more places.

[0007] The present application provides a method and system for controlling a winch-type gate hoist and a water level linkage, which adopts a winch-type gate hoist, including a winch mechanism, a braking system, a counterweight system, and a gate slot design. The braking system is used to control the motor operating parameters according to the constructed motor adaptive neural network control model through the constructed motor adaptive neural network control model. The motor adaptive neural network control model can adjust the motor operating parameters according to real-time data and perform adaptive adjustments. A speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived according to the output results of the motor adaptive neural network control model. The braking effect of the spring pressure, the magnetic force generated by the electrified electromagnet, the gate's own weight, the buoyancy of the water, the flow rate, and the friction between the gate and the gate slot are fully considered to achieve the adjustment of the closing time. Accident warning and automatic control of gate closing are achieved, the controllability and accuracy of the closing time are achieved, and the closing time is shortened.

[0008] In the first aspect, the embodiment of the present application provides a method for controlling a winch-type gate hoist in linkage with a water level, including a winch mechanism, a braking device, a counterweight system, and a door slot design.

[0009] The hoisting mechanism drives the drum through the electric motor, and the wire rope is connected to the gate;

[0010] The braking system is used to construct a motor adaptive neural network control model, which can adjust the motor operating parameters according to real-time data, including the motor speed, spring pressure brake normally closed braking, counterweight weight, electromagnet power-on time period, and friction coefficient. The descent speed of the balanced gate is controlled by the motor speed, the spring pressure brake normally closed braking is used, and the electromagnet is released when it is energized. The counterweight is adjusted by the counterweight system, and the closing speed is controlled by balancing the gate weight. The friction coefficient is optimized by the door slot design to assist in deceleration.

[0011] Among them, a speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived according to the output results of the motor adaptive neural network control model;

[0012] When lifting the gate, it is done by the electric motor, and the winch and spring pressure brake are used to maintain the gate height;

[0013] When closing the gate, the electromagnet is energized to release the brake, overcoming the spring force to release the brake. The motor rotates to loosen the steel rope on the drum, and the gate falls by its own weight. The buoyancy of the water and the friction between the gate and the gate slot slow down the speed of falling to the bottom. The gate counterweight is used to adjust the closing time of the gate.

[0014] The motor adaptive neural network control model is fed back and optimized.

[0015] Optionally, in an implementation of the first aspect of the present invention, the motor adaptive neural network control model is a combined neural network based on a PID control algorithm, and the construction method includes:

[0016] The adaptive neural network control model consists of four modules, namely a feedforward neural network module, a convolutional neural network module, a recurrent neural network module, and an adaptive adjustment module; wherein the feedforward neural network module, the convolutional neural network module, and the recurrent neural network module are connected in parallel, and their outputs are connected to the adaptive adjustment module;

[0017] The feedforward neural network module is used to collect various state information of the motor and adjust the control output according to the information;

[0018] The convolutional neural network module is used to collect vibration signals of the motor to realize motor fault diagnosis and classification;

[0019] The recurrent neural network module collects historical state information of the motor, predicts the future state of the motor, and outputs corresponding control signals to achieve sequential control of the motor;

[0020] The adaptive adjustment module is used to update the control amount by calculating the difference between the control amount at the previous moment and the control amount at the previous moment. The formula is:

[0021]

[0022] Where Δu k is the control quantity increment at the current moment; u k is the control quantity at the current moment; u k-1 is the control quantity at the previous moment; e k 、e k-1 、e k-2 are the error values of the current moment, the previous moment, and the moment before that; K p is the proportional gain; T i 、T D , T are the integral time constant, differential time constant, and is the sampling period.

[0023] Optionally, in an implementation of the first aspect of the present invention, constructing a fluid dynamics model of the speed regulator includes:

[0024] The height of the power station gate is known to be S. Referring to the reducer of the gantry lift in the construction industry, the reducer ratio is selected as 17:1. The gate weight is calculated to be G and the gate counterweight is G. j The gate has an initial speed of V0, and when the gate falls close to the bottom sill, the speed is V1. According to the formula:

[0025]

[0026] When the distance S, initial velocity V0, and acceleration a are known, the required time t can be calculated.

[0027] Optionally, in an implementation of the first aspect of the present invention, the model includes three scenarios, namely, no underwater force analysis calculation, static underwater force analysis calculation, and dynamic underwater force analysis calculation;

[0028] The non-water force analysis calculation includes the gate's deadweight, gate counterweight, and the friction between the travel support and the track. According to the current hydraulic gate design specifications, the combined friction force T of the support and water stop and the closing force F are:

[0029] T = fG;

[0030] F=n G G+G j -n T T;

[0031] The static water force analysis calculation includes the gate's deadweight, gate counterweight, waterstop friction, friction between the running support and the track, and buoyancy. According to the current hydraulic gate design specifications, the combined friction force T of the support and waterstop and the closing force F are:

[0032] T=f(P Hu -P Hd );

[0033] F=n G G+G j -n T T;

[0034] The dynamic water force analysis calculation includes the gate's deadweight, gate counterweight, dynamic water pressure, water stop friction, and friction between the travel support and the track; the dynamic water pressure is the upward force or downward suction force on the bottom edge; under normal circumstances, the water flow velocity V0 in front of the gate is very small and can be ignored when making estimates; according to the current hydraulic gate design specifications, the combined friction force T of the support and water stop and the closing force F are respectively

[0035] T=f(P Hu -P Hd );

[0036] F=n G G s +G j -n T TP t ;

[0037] Among them, f is the comprehensive friction coefficient of support and water stop, n G is the gate deadweight correction coefficient, 0.9≤n G ≤1.0, n Tis the friction resistance safety factor, n T =1.2; F is the door holding force, P Hu is the horizontal thrust on the upstream side of the gate, P Hd is the horizontal thrust on the downstream side of the gate, P t The upward force is positive and the downward suction is negative.

