Pump station gate cooperative control method and system

Abstract

The application provides a pump station gate cooperative control method and system, and relates to the technical field of pump station gate control. The method comprises the following steps: determining a macro cooperative operation scheme of a pump station system, and decomposing the macro cooperative operation scheme into an initial control instruction set for multiple local control units; receiving real-time state feedback information from the multiple local control units; calculating deviation information according to the real-time state feedback information and target state information; and calculating adjustment instruction information according to the deviation information in combination with priority information of an ecological water replenishment task, and sending the adjustment instruction information to the corresponding local control unit. The method of the application aims to solve the problem of deviation in control effect caused by different steps of distributed control, and significantly improves the control performance of the distributed pump station system under a high-priority ecological water replenishment task through the introduction of a real-time feedback mechanism based on local execution state and priority arbitration adjustment calculation.

Description

Technical Field

[0001] This invention relates to the field of pump station gate control technology, and more specifically, to a method and system for coordinated control of pump station gates. Background Technology

[0002] Pumping station systems are critical infrastructure for water resource regulation, with their core function being ecological water replenishment to downstream river sections according to water resource management objectives. Ecological water replenishment is a high-priority task, aiming to ensure that the ecological flow or water level in downstream river sections remains within preset threshold ranges during critical periods, which is crucial for maintaining river ecological health. Completing this task requires the coordinated operation of multiple pumps and hydraulic gates within the pumping station system. The pumping station system adopts a distributed automated control architecture, including a central dispatch platform and multiple local control units. The central dispatch platform serves as the command center, while the local control units manage and control the field equipment. The central dispatch platform collects real-time monitoring data from the entire system, combines it with preset ecological water replenishment targets and hydrological forecasts, and runs dispatch algorithms or programs to calculate the coordinated operation plan for the pumping station system. The plan calculated by the central dispatch platform is a holistic instruction set, planning the coordinated actions of pumps and gates within a specific time period. Due to the distributed architecture, the central dispatch platform needs to decompose the overall coordinated plan and transform it into specific control instructions for each independent local control unit. The decomposition process needs to consider the type, quantity, technical characteristics, current status of the devices connected to each local control unit, as well as the communication connection status between the central platform and each local unit.

[0003] After the instructions are decomposed, the central platform sends the control instructions to the local control units via the communication network. Uncertainties exist in actual operation, such as communication network transmission delays, differences in the hardware processing capabilities and software execution efficiency of the local control units, and inconsistent response speeds of the equipment actuators. These factors can lead to time asynchrony in the reception, processing, and execution of instructions at different local units.

[0004] Asynchrony between distributed local execution units can cause deviations between the actual operating state of the pumping station system and the state predicted by the central dispatching program based on ideal synchronous execution. For example, if a pump start command fails to execute on time due to communication problems or local unit processing delays, while the intake gate that works in conjunction with it opens on time, the water level in the forebay may drop faster than expected, affecting the water intake conditions of other operating pumps, or even triggering low water level protection shutdown and interrupting the water replenishment process.

[0005] System state deviations caused by asynchronous local execution can accumulate and directly affect the accurate achievement of ecological water replenishment targets. For example, asynchronous adjustment of the coordinated opening of multiple outlet gates may lead to a deviation between the actual downstream outflow and the preset ecological target flow, and this deviation may persist, reducing water replenishment efficiency and accuracy.

[0006] Existing control methods struggle to effectively address the challenges posed by instruction transmission delays and local execution asynchrony, relying heavily on preset execution sequences or simple open-loop control, which are difficult to correct in real time. Therefore, a new control method is needed, employing a mechanism to handle the coordination and synchronization between central instruction decomposition and local execution units, ensuring the effectiveness of overall collaborative action. Summary of the Invention

[0007] The purpose of this invention is to provide a method and system for coordinated control of pump station gates, which aims to solve the problem of control effect deviation caused by asynchronous distributed control. By introducing a real-time feedback mechanism based on local execution status and priority arbitration adjustment calculation, the control performance of distributed pump station system under high-priority ecological water replenishment tasks is significantly improved.

[0008] In a first aspect, the present invention provides a method for coordinated control of pump station gates, comprising the following steps:

[0009] Obtain information on ecological water replenishment targets and the initial status information of the pumping station system;

[0010] Based on the ecological water replenishment target information and initial state information, a macro-coordinated operation scheme for the pumping station system is determined, and the macro-coordinated operation scheme is decomposed into an initial control instruction set for multiple local control units.

[0011] After sending the initial control command set to multiple local control units, it receives real-time status feedback information from multiple local control units;

[0012] Based on the macro-level coordinated operation plan and the current moment, determine the target status information of the pumping station system;

[0013] Based on real-time status feedback information and target status information, calculate the deviation information between the actual status information and the target status information of the pumping station system;

[0014] Based on the deviation information and the priority information of the ecological water replenishment task, the adjustment instruction information is calculated and sent to the corresponding local control unit.

[0015] The pump station gate collaborative control method provided by this invention can respond to state deviations caused by asynchronous execution in real time, realize effective collaboration among local units, and prioritize the achievement of ecological water replenishment goals.

[0016] Secondly, the present invention provides a pump station gate coordinated control system, comprising:

[0017] The acquisition module is used to acquire ecological water replenishment target information and initial status information of the pumping station system.

[0018] The first determining module is used to determine the macro-coordinated operation scheme of the pumping station system based on the ecological water replenishment target information and the initial state information, and decompose the macro-coordinated operation scheme into an initial control instruction set for multiple local control units;

[0019] The feedback module is used to send the initial control command set to multiple local control units and then receive real-time status feedback information from multiple local control units.

[0020] The second determination module is used to determine the target status information of the pumping station system based on the macro-coordinated operation plan and the current time.

[0021] The first calculation module is used to calculate the deviation between the actual state information and the target state information of the pumping station system based on the real-time state feedback information and the target state information.

[0022] The second calculation module is used to calculate adjustment instruction information based on the deviation information and the priority information of the ecological water replenishment task, and then send the adjustment instruction information to the corresponding local control unit.

[0023] As can be seen from the above, the pump station gate collaborative control method provided by this invention provides real-time feedback on the actual execution status of each local unit and the hydraulic status of the system, enabling the central platform to accurately grasp deviations in distributed execution and overcoming the limitations of simply relying on preset timing sequences or ideal models. Simultaneously, through a priority arbitration mechanism, it ensures that in the event of deviations or faults, the adjustment strategy prioritizes serving the ecological water replenishment target, quickly correcting deviations affecting ecological flow / water level and improving the accuracy and reliability of high-priority tasks. Finally, through continuous feedback closed-loop adjustment, the system can dynamically adapt to the uncertainties of the distributed environment, optimize the coordinated actions of each device, and improve overall operating efficiency.

