MCU control system based on variable capacitor

Abstract

The invention relates to the technical field of hydraulic radial gate control, and discloses an MCU control system based on a variable capacitor, which comprises a limiting module used for detecting the maximum opening degree of opening operation of a hydraulic radial gate and detecting the full-closing position of closing operation of the radial gate, and a capacitor controller comprising a plurality of layers of staggered comb plates, a three-dimensional electrode network and a waterproof unit, the multiple layers of staggered comb plates and the three-dimensional electrode network are cooperatively used for detecting the arc-shaped movement distance of the supporting arm, when the radial gate is closed, an obstacle recognition model is arranged to recognize obstacles hindering closing of the radial gate in a dam water body and feed the recognition result back to the MCU control module, and the MCU control module receives the recognition result and sends the recognition result to the control module. A control signal is output to the radial gate control unit to intervene in radial gate opening and closing control, accurate control over opening and closing of the hydraulic radial gate is achieved, meanwhile, temperature compensation is conducted on capacitance data, radial gate opening and closing detection is more accurate, and monitoring and limit position protection in the hydraulic radial gate opening and closing control process are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic arc door control and discloses an MCU control system based on a variable capacitor. Background Art

[0002] Hydraulic radial gates are key flood discharge equipment commonly used in water conservancy hubs. It is stipulated that hydraulic radial gates must be equipped with upper and lower limit protection devices. The upper and lower limit protection devices of hydraulic radial gates currently in use basically use proximity switches or mechanical limit switches as core detection elements, and cooperate with certain mechanical triggering mechanisms to achieve the limit function. Since both detection elements have considerable movement stroke and hysteresis, the limit protection triggering action is not accurate enough, especially at the lower limit position. When the gate has run to the fully closed position and is supported by the bottom sill of the waterway and cannot continue to run downward, the limit device will not be triggered, causing the hydraulic control system to fail to shut down in time, making the operation of the hydraulic radial gate a safety hazard. Summary of the Invention

[0003] To solve the above technical problems, the main purpose of the present invention is to provide an MCU control system based on a variable capacitor, and the MCU control system based on a variable capacitor includes:

[0004] The limit module includes an upper limit and a lower limit. The upper limit is used to detect the maximum opening of the hydraulic arc door when it is open, and the lower limit is used to detect the fully closed position of the arc door when it is closed;

[0005] A capacitance controller comprising a multi-layer interlaced comb plate, a three-dimensional electrode network, and a waterproof unit, wherein the multi-layer interlaced comb plate and the three-dimensional electrode network cooperate to detect the arc movement distance of the support arm;

[0006] The MCU control module includes a temperature compensation unit for performing temperature compensation on the capacitance data and an arc gate control unit for controlling the opening and closing of the arc gate;

[0007] The arc gate obstacle avoidance module uses the obstacle recognition model to identify obstacles in the dam water body that hinder the closing of the arc gate when the arc gate is closed, and feeds back the recognition results to the MCU control module. The MCU control module receives the recognition results and outputs a control signal to the arc gate control unit to intervene in the arc gate control.

[0008] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0009] The hydraulic arc door performs circular motion around the hinge point of the support arm. The limits of the circular motion include a maximum circular arc and a minimum circular arc. The maximum circular arc corresponds to the upper limit of the limit module, and the minimum circular arc corresponds to the lower limit of the limit module.

[0010] The hydraulic arc door is provided with a driving push rod driven by the arc door support arm, and one end of the driving push rod is fixed on the support arm hinge point seat;

[0011] The driving push rod and the hydraulic arc door form a linkage device, which converts the arc motion at the arc door support arm into linear motion of the push rod.

[0012] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0013] The upper limit position detection arc door opening operation maximum opening, generates an upper limit position signal, and triggers the limit protection relay to operate;

[0014] The lower limit detects the maximum closing limit of the arc door, generates a lower limit signal, and triggers the action of the limit protection relay.

[0015] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0016] The upper limit position is configured to determine the maximum opening degree of the arc door by detecting the inter-layer displacement change of the multi-layer staggered comb plates;

[0017] The lower limit is configured to determine the maximum limit of the arc door closing operation by detecting the inter-layer displacement change of the multi-layer staggered comb plates;

[0018] The detection signals of the upper limit and the lower limit are transmitted to the signal processing unit through independent conductive paths and are logically associated with the capacitance value of the capacitance controller.

[0019] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0020] The adjacent layers of comb teeth of the multi-layer staggered comb plate are provided with a staggered offset in the vertical direction;

[0021] The staggered arrangement of the multi-layer staggered comb plates causes the electric field lines of adjacent layers of comb teeth to overlap in space, forming an asymmetric electric field channel. By increasing the electric field line density per unit area, the detection sensitivity of the opening and closing of the hydraulic valve is improved.

[0022] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0023] Each layer of comb plates is composed of multiple parallel metal comb teeth, and the comb teeth of adjacent layers are alternately offset in the vertical direction to form an asymmetric matching relationship;

[0024] The grid of the three-dimensional electrode network is composed of multiple groups of independent conductive paths. Each group of conductive paths corresponds to a layer of comb teeth, forming a local capacitance unit. The conductive paths are separated by a gradient insulation layer. Through differential signal acquisition, an ADC channel is configured for each local capacitance unit.