[0038] Optionally, in an implementation of the first aspect of the present invention, collecting flow velocity information in the penstock, feeding back the motor adaptive neural network control model, and optimizing it to achieve automatic control of accident warning and gate closure include:

[0039] It includes two parts: ultrasonic flowmeter signal acquisition and flow rate display and control. It is installed separately and connected by wire. The acquisition probe transmits the signal to the flow rate display and control device, which can display the pipeline flow rate in real time. When the set flow rate value is reached, the alarm and control output is triggered, and the signal is connected to the alarm circuit and the gate control circuit to realize alarm and automatic control, and the motor adaptive neural network control model is fed back for optimization.

[0040] Optionally, in an implementation of the first aspect of the present invention, the method further includes:

[0041] Install alarm devices at two locations: next to the penstock inlet gate and in the powerhouse;

[0042] The alarm device beside the steel pipe water inlet gate is used to provide early warning to surrounding residents. The early warning range is wide and an air defense alarm device is used;

[0043] The factory alarm device is used to remind factory staff on duty to take appropriate measures or evacuate, to protect equipment and facilities from damage to the greatest extent possible, and requires the transmission of information to be clear and accurate, using voice, sound and light alarm devices.

[0044] Optionally, in an implementation of the first aspect of the present invention, the collection of flow velocity information includes:

[0045] An ultrasonic flow meter with an external clamp-on structure is used and installed on the outer wall of the pressure pipe. It sends ultrasonic pulses through the fluid and receives ultrasonic signals reflected from the fluid. The time difference between transmission and reception is measured and the fluid flow rate is calculated based on the propagation time of the speed of sound.

[0046] Optionally, in an implementation of the first aspect of the present invention, the method includes:

[0047] The core safety device of the winch-type gate hoist ensures operational safety through precise threshold control and multiple protection mechanisms;

[0048] The winch-type gate hoist is equipped with a gate opening meter, which is used to monitor the real-time position of the gate, display the lifting height on site through the display instrument, and preset the upper and lower limit positions and any intermediate position of the gate. When the gate reaches these positions, the opening meter will trigger a signal and automatically cut off the power supply to stop the gate hoist; equipped with a master controller, which serves as a backup for the opening meter. The master controller directly controls the upper and lower limit positions through mechanical contacts to prevent accidents caused by failure of a single device;

[0049] The load limiter is installed under the drum bearing seat or on the balance pulley. When the opening and closing load reaches the rated threshold, it will trigger an audible and visual alarm and automatically cut off the main circuit power supply, the brake will engage and the hoist will stop working. Important hoists or special environments are equipped with both electronic and mechanical load limiters to ensure reliability.

[0050] In a second aspect, an embodiment of the present application provides a winch-type gate hoist and water level linkage control system, which is applied to the winch-type gate hoist and water level linkage control method as described in the first aspect, and is characterized by comprising: a power supply device, a winch-type gate hoist, a signal acquisition and control device, a signal transmission device, and an alarm device;

[0051] The power supply device is used to provide power to the winch-type opening and closing device, the signal acquisition and control device, the alarm device, and the signal transmission device respectively;

[0052] The winch-type opening and closing device is used to lift and close the gate according to instructions;

[0053] The signal acquisition and control device is used to collect signals and realize the linkage control of the winch-type hoist and the water level;

[0054] The signal transmission device is used to transmit a signal to the alarm device according to the command signal sent by the signal acquisition and control device;

[0055] The alarm device realizes automatic control of accident early warning and gate closing according to the alarm signal transmitted by the signal transmission device.

[0056] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0057] processor;

[0058] a memory for storing processor-executable instructions;

[0059] Wherein, the processor is configured to implement the winch-type gate hoist and water level linkage control method as described in the first aspect when executing the instruction.

[0060] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program, and the program instructs a device to execute the method for controlling the linkage between a winch-type gate hoist and a water level as described in the first aspect.

[0061] The present application provides a method and system for controlling a winch-type gate hoist and a water level linkage. The present application provides a method and system for controlling a winch-type gate hoist and a water level linkage. The method and system utilize a winch-type gate hoist, including a winch mechanism, a braking system, a counterweight system, and a gate slot design. A motor adaptive neural network control model is constructed, wherein the braking system is used to adjust the motor operating parameters according to real-time data and perform adaptive adjustments. A speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived based on the output results of the motor adaptive neural network control model. The closing time is adjusted by fully considering the braking effect of the spring pressure, the magnetic force generated by the electrified electromagnet, the gate's own weight, the buoyancy of the water, the flow rate, and the friction between the gate and the gate slot. Accident warning and automatic control of gate closing are achieved, and the closing time is controllable and accurate, shortening the closing time.

[0062] Beneficial effects:

[0063] (1) The motor adaptive neural network control model can adjust the motor operating parameters according to real-time data to achieve precise control of parameters such as motor speed.

