Intelligent regulation and control method and system for open channel water delivery control project and electronic equipment

Abstract

The invention provides an intelligent regulation and control method and system for open channel water delivery control engineering and electronic equipment, and is applied to the technical field of water conservancy project automation. The method comprises the steps that the current water level and the current flow of a target channel and the current opening degree of a gate are obtained; based on the target water level, the target flow, the current water level, the current flow and the current opening of the gate, the gate regulation and control opening of the target channel is determined; the current opening degree of a gate of the target channel is adjusted to be the gate regulation and control opening degree in response to the target channel, and the actual water level and the actual flow of the target channel are obtained; determining a first deviation between the actual water level and the target water level and a second deviation between the actual flow and the target flow; and based on the first deviation and the second deviation, gate regulation and control compensation of the target channel is determined through a proportional-integral-differential control algorithm. According to the invention, accurate scheduling of the open channel water resource in the irrigation area can be realized.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering automation technology, and in particular to an intelligent control method, system and electronic equipment for open channel water conveyance control engineering. Background Technology

[0002] The open channel water conveyance control project described in this article mainly refers to the rational scheduling of water volume in an irrigation canal at a certain node, where hydraulic structures such as gates and pumping stations are used to meet the different scheduling needs of water resources in the main and branch canals of the irrigation area.

[0003] In traditional open channel water conveyance control projects, gate regulation relies on manual adjustment. Operators adjust the gate opening based on historical scheduling experience and on-site conditions, resulting in low regulation efficiency, slow response speed, and insufficient regulation accuracy, leading to problems such as water wastage and water shortage. Moreover, it requires 24-hour manual monitoring, resulting in high operation and maintenance costs and significant human resource consumption. Furthermore, the lack of a water level over-limit early warning mechanism requires manual observation of whether the water level exceeds the limit after adjusting the gate opening, leading to delayed response to equipment failures and significant safety hazards.

[0004] It is evident that the open channel water conveyance control method in related technologies suffers from the technical problem of low scheduling accuracy. Summary of the Invention

[0005] This invention provides an intelligent control method, system, and electronic equipment for open channel water conveyance control projects, which solves the problem of low scheduling accuracy in existing open channel water conveyance control projects and realizes precise scheduling of water resources in irrigation districts.

[0006] This invention provides an intelligent control method for open channel water conveyance control engineering, comprising the following steps: acquiring the current water level, current flow rate, and current gate opening of the target channel; determining the gate control opening of the target channel based on the target water level, target flow rate, and the current water level, current flow rate, and current gate opening; acquiring the actual water level and actual flow rate of the target channel in response to the current gate opening of the target channel being adjusted to the gate control opening; determining a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; and determining the gate control compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

[0007] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided. The method for determining the gate control opening of the target channel based on the target water level, the target flow rate, the current water level, the current flow rate, and the current gate opening includes: a joint control intelligent algorithm based on a progressive training strategy, which determines the gate control opening of the target channel according to the current gate opening, the current water level and the target water level, and the current flow rate and the target flow rate. The gate control opening includes at least one of the following: the number of gates opened, the gate opening time, and the gate opening height.

[0008] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, the method further includes: predicting water level and flow based on the current water level, the current flow rate and the gate control opening of the target channel, to obtain predicted water level and predicted flow rate.

[0009] According to the present invention, an intelligent control method for open channel water conveyance control engineering, after predicting the water level and flow based on the current water level, the current flow rate and the gate control opening of the target channel to obtain the predicted water level and predicted flow rate, the method further includes: generating a water level warning command when the predicted water level exceeds a preset water level threshold.

[0010] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, wherein obtaining the actual water level and actual flow of the target channel includes: obtaining the water level before and after the gate of the target channel; and determining the actual flow of the target channel based on a real-time flow-water level conversion algorithm optimized by physical constraints, according to the water level before the gate, the water level after the gate, and the gate opening.

[0011] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, the method further includes: after adjusting the target channel based on the gate control compensation, determining the gate scheduling result; and visually displaying the gate scheduling result, wherein the gate scheduling result includes: water level monitoring data, flow monitoring data, gate monitoring data, and early warning monitoring data.