[0024] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0025] Figure 1 This is a flowchart of a pump station gate coordinated control method provided in an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of a pump station gate coordinated control system provided in an embodiment of the present invention.

[0027] Label Explanation:

[0028] 100. Acquisition Module; 200. First Determination Module; 300. Feedback Module; 400. Second Determination Module; 500. First Calculation Module; 600. Second Calculation Module. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Reference Appendix Figure 1 This invention provides a method for coordinated control of pump station gates, comprising the following steps:

[0032] Obtain information on ecological water replenishment targets and the initial status information of the pumping station system;

[0033] Based on the ecological water replenishment target information and initial state information, a macro-coordinated operation scheme for the pumping station system is determined, and the macro-coordinated operation scheme is decomposed into an initial control instruction set for multiple local control units.

[0034] After sending the initial control command set to multiple local control units, the system receives real-time status feedback information from these local control units. The real-time status feedback information includes the actual status information of the equipment controlled by the local control units and the system hydraulic status information related to the local control units.

[0035] Based on the macro-level coordinated operation plan and the current moment, determine the target status information of the pumping station system;

[0036] Based on real-time status feedback information and target status information, calculate the deviation information between the actual status information and the target status information of the pumping station system;

[0037] Based on the deviation information and the priority information of the ecological water replenishment task, the adjustment instruction information is calculated and sent to the corresponding local control unit; the calculation process takes into account the hydraulic coupling effect between the equipment.

[0038] Real-time status feedback information refers to a data set from multiple local control units that reflects the current actual status of the equipment they control and the hydraulic status of the system related to these local control units. This can be achieved through sensor acquisition, reading the internal status of local controllers, etc., such as the pump's operating / stopping status, the actual opening degree of the gate, the water level in the forebay or downstream channel, and pipeline flow rate. Its main purpose is to provide the current true operating status of the system, serving as the basis for subsequent deviation calculations and adjustments. Deviation information refers to the difference between the actual status information and the target status information of the pumping station system. It can be obtained by comparing the real-time status feedback information with the target status information at the current moment (e.g., calculating the difference in state vectors). Its main purpose is to quantify the degree and direction of the system's current operating state deviating from the preset target. Adjustment instruction information refers to the instructions calculated based on deviation information to correct the actions executed by the local control unit. The calculation process takes into account the mutual influence of equipment actions on the hydraulic state of the system (i.e., hydraulic coupling effect) and the priority of ecological water replenishment tasks. It can be implemented using model-based control algorithms or optimization methods, such as issuing start-stop instructions to a pump or opening adjustment instructions to a gate. Its main purpose is to correct system state deviations in real time and guide the system to converge toward the target state.

[0039] The core innovation of this application lies in constructing a closed-loop control mechanism based on real-time status feedback, dynamically calculating and sending adjustment instructions that take into account hydraulic coupling effects and task priorities, thereby effectively addressing system state deviations caused by instruction transmission delays and local execution asynchrony in distributed systems, and ensuring that high-priority ecological water replenishment tasks can be accurately achieved.

[0040] Specifically, this method first acquires the demand information for the ecological water replenishment task and the current operating status of the pumping station system. Based on this information, it plans the ideal operating path for the entire system, forming a macro-level coordinated operation plan, and then translates this plan into initial execution instructions for each local control unit. After these initial instructions are sent to each local control unit, the system continuously receives real-time feedback data from these local units. This data reflects in detail the actual actions of the equipment and the relevant hydraulic state of the system. Simultaneously, based on the preset macro-level plan and the current time point, the ideal target state that the system should achieve at this moment is determined. By comparing the actual state fed back in real time with the current target state, the deviation of the system is calculated. Based on this deviation information, and combined with the importance level of the ecological water replenishment task, the system calculates the adjustment instructions that need to be sent to the corresponding local control units. When calculating the adjustment instructions, this method specifically considers the mutual influence of equipment actions such as pump start-up and shutdown, and changes in gate opening on the hydraulic state (such as water level and flow rate) within the entire pumping station system, avoiding new system instability or deviations that may be caused by local adjustments, and prioritizing ensuring that the state requirements related to the ecological water replenishment target are met. The calculated adjustment instructions are sent to the local control unit to guide its corrective execution, forming a continuous feedback-adjustment loop. This allows the system to dynamically approach the target state, thereby overcoming the impact of asynchronous distributed execution and ensuring the achievement of the overall collaborative goal.

[0041] As a preferred embodiment, the solution of this application is implemented as follows: The ecological water replenishment target information can be set as a specific target water level or target flow rate in the downstream river channel. Initial state information can be obtained through various sensors distributed throughout the pumping station system (such as water level gauges, flow meters, pump operation status sensors, and gate opening sensors). The macro-level coordinated operation plan can be generated by the central dispatching platform based on hydrological forecasts and ecological water replenishment needs, through optimization algorithms. This plan includes the planned action sequence and target state of each major piece of equipment (pumps, gates) over a future period. The macro-level plan is decomposed into initial control instruction sets for each local PLC or RTU, such as pump start / stop commands and gate opening setpoints. The local control unit executes the instructions and collects equipment status and local hydraulic status (such as forebay water level and outlet pool water level) in real time, and uploads the real-time status feedback information to the central dispatching platform via industrial Ethernet or wireless network. The central dispatching platform determines the target state based on the macro-level plan and the current time. The deviation calculation module compares the real-time state with the target state and generates a deviation signal. The adjustment command calculation module receives deviation signals and the priority of ecological water replenishment tasks (e.g., set to the highest priority), and uses a simplified hydraulic model or a pre-calculated equipment influence matrix to assess the predicted impact of different equipment adjustments on the system's hydraulic state. Based on this, it calculates coordinated adjustment commands, such as fine-tuning the opening of a gate or adjusting the operating mode of a pump, to reduce deviations while ensuring that key hydraulic parameters (such as the minimum water level in the forebay) do not exceed limits, and sends the adjustment commands to the corresponding local control units.

[0042] Through the above solution, this application can effectively address the system state deviation caused by command transmission delay and local execution asynchrony in distributed pumping station systems. By providing real-time feedback and dynamic adjustment, it improves the accuracy and stability of the coordinated operation of the pumping station system. In particular, when performing high-priority ecological water replenishment tasks, it can more reliably maintain the preset ecological flow or water level target and avoid affecting the water replenishment process or efficiency due to system state deviation.