[0025] The working method of the capacitor controller includes:

[0026] When the multi-layer staggered comb plate is energized, the electric field lines generated by each comb layer extend in different directions due to the staggered arrangement. The conductive paths of the three-dimensional electrode network are aligned with the comb layers, forming a closed electric field loop, which concentrates the diffuse electric field lines to a local area.

[0027] When the arm moves in an arc shape, the relative position between the comb plate layers changes, the effective area of ​​the capacitor changes, and the capacitance value of the local capacitor unit of the capacitor controller changes;

[0028] The capacitance value calculation expression is as follows:

[0029]

[0030] Where c is the capacitance of the local capacitor unit, ε is the dielectric constant of the medium, A is the effective area of ​​the capacitor, and D is the distance between the capacitor plates;

[0031] The distance between the capacitor plates is fixed. When the arc gate is closed, the effective area of ​​the capacitor plates increases, and when it is opened, the effective area of ​​the capacitor plates decreases.

[0032] Each conductive path only responds to the displacement changes of its corresponding comb layer and outputs an independent capacitance value. Through the signal fusion algorithm, the signals of each layer are integrated into a continuous arc motion trajectory.

[0033] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0034] The three-dimensional electrode network is composed of multiple groups of conductive paths, and each group of conductive paths matches the misalignment offset of the comb teeth of the corresponding layer.

[0035] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0036] The system also includes an obstacle recognition module and a game decision module;

[0037] The obstacle recognition module monitors the water environment on the arc gate closing path in real time, identifies obstacles that hinder the arc gate from closing, and outputs the obstacle location and size information;

[0038] The game decision module generates an obstacle avoidance strategy based on the obstacle position, the current arc door closing speed and the hydraulic system status; the obstacle avoidance strategy includes reducing the closing speed, pausing the closing or adjusting the closing angle;

[0039] The arc door control unit receives the obstacle avoidance strategy, dynamically adjusts the oil supply flow and pressure of the hydraulic drive unit, controls the arc door closing action and maintains a safe distance from the obstacle until the obstacle is cleared and the preset closing program is restored;

[0040] The obstacle recognition module, the game decision module, the hydraulic drive unit, and the sensor group form a closed-loop control link.

[0041] As a preferred solution of the variable capacitor-based MCU control system of the present invention, wherein:

[0042] A digital temperature sensor is embedded in the capacitor controller to obtain the capacitor temperature and input it into the MCU control module;

[0043] The MCU control module receives the capacitor temperature and performs temperature compensation on the capacitor data.

[0044] The present invention also discloses an arc door limiting device, which is equipped with the MCU control system based on variable capacitors. The arc door limiting device includes: a support, a rotating hinge, a driving push rod, an arc door support arm and a door leaf;

[0045] The support is used to fix the rotating hinge point, which is used to provide the rotation angle of the hydraulic arc door and set the upper limit and lower limit of the opening and closing of the hydraulic arc door;

[0046] The driving push rod is driven by the radial door support arm, and the driving push rod is also provided with a capacitor controller for identifying the motion trajectory of the hydraulic radial door;

[0047] The arc gate support arm controls the operation of the gate leaf to intercept and release the dam water.

[0048] Beneficial effects of the present invention:

[0049] This application uses capacitance detection of multiple layers of staggered comb plates and a three-dimensional electrode network to capture the arc motion trajectory of the arm in real time, and combines a temperature compensation unit to eliminate environmental interference to ensure the accuracy of arc gate opening control. The upper and lower limits define the distance between the arc gate stroke boundary and the capacitor to form redundant protection and avoid the risk of mechanical overshoot.

[0050] In this application, an arc gate obstacle avoidance module is set up, which dynamically senses water obstacles through the obstacle recognition model. The MCU control module intervenes in the closing action in real time based on this, reduces jamming accidents, and improves the safety of dam operation. The waterproof unit ensures that the capacitor controller can work stably for a long time in a humid environment. The temperature compensation unit offsets the impact of thermal drift on capacitor detection, ensuring the reliability of the system under complex working conditions. This application realizes precise measurement and control of the entire arc gate movement process, multiple safety protections and intelligent decision-making, greatly improving the automation level and risk resistance of the hydraulic arc gate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0052] Figure 1 This is a schematic diagram of the application of the arc door limiting device of the present invention;

[0053] Figure 2 It is a structural diagram of the arc door limiting device of the present invention;

[0054] Figure 3 This is a structural diagram of the linkage push rod of the arc door limiting device of the present invention;

[0055] Figure 4 Schematic diagram of the comb plate of the present invention;

[0056] Figure 5 The figure is a working flow chart of the MCU control system based on variable capacitor of the present invention.