[0012] This invention also provides an intelligent control system for open channel water conveyance control engineering, comprising the following modules: a data monitoring module for acquiring the current water level, current flow rate, and current gate opening of the target channel; a control opening module for determining the gate control opening of the target channel based on the target water level, target flow rate, and the current water level, current flow rate, and current gate opening; the data monitoring module is further configured to acquire the actual water level and actual flow rate of the target channel in response to the gate control opening being adjusted to the current gate opening of the target channel; a deviation module for determining a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; and a control compensation module for determining the gate control compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent control method for open channel water conveyance control engineering as described above.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent control method for open channel water conveyance control engineering as described above.

[0015] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the intelligent control method for open channel water conveyance control engineering as described above.

[0016] The intelligent control method, system, and electronic equipment for open channel water conveyance control engineering provided by this invention acquires the current water level, flow rate, and gate opening in real time, and quickly generates the initial gate opening control command by combining the target value. After the initial control is executed, the actual water level and flow rate data are collected immediately, and the first and second deviations from the target value are calculated. Based on the deviation, a proportional-integral-derivative control algorithm is dynamically triggered to generate a precise compensation amount, thereby completing the closed-loop control of initial execution, feedback monitoring, and deviation correction in a single control action. This effectively solves the control error problem caused by the hysteresis of the channel response, significantly reduces the number of repeated gate adjustments, and improves accuracy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the intelligent control method for open channel water conveyance control engineering provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the overall process of the intelligent control method for open channel water conveyance control engineering provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the system configuration of the intelligent control method for open channel water conveyance control engineering provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the intelligent control system for open channel water conveyance control engineering provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] With the development of automation and Internet of Things (IoT) technologies, automated irrigation channels and automated gate control systems have been applied in some irrigation areas. These systems utilize data acquisition and automatic gate control technology to achieve precise and automatic gate control, ensuring accurate water resource allocation. While existing automation systems can partially achieve remote automatic control, some problems remain: the use of asynchronous motor control cannot meet the high-precision gate control requirements; and the lack of integrated intelligent algorithms prevents precise joint control and adjustment of multiple gates.

[0025] Therefore, there is a need for an intelligent control method, system, and electronic equipment for open channel water conveyance control projects to solve the above problems.

[0026] This invention relates to an intelligent control method, system, and electronic equipment for open channel water conveyance control projects. The system comprises a four-layer architecture: a data perception layer, an intelligent algorithm layer, a decision generation layer, and a precise execution layer. It collects real-time data such as water levels before and after the gate and gate opening through high-precision radar level gauges, absolute encoders, and sensors, and combines this with a video monitoring unit to achieve real-time on-site status monitoring. An intelligent decision-making system is constructed based on a deep learning-based progressive joint control algorithm, a physical constraint-optimized real-time flow-to-water-level conversion algorithm, an adaptive gate dynamic adjustment algorithm, and a water level over-limit safety early warning algorithm. Three-level command transmission is achieved through fiber optic communication and a 4G network, driving a worm gear hoist actuator to complete precise gate control. The system integrates multi-gate collaborative control, dynamic flow balance, water level safety over-limit early warning, and remote visual operation and maintenance functions. The entire control system can achieve closed-loop control. It realizes the initial coarse adjustment of the gates through joint control and adjustment algorithm, and corrects and adjusts the gate opening based on the monitored flow feedback information and using the proportional-integral-differential (PID) control algorithm. It can effectively reduce the number of gate adjustments, significantly improve the efficiency of water resource scheduling, engineering safety and automation level in irrigation areas, and is suitable for intelligent control of open channel water conveyance control projects in irrigation areas.

[0027] Optionally, the intelligent control method for open channel water conveyance control engineering in this embodiment can be executed by a server, by a terminal device, or by both a server and a terminal device. Taking the execution of the intelligent control method for open channel water conveyance control engineering in this embodiment by a server as an example.

[0028] Figure 1 This is a flowchart illustrating the intelligent control method for open channel water conveyance control engineering provided by the present invention, as shown below. Figure 1 As shown, the method includes the following steps.

[0029] Step 101: Obtain the current water level, current flow rate, and current gate opening of the target channel.

