A control method and system of a river model sand adding system

Abstract

The application provides a control method and system of a river model sand adding system, and relates to the technical field of automatic control. The water flow parameter data in the river model is acquired and verified to generate effective water flow parameter data, so as to calculate the optimal sand adding amount ratio suitable for the water flow state of the river model. Through the control hub, a sand adding control signal for adjusting the sand adding rate is generated and verified to obtain a verified signal. The river model sand adding system sends a frequency adjustment instruction to the variable frequency pump to calculate the sand flow power of the verified signal, adjust the sand adding execution component in the river model sand adding system, and adjust the actual sand adding rate of the sand adding execution component after the adjustment operation, so that the actual sand amount transported by the sand adding execution component and the theoretical sand demand amount are dynamically matched, the sand adding rate is quickly responded and accurately matched to the non-steady state water flow condition, and the accuracy and stability of the water and sand balance simulation in the river model test are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, in particular to a control method and system of a river model sand-adding system. BACKGROUND

[0002] In a river physical model test, accurately simulating the water-sediment interaction process of a natural river is a key link for studying river evolution, water conservancy engineering influence, and flood control measures. Due to the complex and variable flow conditions of actual rivers, the model test needs to dynamically adjust the sediment supply according to the real-time flow state to maintain water-sediment balance and accurately reproduce the erosion and deposition process of the prototype.

[0003] Currently, existing research uses a feedback control strategy based on a fixed empirical curve to realize automatic management of the sand-adding process. A mapping relationship table between a set of flow parameters and sand-adding amount is pre-set, the system collects flow information in real time during operation, and looks up the table to obtain the corresponding sand-adding set value, which in turn drives the sand-adding device to supply sand at a constant rate. When changes in flow conditions are monitored, the controller adjusts the output signal according to the pre-set rules to drive the actuator to change the sand-adding frequency. However, the existing scheme relies on a static empirical mapping relationship and is difficult to adapt to the dynamic changes in water-sediment coupling relationships under non-steady or sudden flow conditions, resulting in lagging or overshooting of the sand-adding response. When the flow velocity fluctuates rapidly or the sediment concentration changes in steps, the actual required sand-adding intensity cannot be reflected in a timely manner, easily leading to local excessive deposition or erosion instability. There is a lack of dynamic evaluation mechanism for the effectiveness and timeliness of control instructions, and in the case of sensor data delay or actuator response delay, the original instruction is still output, which exacerbates the control deviation and affects the overall simulation accuracy. SUMMARY

[0004] The purpose of the present application is to provide a control method and system of a river model sand-adding system to solve the problems of lagging or overshooting of the sand-adding response, easy to cause local excessive deposition or erosion instability, and insufficient overall simulation accuracy in the prior art.

[0005] To solve the above technical problems, in a first aspect, the present application provides a control method of a river model sand-adding system, comprising:

[0006] Obtaining flow parameter data in a river model and performing validity verification on the flow parameter data to generate valid flow parameter data, and transmitting the valid flow parameter data to a control hub of a river model sand-adding system, wherein the flow parameter data includes flow velocity, sediment concentration, and water depth monitoring information;

[0007] Based on the valid flow parameter data received by the control hub, the optimal sand-adding amount proportion adapted to the flow state of the river model is calculated;

[0008] According to the optimal sand-adding amount ratio, a sand-adding control signal for adjusting a sand-adding rate is generated by the control center, and the sand-adding control signal is time-effectively checked to obtain a checked signal;

[0009] After the control center receives the checked signal, a frequency adjustment instruction is sent to a variable frequency pump of the river model sand-adding system to calculate a sediment transport flow power of the checked signal, and the variable frequency pump is a core power component for regulating water and sediment transport flow in the river model sand-adding system;

[0010] According to the sediment transport flow power, a sand-adding execution component in the river model sand-adding system is adjusted, and an actual sand-adding rate of the sand-adding execution component after the adjustment is adjusted, so that the actual sediment transport amount of the sand-adding execution component and the theoretical required sediment amount are dynamically matched, and the theoretical required sediment amount is calculated based on effective flow parameter data received by the control center at a historical time node.