[0043] In some embodiments, the step of determining the macroscopic coordinated operation scheme of the pumping station system based on ecological water replenishment target information and initial state information includes:

[0044] Obtain the current operating mode information of the pumping station system;

[0045] Based on the current operating mode information, ecological water replenishment target information, and initial status information, determine whether the pumping station system needs to switch to the ecological water replenishment mode.

[0046] When there is a need to switch operating modes, based on the initial state information and ecological water replenishment target information, and considering the preset stability constraint parameters during the mode switching process, the operating path from the initial state to the state that meets the ecological water replenishment target is planned; the operating path describes the state change trajectory of the pumping station system in the subsequent operation process; the stability constraint parameters include the upper limit of equipment action rate and the upper limit of the hydraulic state change rate of the pumping station system to ensure that the operating path meets the requirements of smooth transition.

[0047] The operation path is transformed into a macro-level coordinated operation plan for the pumping station system; the macro-level coordinated operation plan includes the target status information of each device in the operation path at different points in time.

[0048] Stationarity constraints refer to the limitations imposed on the rate or magnitude of system state changes during system operation mode switching. These parameters can be preset; for example, in addition to the upper limits of equipment action rate and system hydraulic state change rate, they can also include the upper limit of equipment action acceleration, the minimum time interval between equipment actions, or the maximum gradient of specific hydraulic parameters (such as water level and flow rate). The introduction of these constraints aims to ensure a smooth transition of the system from one operation mode to another, avoiding drastic state fluctuations. An operation path refers to a set of intermediate states in which the system evolves from its current initial state to a state that meets the ecological water replenishment target. These states are usually arranged in chronological order, forming a trajectory. Operation path planning is the core of determining the macro-level scheme. It not only indicates the target state the system ultimately aims to achieve, but more importantly, it specifies the detailed process of system state changes over time, providing detailed temporal guidance for subsequent control execution.

[0049] This application provides a specific method for determining the macroscopic coordinated operation scheme of a pumping station system. Its core lies in identifying the need for operating mode switching and, when such a need exists, planning an operating path that satisfies stability constraints. First, by acquiring the current operating mode information of the pumping station system, a basis is provided for subsequent judgment on whether a mode switch is necessary. Next, based on the current operating mode information, ecological water replenishment target information, and initial state information, it is determined whether the system has a need to switch to the ecological water replenishment mode, which clarifies when the smooth transition planning process needs to be initiated. When an operating mode switching need exists, based on the initial state information and ecological water replenishment target information, and critically considering the preset stability constraint parameters during the mode switch process, an operating path is planned from the initial state to a state that satisfies the ecological water replenishment target. This step is the key technical contribution of this solution. By introducing stability constraints, it ensures that the system state change trajectory described by the planned operating path is smooth and orderly, avoiding abrupt state changes, thereby reducing the risk of system instability and providing a more stable and easier-to-track target for subsequent distributed control coordinated execution. Finally, the planned operation path is transformed into a macroscopic collaborative operation scheme for the pumping station system. This scheme includes the target state information of each device along the operation path at different points in time, providing detailed and time-sequential target guidance for instruction decomposition and real-time control in subsequent steps. This enables the entire collaborative control process to achieve the ecological water replenishment target more smoothly and accurately, especially in complex mode-switching scenarios. The macroscopic collaborative operation scheme determined in this way can better adapt to the potential execution asynchrony problems in distributed control systems because the planned path itself considers the smoothness of state changes, leaving margin for the coordinated actions of each local control unit, reducing the risk of system instability due to instantaneous state deviations, thereby improving the robustness and effectiveness of the entire collaborative control method.

[0050] As a specific implementation method, when determining the macroscopic coordinated operation scheme of the pumping station system, the current operating mode information of the pumping station system can be obtained first by reading system configuration or sensor data. For example, the system may currently be in normal water supply mode, flood control mode, or standby mode. Then, the current operating mode information is compared with ecological water replenishment target information (e.g., requiring the system to enter ecological water replenishment mode and maintain a specific downstream flow or water level) and initial state information (e.g., current gate opening, pump status, upstream and downstream water levels, etc.) to determine whether there is a need to switch from the current mode to the ecological water replenishment mode. When a switching need is determined, the system will initiate an operation path planning process. This process can use a planning algorithm, such as a model predictive control-based optimization algorithm or a rule-based state transition logic, based on the initial state information and ecological water replenishment target information, to generate a series of intermediate states. When generating these intermediate states, the algorithm continuously checks whether the change from the current state to the next candidate state meets preset stability constraint parameters. For example, it checks whether the rate of change of gate opening exceeds the upper limit, or whether the rate of decrease of the forebay water level exceeds the upper limit. If the changes in a candidate state do not meet the constraints, the candidate state or the planning step size will be adjusted until the stationarity requirement is met. This iterative process continues until the last state of the planned state sequence meets the requirements of the ecological water replenishment target state, forming a complete operation path. Finally, this operation path containing time-series state information is formatted and transformed into a macro-level coordinated operation scheme. This scheme can be a timetable that lists the target opening degree that each gate should achieve and the target operating state that each pump should be in at different time points.

[0051] Through the above technical solution, this application can effectively consider the stability of system state changes when determining the macroscopic coordinated operation scheme of the pumping station system, especially in scenarios involving operation mode switching. This helps to avoid drastic changes in equipment operation or hydraulic state, reducing the risk of system instability. Therefore, it provides a more stable and reliable target guidance for the subsequent decomposition and execution of distributed control commands, improves the synchronization and effectiveness of the coordinated execution of the distributed control system, and thus ensures that the ecological water replenishment task can be achieved more stably and accurately.

[0052] In some embodiments, when there is a need to switch operating modes, the steps for planning the operating path from the initial state to the state that meets the ecological water replenishment target, based on the initial state information and the ecological water replenishment target information, and considering the preset stability constraint parameters during the mode switching process, include:

[0053] A1. Initialize the current planning state to the initial state;

[0054] A2. Iterate through the following steps A21-A27 until the current planning state meets the ecological water replenishment target state:

[0055] A21. Calculate the target status increment based on the current planning status and ecological water replenishment target information;

[0056] A22. Calculate the candidate next-time planning state based on the current planning state and the target state increment;

[0057] A23. Determine whether the change from the current planning state to the candidate next planning state satisfies the stationarity constraint parameters;

[0058] A24. When the stationarity constraint parameters are satisfied, the candidate next-time planning state is determined as the next-time planning state;

[0059] A25. When the stationarity constraint parameters are not satisfied, adjust the candidate next-time planning state to satisfy the stationarity constraint parameters, and determine the adjusted planning state as the next-time planning state.