[0064] (2) By constructing a fluid mechanics model of the speed regulator in the counterweight system, the gate closing time is derived according to the output results of the motor adaptive neural network control model, thereby achieving controllability and accuracy of the closing time.

[0065] (3) Select a reducer with a suitable speed ratio to reduce the action of the reducer, adjust the gate counterweight, and use the potential energy of the gate when it is lifted to start the gate closing, thereby shortening the closing time.

[0066] (4) Automatic control, easy to promote and apply, and relatively simple to operate, suitable for promotion and application in more places. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 A flow chart of a method for controlling a winch-type gate hoist and a water level linkage provided in one embodiment of the present application.

[0068] Figure 2 A schematic diagram of the flow chart of the motor adaptive neural network control model provided in one embodiment of the present application.

[0069] Figure 3a-3c is a force structure diagram of the winch-type gate hoist and water level linkage control provided in one embodiment of the present application.

[0070] Figure 4 A schematic diagram of a winch-type gate hoist and water level linkage control system module provided in one embodiment of the present application.

[0071] Figure 5 A schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0073] It should be noted that, in the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art to which this application relates. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0074] It should be noted that, in the embodiments of the present application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order. Features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0075] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0076] Example 1

[0077] The present application provides a method and system for controlling a winch-type gate hoist and a water level linkage, which adopts a winch-type gate hoist, including a winch mechanism, a braking system, a counterweight system, and a gate slot design. The braking system is used to control the motor operating parameters according to the constructed motor adaptive neural network control model through the constructed motor adaptive neural network control model. The motor adaptive neural network control model can adjust the motor operating parameters according to real-time data and perform adaptive adjustments. A speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived according to the output results of the motor adaptive neural network control model. The braking effect of the spring pressure, the magnetic force generated by the electrified electromagnet, the gate's own weight, the buoyancy of the water, the flow rate, and the friction between the gate and the gate slot are fully considered to achieve the adjustment of the closing time. Accident warning and automatic control of gate closing are achieved, the controllability and accuracy of the closing time are achieved, and the closing time is shortened.

[0078] Figure 1 A flow chart of a method for controlling a winch-type gate hoist and a water level linkage provided in one embodiment of the present application.

[0079] like Figure 1 As shown, a winch-type gate hoist and water level linkage control method includes a winch mechanism, a brake device, a counterweight system, and a door slot design.

[0080] The hoisting mechanism drives the drum through the electric motor, and the wire rope is connected to the gate;

[0081] The braking system is used to construct a motor adaptive neural network control model, which can adjust the motor operating parameters according to real-time data, including the motor speed, spring pressure brake normally closed braking, counterweight weight, electromagnet power-on time period, and friction coefficient. The descent speed of the balanced gate is controlled by the motor speed, the spring pressure brake normally closed braking is used, and the electromagnet is released when it is energized. The counterweight is adjusted by the counterweight system, and the closing speed is controlled by balancing the gate weight. The friction coefficient is optimized by the door slot design to assist in deceleration.

[0082] Among them, a speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived according to the output results of the motor adaptive neural network control model;

[0083] When lifting the gate, it is done by the electric motor, and the winch and spring pressure brake are used to maintain the gate height;

[0084] When closing the gate, the electromagnet is energized to release the brake, overcoming the spring force to release the brake. The motor rotates to loosen the steel rope on the drum, and the gate falls by its own weight. The buoyancy of the water and the friction between the gate and the gate slot slow down the speed of falling to the bottom. The gate counterweight is used to adjust the closing time of the gate.

[0085] The flow rate information in the pressure steel pipe is collected and fed back to the motor adaptive neural network control model, and the model is optimized to realize automatic control of accident warning and gate closing.

[0086] Figure 2 This is a flow chart of the motor adaptive neural network control model provided in one embodiment of the present application. Figure 2 As shown, it can be understood that, in this embodiment, the motor adaptive neural network control model is a combined neural network based on the PID control algorithm, and the construction method includes:

[0087] The adaptive neural network control model consists of four modules, namely a feedforward neural network module, a convolutional neural network module, a recurrent neural network module, and an adaptive adjustment module; wherein the feedforward neural network module, the convolutional neural network module, and the recurrent neural network module are connected in parallel, and their outputs are connected to the adaptive adjustment module;

[0088] The feedforward neural network module is used to collect various state information of the motor and adjust the control output according to the information;

[0089] The convolutional neural network module is used to collect vibration signals of the motor to realize motor fault diagnosis and classification;

[0090] The recurrent neural network module collects historical state information of the motor, predicts the future state of the motor, and outputs corresponding control signals to achieve sequential control of the motor;

[0091] The adaptive adjustment module is used to update the control amount by calculating the difference between the control amount at the previous moment and the control amount at the previous moment. The formula is:

[0092]

[0093] Where Δu k is the control quantity increment at the current moment; u k is the control quantity at the current moment; u k-1 is the control quantity at the previous moment; e k 、e k-1 、e k-2 are the error values of the current moment, the previous moment, and the moment before that; K p is the proportional gain; T i 、T D , T are the integral time constant, differential time constant, and is the sampling period.

[0094] It is understood that in this embodiment, the sensing system primarily includes a flow rate sensor (either an ultrasonic or electromagnetic flowmeter) to monitor the flow velocity within the steel pipe in real time. A position encoder measures the gate opening (height). A pressure sensor monitors the brake spring pressure and electromagnet status. A water level sensor monitors the upstream and downstream water level difference (to assist in determining buoyancy effects).