[0057] Figure numerals: 1. Support; 2. Rotary hinge; 3. Driving push rod; 4. Arc door support arm; 5. Door leaf; 6. Linkage push rod; 7. Sealing piston; 8. Device housing; 9. Dielectric; 10. Moving electrode plate; 11. Cable lock; 12. Circuit assembly; 13. Temperature sensor; 14. O-ring. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0059] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0060] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0061] Example 1

[0062] MCU control system based on variable capacitor, including:

[0063] The limit module includes an upper limit and a lower limit. The upper limit is used to detect the maximum opening of the hydraulic arc door when it is open, and the lower limit is used to detect the fully closed position of the arc door when it is closed;

[0064] The hydraulic arc door performs circular motion around the hinge point of the support arm. The limits of the circular motion include a maximum circular arc and a minimum circular arc. The maximum circular arc corresponds to the upper limit of the limit module, and the minimum circular arc corresponds to the lower limit of the limit module.

[0065] The hydraulic arc door is provided with a driving push rod driven by the arc door support arm, and one end of the driving push rod is fixed on the support arm hinge point seat;

[0066] The driving push rod and the hydraulic arc door form a linkage device, which converts the arc motion at the arc door support arm into linear motion of the push rod.

[0067] The upper limit position detection arc door opening operation maximum opening, generates an upper limit position signal, and triggers the limit protection relay to operate;

[0068] The lower limit detects the maximum closing limit of the arc door, generates a lower limit signal, and triggers the action of the limit protection relay.

[0069] The upper limit position is configured to determine the maximum opening degree of the arc door by detecting the inter-layer displacement change of the multi-layer staggered comb plates;

[0070] The lower limit is configured to determine the maximum limit of the arc door closing operation by detecting the inter-layer displacement change of the multi-layer staggered comb plates;

[0071] The detection signals of the upper limit and the lower limit are transmitted to the signal processing unit through independent conductive paths and are logically associated with the capacitance value of the capacitance controller.

[0072] like Figure 1 As shown in the figure, the specific application diagram of the MCU control system based on the variable capacitor is shown. The dotted line part shows that the arc gate is in the upper limit position, and the solid line part shows that the arc gate is in the lower limit position. When the arc gate is in the lower limit position, the bottom of the gate leaf is close to the dam body. At this time, the gate leaf blocks the upstream water from flowing into the downstream.

[0073] Furthermore, the support is used to fix the rotation hinge, and the rotation hinge is used to provide the rotation angle of the hydraulic arc door and set the upper limit and lower limit of the opening and closing of the hydraulic arc door.

[0074] A specific implementation method of a limit module includes:

[0075] The upper and lower limit positions of the hydraulic arc door correspond to the starting and ending points of the linear motion of the driving push rod. By effectively identifying the starting and ending points of the linear motion through the electronic device, the limit position of the arc door can be correspondingly identified, and the corresponding upper and lower limit signals can be generated, thereby triggering the corresponding limit protection relay to achieve limit protection control of the arc door;

[0076] A mechanical trigger stop is provided at the upper limit position. The mechanical stop is installed at the maximum expansion position of the arc door arm. When the arc door is opened to the maximum opening, the stop contact sensor triggers a signal.

[0077] The lower limit position adopts a combination of magnetic induction proximity switch and limit cam. The magnetic induction switch is fixed to the base of the support arm hinge point, and the limit cam is installed on the driving push rod at the closed end of the arc door. When the arc door is closed to the fully closed position, the push rod drives the cam to move to the detection area of ​​the magnetic induction switch and triggers the signal.

[0078] The driving push rod is connected to the linkage device. The driving push rod is a hydraulic telescopic rod. One end of the driving push rod is connected to the arc gate support arm through a hinge, and the other end is fixed to the fixed base plate of the support arm hinge point. The driving push rod has a built-in capacitor controller to provide real-time feedback on the linear displacement of the push rod.

[0079] The circular motion of the arc gate arm is converted into the linear reciprocating motion of the push rod through the hinge. The capacitor controller converts the linear displacement into a capacitor signal and inputs it into the MCU control module.

[0080] When the arc door opens to the maximum circular arc: the arm rotation axis drives the angle sensor to output the angle value; if the angle value reaches the preset threshold, the sensor sends an upper limit signal to the MCU control module; at the same time, the mechanical block contacts the sensor to provide physical redundant trigger protection.

[0081] When the arc gate is closed to the minimum circular arc, for example, when the minimum circular arc is 0°, it is fully closed: the linear displacement of the driving push rod reaches the minimum value, and the capacitor controller outputs a capacitor signal; the limit cam at the end of the push rod enters the detection range of the magnetic induction switch, and the switch is closed to generate a lower limit signal.

[0082] In this application, a preferred specific implementation method for the dam arc gate operation scenario is:

[0083] During the opening process, the operator activates the "open gate" command, the hydraulic pump extends the drive push rod, and the arc gate arm rotates around the hinge point; the angle sensor monitors the rotation angle in real time. When it approaches 120°, the MCU control module gradually reduces the hydraulic flow and slowly approaches the upper limit; after reaching 120°, the upper limit signal is triggered, the hydraulic valve closes, and the arc gate stops moving.

[0084] During the closing process, the operator initiates the "close gate" command, the hydraulic pump starts, the solenoid valve that controls the closing of the arc gate works, and the hydraulic push rod extends; the capacitor controller monitors the position of the push rod. When it reaches the closing end point, the magnetic induction switch triggers the lower limit signal, the hydraulic system stops working, and the arc gate is completely closed.