[0060] A26. Add the planned state for the next time step to the state sequence;

[0061] A27. Update the current planning state to the planning state for the next time step;

[0062] A3. Use the state sequence determined during the planning process as the running path.

[0063] The aforementioned states refer to the operational status of the pumping station system at a specific moment, which may include equipment status information such as operating mode, opening degree, and rotational speed of each device, as well as system hydraulic status information such as forebay water level, aftbay water level, and flow rate. It can be represented using data structures such as vectors or structures. The initial state refers to the actual operational state of the pumping station system at the start of planning. Ecological water replenishment target information refers to the final state or state range that the pumping station system should achieve to accomplish the ecological water replenishment task. The target state increment refers to the difference between the current planned state and the ecological water replenishment target state, quantifying the direction and magnitude of the change from the current state to the target state. It can be calculated using the difference between state vectors. The candidate next-moment planned state refers to the state that may be reached in the next planning time step, based on the current planned state and the target state increment. It can be calculated by superimposing a change based on the target state increment onto the current planned state. The stationarity constraint parameter refers to a preset threshold that limits the rate of change of the pumping station system state, such as the maximum rate of equipment operation or the maximum rate of change of the system's hydraulic state. The next-moment planning state refers to the state determined as the next point in the operating path after stationarity checks and possible adjustments. It is a candidate next-moment planning state that satisfies stationarity constraints, or its adjusted result. A state sequence refers to a set of state points that satisfy stationarity constraints, generated sequentially over time during the planning process. It can be stored using data structures such as lists or arrays. The operating path refers to the final output of the planning process, describing the trajectory of the pumping station system from its initial state to its target state.

[0064] This scheme details how to plan the operational path from the initial state to a state that meets the ecological water replenishment target when there is a need to switch operational modes. This is based on initial state information, ecological water replenishment target information, and preset stability constraints. The core of this scheme lies in generating a sequence of states that satisfy stability constraints through an iterative process, thus forming a stable operational path. Specifically, the current planned state is first initialized as the initial state, providing a clear starting point for the operational path planning. Then, an iterative process begins, continuing until the current planned state meets the ecological water replenishment target state, ensuring that the planning process covers the entire transition from the initial state to the target state. In each iteration, the target state increment is calculated based on the current planned state and the ecological water replenishment target information. This quantifies the gap between the current state and the final target state, providing direction and guidance for the next state planning step. Next, based on the current planned state and the calculated target state increment, candidate next-moment planned states are calculated. This is a preliminary prediction of the next state point based on the current state and the target direction, reflecting the intention to move towards the target state. The key is to determine whether the change from the current planning state to the candidate next-time planning state satisfies the stationarity constraint parameters. This is a crucial stationarity check on the initially predicted next-time state change. When the result is that the stationarity constraint parameters are met, the candidate next-time planning state is directly determined as the next-time planning state, indicating that the initially predicted state point meets the stationarity requirement and can be directly used as the next state point on the path. When the result is that the stationarity constraint parameters are not met, the candidate next-time planning state is adjusted to meet the stationarity constraint parameters, and the adjusted planning state is determined as the next-time planning state. This is an important correction mechanism. When the initially predicted state change is not stationary, it is forcibly adjusted to the range that meets the stationarity requirement, ensuring that each step of the state change is stationary and avoiding instability caused by one-step arrival or too rapid change. The determined or adjusted next-time planning state is added to the state sequence. By continuously accumulating state points that meet the stationarity requirement, a complete state trajectory from the initial state to the target state is gradually constructed. The current planning state is updated to the next-time planning state, setting a new starting point for the next iteration and driving the planning process to continuously move towards the target state until the target is reached. Finally, the state sequence determined during the planning process is used as the operating path, outputting a complete state change trajectory from the initial state to the target state that satisfies the stationarity constraint. Through the above iteration, checking, and adjustment process, this scheme can generate a stable and feasible operating path, effectively solving the technical problem of how to specifically plan a transition trajectory that meets the stationarity requirement during mode switching. This planning method provides a stable reference trajectory for subsequent macroscopic coordinated operation schemes of pump station systems, enabling the control process based on this operating path to achieve a smoother transition more effectively, reducing system oscillations and equipment shocks, and contributing to the safe and stable operation of the pump station system.

[0065] For example, in practical implementation, the state of the pumping station system can be represented as a vector, containing parameters such as the rotational speed of each pump, the opening degree of each gate, and the water levels of the forebay and aftbay. Initial state information and ecological water replenishment target information can be stored as such state vectors respectively. The stationarity constraint parameters can be set as the maximum permissible change of each state parameter within a unit time step, such as the maximum rate of change of pump rotational speed, the maximum rate of change of gate opening, and the maximum rate of change of water level. During the planning process, the current planned state vector is initialized as the initial state vector. In each iteration, the difference between the current planned state vector and the ecological water replenishment target state vector is calculated as the target state increment. Based on the current planned state vector and the target state increment, a candidate next-time planned state vector can be calculated, for example, by superimposing a change vector with the same direction as the target increment and whose magnitude is limited by the time step onto the current state vector. Then, it is checked whether the changes in each parameter from the current planned state vector to the candidate next-time planned state vector exceed the corresponding stationarity constraint parameters. If all parameter changes satisfy the constraints, the candidate state vector is determined as the next-time planned state vector. If parameter changes exceed constraints, the candidate state vector is adjusted proportionally or through other adjustment strategies (e.g., limiting the amount of change exceeding constraints to the maximum allowable range) to satisfy all stationarity constraints, and the adjusted vector is determined as the planned state vector for the next time step. The determined planned state vector for the next time step is added to the state sequence list. The current planned state vector is updated to the planned state vector for the next time step, and the iteration continues until the difference between the current planned state vector and the ecological water replenishment target state vector is less than a preset tolerance range. Finally, the generated state sequence list is used as the operating path of the pumping station system.

[0066] Through the aforementioned iterative, checking, and adjustment process, this solution generates a smooth and feasible operating path, effectively solving the technical problem of how to specifically plan a transition trajectory that meets the stability requirements during mode switching. This method ensures that every state change from the initial state to the target state conforms to the preset stability constraints, avoiding instability caused by excessively rapid or discontinuous state changes, and contributing to the safe and stable operation of the pumping station system during mode switching.