[0095] The control unit, which can be a PLC / microcontroller, processes sensor data and executes control logic. A variable frequency drive (VFD) regulates the motor's start / stop and speed (for smooth ramping). A relay module controls the electromagnet's power supply. Gate lift (motor-driven) starts when an open command (manual / automatic) is received. The process: PLC sends a signal → electromagnet energizes → brake releases. The VFD starts the motor → gate lifts at a constant speed to the target height. Upon reaching the target height, the motor stops → electromagnet de-energizes → the spring brake engages.

[0096] Gate Closure (Deadweight Drop + Controlled Deceleration) Starting Conditions: Flow rate exceeds limit (accident) or manual close command. Process: Electromagnet energized: Releases the brake, allowing the gate to freely fall. Speed Control: Friction: Increase friction through gate slot design (e.g., wedge-shaped slots). Buoyancy Utilization: At low water levels, buoyancy is low, resulting in a faster drop; at high water levels, buoyancy assists in deceleration. Counterweight Adjustment: Adjust closing time by adding or removing counterweights (pre-test calibration required). Buffer Protection: Hydraulic buffers / rubber pads are installed at the bottom of the gate to prevent impact.

[0097] Accident warnings and automatic shutdowns can be: Flow rate monitoring: Real-time flow rate data is collected, and a threshold value (e.g., 120% of the design flow rate) is set. Trigger condition: Flow rate exceeds the threshold for X seconds (to prevent false alarms). Automatic response: Trigger an audible and visual alarm, notifying maintenance personnel. Initiate emergency shutdown procedures (which take precedence over other operations).

[0098] Electromagnet brake control: When closing, the electromagnet is energized, overcoming the spring force to release the brake, and the gate begins to fall under its own weight. This process relies on the linkage design of the electromagnet and the brake, such as a conventional electromagnet or an electromagnetic hydraulic brake.

[0099] The buoyancy of water and the friction of the gate slot: When the gate falls, the buoyancy of water and the friction resistance of the gate side edge and the gate slot work together to slow down the falling speed.

[0100] Counterweight adjustment: By adding or removing gate counterweights (e.g., water column weight, additional counterweights), the effective gate weight is changed, thereby adjusting the closing time. Pressure sensors or flow meters monitor the flow rate in the penstock in real time, and combined with water level data, provide accident warnings. For example, an abnormal increase in flow rate triggers an automatic closure procedure.

[0101] The spring-loaded brake mentioned in the braking system is a normally closed brake. Its working principle is that spring force overcomes electromagnetic force, causing the brake shoe to fit tightly against the brake wheel, thereby achieving braking. When the electromagnet is energized, the electromagnetic force overcomes the spring force, releasing the brake shoe and allowing the equipment to operate. After power is removed, the spring force causes the brake shoe to re-engage the brake wheel, achieving braking.

[0102] Motor speed control is achieved through a built-in adaptive neural network control model. This model adjusts motor operating parameters, including speed and current, based on real-time data to match the gate's weight and descent requirements. Furthermore, optimizing the friction coefficient (e.g., adjusting the gate slot design) further assists in speed reduction, improving system stability and safety.

[0103] This method achieves safe and efficient control of the gate through electromagnetic braking, counterweight adjustment, buoyancy / friction deceleration and sensor linkage. It is particularly suitable for large-scale water conservancy projects that require rapid response to water level changes.

[0104] It can be understood that, in this embodiment, the construction of the speed regulator fluid mechanics model includes:

[0105] The height of the power station gate is known to be S. Referring to the reducer of the gantry lift in the construction industry, the reducer ratio is selected as 17:1. The gate weight is calculated to be G and the gate counterweight is G. j The gate has an initial speed of V0, and when the gate falls close to the bottom sill, the speed is V1. According to the formula:

[0106]

[0107] When the distance S, initial velocity V0, and acceleration a are known, the required time t can be calculated.

[0108] Figure 3 a-3c is a force structure diagram of the winch-type gate hoist and water level linkage control provided in one embodiment of the present application.

[0109] It can be understood that, in this embodiment, Figure 3 As shown in a-3c, the model includes three scenarios, namely, no underwater force analysis calculation ( Figure 3 a) Analysis and calculation of static underwater forces ( Figure 3 b) Dynamic underwater force analysis and calculation ( Figure 3 c);

[0110] like Figure 3 As shown in a, the underwater force analysis calculation includes the gate's deadweight, gate counterweight, and the friction between the traveling support and the track. According to the current hydraulic gate design specifications, the combined friction force T of the support and water stop and the closing force F are:

[0111] T = fG;

[0112] F=n G G+G j -n T T;

[0113] like Figure 3 As shown in Figure 2, the static water force analysis and calculation includes the gate's deadweight, gate counterweight, waterstop friction, friction between the travel support and the track, and buoyancy. According to the current hydraulic gate design specifications, the combined friction force T of the support and waterstop and the closing force F are:

[0114] T=f(P Hu -P Hd );

[0115] F=n G G+G j -n T T;

[0116] like Figure 3 The dynamic underwater force analysis calculation shown in c includes the gate's deadweight, gate counterweight, dynamic water pressure, water stop friction, and friction between the running support and the track; the dynamic water pressure is the bottom edge's upward lifting force or downward suction force;

[0117] In general, the velocity of water flow in front of the gate is very small, which can be ignored in the estimation. According to the current hydraulic gate design specifications, the comprehensive friction force T of support and water stop and the closing force F are respectively

[0118] T=f(P Hu -P Hd );

[0119] F=n G G s +G j -n T TP t ;

[0120] Among them, f is the comprehensive friction coefficient of support and water stop, n G is the gate deadweight correction coefficient, 0.9≤n G ≤1.0, n T is the friction resistance safety factor, n T =1.2; F is the door holding force, P Hu is the horizontal thrust on the upstream side of the gate, P Hd is the horizontal thrust on the downstream side of the gate, P t The upward force is positive and the downward suction is negative.

