A gate opening and closing device and a gate opening and closing control method

Abstract

The gate opening and closing device and the gate opening and closing control method belong to the technical field of gate opening and closing, and comprise a body frame, a parallel fixed track and a top mounting platform are arranged on the body frame; a gate body is slidably connected to the fixed track, the gate body comprises a door plate and a panel type pressure sensor array fixed to the water-facing surface of the door plate; an opening and closing driving mechanism is mounted on the mounting platform, the opening and closing driving mechanism comprises a driving motor and a lead screw nut mechanism for converting the rotary motion of the driving motor into the linear lifting motion of the gate body; the nut of the lead screw nut mechanism is fixedly connected with the gate body, and the lead screw of the lead screw nut mechanism is drivingly connected with the driving motor. The present application guarantees the rapid response capability under emergency working conditions and avoids delay.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of gate opening and closing, in particular to a gate opening and closing device and a gate opening and closing control method. BACKGROUND

[0002] In the traditional gate opening and closing system, the actuator mainly relies on the preset instructions to act, and lacks the sensing ability of the actual hydrological load and the mechanical state of the device itself. This limitation may lead to the risk of device jamming or even damage when facing unexpected siltation or device wear. The traditional method cannot timely and comprehensively reflect the real physical state of the gate during operation, which affects the reliability and safety of operation.

[0003] The above problems exist mainly because of the limitations of data acquisition means and control logic. The traditional control system only relies on simple on / off instructions and cannot obtain real-time data such as water pressure distribution on the gate plate, accurate position of the device itself, and working load of the driving system. This leads to the system being unable to adaptively adjust when encountering abnormal conditions such as siltation or increased friction, and can only forcibly execute the preset program, thereby increasing the risk of device damage.

[0004] The above information disclosed in the background section is only used to enhance the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to provide a gate opening and closing device and a gate opening and closing control method to solve the problems raised in the background.

[0006] The technical solution of the present application is as follows:

[0007] A main body frame is provided with parallel fixed rails and a mounting platform at the top;

[0008] A gate body is slidingly connected to the fixed rails, and the gate body includes a gate plate and a panel type pressure sensor array fixed to the water-facing surface of the gate plate;

[0009] An opening and closing driving mechanism is installed on the mounting platform, and the opening and closing driving mechanism includes a driving motor and a lead screw nut mechanism for converting the rotary motion of the driving motor into the linear lifting motion of the gate body. The nut of the lead screw nut mechanism is fixedly connected to the gate body, and the lead screw of the lead screw nut mechanism is drivingly connected to the driving motor;

[0010] A rotary encoder is installed on the output shaft of the driving motor for measuring the rotation angle of the driving motor;

[0011] a current sensor in series with a power supply circuit of the drive motor for monitoring an operating current of the drive motor;

[0012] a controller electrically connected with the panel pressure sensor array, the rotary encoder and the current sensor for controlling the drive motor.

[0013] Preferably, the environment sensing assembly comprises an upstream water level gauge installed on an upstream side of the gate and a downstream water level gauge installed on a downstream side of the gate, both of which are connected with the controller.

[0014] Preferably, the gate body further comprises guide slides fixed on both sides of the gate plate, which are in sliding fit with fixed tracks on the main frame.

[0015] Preferably, the panel pressure sensor array comprises a plurality of pressure sensors fixed on a water-facing surface of the gate plate in a matrix form, and the sensing surfaces of the pressure sensors are flush with the water-facing surface of the gate plate.

[0016] A gate opening and closing control method, comprising:

[0017] acquiring a gate position feature determined by the rotary encoder and a pressure distribution feature determined by the panel pressure sensor array;

[0018] determining whether there is a risk of silting based on the pressure distribution feature, and generating a silting risk determination result;

[0019] if the silting risk determination result is yes, collecting a bottom region of the pressure distribution feature to generate a pressure fluctuation feature, and generating an evasive opening and closing control instruction based on the pressure fluctuation feature and the silting risk determination result to drive the drive motor;

[0020] calculating a theoretical drive current based on the pressure distribution feature and a preset reference load current model, acquiring an actual drive current determined by the current sensor, setting a difference between the theoretical drive current and the actual drive current as a mechanical resistance loss feature, and generating a maintenance warning signal based on a change trend of the mechanical resistance loss feature.

[0021] Preferably, the step of determining whether there is a risk of silting based on the pressure distribution feature comprises: comparing a bottom region pressure value of the pressure distribution feature with a theoretical hydrostatic pressure value calculated based on an upstream water level, and if the bottom region pressure value is greater than the theoretical hydrostatic pressure value, it is determined that there is a risk of silting.