[0067] In some embodiments, the step of calculating adjustment instruction information based on deviation information and priority information of ecological water replenishment tasks, and sending the adjustment instruction information to the corresponding local control unit includes:

[0068] Obtain target parameters; target parameters reflect the interaction between the actions of equipment controlled by multiple local control units and the hydraulic state of the pumping station system;

[0069] Based on the deviation information, determine the set of devices controlled by multiple local control units that need to be adjusted;

[0070] For each device in the set of devices, based on the target parameters, calculate the predicted impact of the candidate adjustment command of that device on the overall hydraulic state of the pumping station system;

[0071] Based on the predicted impact values, priority information of ecological water replenishment tasks, and deviation information, the coordinated adjustment instructions of each device in the equipment set are calculated. The calculation process ensures that the coordinated adjustment instructions cause the pump station system state to converge towards the target state, prioritize the state requirements related to the ecological water replenishment target, and limit the adverse impact on the hydraulic state of the pump station system.

[0072] The coordinated adjustment command is sent to the corresponding local control unit.

[0073] Target parameters refer to a set of parameters that quantify how changes in the actions of different devices (such as pumps and gates) in a pumping station system (e.g., changes in pump speed and gate opening) cause changes in the overall hydraulic state (e.g., water level and flow rate). These parameters can be represented by coefficients in a hydraulic model, transfer functions or matrices identified based on historical data, or device-system influence coefficients obtained through system identification. The predicted impact value refers to the expected change in the overall hydraulic state of the pumping station system (e.g., how much the downstream flow rate increases or the upstream water level changes) that a specific adjustment action to a device (e.g., increasing the gate opening by 10 cm) might cause based on the target parameters. This predicted value is the basis for collaborative calculations, enabling the system to anticipate the global impact of a single device's action before actually executing the adjustment. The collaborative adjustment command refers to a set of coordinated adjustment commands calculated for multiple devices requiring adjustment, by comprehensively considering their respective local states, their hydraulic coupling effects (reflected in the predicted impact value), and the overall control objectives and priorities (especially the high priority of ecological water replenishment tasks). This instruction set is not simply an aggregation of independently computed instructions, but is derived through a collaborative optimization or coordination process to ensure that the synchronous or asynchronous actions of multiple devices can jointly promote the convergence of the system state toward the target, while avoiding adverse hydraulic fluctuations in the system.

[0074] In the process of calculating adjustment commands based on deviation information and sending them to the local control unit, this scheme first acquires target parameters reflecting the interaction between equipment actions and the system's hydraulic state. These parameters provide a foundation for understanding and quantifying the complex hydraulic coupling effects between equipment. Next, based on the deviation between the actual state and the target state, the system identifies the set of equipment requiring adjustment and concentrates control resources on key equipment. For these selected devices, before calculating the actual adjustment commands, the system predicts the specific impact of each device's candidate adjustment command on the overall pumping station system's hydraulic state based on the acquired target parameters. This prediction step is crucial, enabling the control system to anticipate and quantify the interactions between equipment, rather than simply considering the local impact of each device. Subsequently, the system comprehensively utilizes these predicted impact values, the priority information of the ecological water replenishment task, and the current deviation information to calculate the coordinated adjustment commands for each device in the set. This calculation process is a collaborative decision-making process that ensures that the adjustment actions of multiple devices are coordinated and consistent, effectively reducing deviations and driving the system state towards the target state. Specifically, the calculation process is designed to prioritize state requirements directly related to ecological water replenishment goals, such as ensuring downstream ecological flow or water level reaches preset values, while proactively limiting potential adverse effects on the overall hydraulic state of the pumping station system, such as avoiding drastic water level fluctuations or flow surges. This collaborative calculation method based on impact prediction enables the system to generate adjustment instructions that effectively correct deviations, ensure stable system operation, and prioritize high-priority ecological goals in complex distributed and strongly coupled environments. Finally, these collaboratively calculated adjustment instructions are sent to the corresponding local control units to guide field equipment in executing coordinated actions, thereby achieving precise collaborative control of the pumping station system. In this way, this solution effectively solves the problem of how to generate a set of collaborative adjustment instructions, avoid adverse effects, and prioritize high-priority ecological goals when considering complex hydraulic coupling effects between equipment.

[0075] For example, in a pumping station system containing two pumps and three gates, suppose the downstream flow needs to be adjusted to meet ecological water replenishment targets. First, the system acquires target parameters describing the relationship between changes in pump speed, gate opening, and upstream and downstream water levels and flow rates. These parameters can be a linear or nonlinear hydraulic model. Based on the current downstream flow deviation and upstream water level deviation, the system determines the set of equipment that needs adjustment; for example, it may be necessary to adjust the speeds of two pumps and the opening of one outlet gate simultaneously. For these three devices, the system predicts, for example, the impact of increasing pump 1 speed by 10Hz on the downstream flow and upstream water level; the impact of increasing pump 2 speed by 10Hz; and the impact of increasing the outlet gate opening by 5cm on the downstream flow and upstream water level. Based on these predicted impact values, combined with the high priority of the downstream flow target and the current flow and water level deviations, the system calculates the coordinated adjustment instructions for the three devices using a collaborative optimization algorithm. This algorithm identifies a set of adjustments (e.g., increasing pump 1 speed by 8Hz, pump 2 speed by 7Hz, and gate opening by 4cm) to effectively reduce downstream flow deviation while keeping upstream water level changes within acceptable limits, prioritizing the achievement of downstream flow targets. Finally, the calculated adjustment instructions are sent to the corresponding pump local control unit and gate local control unit.

[0076] Through the aforementioned technical means, this solution can predict the impact of individual equipment adjustments on the overall system based on the interaction between equipment actions and the system's hydraulic state. Based on this prediction, the priority of ecological water replenishment tasks, and deviation information, it calculates coordinated adjustment commands for multiple devices. This coordinated calculation process ensures that the adjustment actions of each device are consistent and can collectively promote the convergence of the pumping station system state towards the target state, especially when high-priority ecological water replenishment tasks exist, prioritizing the fulfillment of relevant state requirements. Simultaneously, by limiting adverse impacts on the pumping station system's hydraulic state, the solution helps maintain stable system operation. Therefore, this solution effectively solves the technical problem of how to generate a coordinated adjustment command set in a distributed pumping station system, considering the complex hydraulic coupling effects between devices, avoiding adverse effects, and prioritizing the fulfillment of high-priority ecological objectives.

[0077] In some embodiments, the step of calculating the coordinated adjustment instructions for each device in the device set based on the predicted impact value, the priority information of the ecological water replenishment task, and the deviation information includes:

[0078] Based on the deviation information, determine the pump station system state parameters that need to be adjusted and their target changes;

[0079] Based on the required adjustment of the pump station system status parameters and their target changes, as well as the priority information of the ecological water replenishment task, determine the adjustment targets for each piece of equipment in the equipment set;

[0080] Based on the adjustment targets and predicted impact values, calculate the coordinated adjustment instructions for each device in the device set.