[0121] According to the height stroke of a power station gate of 4 meters, referring to the gantry lift reducer in the construction industry, a reducer ratio of 17:1 is selected. It can be calculated that the gate weight is 1000kg, the gate counterweight is 500kg, the initial gate speed V0 is 0m / s, and when the gate falls close to the bottom sill, the speed V1 is 0.4m / s.

[0122] Research indicates that the average closing time for the Dingcunba Hydropower Station's pressure tunnel inlet gates is approximately 1 minute 34.5 seconds, with a closing speed of approximately 0.16 m / s. For example, if a power station's pressure pipe inlet gates use the same closing method as the Dingcunba Hydropower Station's pressure tunnel inlet gates (electric motor rotation loosens the steel rope) and use a reducer with the same speed ratio as the Dingcunba Hydropower Station, the closing time would be approximately 25 seconds. By selecting a reducer with an appropriate speed ratio, minimizing the effect of the reducer's actuation, and adjusting the gate counterweight, it is possible to utilize the potential energy of the gate's lifting to initiate gate closure, shortening the closing time to less than 30 seconds.

[0123] Calculation conditions Gate structure Gate closing time t1 No underwater gate closure Winch hoist 8.9 seconds Still water gate closed Winch hoist 13.2 seconds Dynamic underwater gate closed Winch hoist 17.5 seconds

[0124] Through theoretical analysis and calculation, it is entirely feasible to shorten the closing time to less than 30 seconds by using a winch hoist with a reducer ratio of 17:1 and the water inlet gate of a power station's pressure pipeline to start and close the gate using its own potential energy.

[0125] It is understood that, in this embodiment, the flow rate information in the penstock is collected, the motor adaptive neural network control model is fed back, and optimization is performed to achieve automatic control of accident warning and gate closure, including:

[0126] It includes two parts: ultrasonic flowmeter signal acquisition and flow rate display and control. It is installed separately and connected by wire. The acquisition probe transmits the signal to the flow rate display and control device, which can display the pipeline flow rate in real time. When the set flow rate value is reached, the alarm and control output is triggered, and the signal is connected to the alarm circuit and the gate control circuit to realize alarm and automatic control, and the motor adaptive neural network control model is fed back for optimization.

[0127] It is understandable that, in this embodiment, the following is also included:

[0128] Install alarm devices at two locations: next to the penstock inlet gate and in the powerhouse;

[0129] The alarm device beside the steel pipe water inlet gate is used to provide early warning to surrounding residents. The early warning range is wide and an air defense alarm device is used;

[0130] The factory alarm device is used to remind factory staff on duty to take appropriate measures or evacuate, to protect equipment and facilities from damage to the greatest extent possible, and requires the transmission of information to be clear and accurate, using voice, sound and light alarm devices.

[0131] It is understandable that, in this embodiment, the collection of flow rate information includes:

[0132] An ultrasonic flow meter with an external clamp-on structure is used and installed on the outer wall of the pressure pipe. It sends ultrasonic pulses through the fluid and receives ultrasonic signals reflected from the fluid. The time difference between transmission and reception is measured and the fluid flow rate is calculated based on the propagation time of the speed of sound.

[0133] It can be understood that, in this embodiment, it includes:

[0134] The core safety device of the winch-type gate hoist ensures operational safety through precise threshold control and multiple protection mechanisms;

[0135] The winch-type gate hoist is equipped with a gate opening meter, which is used to monitor the real-time position of the gate, display the lifting height on site through the display instrument, and preset the upper and lower limit positions and any intermediate position of the gate. When the gate reaches these positions, the opening meter will trigger a signal and automatically cut off the power supply to stop the gate hoist; equipped with a master controller, which serves as a backup for the opening meter. The master controller directly controls the upper and lower limit positions through mechanical contacts to prevent accidents caused by failure of a single device;

[0136] The load limiter is installed under the drum bearing seat or on the balance pulley. When the opening and closing load reaches the rated threshold, it will trigger an audible and visual alarm and automatically cut off the main circuit power supply, the brake will engage and the hoist will stop working. Important hoists or special environments are equipped with both electronic and mechanical load limiters to ensure reliability.

[0137] Example 2

[0138] Figure 4 A schematic diagram of a winch-type gate hoist and water level linkage control system module provided in one embodiment of the present application.

[0139] like Figure 4 As shown, the present application provides a winch-type hoist and water level linkage control system, which is applied to the winch-type hoist and water level linkage control method as described in Example 1, including: a power supply device, a winch-type hoist device, a signal acquisition and control device, a signal transmission device, and an alarm device;

[0140] It can be understood that, in this embodiment, the power supply device is used to provide power to the winch-type opening and closing device, the signal acquisition and control device, the alarm device, and the signal transmission device respectively.