[0011] Optionally, based on the effective flow parameter data received by the control center, an optimal sand-adding amount ratio adapted to the flow state of the river model is calculated, including:

[0012] According to the effective flow parameter data received by the control center, a flow velocity change amount between adjacent time points is calculated, an average value of all flow velocity change amounts is taken as a flow velocity change trend value, and a trend correction coefficient is determined based on the flow velocity change trend value;

[0013] According to the flow velocity change trend value, an allowable sediment carrying range of the water flow in the river model is determined;

[0014] The real-time sediment concentration and real-time water depth value of each monitoring point in the river model are extracted from the effective flow parameter data, and the comprehensive sediment concentration is calculated in combination with the total number of monitoring points;

[0015] The comprehensive sediment concentration is compared with the allowable sediment carrying range to obtain a sediment concentration load rate matched by the comprehensive sediment concentration in the allowable sediment carrying range;

[0016] According to the sediment concentration load rate, a target sand-adding basic ratio adapted to the flow velocity in the effective flow parameter data is queried from a preset corresponding relationship table of flow velocity and sand-adding basic ratio;

[0017] According to the effective flow parameter data, a water depth correction coefficient is determined, and the target sand-adding basic ratio, the water depth correction coefficient and the trend correction coefficient are multiplied to obtain an optimal sand-adding amount ratio adapted to the flow state of the river model.

[0018] In a second aspect, the application provides a control method and system of a river model sand-adding system, including:

[0019] An acquisition module is configured to acquire water flow parameter data in a river model, and perform validity verification on the water flow parameter data to generate valid water flow parameter data, and transmit the valid water flow parameter data to a control hub of a sand feeding system of the river model, wherein the water flow parameter data comprises water flow velocity, sediment concentration and water depth monitoring information;

[0020] A first calculation module is configured to calculate an optimal sand feeding amount ratio adapted to a water flow state of the river model based on the valid water flow parameter data received by the control hub;

[0021] A verification module is configured to generate a sand feeding control signal for adjusting a sand feeding rate based on the optimal sand feeding amount ratio through the control hub, and perform timeliness verification on the sand feeding control signal to obtain a verified signal;

[0022] A second calculation module is configured to control a frequency adjustment instruction to be sent to a variable frequency pump by the sand feeding system of the river model after the control hub receives the verified signal, so as to calculate a sediment carrying flow power of the verified signal, wherein the variable frequency pump is a core power component of the sand feeding system of the river model for regulating and controlling water and sediment carrying flow;

[0023] An adjustment module is configured to adjust a sand feeding execution component in the sand feeding system of the river model based on the sediment carrying flow power, and adjust an actual sand feeding rate of the sand feeding execution component after the adjustment operation, so as to dynamically match the actual sediment carrying amount of the sand feeding execution component with a theoretical sediment demand amount, wherein the theoretical sediment demand amount is calculated based on the valid water flow parameter data received by the control hub at a historical time node.

[0024] In a third aspect, the present application provides an electronic device, comprising:

[0025] A memory is configured to store a computer program;

[0026] A processor is configured to implement the steps of the method according to the first aspect when the computer program is executed.

[0027] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is capable of implementing the steps of the control method of the sand feeding system of the river model according to the first aspect when executed by a processor.