[0030] In this embodiment of the invention, the data perception layer uses water level sensors, gate opening monitoring equipment, various sensors, and video monitoring equipment to collect real-time multi-level data on site.

[0031] High-precision radar level gauges are installed upstream (in front of the gate) and downstream (behind the gate) to output analog water level signals (4~20mA) or digital signals (RS485) in real time at a frequency of once per second.

[0032] An absolute encoder directly connected to the drive shaft of the gate hoist can detect the gate opening position in real time with an accuracy of ±0.1% (corresponding to ±1mm control accuracy).

[0033] When a flow sensor is deployed, real-time flow data is directly acquired. Without a direct flow sensor, the flow value is dynamically generated based on the real-time upstream and downstream water levels and gate opening, using a flow-level conversion algorithm optimized by physical constraints. All data is transmitted in real-time to the Programmable Logic Controller (PLC) control cabinet via the RS485 communication protocol, with an acquisition cycle of ≤1 second, providing highly timely data support for subsequent control.

[0034] Step 102: Determine the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening.

[0035] In this embodiment of the invention, the entire control system is a closed-loop control system, capable of responding to external disturbances. Let the measured water level or flow rate of the channel and the current gate opening be h0, q0, and u0 before control, and the target water level and flow rate to be controlled be h and q. At this point, the system calculates the required gate opening u1 based on a built-in intelligent algorithm and predicts the water level or flow rate h1 and q1 that will be reached when u1 is applied to the channel. Subsequently, the device executes the control command of the gate opening input u1, the channel state changes, and a new round of system response begins.

[0036] This step is the core calculation component of the closed-loop control system. Based on real-time data collected from the channel's current water level h0, current flow rate q0, and gate opening u0, as well as the set target water level h and target flow rate q, the system calls its built-in intelligent control algorithm (usually based on Model Predictive Control, MPC) to perform calculations.

[0037] This algorithm relies on a physical or data-driven internal hydraulic model describing the dynamics of channel flow. Considering relevant constraints (such as opening limits and safe water levels), it solves for an optimized target gate opening command u1. Simultaneously, the algorithm uses this model to predict the expected water level h1 and expected flow rate q1 that the channel will reach after executing this opening u1. Finally, the system outputs the target opening u1 as a control command to drive the gate action, aiming to continuously bring the channel state close to the target values ​​h and q. The key to this process lies in its closed-loop predictive optimization mechanism. In each control cycle, the system can continuously recalculate and adjust the target opening based on the actual response effect and external disturbances (such as downstream water usage changes and inflow fluctuations), thereby achieving dynamic adaptation and precise, stable control.

[0038] Step 103: In response to the current gate opening of the target channel, adjust the gate control opening to obtain the actual water level and actual flow rate of the target channel.

[0039] In this embodiment of the invention, the data acquisition operation is initiated after confirming that the gate opening has stabilized at u1 (or reached the set allowable error range). The sensor continuously transmits water level and flow signals to the central controller. Sensor data is actively read at fixed time intervals (e.g., several seconds to several minutes). The system continuously monitors the data, and when its rate of change is lower than a preset threshold (indicating that the water flow tends to be relatively stable), the water level and flow values ​​at this moment are recorded as the actual water level and actual flow.

[0040] Due to the inertia and propagation delay of channel flow, the adjusted channel opening u1 requires a certain amount of time (hysteresis time) to fully influence the state of the target cross-section. By employing delayed acquisition or steady-state determination strategies, we ensure that data on the new stable state (or near-stable state) reached by the channel after the opening u1 is applied are captured, rather than transient disturbance data.

[0041] The actual water level and actual flow rate, along with the current gate opening, are stored and transmitted to the core processing unit of the control system as the latest channel status observations.

[0042] Step 104: Determine the first deviation between the actual water level and the target water level, and the second deviation between the actual flow rate and the target flow rate.

[0043] In this embodiment of the invention, the instantaneous difference between the target water level and the actual water level is calculated as the first deviation (water level deviation).

[0044] In some embodiments, the instantaneous deviation of water level from each sampling is accumulated to reflect the degree of continuous deviation; the difference between the rate of water level change and the expected rate is calculated.