[0141] It can be understood that, in this embodiment, the winch-type opening and closing device is used to lift and close the gate according to instructions.

[0142] It can be understood that, in this embodiment, the signal acquisition and control device is used to collect signals to achieve linkage control of the winch-type gate hoist and the water level.

[0143] It can be understood that, in this embodiment, the signal transmission device is used to transmit the signal to the alarm device according to the command signal sent by the signal acquisition and control device.

[0144] It can be understood that, in this embodiment, the alarm device realizes automatic control of accident warning and gate closing according to the alarm signal transmitted by the signal transmission device.

[0145] Signals can be transmitted to the factory alarm system via wireless or wired transmission. Wired transmission offers high reliability and speed, but because the lines are laid along pressure pipelines, they are prone to line interruption in the event of geological disasters and other accidents, resulting in extremely poor reliability during such incidents. Wireless transmission offers slightly lower reliability and speed than wired transmission, but remains unaffected in the event of an incident and can still reliably transmit signals to the factory. Therefore, wireless transmission is used to transmit signals to the factory.

[0146] The core control principles include:

[0147] Power and lifting mechanism: The gate is raised by an electric motor, which transmits power to a drum through a reducer (three-stage reduction or gear reduction), which winds a wire rope to raise the gate. The gate's height is maintained by a spring-loaded brake. When stationary, the brake locks the drum to prevent the gate from sliding due to its own weight.

[0148] Gate Closing Mechanism: Electromagnetic Braking Control: When closing, the electromagnet is energized, overcoming the spring force to release the brake, and the gate begins to fall under its own weight. This process relies on the linkage design of the electromagnet and the brake, such as a conventional electromagnet or an electromagnetic hydraulic brake. Deceleration Control: The falling speed is adjusted by the following methods:

[0149] The buoyancy of water and the friction of the gate slot: When the gate falls, the buoyancy of water and the friction resistance of the gate side edge and the gate slot work together to slow down the falling speed.

[0150] Counterweight adjustment: By increasing or decreasing the gate counterweight (such as water column weight, additional counterweight blocks), the effective weight of the gate is changed, thereby adjusting the closing time.

[0151] Speed limiting device: Some designs add a centrifugal speed governor or hydraulic damping system to limit the descent speed to within 5m / min to prevent damage from impact with the bottom edge.

[0152] Water level linkage and automatic control, including: sensors and data acquisition, real-time monitoring of the flow rate in the pressure steel pipe through pressure sensors or flow meters, and accident warning combined with water level data. For example, when the flow rate increases abnormally, the automatic closing program is triggered. Gate opening meter / height sensor: used to accurately control the gate position and set automatic shutdown protection for the upper and lower limit positions (such as pausing before descending to the sill to clear debris). Automatic control process: Flat pressure operation: Before closing, the water pressure upstream and downstream of the gate must be balanced through the flat pressure system to reduce friction resistance and ensure smooth closing. Closing the gate in stages: When approaching the sill, the main controller or time relay controls in two stages: in the first stage, the power is cut off and the brake is temporarily engaged (suspended above the sill); in the second stage, the power is re-applied to allow the gate to slowly drop to the sill to avoid impact.

[0153] Safety measures include overload protection: a load limiter automatically alarms and cuts power when the opening and closing load reaches 110% of the rated value, causing the brake to engage and shut down the system. Redundant design: Some systems are equipped with a DC power supply (such as a battery) to ensure emergency door closing via the DC electromagnet in the event of an AC power failure. Maintenance and commissioning: After repairs, a coordinated test run is required, repeatedly opening and closing the gate at least three times to verify the reliability of key components such as brakes and sensors.

[0154] This method achieves safe and efficient control of the gate through electromagnetic braking, counterweight adjustment, buoyancy / friction deceleration and sensor linkage. It is particularly suitable for large-scale water conservancy projects that require rapid response to water level changes.

[0155] The present application provides a method and system for controlling a winch-type gate hoist and water level linkage. The method utilizes a winch-type gate hoist, comprising a winch mechanism, a braking system, a counterweight system, and a gate slot design. The method employs a motor adaptive neural network control model, wherein the braking system is configured to adjust motor operating parameters based on real-time data and perform adaptive adjustments. A speed regulator fluid dynamics model is constructed within the counterweight system, and the gate closing time is derived based on the output of the motor adaptive neural network control model. Closing time adjustment is achieved by fully considering the braking effect of spring pressure, the magnetic force generated by the energized electromagnet, the gate's own weight, the buoyancy of the water, the flow rate, and the friction between the gate and the slot. Accident warnings and automatic gate closing control are achieved, ensuring controllability and accuracy of closing time, thereby shortening closing time. The motor adaptive neural network control model enables adjustment of motor operating parameters based on real-time data, achieving precise control of parameters such as motor speed. By building a fluid dynamics model of the speed regulator into the counterweight system and deriving the gate closing time based on the output of the motor adaptive neural network control model, this approach achieves controllable and accurate closing time. By selecting a speed reducer with an appropriate ratio to minimize the mechanism's actuation and adjusting the gate counterweight, the potential energy of gate lift is utilized to initiate gate closing, shortening closing time. This automated control approach is easy to promote and apply, and its operation is relatively simple, making it suitable for widespread adoption in a wider range of locations.