[0081] Deviation information refers to the difference between the actual state information and the target state information of a pumping station system. It can be expressed as the difference in state vectors, the percentage deviation of state parameters, or a rule-based qualitative description. Pumping station system state parameters are measurable or derivable physical quantities describing the current operating state of the pumping station system. These can include water levels in a specific area, flow rates through hydraulic structures, pump speeds, gate openings, or equipment operating states (e.g., start / stop status). Target change refers to the amount of change required for the pumping station system state parameters to approach or reach the target state. It can be expressed as numerical increments, percentage changes, or state transition descriptions. Priority information for ecological water replenishment tasks refers to indicators reflecting the importance or urgency of the current ecological water replenishment task. It can be expressed as numerical weights, priority levels (e.g., high, medium, low), or Boolean flags. Equipment set refers to a group of devices controlled by a local control unit that participate in coordinated adjustment. This can include pumps, hydraulic gates, valves, or other controllable actuators. The adjustment target refers to the desired state or action direction and magnitude set for each device in the equipment set to achieve the target change in system state parameters, taking into account the priority of ecological water replenishment tasks. This can be achieved using target opening degree, target rotational speed, target flow rate, or desired action direction (e.g., opening, closing, acceleration, deceleration). The predicted impact value is a quantitative description of the overall hydraulic state of the pumping station system and the mutual influence between devices, based on the predicted candidate adjustment commands from each device in the equipment set. This can be achieved using an influence matrix, simulation results based on a hydraulic model, or pre-calibrated influence coefficients. The coordinated adjustment command is the actual control command calculated based on the device's adjustment target and the predicted impact value, sent to each device in the equipment set. This can be achieved using specific control setpoints (e.g., gate opening percentage, pump speed RPM), start / stop commands, or action sequences.

[0082] The method for calculating coordinated adjustment commands in this application first identifies which key system state parameters deviate from the preset target based on the deviation information between the actual state and the target state of the pumping station system. It then quantifies how much these parameters need to change to approach or reach the target state, thereby determining the pumping station system state parameters that need adjustment and their target changes. This step transforms the overall system deviation into specific, actionable system state correction requirements, providing a clear system-level direction and objective for subsequent equipment adjustments. Next, after identifying the system's required state parameters and target changes, the method combines the priority information of the current ecological water replenishment task to transform the system-level adjustment requirements into adjustment targets for specific equipment. Priority information plays a guiding role here, ensuring that equipment adjustments first serve high-priority ecological water replenishment objectives, such as prioritizing adjustments to equipment with a significant impact on ecological flow. This step is a crucial link connecting system state adjustment requirements with equipment actions. It transforms abstract system objectives and task priorities into specific expected directions and magnitudes of equipment actions, laying the foundation for subsequent calculations of actual control commands. Finally, after determining the adjustment targets for each device, the final, coordinated adjustment commands are calculated using the previously obtained impact prediction values—that is, the predicted information on the impact of device actions on the overall hydraulic state of the pumping station system and the mutual influence between devices. Since the actions of devices in the pumping station system are not isolated, the action of one device can affect the working environment of other devices and the hydraulic state of the entire system. Therefore, it is necessary to consider the hydraulic coupling effect between devices, evaluate the comprehensive impact of different combinations of device actions on the system state using impact prediction values, and calculate a set of coordinated commands so that the overall actions of the devices can optimally achieve their respective adjustment targets, while avoiding or mitigating adverse hydraulic effects, ensuring that the system state converges smoothly in the desired direction. This process transforms independent device adjustment targets into a set of coordinated actual control commands by considering mutual influence, thereby overcoming the challenges brought by hydraulic coupling and improving the efficiency and stability of adjustment. Through the above steps, the method of this application can accurately transform system-level deviation and priority information into specific adjustment targets for individual devices, and use the predicted impact values ​​of the devices on the system state to calculate coordinated adjustment commands that can effectively cope with complex hydraulic coupling effects, thus more effectively addressing system state deviations caused by asynchronous distributed execution.

[0083] For example, in one implementation, the coordinated adjustment instructions for each device in the computing device set can be implemented as follows: First, the system receives deviation information, for example, monitoring that the downstream river level is 0.2 meters below the ecological water replenishment target level, while the upstream water diversion channel level is 0.1 meters above the target level. Based on this deviation information, the system determines that the pump station system state parameters that need adjustment are the downstream river level and the upstream water diversion channel level, with target changes of 0.2 meters and 0.1 meters, respectively. Second, based on the target changes of 0.2 meters for the downstream river level and 0.1 meters for the upstream water diversion channel level, and the information that the current ecological water replenishment task is of high priority, the system determines the adjustment targets for each device in the device set. For example, the device set may include multiple pumps and multiple outlet gates. To raise the downstream water level, the main methods are starting the pumps and opening the outlet gates. Considering the high priority, the system may prioritize starting the pumps that have the greatest impact on the downstream water level and determine their target speed or start / stop status, while also determining the target opening degree of the relevant outlet gates. To lower the upstream water level, it may be necessary to adjust the intake or discharge gates and determine their target opening. This step translates the system-level water level adjustment requirements into specific pump and gate action targets. Finally, based on these adjustment targets and pre-established impact predictions (e.g., a hydraulic model or a regression model based on historical data), the coordinated adjustment instructions for each device in the equipment set are calculated. The impact predictions inform the system that starting a pump that raises the downstream water level will also lower the upstream water level, while opening a gate will affect both upstream and downstream water levels simultaneously. The calculation process comprehensively considers these interactions. For example, by solving an optimization problem, a set of pump start / stop, speed, and gate opening instructions is found that makes the downstream water level as close as possible to the target increase of 0.2 meters, while the upstream water level as close as possible to the target decrease of 0.1 meters, and the rate of water level change throughout the process does not exceed a preset stability constraint to avoid drastic fluctuations. The final calculated coordinated adjustment instructions may be a set of specific pump speed setpoints and gate opening percentages, which are sent to the corresponding local control units for execution.

[0084] The aforementioned method for calculating coordinated adjustment instructions transforms overall system deviations and high-priority task requirements into coordinated action instructions for specific equipment, considering mutual influence, through hierarchical and refined steps. This allows the system to more accurately identify the state parameters requiring correction and their extent, more effectively translate system goals and task priorities into specific adjustment directions and magnitudes at the equipment level, and calculate a set of coordinated actual control instructions using predicted information on the impact of equipment actions on the system state. This method effectively addresses the complex hydraulic coupling effects in pumping station systems, avoids negative impacts caused by mutual interference between equipment actions, ensures that the equipment assembly works collaboratively as a whole, and smoothly and efficiently promotes the convergence of the pumping station system state towards the target. Therefore, the method of this application can significantly improve the correction effect on system state deviations caused by asynchronous distributed execution, enhance the execution accuracy of ecological water replenishment tasks, and improve the operational stability of the system.