[0085] A capacitance controller comprising a multi-layer interlaced comb plate, a three-dimensional electrode network and a waterproof unit, wherein the multi-layer interlaced comb plate and the three-dimensional electrode network are used to detect the arc movement distance of the support arm;

[0086] In the present application, a preferred multi-layer staggered comb plate is specifically implemented as an example, wherein the offset of the comb teeth of adjacent layers of the multi-layer staggered comb plate in the vertical direction is 0.02-0.1mm, and the spacing between the comb teeth of each layer is 0.05-0.2mm; the number of layers of the comb plate is 5-10 layers, and the stacking opening between layers is 0.1-0.5mm.

[0087] The staggered arrangement of the multi-layer staggered comb teeth plates enables the comb teeth of adjacent layers to overlap in space.

[0088] The conductive paths of the three-dimensional electrode network are made of highly conductive composite materials, with a path width of 10-50 μm, and each group of conductive paths matches the offset of the comb teeth of the corresponding layer; the gradient insulation layer has a thickness of 5-20 μm and covers between adjacent conductive paths.

[0089] The choice of path width and gradient insulation layer thickness is determined in the actual setting.

[0090] The conductive path and the comb-tooth structure form a local capacitance unit, and each capacitance unit independently outputs a capacitance signal.

[0091] Each layer of comb plates is composed of multiple parallel metal comb teeth, and the comb teeth of adjacent layers are alternately offset in the vertical direction to form an asymmetric matching relationship;

[0092] The grid of the three-dimensional electrode network is composed of multiple groups of independent conductive paths. Each group of conductive paths corresponds to a layer of comb teeth, forming a local capacitance unit. The conductive paths are separated by a gradient insulation layer. Through differential signal acquisition, an ADC channel is configured for each local capacitance unit.

[0093] The working method of the capacitor controller includes:

[0094] When the multi-layer staggered comb-tooth plates are energized, the electric field lines generated by each comb-tooth layer extend in different directions due to their staggered arrangement. The conductive paths of the three-dimensional electrode network are aligned with the comb-tooth layers to form a closed electric field loop, concentrating the originally diffuse electric field lines to a preset local area. The upper and lower layers of the multi-layer comb-tooth plates are aligned to form multiple capacitor units.

[0095] When the arm moves in an arc shape, the interlayer spacing or relative position of the comb plates changes, the effective area of ​​the capacitor changes, and the capacitance value of the local capacitor unit of the capacitor controller changes;

[0096] The capacitance value calculation expression is as follows:

[0097]

[0098] Where c is the capacitance of the local capacitor unit, ε is the dielectric constant of the medium, A is the effective area of ​​the capacitor, and D is the distance between the capacitor plates;

[0099] The distance between the capacitor plates is fixed. When the arc gate is closed, the effective area of ​​the capacitor plates increases, and when it is opened, the effective area of ​​the capacitor plates decreases.

[0100] Each conductive path only responds to the displacement changes of its corresponding comb layer and outputs an independent capacitance value. Through the signal fusion algorithm, the signals of each layer are integrated into a continuous arc motion trajectory.

[0101] A specific implementation method of a multi-layer staggered comb plate includes:

[0102] Hierarchical structure and parameter design include:

[0103] The substrate material can be a high-flatness insulating substrate, and the surface must be cleaned to ensure that there is no oil, dirt, or impurities.

[0104] The comb teeth are made of high-purity copper foil or aluminum alloy foil, which is fixed on the surface of the insulating substrate to form an initial conductive layer.

[0105] In the present application, a preferred material selection implementation method includes: the gradient insulation layer can be made of polyimide or epoxy resin, and the viscosity can be controlled by solution blending to ensure uniform coating thickness; the interlayer spacer can be made of glass fiber gasket.

[0106] The processing method of each single-layer comb tooth structure includes coating photoresist on the surface of the conductive layer, performing patterned exposure through a UV exposure machine and a customized mask plate, forming a comb tooth protection area after development, and using wet etching to remove the metal layer in the unprotected area to retain the parallel comb tooth structure. The length of a single comb tooth is designed according to the movement range of the arm. After de-gumming, the edges of the comb teeth are chamfered to prevent tip discharge from affecting the electric field distribution.

[0107] Finally, nickel-gold is electroplated on the surface of the metal comb teeth to improve oxidation resistance and conductive stability.

[0108] The first layer of substrate is fixed on the stage. Each subsequent layer of substrate is offset perpendicular to the comb teeth of the previous layer in the Z-axis direction using a microscope camera. The offset can be precisely adjusted by a stepper motor to achieve alternating offset of the comb teeth of adjacent layers.

[0109] When stacking each layer, insulating spacers are pasted on the edge of the substrate to ensure uniform interlayer openings. The stacking pressure is maintained by adsorption tooling, and low-temperature curing glue is used to bond at fixed points on the edge of the substrate to prevent the glue from penetrating into the comb tooth area and affecting the electric field. The number of stacked layers is controlled at 5-10 layers. After every 2-3 layers of stacking are completed, the interlayer opening is detected using a laser thickness gauge.