[0156] Figure 5 This is an electronic device provided by an embodiment of the present application. Figure 5 As shown, the electronic device includes at least the following parts: a processor 101 and a memory 100 , a communication interface 103 , and a bus 102 .

[0157] In the embodiment of the present application, the memory 100 is used to store instructions executable by the processor 101. The processor 101 is configured to execute the instructions to implement the following Figure 4 The equipment module shown is a winch-type gate hoist and water level linkage control.

[0158] In an embodiment of the present application, a computer-readable storage medium includes instructions, and the instructions instruct a device to execute the method of the first aspect. For example, the instructions instruct the device to execute Figure 1 mid-process steps.

[0159] The program running in the electronic device involved in one embodiment of the present application can be a program that controls a central processing unit (CPU) and the like to realize the functions of the above-mentioned embodiment involved in one embodiment of the present invention (a program that enables a computer to function). Then, the information processed by these devices is temporarily stored in a random access memory (RAM) during its processing, and then stored in various ROMs such as read-only memory (Flash ROM) and hard disk drive (HDD), and is read, modified, and written by the CPU as needed.

[0160] It should be noted that a portion of the electronic device of the above embodiment may also be implemented by a computer. In this case, a program for implementing the control function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer and executed.

[0161] It should be noted that the "computer" mentioned here refers to a computer built into an electronic device, employing hardware including an operating system (OS) and peripheral devices. Furthermore, "computer-readable recording medium" refers to removable media such as floppy disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computers.

[0162] Furthermore, "computer-readable recording media" may include: media that dynamically store programs for a short period of time, such as communication lines when transmitting programs via networks such as the Internet or communication lines such as telephone lines; and media that store programs for a fixed period of time, such as volatile memory within computers acting as servers or clients in this context. Furthermore, the aforementioned program may be a program for implementing a portion of the aforementioned functions, or a program that can achieve the aforementioned functions by combining with a program already stored in a computer.

[0163] Furthermore, the electronic device in the above-described embodiments can also be implemented as a collection (device group) consisting of multiple devices. Each device constituting the device group may have a portion or all of the functions or functional blocks of the electronic device in the above-described embodiments. A device group only needs to have all the functions or functional blocks of the electronic device.

[0164] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present application and are not intended to limit the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments are within the scope of protection claimed in the present application.

Claims

1. A method for controlling a winch-type gate hoist in linkage with a water level, characterized in that: Including winch mechanism, braking system, counterweight system, door slot design, The hoisting mechanism drives the drum through the electric motor, and the wire rope is connected to the gate; The braking system is used to construct a motor adaptive neural network control model, which can adjust the motor operating parameters according to real-time data, including the motor speed, spring pressure brake normally closed braking, counterweight weight, electromagnet power-on time period, and friction coefficient. The descent speed of the balanced gate is controlled by the motor speed, the spring pressure brake normally closed braking is used, and the electromagnet is released when it is energized. The counterweight is adjusted by the counterweight system, and the closing speed is controlled by balancing the gate weight. The friction coefficient is optimized by the door slot design to assist in deceleration. Among them, a speed regulator fluid mechanics model is constructed in the counterweight system, and the gate closing time is derived according to the output results of the motor adaptive neural network control model; When lifting the gate, it is done by the electric motor, and the winch and spring pressure brake are used to maintain the gate height; When closing the gate, the electromagnet is energized to release the brake, overcoming the spring force to release the brake. The motor rotates to loosen the steel rope on the drum, and the gate falls by its own weight. The buoyancy of the water and the friction between the gate and the gate slot slow down the speed of falling to the bottom. The gate counterweight is used to adjust the closing time of the gate. The flow rate information in the pressure steel pipe is collected and fed back to the motor adaptive neural network control model, and the model is optimized to realize automatic control of accident warning and gate closing.

2. A method for controlling a winch-type gate hoist and a water level linkage according to claim 1, characterized in that: The motor adaptive neural network control model is a combined neural network based on the PID control algorithm, and the construction method includes: The adaptive neural network control model consists of four modules, namely a feedforward neural network module, a convolutional neural network module, a recurrent neural network module, and an adaptive adjustment module; wherein the feedforward neural network module, the convolutional neural network module, and the recurrent neural network module are connected in parallel, and their outputs are connected to the adaptive adjustment module; The feedforward neural network module is used to collect various state information of the motor and adjust the control output according to the information; The convolutional neural network module is used to collect vibration signals of the motor to realize motor fault diagnosis and classification; The recurrent neural network module collects historical state information of the motor, predicts the future state of the motor, and outputs corresponding control signals to achieve sequential control of the motor; The adaptive adjustment module is used to update the control amount by calculating the difference between the control amount at the previous moment and the control amount at the previous moment. The formula is: Where Δu k is the control quantity increment at the current moment; u k is the control quantity at the current moment; u k-1 is the control quantity at the previous moment; e k 、e k-1 、e k-2 are the error values of the current moment, the previous moment, and the moment before that; K p is the proportional gain; T i 、T D , T are the integral time constant, differential time constant, and is the sampling period.