[0085] In some embodiments, the step of determining the adjustment targets for each device in the equipment set, based on the required adjustment of the pump station system state parameters and their target changes, as well as the priority information of the ecological water replenishment task, includes:

[0086] Obtain the current operating mode switching status information of the pumping station system;

[0087] When the current operating mode switching status information indicates that the pump station system is in the process of switching operating modes, obtain the stability constraint information related to the current operating mode switching status; the stability constraint information includes the phased target of mode switching, the upper limit of equipment action rate, the upper limit of system hydraulic state change rate and / or equipment action timing requirements;

[0088] Based on the required adjustment of the pump station system status parameters and their target changes, as well as the priority information of the ecological water replenishment task, the ideal adjustment targets of each piece of equipment in the equipment set are initially calculated.

[0089] Based on the current operating mode switching status information and stability constraint information, the ideal adjustment target is modified to obtain the adjustment target of each device in the device set; the modification process ensures that the adjustment target makes the device actions and system state changes meet the requirements of the stability constraint information.

[0090] Operating mode switching status information indicates whether the pumping station system is currently switching from one operating mode (e.g., flood control mode, irrigation mode) to another (e.g., ecological water replenishment mode). This information can be implemented using a flag, a status code, or text describing the current switching phase. Stability constraint information refers to a series of restrictions or rules that must be followed to ensure stable and safe operation of the pumping station system during operating mode switching. This information can be implemented using preset parameter tables, rule sets, or dynamically calculated constraint values. The ideal adjustment target refers to the adjustment state or magnitude that the equipment should achieve, calculated based solely on the current system deviation and task priority, without considering stability constraints during mode switching. This can be represented by a set of values ​​such as the equipment's target opening degree, target speed, or target start / stop state. The correction process refers to adjusting the initially calculated ideal adjustment target based on the current operating mode switching status and related stability constraint information to meet stability requirements. This process can be implemented using limiting algorithms, scaling algorithms, or rule-based adjustment logic.

[0091] This scheme further refines the steps for determining equipment adjustment targets. Its core lies in incorporating the pump station system's operating mode switching status and stability constraints into the real-time adjustment target determination process. This addresses the issue that real-time deviation adjustments during mode switching might disrupt system stability. First, by acquiring the current operating mode switching status information of the pump station system, it is determined whether the system is currently in the process of switching modes. This step is fundamental to subsequent processing; stability constraints are only considered during mode switching. When the current operating mode switching status information indicates that the pump station system is in the process of switching modes, stability constraint information related to the current operating mode switching status is acquired. This stability constraint information consists of pre-set rules used to guide the smooth progress of the mode switching process, such as phased targets for mode switching, upper limits on the speed of equipment actions, upper limits on the rate of change of system hydraulic states (e.g., water level, flow rate), and timing requirements for equipment actions. Acquiring this information ensures adherence to these rules during real-time adjustments. Next, based on the required adjustments to the pump station system state parameters and their target changes, as well as the priority information of the ecological water replenishment task, the ideal adjustment targets for each piece of equipment in the equipment set are initially calculated. This step, based on the current system deviation and task priority, calculates the adjustment target that the equipment should achieve to eliminate the deviation as quickly as possible, without considering mode switching stability constraints. This forms the basis of the adjustment and reflects the current control requirements. Finally, based on the current operating mode switching status information and the obtained stability constraint information, the initially calculated ideal adjustment target is revised to obtain the final adjustment target for each device in the equipment set. The revision process is crucial to this scheme, ensuring that the final determined adjustment target makes the equipment actions and system state changes meet the requirements of the stability constraint information. For example, if the ideal adjustment target requires a certain device to act quickly, but the stability constraint specifies an upper limit for the device's action rate, then the revision process will limit the adjustment range of the device, ensuring that its action rate does not exceed the upper limit. Through this revision, even during real-time deviation adjustments, it is guaranteed that the equipment actions and system state changes meet the stability requirements during the mode switching process, avoiding system instability caused by real-time adjustments. This scheme, combined with the overall method of calculating coordinated adjustment commands based on deviation information, priority information of ecological water replenishment tasks, and predicted values ​​of the impact of equipment on the system's hydraulic state, ensures a smooth system transition while enabling real-time deviation correction. This improves the robustness and safety of the control method and ensures the smooth and efficient completion of the ecological water replenishment task.

[0092] For example, in a specific implementation scenario, a pumping station system is switching from a low-flow operation mode to an ecological water replenishment mode. At this time, the system needs to gradually open multiple outlet gates and start the pumps to achieve the preset ecological flow target. The macro-coordinated operation scheme plans the phased actions of the gates and pumps during the switching process and the change path of the system's hydraulic state (such as downstream water level and flow rate), and sets upper limits for the gate opening rate change and the downstream water level change rate as stability constraints. During the mode switching process, real-time status feedback shows that the actual downstream water level is slightly lower than the target water level for the current stage, resulting in a deviation. Based on this deviation information, the target change in the downstream water level that needs to be increased, and the high-priority ecological water replenishment task information, the system initially calculates that a certain outlet gate needs to be further opened and calculates an ideal opening adjustment target, which may require the gate to open significantly in a short period of time. At this point, the system obtains the status information of the current operation mode switching process and obtains the stability constraint information related to this mode switching, including the upper limit of the gate opening rate change. The system compares the initially calculated ideal opening adjustment target with the upper limit of the gate opening rate change. If the rate of change of the gate opening corresponding to the ideal adjustment target exceeds the upper limit, the system will correct the ideal target, limiting the gate opening adjustment range so that the rate of change of the gate opening within the current control cycle does not exceed the set upper limit. The corrected opening adjustment target is determined as the final adjustment target for the gate. Subsequently, based on this adjustment target and the predicted impact of the gate on the system's hydraulic state, a coordinated adjustment command is calculated and sent to the local control unit. In this way, even if deviations occur during mode switching and real-time adjustments are required, the gate's movement is ensured to be smooth, the rate of change of the downstream water level is controlled, and hydraulic shocks or system instability that may be caused by rapid adjustments are avoided, ensuring the smoothness and safety of the entire mode switching process.