[0045] In this embodiment of the invention, the instantaneous difference between the target flow rate and the actual flow rate is calculated as the second deviation (flow rate deviation).

[0046] In some embodiments, the instantaneous deviation of the flow rate from each sampling is accumulated; the difference between the rate of change of the flow rate and the desired rate is calculated.

[0047] Step 105: Based on the first deviation and the second deviation, determine the gate control compensation of the target channel through the proportional-integral-derivative control algorithm.

[0048] When the equipment executes the control command of gate opening input u1, the channel status will change in real time, resulting in a lag in channel response. This causes the current gate opening u1, after being applied to the channel, to deviate from the target water level and flow rate h and q that need to be controlled.

[0049] At this point, using a PID control algorithm, considering this delay effect, and performing secondary fine-tuning based on upstream and downstream water level and flow data, compensation adjustments are made to address this error, achieving higher gate control accuracy with fewer gate adjustments. Furthermore, the time to achieve final control is related to the location of downstream water level and flow monitoring points; the farther the monitoring point is from the gate, the longer the channel feedback time, and consequently, the longer the control time.

[0050] Through the steps described above in this embodiment of the invention, the current water level, flow rate, and gate opening are acquired in real time, and the first gate control opening command is quickly generated in combination with the target value. After the first control is executed, the actual water level and flow rate data are collected, and the first and second deviations from the target value are calculated. Based on the deviation, the proportional-integral-derivative control algorithm is dynamically triggered to generate a precise compensation amount, thereby completing the closed-loop control of the first execution, feedback monitoring, and deviation correction in a single control action. This effectively solves the control error problem caused by the lag in channel response, significantly reduces the number of repeated gate adjustments, and improves accuracy.

[0051] According to the present invention, an intelligent control method for open channel water conveyance control engineering determines the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening, including: The intelligent algorithm for joint regulation and control based on the progressive training strategy determines the gate control opening of the target channel according to the current gate opening, the current water level and the target water level, and the current flow rate and the target flow rate. The gate control opening includes at least one of the following: the number of gates opened, the gate opening time, and the gate opening height.

[0052] In this embodiment of the invention, the intelligent algorithm layer integrates a joint debugging and control intelligent algorithm based on a progressive training strategy. The joint debugging and control intelligent algorithm based on the progressive training strategy can provide the height of the regulating gate, the number of gates to be opened in the hub, and the gate opening time according to the input initial water level and the target flow rate to be adjusted, and initially provide the corresponding adjustment instructions for the gate action.

[0053] The inputs to the joint control intelligent algorithm based on a progressive training strategy include: current water level and target water level, current flow rate and target flow rate, and current gate opening degree. The algorithm can dynamically decide the coordinated actions of multiple gates on the target channel, i.e., gate opening control, based on the target state (target flow rate and target water level) and the current state (current water level, current flow rate, and current gate opening degree). This includes the number of gates opened, the gate opening time, and the gate opening height.

[0054] In some embodiments, an initial training dataset is constructed using historical operating data (operating conditions, control commands, response results) or high-precision hydraulic model simulation data.

[0055] Train a preliminary supervised learning model (such as a deep neural network (DNN) or a reinforcement learning policy network) so that it can initially map the output gate control opening (number of gates opened, gate opening time, and gate opening height) based on the input state (current water level, current flow rate, current gate opening degree, target flow rate, and target water level).

[0056] The pre-trained model is deployed to the actual control system. The model outputs control commands (i.e., gate opening adjustment), the actuator executes the control commands, the target channel responds and generates a new state, and the deviation is calculated. A reward function is defined to quantify the effect of each control command execution. Reinforcement learning algorithms (such as deep deterministic policy gradient, proximal policy optimization, or specialized multi-agent reinforcement learning) are employed to maximize the cumulative expected reward.

[0057] The progressively trained intelligent algorithm model calculates and outputs the optimal (or near-optimal) joint control command, namely the gate control opening, based on the current real-time input (current water level and target water level, current flow rate and target flow rate, and current gate opening degree). This includes the number of gates opened, the gate opening time, and the gate opening height.