[0022] Preferably, the step of generating the pressure fluctuation feature comprises: collecting pressure values of the bottom region of the pressure distribution feature at a high frequency within a preset sampling period to obtain pressure sample data, and calculating a standard deviation of the pressure sample data to generate the pressure fluctuation feature; and the step of generating the evasive opening and closing control instruction comprises: if the pressure fluctuation feature is lower than a preset stable threshold, generating a control instruction for driving the gate body to perform a small-amplitude high-frequency lifting oscillation.

[0023] Preferably, the step of generating the evasive opening and closing control instruction further comprises: if the pressure fluctuation feature is higher than the preset stable threshold, generating a control instruction for driving the gate body to execute the original opening instruction.

[0024] Preferably, the reference load current model is used to represent the corresponding relationship between the total water thrust and the driving current, and the method further comprises the step of establishing the reference load current model:

[0025] controlling the gate body to complete at least one complete opening and closing stroke under a preset working condition;

[0026] synchronously recording the total water thrust obtained by integrating the pressure distribution feature and the driving current measured by the current sensor to obtain a plurality of sets of paired data points;

[0027] performing regression analysis on the plurality of sets of paired data points to establish the reference load current model.

[0028] The present application provides a gate opening and closing device and a gate opening and closing control method, which have the following improvements and advantages compared with the prior art:

[0029] 1. The present scheme can distinguish between static deposits and dynamic water flow impact, and by calculating the standard deviation of the bottom pressure data, if the pressure fluctuation feature is low, it indicates that there is static solid deposit, and the system will drive the gate body to perform a small-range, high-frequency lifting oscillation to loosen and remove the deposit. This oscillation action can ensure the dredging effect while avoiding excessive impact on the driving mechanism. On the contrary, if the pressure fluctuation feature is high, it is judged as dynamic water flow impact, and the system will directly execute the original opening instruction to ensure the rapid response ability under emergency working conditions and avoid delay.

[0030] 2. The scheme can monitor and quantify the mechanical resistance loss in the operation process of the gate in real time by establishing a benchmark load current model. The model is established by synchronously recording the total water thrust and driving current data under the equipment health state and conducting regression analysis. In daily operation, the controller compares the theoretical driving current calculated based on the water pressure with the actual driving current measured by the current sensor, and the difference is set as the mechanical resistance loss feature. By tracking the trend of the feature over time, the system can generate a maintenance warning signal when the guide rail or transmission mechanism friction significantly increases;

[0031] 3. The present application integrates various data sources such as panel pressure sensor array, rotary encoder and current sensor into the controller, realizes comprehensive and accurate perception of the running state of the gate, the rotary encoder is used to accurately measure the rotation angle of the driving motor, so as to determine the accurate position of the gate, and the current sensor is used to monitor the working current of the driving motor, so as to realize real-time understanding of the working load of the driving system. BRIEF DESCRIPTION OF DRAWINGS

[0032] The present application will be further explained in combination with the drawings and examples:

[0033] Figure 1 is a schematic view of the front structure of the whole gate;

[0034] Figure 2 is a schematic view of the back structure of the whole gate;

[0035] Figure 3 is a schematic view of the door plate and its connecting structure;

[0036] Figure 4 is a schematic view of the method flow structure of the present application;

[0037] In the figure: 100, gate body; 110, door plate; 120, panel pressure sensor array; 130, guide slider; 200, opening and closing driving mechanism; 210, driving motor; 220, rotary encoder; 230, current sensor; 240, trapezoidal screw; 250, nut; 300, environment perception component; 310, upstream water level gauge; 320, downstream water level gauge. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be further described in detail in combination with specific examples. EXAMPLE

[0039] Please refer to Figures 1-3 The present application provides a gate opening and closing device, which comprises:

[0040] The main frame is provided with parallel fixed rails and a mounting platform at the top.