[0110] The dynamic self-calibration mechanism automatically triggers a full capacitance scan during system idle time, comparing capacitance trends across layers and compensating for baseline shifts caused by seal aging and temperature drift.

[0111] Stereoscopic electrode network integration includes:

[0112] A highly conductive composite material path is prepared in the edge area of ​​the substrate corresponding to each layer of comb teeth. The path width is 10-50μm. The offset of the layer of comb teeth is calibrated by the coordinate positioning system. The end of the conductive path is integrated with a pad for subsequent signal lead-out. At the same time, the diluted polyimide solution is evenly coated between adjacent conductive paths through a slit coater with a thickness controlled at 5-20μm to form insulation isolation.

[0113] like Figure 4 The figure shows the schematic diagram of the comb plate. The upper and lower substrates are meshed with each other, and each comb layer and its corresponding conductive path form an independent capacitive sensing unit. When the arm moves in an arc, the relative positions of the layers of the multi-layer comb plate change differentially: the compression of the proximal layer spacing increases the effective capacitance area, and the expansion of the distal layer spacing causes the electric field line density to decrease. Each unit realizes independent acquisition of displacement signals through physical isolation design to avoid inter-layer signal crosstalk. The comb plate group is rigidly connected to the moving end of the arm through an elastic bracket. The overall structure is encapsulated by vacuum injection molding process, and a ring-shaped waterproof unit is set on the periphery of the comb array to ensure the stability of the electric field in high humidity environments. A signal lead integrated interface is set at the bottom to achieve multi-point connection with the external signal processing module.

[0114] A specific implementation method of a three-dimensional electrode network includes:

[0115] The electrode network adopts a three-dimensional architecture, which includes multiple transverse paths and multiple longitudinal paths. The direction of each of the multiple transverse paths matches the offset of the comb layer, and the multiple longitudinal paths form conductive columns in the gradient insulating layer to realize the independent transmission of signals from each layer to the processing module.

[0116] A specific implementation method of a waterproof unit includes:

[0117] The waterproof unit is provided with a sealing piston to ensure that the limit device is sealed to the outside world during operation, preventing external water vapor from corroding and interfering with the internal components.

[0118] An inclined drain outlet is set on the inner side of the sealing ring to guide the seepage water to the outside through the diversion groove to prevent water accumulation from affecting capacitance detection.

[0119] Further frequency domain filtering is set up, and a digital bandpass filter is designed to separate interference based on the low-frequency characteristics of the sealing material aging signal and the high-frequency characteristics of the mechanical displacement signal;

[0120] The sealing ring is used to prevent water intrusion from causing capacitance detection failure or electrical failure.

[0121] A specific implementation method of a capacitor controller working method includes:

[0122] When the comb plate is energized, the staggered arrangement of the comb teeth on each layer generates electric field lines with different directions, which are aligned through the conductive paths of the three-dimensional electrode network to form a closed electric field loop, concentrating the diffuse electric field to the local detection area.

[0123] When the arm moves in an arc, according to the formula The change in the relative position between the comb plate layers causes the effective area A of the capacitor plates to change, so the capacitance value of each local capacitor unit produces a differentiated response.

[0124] Each set of conductive paths only captures the displacement changes of the corresponding comb layer and outputs an independent capacitance signal. The gradient insulation layer design eliminates inter-layer crosstalk, and the signal fusion algorithm is used to perform weighted processing on the capacitance data of each layer to convert the discrete capacitance values ​​into a continuous arc motion trajectory.

[0125] A specific implementation method of the signal fusion algorithm:

[0126] The signal fusion algorithm is based on the spatial correlation of multi-layer capacitor data and kinematic constraints. It achieves accurate conversion of discrete signals to continuous trajectories through multi-dimensional data coupling. The processing flow is as follows:

[0127] The input parameters include the original data layer and the structural characteristic parameters, wherein the original data layer includes the independent capacitance values ​​C1 to C1 output by each layer of capacitance unit. n , C n The independent capacitance value output by the n-th layer capacitor unit and the corrected capacitance value ΔC1~ΔC after temperature compensation are n , ΔC n is the corrected capacitance value of the n-th layer capacitor unit after temperature compensation.

[0128] In this application, a preferred comb layer spatial distribution parameter setting includes each layer's misalignment offset and interlayer stacking opening;

[0129] Processing the acquired input parameters, wherein the processing process includes signal preprocessing, spatial weight allocation, and three-dimensional trajectory reconstruction;

[0130] Furthermore, the signal preprocessing includes: performing sliding average filtering on the capacitance value of each layer, setting the sliding window width to multiple sampling cycles, eliminating the high-frequency noise introduced by mechanical vibration, and performing the ΔC1~ΔC n A secondary correction is performed to convert the capacitance values ​​of each layer into relative change rates to eliminate dimensional differences.

[0131] Furthermore, the spatial weight allocation includes: calculating the detection sensitivity of each layer to different directions of arc motion according to the misalignment amount and stacking opening of each layer of comb teeth.