[0058] Through the embodiments of this invention, supervised pre-training of historical data / model simulation and continuous optimization driven by reinforcement learning progressively build an intelligent decision-making model capable of coordinating multiple gate actions (joint debugging and control), taking into account the number of openings / closings, target opening degree, and action timing (height, quantity, and time). This transforms the complex problem of coordinated control of multiple gates in open channels into efficient and accurate automated decision-making based on historical experience and real-time feedback.

[0059] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, which obtains the actual water level and actual flow rate of the target channel, including: Obtain the water level before and after the sluice gate in the target channel; The flow-level real-time conversion algorithm and gate dynamic adjustment algorithm based on physical constraints determine the actual flow of the target channel according to the water level before and after the gate and the gate opening.

[0060] In this embodiment of the invention, the intelligent algorithm layer integrates a real-time flow-water level conversion algorithm, which provides the actual flow rate in real time based on the measured water levels before and after the gate and the gate opening, according to the modified gate flow rate calculation formula.

[0061] Based on the actual flow rate, PID control algorithms are used to provide further adjustment commands to the gate's operation, achieving precise gate adjustment. Both gate adjustment processes reflect the transient hydraulic characteristics of the channel, ensuring accurate and timely gate adjustment. Subsequently, the gate dynamic adjustment algorithm, based on the received gate opening command, sends appropriate commands from the motor to enable the hoist to efficiently and smoothly achieve the desired target.

[0062] In some embodiments, a pressure / radar level gauge is installed upstream of the gate to measure the water depth in front of the gate (H_front) in real time, and the same sensor is installed downstream of the gate to acquire downstream water level data (denoted as H_rear). The current gate opening height (denoted as u_open) is read in real time through a gate opening encoder or angle sensor.

[0063] Based on the revised formula for calculating the flow rate through the gate (real-time conversion algorithm for flow rate and water level), the actual flow rate is determined in real time according to the measured water levels before and after the gate and the gate opening. It can be expressed by the following formula: in, Indicates actual traffic volume. This indicates the preset dynamic correction coefficient (which varies with gate type and water flow pattern). Indicates the gate width. It represents the acceleration due to gravity.

[0064] Through the embodiments of the present invention, the water levels before and after the gate of the target channel are obtained, and the flow-water level real-time conversion algorithm optimized by physical constraints is used to determine the actual flow rate in combination with the gate opening control. This allows for more accurate and real-time monitoring of the water level and flow rate information of the target channel.

[0065] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, the method further includes: Based on the current water level, current flow rate, and the gate opening of the target channel, water level and flow rate are predicted to obtain the predicted water level and predicted flow rate.

[0066] In this invention, the prediction function is achieved through a progressively integrated and controlled intelligent algorithm deployed on a remote server's intelligent algorithm layer. This algorithm employs a fusion architecture of physical constraints and deep learning. Based on the open channel hydraulic equations, the basic predicted values ​​are calculated according to the current water level h0, flow rate q0 and control opening u1. A multi-level neural network trained based on historical regulation data takes h0, q0, u1 and target values ​​h and q as inputs and outputs compensation prediction values. The prediction results of the physical constraint module and the deep learning module are weighted and fused according to preset weights (physical weight accounts for 60%-80%) to generate the final predicted water level h1 and predicted flow rate q1.

[0067] Through the embodiments of the present invention, by combining the current water level, current flow rate and gate opening for water level and flow rate prediction, it is possible to predict the future water level and flow rate trends of the target channel in advance.

[0068] According to the intelligent control method for open channel water conveyance control engineering provided by the present invention, after predicting the water level and flow rate based on the current water level, current flow rate, and gate opening of the target channel, the method further includes: When the predicted water level exceeds the preset water level threshold, a water level warning command is generated.

[0069] In this embodiment of the invention, the intelligent algorithm layer integrates a water level over-limit safety early warning algorithm. Based on the gate opening action given by the joint regulation and control algorithm, it calculates the changes in water level, flow rate, etc. after the command is completed, and gives an early warning command on whether the water level will exceed the limit, so as to ensure the safety of regulation.

[0070] The upper and lower limits of the water level before and after the sluice gate are preset. The thresholds are dynamically adjusted through a remote decision generation layer, for example, automatically lowered to 90% of the design value during the flood season.