[0041] The gate body 100 is slidingly connected to the fixed rail, and the gate body 100 comprises a door plate 110 and a panel type pressure sensor array 120 fixed to the water-facing surface of the door plate 110;

[0042] The panel type pressure sensor array 120 is arranged in a matrix form by a plurality of independent pressure sensors on the water-facing surface of the door plate 110, and is used to acquire two-dimensional distribution information of water pressure in the entire submerged area;

[0043] The opening and closing driving mechanism 200 is installed on the installation platform, and the opening and closing driving mechanism 200 comprises a driving motor 210 and a lead screw nut mechanism for converting the rotary motion of the driving motor 210 into the linear lifting motion of the gate body 100; the nut 250 of the lead screw nut mechanism is fixedly connected with the gate body 100, and the lead screw of the lead screw nut mechanism is drivingly connected with the driving motor 210;

[0044] The lead screw nut mechanism comprises a trapezoidal lead screw 240 and a nut 250, the lead screw is drivingly connected with the driving motor 210, and the nut 250 is fixedly connected with the gate body 100;

[0045] The rotary encoder 220 is installed on the output shaft of the driving motor 210, and is used to measure the rotation angle of the driving motor 210;

[0046] The current sensor 230 is connected in series in the power supply circuit of the driving motor 210, and is used to monitor the working current of the driving motor 210;

[0047] By monitoring the working current, the working load of the driving system can be known in real time;

[0048] The controller is electrically connected with the panel type pressure sensor array 120, the rotary encoder 220 and the current sensor 230, and is used to control the driving motor 210.

[0049] A gate opening and closing device, in the traditional gate opening and closing operation, the actuator usually only acts according to the preset instruction, lacking the perception of the actual hydrological load and the mechanical state of itself, which may lead to jamming or even damage when facing unexpected siltation or equipment wear; The gate opening and closing device in the embodiment fuses the information obtained by the panel type pressure sensor array 120, the rotary encoder 220 and the current sensor 230 through the controller, so that the device can understand the water pressure distribution state acting on the door plate 110, the accurate position of itself and the working load of the driving system in real time while performing the opening and closing action; This design allows the control logic of the device to be adjusted based on the real physical state, rather than simply executing the predetermined program, providing a basis for improving the reliability of operation and realizing state warning; Wherein, the opening and closing driving mechanism 200 is a component that provides power for the lifting of the gate body 100, which can be supported by an oil cylinder or an air cylinder with a rated power of 5.5 kW. The controller can be a Siemens SIMATIC S7-1200 series programmable logic controller, which has sufficient data processing capacity and interface.

[0050] The environmental perception component 300 includes an upstream water level meter 310 installed on the upstream side of the gate and a downstream water level meter 320 installed on the downstream side of the gate, both of which are connected to the controller.

[0051] The environmental perception component 300 provides the controller with macro hydrological information of the gate working area. The upstream water level meter 310 and the downstream water level meter 320 can use E+H Prosonic FDU91 type ultrasonic level meter, which continuously measures and transmits water level data to the controller; The controller can calculate the theoretical hydrostatic pressure distribution acting on the gate body 100 at a certain gate opening degree using the upstream water level data; This theoretical value is an important reference, when the measured pressure of the panel type pressure sensor array 120, especially in the bottom area, deviates from this theoretical value, the controller can identify the abnormal load caused by siltation or other obstacles, so that the system has the ability to distinguish between normal water pressure and additional resistance.

[0052] The gate body 100 also includes guide sliding blocks 130 fixed on both sides of the door plate 110, which are in sliding fit with the fixed rails on the main frame.

[0053] The core function of the guide slider 130 is to ensure that the gate body 100 moves smoothly and accurately in a reciprocating straight line within the fixed track of the main frame, preventing deflection or jamming during lifting. This functional sliding fit can be achieved in various ways, not limited to a specific structure; for example, one implementation is to install wear-resistant sliders made of ultra-high molecular weight polyethylene material on both sides of the door plate 110, which slide in the steel groove track of the main frame; another way is to install a rolling linear guide rail pair on both sides of the door plate 110, where the slider contains circulating balls that roll on hardened steel tracks; regardless of the method used, the purpose is to reduce frictional resistance and ensure that the driving force applied by the opening and closing drive mechanism 200 can be efficiently converted into lifting motion of the gate, providing a stable premise for the accuracy of subsequent evaluation of mechanical resistance loss through current monitoring.

[0054] The panel-type pressure sensor array 120 includes a plurality of pressure sensors fixed to the water-facing surface of the door plate 110 in a matrix form, and the sensing surface of the pressure sensor is flush with the water-facing surface of the door plate 110.