[0132] Furthermore, the detection sensitivity of each layer to different directions of arc motion is calculated, including the large misalignment layer focusing on tangential displacement detection and the small misalignment layer focusing on normal displacement detection.

[0133] A dynamic weight matrix is ​​set, and the dynamic weight matrix adjusts the arc gate motion sensitivity according to the arc gate motion direction. The dynamic weight matrix includes: establishing a weight coefficient matrix related to the motion direction, and the weight value is adaptively adjusted according to the real-time motion direction.

[0134] The output results include radial door motion state parameters and control decision signals;

[0135] In this application, a preferred implementation method of the arc gate motion state parameters includes: constructing real-time three-dimensional coordinates (X, Y, Z), the motion direction vector includes the tangential angle θ, the normal angle φ, and the instantaneous linear velocity and angular acceleration;

[0136] The upper limit and lower limit of the arc gate movement are marked by the position threshold comparison result.

[0137] like Figure 5 As shown, the capacitance of the variable capacitor C1 is converted into a voltage signal by the capacitance / voltage conversion unit in the circuit component. The voltage signal is converted into a digital signal that can be processed by the MCU microprocessor through the A / D converter, and the digital signal is conditioned and filtered. The change of C1 corresponds to different positions of the arc gate. The MCU records the values ​​of the arc gate at the upper limit and lower limit positions according to the preset instructions issued by the arc gate upper limit preset line and the arc gate lower limit preset line, and completes the limit threshold preset. The MCU obtains the real-time temperature of the dielectric detected by the temperature sensor and performs temperature compensation on the capacitance data according to the known dielectric temperature coefficient. During the operation of the arc gate, the MCU compares the measured value with the limit threshold in real time. When the measured value reaches the limit threshold, a limit signal will be generated immediately. The limit signal triggers the limit relay. The contacts of the limit relay are directly connected to the corresponding electrical control circuit of the hydraulic arc gate for limit control.

[0138] Further, Figure 5 The middle upper limit relay K2 is used to output the arc gate upper limit control point, and the lower limit relay K1 is used to output the arc gate lower limit control point.

[0139] After the corresponding program in the MCU control module completes the above preset work, the control contacts of the upper and lower limit relays are respectively connected to the corresponding opening and closing electrical control circuits of the arc gate. When the arc gate runs to the preset point, the corresponding preset relay will act and cut off the control circuit of the corresponding running direction. The arc gate stops running and the limit protection takes effect.

[0140] When the arc gate is closed, an obstacle recognition model is set to identify obstacles in the dam water body that hinder the closing of the arc gate, and the recognition results are fed back to the MCU control module. The MCU control module receives the recognition results and outputs a control signal to the arc gate control unit to intervene in the arc gate control;

[0141] The variable capacitor-based MCU control system also includes an obstacle recognition module and a game decision module;

[0142] The obstacle recognition module monitors the water environment on the arc gate closing path in real time, identifies obstacles that hinder the arc gate from closing, and outputs the obstacle location and size information;

[0143] The game decision module generates an obstacle avoidance strategy based on the obstacle position, the current arc door closing speed and the hydraulic system status; the obstacle avoidance strategy includes reducing the closing speed, pausing the closing or adjusting the closing angle.

[0144] The MCU control module includes a temperature compensation unit for performing temperature compensation on capacitance data and an arc gate control unit for controlling the opening and closing of the arc gate.

[0145] The obstacle recognition module, game decision module, pre-set hydraulic drive unit and sensor group form a closed-loop control link to ensure the real-time obstacle recognition and reliability of obstacle avoidance action during the arc door closing process.

[0146] A specific implementation method of an obstacle recognition module includes:

[0147] A three-layer sensor network is deployed at the door leaf edge, the front end of the support arm, and the outside of the driving push rod in the arc door closing path. The three-layer sensor network includes an ultrasonic array, a phased array sonar ring, and a low-light vision system.

[0148] In the present application, a preferred sensor setting method includes setting an ultrasonic array for acquiring the shape of underwater obstacles;

[0149] A circular phased array sonar ring is installed on the periphery of the arc gate, which updates the collected data at a fixed time and penetrates the turbid water to obtain the obstacle volume parameters;

[0150] A visual sensor is installed on the inner side of the guide plate at the bottom of the door leaf to collect images and calculate the equivalent diameter of the obstacle.

[0151] FPGA hardware triggering can ensure that the ring scanning sensor and vision sensor collect data at the same time;

[0152] The data obtained by the three-layer sensor network is processed through multivariate data fusion to output the obstacles that hinder the closing of the arc gate, and output the obstacle location and size information.

[0153] Furthermore, multivariate data fusion processing includes three-level data fusion and real-time prediction, wherein the three-level data fusion includes signal fusion, feature fusion and decision fusion.

[0154] You can also set up redundant sensors. When a sensor fails, it will automatically switch to the redundant sensor data.

[0155] Real-time prediction and fusion of sensor data predicts the future position and speed of obstacles and generates dynamic trajectories. For example, if an obstacle moves at 0.5m / s, its position deviation in 0.2 seconds is predicted to be less than 10mm, triggering control commands in advance.