[0093] By considering the pump station system's operating mode switching state and related stability constraints when determining equipment adjustment targets, this solution effectively addresses the issue of potential system stability disruption caused by real-time deviation adjustments during mode switching. This ensures that even during rapid system state changes during mode switching, equipment actions and system hydraulic state changes meet preset smooth transition requirements. Therefore, this solution improves the control stability, safety, and robustness of the pump station system in complex operating mode switching scenarios, avoiding system oscillations, equipment protection shutdowns, or mode switching failures caused by improper real-time adjustments, thus guaranteeing the smooth implementation of ecological water replenishment tasks.

[0094] Reference Appendix Figure 2 This invention provides a pump station gate coordinated control system, comprising:

[0095] The acquisition module 100 is used to acquire ecological water replenishment target information and initial status information of the pumping station system;

[0096] The first determining module 200 is used to determine the macro-coordinated operation scheme of the pumping station system based on the ecological water replenishment target information and the initial state information, and decompose the macro-coordinated operation scheme into an initial control instruction set for multiple local control units;

[0097] The feedback module 300 is used to receive real-time status feedback information from multiple local control units after sending the initial control command set to multiple local control units.

[0098] The second determining module 400 is used to determine the target status information of the pumping station system based on the macro-coordinated operation plan and the current time.

[0099] The first calculation module 500 is used to calculate the deviation information between the actual state information and the target state information of the pumping station system based on the real-time state feedback information and the target state information.

[0100] The second calculation module 600 is used to calculate adjustment instruction information based on the deviation information and the priority information of the ecological water replenishment task, and send the adjustment instruction information to the corresponding local control unit.

[0101] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0102] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for coordinated control of pump station gates, characterized in that, Includes the following steps: Obtain information on ecological water replenishment targets and the initial status information of the pumping station system; Based on the ecological water replenishment target information and initial state information, a macro-level coordinated operation scheme for the pumping station system is determined, and this scheme is decomposed into an initial control command set for multiple local control units. Specific steps include: Obtain the current operating mode information of the pumping station system; Based on the current operating mode information, ecological water replenishment target information, and initial status information, determine whether the pumping station system needs to switch to the ecological water replenishment mode. When there is a need to switch operating modes, based on the initial state information and ecological water replenishment target information, and considering the preset stability constraint parameters during the mode switching process, the operating path from the initial state to the state that meets the ecological water replenishment target is planned. The specific steps include: A1. Initialize the current planning state to the initial state; A2. Iterate through the following steps A21-A27 until the current planning state meets the ecological water replenishment target state: A21. Calculate the target status increment based on the current planning status and ecological water replenishment target information; A22. Calculate the candidate next-time planning state based on the current planning state and the target state increment; A23. Determine whether the change from the current planning state to the candidate next planning state satisfies the stationarity constraint parameters; A24. When the stationarity constraint parameters are satisfied, the candidate next-time planning state is determined as the next-time planning state; A25. When the stationarity constraint parameters are not satisfied, adjust the candidate next-time planning state to satisfy the stationarity constraint parameters, and determine the adjusted planning state as the next-time planning state. A26. Add the planned state for the next time step to the state sequence; A27. Update the current planning state to the planning state for the next time step; A3. Use the state sequence determined during the planning process as the running path; The operation path is transformed into a macro-level coordinated operation plan for the pumping station system; the macro-level coordinated operation plan includes the target status information of each device in the operation path at different points in time. After sending the initial control command set to multiple local control units, it receives real-time status feedback information from multiple local control units; Based on the macro-level coordinated operation plan and the current moment, determine the target status information of the pumping station system; Based on real-time status feedback information and target status information, calculate the deviation information between the actual status information and the target status information of the pumping station system; Based on the deviation information and the priority information of the ecological water replenishment task, adjustment command information is calculated and sent to the corresponding local control unit. The specific steps include: Obtain target parameters; target parameters reflect the interaction between the actions of equipment controlled by multiple local control units and the hydraulic state of the pumping station system; Based on the deviation information, determine the set of devices controlled by multiple local control units that need to be adjusted; For each device in the set of devices, based on the target parameters, calculate the predicted impact of the candidate adjustment command of that device on the overall hydraulic state of the pumping station system; Based on the predicted impact values, priority information for ecological water replenishment tasks, and deviation information, the coordinated adjustment instructions for each device in the equipment set are calculated. Specific steps include: Based on the deviation information, determine the pump station system state parameters that need to be adjusted and their target changes; Based on the required adjustments to the pump station system status parameters and their target changes, as well as the priority information of the ecological water replenishment task, the adjustment targets for each piece of equipment in the equipment set are determined. Specific steps include: Obtain the current operating mode switching status information of the pumping station system; When the current operating mode switching status information indicates that the pump station system is in the process of switching operating modes, obtain the stability constraint information related to the current operating mode switching status; Based on the required adjustment of the pump station system status parameters and their target changes, as well as the priority information of the ecological water replenishment task, the ideal adjustment targets of each piece of equipment in the equipment set are initially calculated. Based on the current operating mode switching status information and stability constraint information, the ideal adjustment target is corrected to obtain the adjustment target of each device in the device set; Based on the adjustment targets and predicted impact values, calculate the coordinated adjustment instructions for each device in the device set; The coordinated adjustment command is sent to the corresponding local control unit.

2. The pump station gate coordinated control method according to claim 1, characterized in that, Real-time status feedback information includes the actual status information of the equipment controlled by the local control unit and the system hydraulic status information related to the local control unit.

3. The pump station gate coordinated control method according to claim 1, characterized in that, The stability constraint parameters include the upper limit of the equipment operating rate and the upper limit of the rate of change of the hydraulic state of the pumping station system.

4. The pump station gate coordinated control method according to claim 1, characterized in that, Stability constraint information includes phased targets for mode switching, upper limits for equipment action rates, upper limits for the rate of change of system hydraulic state, and / or equipment action timing requirements.

5. A pump station gate cooperative control system employing the pump station gate cooperative control method as described in any one of claims 1-4, characterized in that, include: The acquisition module is used to acquire ecological water replenishment target information and initial status information of the pumping station system. The first determining module is used to determine the macro-coordinated operation scheme of the pumping station system based on the ecological water replenishment target information and the initial state information, and decompose the macro-coordinated operation scheme into an initial control instruction set for multiple local control units; The feedback module is used to send the initial control command set to multiple local control units and then receive real-time status feedback information from multiple local control units. The second determination module is used to determine the target status information of the pumping station system based on the macro-coordinated operation plan and the current time. The first calculation module is used to calculate the deviation between the actual state information and the target state information of the pumping station system based on the real-time state feedback information and the target state information. The second calculation module is used to calculate adjustment instruction information based on the deviation information and the priority information of the ecological water replenishment task, and then send the adjustment instruction information to the corresponding local control unit.

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