[0055] The panel-type pressure sensor array 120 is composed of a plurality of independent pressure sensors, such as MPM489-type pressure transmitters, arranged on the water-facing surface of the door plate 110 with a predetermined row and column spacing. The sensing diaphragm is smoothly transitioned with the surface of the door plate 110 after waterproof sealing treatment; such an arrangement allows the controller to obtain two-dimensional distribution information of water pressure in the entire submerged area, rather than just the total thrust value; by analyzing this two-dimensional pressure distribution data, the controller can calculate the size of the total water thrust and the precise position of its equivalent action point. More importantly, it can identify local anomalies in pressure distribution, such as when the gate bottom is subjected to additional extrusion due to sediment accumulation, the sensor readings at the bottom of the array will be significantly higher than the theoretical hydrostatic pressure at the same depth. This fine perception of local pressure gradient is a direct basis for determining whether there is a risk of accumulation. Embodiments

[0056] Please refer to Figure 4 A gate opening and closing control method, comprising:

[0057] Obtaining gate position features determined by the rotary encoder 220 and pressure distribution features determined by the panel-type pressure sensor array 120;

[0058] Determining whether there is a risk of accumulation based on the pressure distribution features, and generating an accumulation risk determination result;

[0059] If the siltation risk determination result is yes, a bottom region of the pressure distribution feature is collected to generate a pressure fluctuation feature, and an evasive opening and closing control instruction is generated based on the pressure fluctuation feature and the siltation risk determination result to drive the drive motor 210;

[0060] The theoretical drive current is calculated based on the pressure distribution feature and a preset reference load current model, the actual drive current determined by the current sensor 230 is obtained, the difference between the theoretical drive current and the actual drive current is set as a mechanical resistance loss feature, and a maintenance warning signal is generated based on the change trend of the mechanical resistance loss feature;

[0061] By tracking the change of the feature over time, the system can generate a maintenance warning signal when the friction of the guide rail or transmission mechanism significantly increases, thereby changing the maintenance work from post-repair to predictive maintenance based on the actual state.

[0062] The gate opening and closing control method enables the operation of the entire device to be state-adaptive. Before executing any opening and closing task, the controller will first evaluate the current load condition in combination with the gate position feature provided by the rotary encoder 220 and the pressure distribution feature provided by the pressure sensor array; when it is determined that there is a siltation risk, the method will not forcibly execute the opening instruction, but will instead execute a set of evasive opening and closing control instructions to actively remove or adapt to the obstacle; at the same time, the method also monitors the health condition of the drive system in parallel, calculates the theoretical drive current required by the drive motor 210 under the current water pressure load through the reference load current model, and compares it with the actual drive current monitored by the current sensor 230, the difference is quantified as a mechanical resistance loss feature. By tracking the change of the feature over time, a maintenance warning signal can be generated when the friction of the guide rail or transmission mechanism significantly increases, thereby changing the maintenance work from post-repair to predictive maintenance based on the actual state, and improving the long-term availability of the equipment.

[0063] The step of determining whether there is a siltation risk based on the pressure distribution feature includes comparing the pressure value of the bottom region of the pressure distribution feature with the theoretical hydrostatic pressure value calculated based on the upstream water level meter 310, and if the pressure value of the bottom region is greater than the theoretical hydrostatic pressure value, it is determined that there is a siltation risk. The step of determining whether there is a siltation risk provides a safety check before the gate is opened and closed, and the derivation process is that the controller obtains the current upstream water level height from the upstream water level meter 310, calculates the theoretical hydrostatic pressure value at the depth of the bottom sensor of the gate according to the principle of fluid statics , wherein , wherein represents the theoretical hydrostatic pressure value; represents the density of water, which is usually taken as ; represents the acceleration of gravity, which is approximately equal to ; The height difference between the position of the bottom sensor of the gate and the upstream water surface. The theoretical hydrostatic pressure value represents the pressure reference that the gate should bear in a static, clean water body, providing a basis for subsequent comparison of actual pressure values to determine abnormalities. The controller reads the actual pressure measurement values of one or more groups of sensors in the bottom region of the panel-type pressure sensor array 120; compares the average of these actual measurement values with the calculated theoretical hydrostatic pressure value; if it is found through testing that the actual pressure value is generally more than 15% higher than the theoretical value in a certain water gate application, it means that there is sediment, and this 15% is set as the judgment threshold; when the controller detects that the pressure value in the bottom region is more than the theoretical hydrostatic pressure value by the threshold, it generates a conclusion that the risk of sedimentation is yes, and suspends the original opening process and executes the risk avoidance program instead.