[0156] The braking distance is predicted by combining the hydraulic system response delay and closing speed to calculate the braking distance S = v × (T + 0.2s) + 0.5aT 2 , where T is the total delay and a is the braking acceleration;

[0157] Angle adjustment optimization uses PID algorithm to control the arc gate movement and thus the angle. When the obstacle deviates, the arc gate angle is corrected;

[0158] In this application, when the obstacle is identified as a fishing net, the soft contact strategy is enabled to reduce the opening and closing speed of the arc gate. If the contact pressure is abnormal, emergency braking is triggered.

[0159] A digital temperature sensor is embedded in the capacitor controller to obtain the capacitor temperature and input it into the MCU control module;

[0160] The MCU control module receives the capacitor temperature and performs temperature compensation on the capacitor data. The specific implementation method of the temperature compensation can adopt a variable capacitance series compensation method to offset the temperature coefficient of the original capacitor.

[0161] Furthermore, the amplification factor and integration time of the detection circuit are dynamically adjusted according to the capacitance variation range. For example, when the opening is large, it switches to low gain mode, reducing the ADC bit requirement and signal processing complexity.

[0162] Example 2

[0163] like Figure 2As shown, the arc door limiting device includes: a support 1, a rotating hinge 2, a driving push rod 3, an arc door support arm 4 and a door leaf 5. The semicircular arc with an arrow in the figure represents the movement trajectory of the arc door;

[0164] The support 1 is used to fix the rotating hinge 2, and the rotating hinge 2 is used to provide the rotation angle of the hydraulic arc door and set the upper limit and lower limit of the opening and closing of the hydraulic arc door;

[0165] The driving push rod 3 is driven by the radial door support arm 4, and the driving push rod 3 is also provided with a capacitor controller for identifying the motion trajectory of the hydraulic radial door;

[0166] The arc gate arm 4 controls the operation of the gate leaf 5 to intercept and release the dam water.

[0167] A specific implementation of an arc door limit device includes:

[0168] like Figure 3 As shown, when the arc gate is in operation, the arc gate arm 4 is connected to the linkage push rod 6 of the limit device, and the linkage push rod 6 is connected to the moving electrode plate 10 through the sealing piston 7. The moving electrode plate 10 is a conductor and serves as the moving electrode plate of a variable capacitor in this design. The dielectric 9 of the capacitor and the conductive device housing 8 are integrated into one body. The device housing 8 forms the fixed electrode plate of the capacitor. The moving electrode plate 10 and the dielectric 9 are in close contact and can move relative to each other. The moving electrode plate 10 moves within the dielectric 9 of the capacitor under the push of the linkage push rod 6. During the continuous movement of the moving electrode plate 10 within the cavity of the dielectric 9, the contact area between the dielectric 9 of the capacitor and the moving electrode plate 10 will continuously change accordingly. Based on the aforementioned capacitor principle description, the device housing 8, the dielectric 9 of the capacitor, and the moving electrode plate 10 together form a variable capacitor C1. A high-precision digital temperature sensor 13 embedded in the dielectric 9 of the capacitor is used to perform temperature compensation on the dielectric coefficient of the dielectric 9 of the capacitor. The sealing piston 7 is made of insulating material, and three high-quality silicone rubber sealing rings are embedded in the surface groove.

[0169] The electrical implementation of this arc gate limiter device utilizes a circuit assembly 12, which converts the changes in the variable capacitor C1 into upper and lower limit position signals for the arc gate and outputs corresponding limit control contacts. The device housing 8 can be formed from a CNC-machined aluminum alloy. Movement of the arc gate drives the moving plate 10, which in turn connects the arc gate to the actuator 6.

[0170] Furthermore, the sealing piston 7 is provided with a plurality of O-rings 14 , which are used to seal the interior of the device to prevent water and moisture from entering. The cable lock 11 is provided on one side of the circuit component 12 , and the cable lock 11 is connected to the circuit component 12 .

[0171] The multi-layer interlaced comb plates and the three-dimensional electrode network are arranged in the dielectric 9 of the capacitor, and the waterproof unit includes a sealing piston 7 and an O-ring 14.

[0172] It is important to note that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only two embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that, without departing substantially from the teachings and advantages of the subject matter described in this application, the size, scale, structure, shape and ratio of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangement, use of materials, color, directional changes, etc. For example, an element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete elements can be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. Any "device plus function" clause is intended to cover the structure of the execution function described herein, and is not only structurally equivalent but also equivalent structures. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0173] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0174] It should be understood that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0175] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. The MCU control system based on variable capacitor is characterized by: include: The limit module includes an upper limit and a lower limit. The upper limit is used to detect the maximum opening of the hydraulic arc door when it is open, and the lower limit is used to detect the fully closed position of the arc door when it is closed; A capacitance controller comprising a multi-layer interlaced comb plate, a three-dimensional electrode network, and a waterproof unit, wherein the multi-layer interlaced comb plate and the three-dimensional electrode network cooperate to detect the arc movement distance of the support arm; The MCU control module includes a temperature compensation unit for performing temperature compensation on the capacitance data and an arc gate control unit for controlling the opening and closing of the arc gate; The arc gate obstacle avoidance module uses the obstacle recognition model to identify obstacles in the dam water body that hinder the closing of the arc gate when the arc gate is closed, and feeds back the recognition results to the MCU control module. The MCU control module receives the recognition results and outputs a control signal to the arc gate control unit to intervene in the arc gate control.