[0071] When the predicted water level exceeds the preset water level threshold, a water level warning instruction is generated; the water level warning instruction includes the direction of exceeding the limit (excessive height / excessive depth), the deviation amount (e.g., +0.25m), and the risk level (Level 1 / Level 2).

[0072] Through the embodiments of the present invention, the risk of exceeding limits can be predicted before the gate performs regulation, thus solving the problem of delayed fault response in traditional methods.

[0073] According to the present invention, an intelligent control method for open channel water conveyance control engineering is provided, the method further includes: After adjusting the target channel based on gate control compensation, the gate scheduling result is determined; The gate scheduling results are visualized, including water level monitoring data, flow monitoring data, gate monitoring data, and early warning monitoring data.

[0074] In this embodiment of the invention, the decision generation layer is deployed on a remote server. It receives operational information and water demand from each gate station within the irrigation area, issues automatic gate operation commands, and uniformly allocates the water flow at each gate station. It can achieve real-time monitoring, statistics, display, alarm, and video monitoring of channel gate height, instantaneous flow rate, and water level. Furthermore, based on water demand, it can achieve height control, water level control, and flow rate control for both single-gate and multi-gate systems.

[0075] In some embodiments, the real-time status of the gate is monitored, including whether there are foreign objects at the bottom of the gate, gate tilting, and gate jamming; and based on the real-time monitored status of the gate, relevant instructions on whether the gate is safe are given to ensure the normal operation of the gate.

[0076] In the central control room for gate scheduling, there is a large smart screen twin display to show real-time monitoring data, gate scheduling calculation results, water level and gate position safety warnings, etc.

[0077] Through the embodiments of the present invention, after the gate regulation compensation adjustment target channel is determined and the gate scheduling results are visualized, covering water level, flow rate, gate and early warning monitoring data, which can intuitively present the gate scheduling effect and facilitate operators to grasp the regulation effect in a timely manner.

[0078] In some embodiments, the precision execution layer includes a worm gear hoist driven by a servo motor, which can precisely control both speed and torque, with a transmission ratio of over 100, meeting the requirements of high-speed operation of the motor and low-speed operation of the gate, and has good self-locking performance and smooth transmission.

[0079] The precision execution layer includes servo drives, servo motors, and worm gear hoists. The servo drive receives signals from the control system, accurately and quickly positions the gate, and provides drive current to the drive motor. The servo motor can provide different operating speeds according to different gate operating conditions, with precise and controllable torque and position. Furthermore, the servo motor and encoder operate in a closed-loop control system, ensuring safety and reliability. The worm gear hoist offers a high transmission ratio and features good self-locking performance, smooth transmission, and a compact structure.

[0080] The following describes an example of the intelligent control method for open channel water conveyance control engineering provided by the present invention in practical application.

[0081] refer to Figure 2 , Figure 2 This is a schematic diagram of the overall process of the intelligent control method for open channel water conveyance control engineering provided by the present invention, which includes: data acquisition (water level sensor, opening degree monitoring, sediment monitoring, and other monitoring data), intelligent calculation (real-time flow-water level conversion algorithm, gate dynamic adjustment algorithm, and water level over-limit early warning algorithm), decision generation (remote: software platform control, on-site: buttons, touch screen and limit switches), and equipment execution (motor driver, motor action, and gate mechanical transmission part action).

[0082] In a specific example of the intelligent and efficient water conveyance regulation technology and equipment for open channel water conveyance control engineering provided by the present invention, the water level of the channel is collected by a radar water level gauge, the opening degree of the gate is recorded by an absolute encoder at the tail of a servo motor, and then the real-time collected water level, gate opening degree and other data are transmitted to the PLC module of the PLC control cabinet through 485 communication and other means. The PLC control cabinet further transmits the data to the host computer, and the host computer configuration further transmits the data to the remote gate automatic control platform.