[0064] The step of generating the pressure fluctuation feature includes: high-frequency acquisition of the bottom region pressure value of the pressure distribution feature within a preset sampling period to obtain pressure sample data, and calculation of the standard deviation of the pressure sample data to generate the pressure fluctuation feature; the step of generating the evasive opening and closing control instruction includes: if the pressure fluctuation feature is lower than the preset stability threshold, generating a control instruction for driving the gate body 100 to perform a micro-amplitude high-frequency lifting oscillation.

[0065] The step of generating the evasive opening and closing control instruction embodies the differentiated processing of different nature obstacles; after confirming the existence of the risk of sedimentation, the controller will continuously collect the readings of the bottom pressure sensor within a short preset sampling period, for example, 1 second, at a frequency of 100 Hz, thereby obtaining a set of pressure sample data containing 100 pressure values; the controller then calculates the standard deviation of this set of data, and takes the result as the pressure fluctuation feature; a lower pressure fluctuation feature, i.e. a standard deviation lower than the preset stability threshold, indicates that the pressure source is stable and static, which is consistent with the physical characteristics of solid sediment deposition. The preset stability threshold can be calibrated by placing known solid obstacles, such as sandbags, at the bottom of the gate, calculating the average value of the pressure fluctuation feature through multiple samplings, and multiplying it by a safety factor, for example, 1.5. In one specific application of the embodiment, the preset stability threshold can be set to a pressure standard deviation of 0.05 MPa after experimental calibration.

[0066] In this case, the controller determines that the obstacle can be removed by mechanical disturbance, and then generates a specific control instruction to drive the drive motor 210 to make the gate body 100 perform small-range and high-frequency lifting oscillation near the current position. The oscillation action aims to loosen and flush away the solid sediment at the bottom to remove the opening obstacle. The small-range lifting amplitude can be set to between 0.1% and 1% of the total stroke height of the gate, for example, in a gate with a total stroke of 5 meters, the lifting amplitude can be selected between 5 mm and 50 mm to ensure the dredging effect while avoiding excessive impact on the drive mechanism.

[0067] The step of generating the avoidance opening and closing control instruction also includes generating a control instruction for driving the gate body 100 to perform the original opening instruction if the pressure fluctuation feature is higher than the preset stable threshold.

[0068] The step of generating the avoidance opening and closing control instruction also includes identification and processing logic of the dynamic pressure source. If the controller calculates that the pressure fluctuation feature is higher than the preset stable threshold, it means that although the bottom pressure exceeds the standard, the pressure source is unstable and fluctuates. This feature is usually related to turbulent impact under high flow rate, rather than solid sediment; for example, during flood discharge in flood season, the high-speed water flow itself can cause a dramatic fluctuation in pressure readings. At this time, if the oscillation dredging action is performed incorrectly, it will not only be ineffective, but also delay the valuable flood discharge opportunity. Therefore, when identifying this dynamic pressure source, the controller will skip the oscillation dredging link and directly generate a control instruction for driving the gate body 100 to perform the original opening instruction, to ensure the rapid response capability of the gate under emergency working conditions.

[0069] The reference load current model is used to represent the correspondence between the total water thrust and the driving current. The method further includes the step of establishing the reference load current model:

[0070] Controlling the gate body 100 to complete at least one complete opening and closing stroke under the preset working condition;

[0071] Synchronously recording the total water thrust obtained by integrating the pressure distribution feature and the driving current measured by the current sensor 230 to obtain a plurality of pairs of data points;

[0072] Performing regression analysis on the plurality of pairs of data points to establish the reference load current model.

[0073] The reference load current model provides a quantitative reference baseline for evaluating the health status of the drive system. The process of establishing this model is carried out after the initial installation and commissioning of the equipment or after major repairs. The derivation process is as follows: the controller drives the gate at a constant low speed to complete the complete opening and closing stroke under several typical upstream water level conditions. Typical upstream water level conditions include at least no load, i.e. no water in front of the gate, normal water level and design flood level, to ensure that the reference load current model established can cover the main operating range of the gate from low load to high load.