3. A method for controlling a winch-type gate hoist and a water level linkage according to claim 1, characterized in that: The construction of the governor fluid mechanics model includes: The height of the power station gate is known to be S. Referring to the reducer of the gantry lift in the construction industry, the reducer ratio is selected as 17:

1. The gate weight is calculated to be G and the gate counterweight is G. j The gate has an initial speed of V0, and when the gate falls close to the bottom sill, the speed is V1. According to the formula: When the distance S, initial velocity V0, and acceleration a are known, the required time t can be calculated. The model includes three scenarios: no underwater force analysis calculation, static underwater force analysis calculation, and dynamic underwater force analysis calculation; The non-water force analysis calculation includes the gate's deadweight, gate counterweight, and the friction between the travel support and the track. According to the current hydraulic gate design specifications, the combined friction force T of the support and water stop and the closing force F are: T = fG; F=n G G+G j -n T T; The static water force analysis calculation includes the gate's deadweight, gate counterweight, waterstop friction, friction between the running support and the track, and buoyancy. According to the current hydraulic gate design specifications, the combined friction force T of the support and waterstop and the closing force F are: T=f(P Hu -P Hd ); F=n G G+G j -n T T; The dynamic water force analysis calculation includes the gate's deadweight, gate counterweight, dynamic water pressure, water stop friction, and friction between the travel support and the track; the dynamic water pressure is the upward force or downward suction force on the bottom edge; under normal circumstances, the water flow velocity V0 in front of the gate is very small and can be ignored when making estimates; according to the current hydraulic gate design specifications, the combined friction force T of the support and water stop and the closing force F are respectively T=f(P Hu -P Hd ); F=n G G s +G j -n T T-P t ; Among them, f is the comprehensive friction coefficient of support and water stop, n G is the gate deadweight correction coefficient, 0.9≤n G ≤1.0, n T is the friction resistance safety factor, n T =1.2; F is the door holding force, P Hu is the horizontal thrust on the upstream side of the gate, P Hd is the horizontal thrust on the downstream side of the gate, P t The upward force is positive and the downward suction is negative.

4. A method for controlling a winch-type gate hoist in linkage with a water level according to claim 3, characterized in that: The flow rate information in the pressure steel pipe is collected, the motor adaptive neural network control model is fed back, and the optimization is performed to realize the automatic control of accident warning and gate closing, including: It includes two parts: ultrasonic flowmeter signal acquisition and flow rate display and control. It is installed separately and connected by wire. The acquisition probe transmits the signal to the flow rate display and control device, which can display the pipeline flow rate in real time. When the set flow rate value is reached, the alarm and control output is triggered, and the signal is connected to the alarm circuit and the gate control circuit to realize alarm and automatic control, and the motor adaptive neural network control model is fed back for optimization.

5. A method for controlling a winch-type gate hoist in linkage with a water level according to claim 4, characterized in that: Also includes: Install alarm devices at two locations: next to the penstock inlet gate and in the powerhouse; The alarm device beside the steel pipe water inlet gate is used to provide early warning to surrounding residents. The early warning range is wide and an air defense alarm device is used; The factory alarm device is used to remind factory staff on duty to take appropriate measures or evacuate, to protect equipment and facilities from damage to the greatest extent possible, and requires the transmission of information to be clear and accurate, using voice, sound and light alarm devices.

6. A method for controlling a winch-type gate hoist in linkage with a water level according to claim 5, characterized in that: The collection of the flow rate information includes: An ultrasonic flow meter with an external clamp-on structure is used and installed on the outer wall of the pressure pipe. It sends ultrasonic pulses through the fluid and receives ultrasonic signals reflected from the fluid. The time difference between transmission and reception is measured and the fluid flow rate is calculated based on the propagation time of the speed of sound.

7. A method for controlling a winch-type gate hoist and a water level linkage according to claim 6, characterized in that: include: The core safety device of the winch-type gate hoist ensures operational safety through precise threshold control and multiple protection mechanisms; The winch-type gate hoist is equipped with a gate opening meter, which is used to monitor the real-time position of the gate, display the lifting height on site through the display instrument, and preset the upper and lower limit positions and any intermediate position of the gate. When the gate reaches these positions, the opening meter will trigger a signal and automatically cut off the power supply to stop the gate hoist; equipped with a master controller, which serves as a backup for the opening meter. The master controller directly controls the upper and lower limit positions through mechanical contacts to prevent accidents caused by failure of a single device; The load limiter is installed under the drum bearing seat or on the balance pulley. When the opening and closing load reaches the rated threshold, it will trigger an audible and visual alarm and automatically cut off the main circuit power supply, the brake will engage and the hoist will stop working. Important hoists or special environments are equipped with both electronic and mechanical load limiters to ensure reliability.

8. A winch hoist and water level linkage control system, applied to the winch hoist and water level linkage control method according to any one of claims 1 to 7, characterized in that: include: Power supply device, winch-type opening and closing device, signal acquisition and control device, signal transmission device, alarm device; The power supply device is used to provide power to the winch-type opening and closing device, the signal acquisition and control device, the alarm device, and the signal transmission device respectively; The winch-type opening and closing device is used to lift and close the gate according to instructions; The signal acquisition and control device is used to collect signals and realize the linkage control of the winch-type hoist and the water level; The signal transmission device is used to transmit a signal to the alarm device according to the command signal sent by the signal acquisition and control device; The alarm device realizes automatic control of accident early warning and gate closing according to the alarm signal transmitted by the signal transmission device.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the winch-type gate hoist and water level linkage control method as described in any one of claims 1 to 7 when executing the instruction.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, and the program instructs the device to execute the winch-type hoist and water level linkage control method according to any one of claims 1 to 7.

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