[0083] The core of the remote gate automatic control platform is deployed with a real-time flow-to-water-level conversion algorithm, a joint-control intelligent algorithm based on a progressive training strategy, a gate dynamic adjustment algorithm, and a water level over-limit safety early warning algorithm. The joint-control intelligent algorithm based on a progressive training strategy employs an advanced deep learning algorithm that integrates physical constraints. It organically combines multi-level neural networks with physical information constraints to form a progressive training strategy. Based on real-time water level, flow rate, gate opening degree, and the target flow rate to be adjusted, it provides the number of gates to open, the gate adjustment height, and the action time, taking into account both water allocation and water level control requirements for initial gate adjustment. The real-time flow-to-water-level conversion algorithm, based on real-time water level and gate opening degree information collected by the data sensing layer, provides real-time flow information of the channels before and after each gate according to a modified flow rate calculation formula. It also uses PID control algorithms to perform secondary adjustments to the gate opening degree to achieve precise gate regulation. The gate dynamic adjustment algorithm, based on the gate dynamic commands provided by the intelligent algorithm, sends commands to the motor to activate the hoist, thus smoothly and efficiently adjusting the gate opening. The water level over-limit safety early warning algorithm, based on the gate dynamic adjustment commands provided by the intelligent algorithm and real-time monitored water level and flow data, predicts the water level after the current control command is completed, determines whether the water level will exceed the safety limit, and issues an early warning command in advance to ensure the safe operation of gate control.

[0084] The remote gate automatic control platform displays the current gate opening, upstream water level, and gate flow rate in real time on a large screen in the central control room. It also archives the monitored gate opening, upstream water level, and gate flow rate, and displays historical data in the form of curves. Hovering the mouse over the data displays the current time. The platform allows for remote monitoring of equipment status via video surveillance, enabling timely detection and handling of anomalies. When the water level exceeds the warning value, or when the motor or gate malfunctions, the corresponding icon on the large screen will turn yellow and flash to alert management personnel for timely manual intervention.

[0085] After the relevant intelligent algorithm of the remote gate automatic control platform completes the calculation of the gate opening dynamic adjustment command, the execution command is transmitted to the PLC control cabinet through the fiber optic switch or 4G gateway. Then, the PLC control cabinet transmits the gate opening dynamic adjustment command to the DC servo driver through 485 communication, and then provides the corresponding current to the servo motor to run, thereby completing the adjustment of the gate opening.

[0086] refer to Figure 3 , Figure 3 This is a schematic diagram of the system configuration of the intelligent control method for open channel water conveyance engineering provided by the present invention. The automatic gate control platform is connected to a host computer configuration via a fiber optic Ethernet / 4G network. The host computer configuration receives monitoring data such as upstream and downstream water levels and other monitoring data, and communicates with the PLC control cabinet via fiber optic Ethernet. The automatic gate control platform is connected to video monitoring via fiber optic Ethernet / RS-485. The PLC control cabinet is also connected to panel buttons, display instruments, and a touch screen, and is connected to a motor driver via RS-485. The motor driver drives the motor to actuate the mechanical transmission part of the gate.

[0087] The intelligent control system for open channel water conveyance control engineering provided by the present invention will be described below. The intelligent control system for open channel water conveyance control engineering described below can be referred to in correspondence with the intelligent control method for open channel water conveyance control engineering described above.

[0088] refer to Figure 4 , Figure 4 This is a schematic diagram of the intelligent control system for open channel water conveyance control engineering provided by the present invention.

[0089] The data monitoring module 401 is used to obtain the current water level, current flow rate, and current gate opening of the target channel; The gate control module 402 is used to determine the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening. The aforementioned data monitoring module 401 is also used to adjust the current opening of the gate in response to the target channel to the gate control opening, and to obtain the actual water level and actual flow rate of the target channel. Deviation module 403 is used to determine the first deviation between the actual water level and the target water level, and the second deviation between the actual flow rate and the target flow rate; The regulation and compensation module 404 is used to determine the gate regulation and compensation of the target channel based on the first deviation and the second deviation through a proportional-integral-derivative control algorithm.