[0074] During this period, the controller continuously records two data streams in a high-frequency synchronous manner:

[0075] The real-time total water thrust obtained by area integration of all readings of the panel type pressure sensor array 120;

[0076] The real-time operating current of the drive motor 210 directly measured by the current sensor 230; this process generates a large number of total water thrust-drive current paired data points covering the range from minimum to maximum load; after the collection is completed, the controller applies least squares method for linear regression analysis to these data points, fitting a mathematical relationship that can reflect the corresponding relationship between the total water thrust and the drive current of the specific device under the initial health state, and this relationship is solidified and stored as the reference load current model.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A gate opening and closing control method, applied to a gate opening and closing device, characterized in that, The gate opening and closing device includes a main frame, on which parallel fixed rails and a top mounting platform are provided; The gate body (100) is slidably connected to the fixed track. The gate body (100) includes a gate plate (110) and a panel-type pressure sensor array (120) fixed to the water-facing surface of the gate plate (110). An opening and closing drive mechanism (200) is installed on the installation platform. The opening and closing drive mechanism (200) includes a drive motor (210) and a screw and nut mechanism for converting the rotational motion of the drive motor (210) into the linear lifting motion of the gate body (100). The nut (250) of the screw and nut mechanism is fixedly connected to the gate body (100), and the screw of the screw and nut mechanism is drivenly connected to the drive motor (210). A rotary encoder (220) is mounted on the output shaft of the drive motor (210) and is used to measure the rotation angle of the drive motor (210); A current sensor (230) is connected in series in the power supply circuit of the drive motor (210) to monitor the operating current of the drive motor (210); The controller is electrically connected to the panel-type pressure sensor array (120), the rotary encoder (220) and the current sensor (230) for controlling the drive motor (210). The gate opening and closing control method includes the following steps: The gate position features determined by the rotary encoder (220) and the pressure distribution features determined by the panel-type pressure sensor array (120) are obtained; Based on the pressure distribution characteristics, determine whether there is a risk of siltation and generate a siltation risk assessment result; If the siltation risk determination result is yes, then the bottom region of the pressure distribution characteristics is collected to generate pressure fluctuation characteristics, and an avoidance start-stop control command is generated based on the pressure fluctuation characteristics and the siltation risk determination result to drive the drive motor (210). The theoretical driving current is calculated based on the pressure distribution characteristics and the preset reference load current model. The actual driving current determined by the current sensor (230) is obtained. The difference between the theoretical driving current and the actual driving current is set as the mechanical resistance loss characteristic. A maintenance warning signal is generated based on the changing trend of the mechanical resistance loss characteristic. The step of generating pressure fluctuation characteristics includes: acquiring pressure values ​​in the bottom region of the pressure distribution characteristics at high frequency within a preset sampling period to obtain pressure sample data, and calculating the standard deviation of the pressure sample data to generate the pressure fluctuation characteristics; the step of generating avoidance opening and closing control commands includes: if the pressure fluctuation characteristics are lower than a preset stability threshold, generating control commands to drive the gate body (100) to perform micro-amplitude high-frequency lifting and lowering oscillations.

2. The gate opening and closing control method according to claim 1, characterized in that, It also includes an environmental sensing component (300), which includes an upstream water level gauge (310) installed on the upstream side of the gate and a downstream water level gauge (320) installed on the downstream side of the gate. Both the upstream water level gauge (310) and the downstream water level gauge (320) are connected to the controller.

3. The gate opening and closing control method according to claim 1, characterized in that, The gate body (100) also includes guide sliders (130) fixed on both sides of the gate panel (110), and the guide sliders (130) slide in cooperation with the fixed track on the main frame.

4. The gate opening and closing control method according to claim 1, characterized in that, The panel-type pressure sensor array (120) includes multiple pressure sensors, which are fixed in a matrix to the water-facing surface of the door panel (110), and the sensing surface of the pressure sensors is flush with the water-facing surface of the door panel (110).

5. A gate opening and closing control method according to claim 2, characterized in that, The step of determining whether there is a risk of siltation based on the pressure distribution characteristics includes: comparing the pressure value of the bottom area of ​​the pressure distribution characteristics with the theoretical static pressure value calculated based on the upstream water level gauge (310); if the pressure value of the bottom area is greater than the theoretical static pressure value, then it is determined that there is a risk of siltation.

6. The gate opening and closing control method according to claim 1, characterized in that, The step of generating the avoidance opening and closing control command further includes: if the pressure fluctuation characteristic is higher than the preset stability threshold, then generating a control command for driving the gate body (100) to execute the original opening command.

7. The gate opening and closing control method according to claim 1, characterized in that, The reference load current model is used to characterize the relationship between total water thrust and driving current. The method also includes the step of establishing the reference load current model. Under preset operating conditions, the gate body (100) is controlled to complete at least one complete opening and closing stroke; The total water thrust obtained by integrating the pressure distribution characteristics and the driving current measured by the current sensor (230) are recorded synchronously to obtain multiple sets of paired data points; Regression analysis is performed on the multiple pairs of data points to establish the reference load current model.

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