2. The variable capacitor-based MCU control system according to claim 1, wherein: The hydraulic arc door performs circular motion around the hinge point of the support arm. The limits of the circular motion include a maximum circular arc and a minimum circular arc. The maximum circular arc corresponds to the upper limit of the limit module, and the minimum circular arc corresponds to the lower limit of the limit module. The hydraulic arc door is provided with a driving push rod driven by the arc door support arm, and one end of the driving push rod is fixed on the support arm hinge point seat; The driving push rod and the hydraulic arc door form a linkage device, which converts the arc motion at the arc door support arm into linear motion of the push rod.

3. The variable capacitor-based MCU control system according to claim 1, wherein: The upper limit position detection arc door opening operation maximum opening, generates an upper limit position signal, and triggers the limit protection relay to operate; The lower limit detects the maximum closing limit of the arc door, generates a lower limit signal, and triggers the action of the limit protection relay.

4. The variable capacitor-based MCU control system according to claim 3, characterized in that: The upper limit position is configured to determine the maximum opening degree of the arc door by detecting the inter-layer displacement change of the multi-layer staggered comb plates; The lower limit is configured to determine the maximum limit of the arc door closing operation by detecting the inter-layer displacement change of the multi-layer staggered comb plates; The detection signals of the upper limit and the lower limit are transmitted to the signal processing unit through independent conductive paths and are logically associated with the capacitance value of the capacitance controller.

5. The variable capacitor-based MCU control system according to claim 4, characterized in that: The adjacent layers of comb teeth of the multi-layer staggered comb plate are provided with a staggered offset in the vertical direction; The staggered arrangement of the multi-layer staggered comb plates causes the electric field lines of adjacent layers of comb teeth to overlap in space, forming an asymmetric electric field channel. By increasing the electric field line density per unit area, the detection sensitivity of the opening and closing of the hydraulic valve is improved.

6. The variable capacitor-based MCU control system according to claim 5, characterized in that: Each layer of comb plates is composed of multiple parallel metal comb teeth, and the comb teeth of adjacent layers are alternately offset in the vertical direction to form an asymmetric matching relationship; The grid of the three-dimensional electrode network is composed of multiple groups of independent conductive paths. Each group of conductive paths corresponds to a layer of comb teeth, forming a local capacitance unit. The conductive paths are separated by a gradient insulation layer. Through differential signal acquisition, an ADC channel is configured for each local capacitance unit. The working method of the capacitor controller includes: When the multi-layer staggered comb plate is energized, the electric field lines generated by each comb layer extend in different directions due to the staggered arrangement. The conductive paths of the three-dimensional electrode network are aligned with the comb layers, forming a closed electric field loop, which concentrates the diffuse electric field lines to a preset local area. When the arm moves in an arc shape, the relative position between the comb plate layers changes, the effective area of ​​the capacitor changes, and the capacitance value of the local capacitor unit of the capacitor controller changes; The capacitance value calculation expression is as follows: Where c is the capacitance of the local capacitor unit, ε is the dielectric constant of the medium, A is the effective area of ​​the capacitor, and D is the distance between the capacitor plates; The distance between the capacitor plates is fixed. When the arc gate is closed, the effective area of ​​the capacitor plates increases, and when it is opened, the effective area of ​​the capacitor plates decreases. Each conductive path only responds to the displacement changes of its corresponding comb layer and outputs an independent capacitance value. Through the signal fusion algorithm, the signals of each layer are integrated into a continuous arc motion trajectory.

7. The variable capacitor-based MCU control system according to claim 6, characterized in that: The three-dimensional electrode network is composed of multiple groups of conductive paths, and each group of conductive paths matches the misalignment offset of the comb teeth of the corresponding layer.

8. The variable capacitor-based MCU control system according to claim 7, characterized in that: The variable capacitor-based MCU control system also includes an obstacle recognition module and a game decision module; The obstacle recognition module monitors the water environment on the arc gate closing path in real time, identifies obstacles that hinder the arc gate from closing, and outputs the obstacle location and size information; The game decision module generates an obstacle avoidance strategy based on the obstacle position, the current arc door closing speed and the hydraulic system status; the obstacle avoidance strategy includes reducing the closing speed, pausing the closing or adjusting the closing angle; The arc door control unit receives the obstacle avoidance strategy, controls the arc door closing action and maintains a safe distance from the obstacle and issues an alarm message through the human-machine interface until the obstacle is cleared and the preset closing program is restored; The obstacle recognition module, the game decision module, the pre-set hydraulic drive unit, and the sensor group form a closed-loop control link.

9. The variable capacitor-based MCU control system according to claim 8, characterized in that: A digital temperature sensor is embedded in the capacitor controller to obtain the capacitor temperature and input it into the MCU control module; The MCU control module receives the capacitor temperature and performs temperature compensation on the capacitor data.

Images