[0090] Specifically, the intelligent control system for open channel water conveyance control engineering provided by the present invention can realize all the method steps implemented in the above-mentioned intelligent control method embodiment for open channel water conveyance control engineering, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0091] Figure 5 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logic instructions in the memory 530 to execute an intelligent control method for open channel water conveyance control engineering. The method includes: acquiring the current water level, current flow rate, and current gate opening of the target channel; determining the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening; adjusting the gate control opening in response to the current gate opening of the target channel to the gate control opening, acquiring the actual water level and actual flow rate of the target channel; determining a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; and determining the gate control compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

[0092] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the intelligent control method for open channel water conveyance control engineering provided by the above methods. The method includes: acquiring the current water level, current flow rate, and current gate opening of the target channel; determining the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening; adjusting the gate control opening to the current gate opening of the target channel in response to the gate control opening, and acquiring the actual water level and actual flow rate of the target channel; determining a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; and determining the gate control compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

[0094] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements an intelligent control method for open channel water conveyance control engineering provided by the methods described above. The method includes: acquiring the current water level, current flow rate, and current gate opening of the target channel; determining the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening; adjusting the gate control opening in response to the current gate opening of the target channel to the gate control opening, and acquiring the actual water level and actual flow rate of the target channel; determining a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; and determining the gate control compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

[0095] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method for open channel water conveyance control engineering, characterized in that, include: Obtain the current water level, current flow rate, and current gate opening of the target channel; Based on the target water level, target flow rate, and the current water level, current flow rate, and current gate opening, determine the gate control opening of the target channel; In response to the current opening of the gate in the target channel being adjusted to the gate control opening, the actual water level and actual flow rate of the target channel are obtained; Determine the first deviation between the actual water level and the target water level, and the second deviation between the actual flow rate and the target flow rate; Based on the first deviation and the second deviation, the gate control compensation of the target channel is determined by a proportional-integral-derivative control algorithm.

2. The intelligent control method for open channel water conveyance control engineering according to claim 1, characterized in that, The process of determining the gate control opening of the target channel based on the target water level, target flow rate, current water level, current flow rate, and current gate opening includes: The joint control intelligent algorithm based on the progressive training strategy determines the gate control opening of the target channel according to the current gate opening, the current water level and the target water level, the current flow rate and the target flow rate. The gate control opening includes at least one of the following: the number of gates opened, the gate opening time, and the gate opening height.

3. The intelligent control method for open channel water conveyance control engineering according to claim 2, characterized in that, The method further includes: Based on the current water level, the current flow rate, and the gate opening of the target channel, water level and flow rate are predicted to obtain the predicted water level and predicted flow rate.

4. The intelligent control method for open channel water conveyance control engineering according to claim 3, characterized in that, After predicting the water level and flow rate based on the current water level, the current flow rate, and the gate opening of the target channel, the method further includes: When the predicted water level exceeds a preset water level threshold, a water level warning command is generated.

5. The intelligent control method for open channel water conveyance control engineering according to claim 1, characterized in that, The process of obtaining the actual water level and actual flow rate of the target channel includes: Obtain the water level before and after the gate of the target channel; A real-time flow-water level conversion algorithm based on physical constraints is used to determine the actual flow of the target channel according to the water level before the gate, the water level after the gate, and the gate opening.

6. The intelligent control method for open channel water conveyance control engineering according to claim 1, characterized in that, The method further includes: After adjusting the target channel based on the gate control compensation, the gate scheduling result is determined; The gate scheduling results are visualized, including: water level monitoring data, flow rate monitoring data, gate monitoring data, and early warning monitoring data.

7. An intelligent control system for open channel water conveyance engineering, characterized in that, include: The data monitoring module is used to obtain the current water level, current flow rate, and current gate opening of the target channel; The gate opening control module is used to determine the gate control opening of the target channel based on the target water level, the target flow rate, the current water level, the current flow rate, and the current gate opening. The data monitoring is also used to obtain the actual water level and actual flow rate of the target channel in response to the adjustment of the current opening of the gate of the target channel to the gate control opening. A deviation module is used to determine a first deviation between the actual water level and the target water level, and a second deviation between the actual flow rate and the target flow rate; The regulation and compensation module is used to determine the gate regulation and compensation of the target channel based on the first deviation and the second deviation using a proportional-integral-derivative control algorithm.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the intelligent control method for open channel water conveyance control engineering as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the intelligent control method for the open channel water conveyance control project as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the intelligent control method for the open channel water conveyance control project as described in any one of claims 1 to 6.

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