[0028] The control method for a sediment addition system in a river engineering model provided in this application acquires and verifies the validity of water flow parameter data within the river engineering model, thereby eliminating abnormal or unreliable monitoring information and ensuring that the data input to the control system accurately reflects the current water flow state, avoiding erroneous decisions due to sensor failure or interference. After transmitting the valid water flow parameters to the control center, the optimal sediment addition ratio is dynamically calculated based on real-time flow velocity, sediment concentration, and water depth information, enabling the sediment addition strategy to adaptively adjust with changes in water flow conditions. This overcomes the problem of response lag or mismatch caused by traditional methods relying on static empirical relationships. Based on this, a sediment addition control signal is generated and its timeliness is verified, which can evaluate the reliability of the signal. The time delay from signal generation to execution is mitigated by parameter compensation for commands exceeding the response window, improving the time synchronization between control actions and the current water and sediment state. Subsequently, frequency adjustment commands are sent to the variable frequency pump through the control center, using it as the core power component to precisely regulate the sediment transport flow rate, achieving continuous adjustability of the water and sediment mixture transport capacity. Finally, the actual sediment supply rate of the sediment supply execution component is adjusted according to the sediment transport flow rate, and the theoretical sediment demand calculated by combining it with historical effective data is dynamically compared to continuously optimize the execution parameters, ensuring that the actual sediment supply always remains coordinated with the model requirements, thus enhancing the response capability and control stability of the sediment supply process under unsteady and abrupt water flow conditions. Furthermore, regarding the adjustment process of the sediment-addition actuator, the target rotational speed and target opening degree are first calculated based on its inherent characteristic parameters such as mechanical transmission ratio and orifice coefficient, combined with the current sediment transport flow dynamics. This ensures that the control command matches the physical characteristics of the actuator, improving control accuracy. Subsequently, the actuator is started and its actual sediment-addition rate is collected. The rate deviation is obtained by comparing it with the target value in real time, and the parameter correction step size is determined accordingly, forming a closed-loop feedback adjustment mechanism to gradually approach the ideal sediment-addition state. Based on the initial correction, the difference between the historical effective water flow parameters and the data of the previous cycle is further analyzed. When the change exceeds the set threshold, the sediment-addition rate after the initial correction is readjusted according to the latest water and sediment dynamic conditions. This enables the system to respond quickly to significant changes in the water flow state, avoiding control disconnection due to sudden environmental changes. This solves the problems of slow sediment-addition response, adjustment oscillation, or steady-state deviation caused by the lack of dynamic feedback and multi-level correction capabilities. It enhances the adaptability and robustness of the sediment-addition actuator to complex and unsteady water flow environments, ensuring the continuity and authenticity of the water and sediment transport process in the model test. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A flowchart of a control method of a river model sand adding system provided by an embodiment of the present application is shown in the figure.

[0031] Figure 2 A structural diagram of a control system of a river model sand adding system provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0032] Based on the traditional method, the sand adding control is performed by using fixed and empirical parameter mapping relationship, without considering the influence of water flow state evolution trend and system response delay. When the flow velocity in the model suddenly changes, the water depth is rapidly adjusted, or the sediment concentration is unevenly distributed, etc., such static strategy is difficult to adjust the sand supply intensity in time, and is easy to cause excessive deposition or intensified erosion in the local area during the simulation process. The existing control process usually ignores the influence of time delay in the process of sensor data acquisition and transmission, and the response lag of the actuator, and the control signal is directly executed once it is generated, lacking a judgment mechanism for the matching of the working condition at the actual effective time of the instruction, so that the control action is not synchronized with the current water and sediment state, further reducing the accuracy and stability of the system regulation. To solve the above problems, the present application builds a double-checking mechanism including data validity checking and control signal timeliness checking, first acquires the water flow velocity, sediment concentration and water depth information in the river model and performs validity judgment, ensures the accuracy of the input data, then transmits the valid data to the control center, calculates the optimal sand adding amount proportion combined with the real-time water flow state, generates the sand adding control signal, and judges whether it is within the allowed time range according to the signal transmission path and generation time, if it is out of the range, dynamically corrects the control parameters, ensures the applicability of the instruction at the execution time, adjusts the running frequency and running time of the variable frequency pump to match the required sand conveying flow power, and then drives the sand adding execution component to adjust the actual sand adding rate, combined with the theoretical sand demand, realizes the dynamic matching of the actual sand conveying amount and the theoretical demand, and improves the response ability and control precision of the sand adding process to the complex water flow change.

[0033] In order for those skilled in the art to better understand the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] The core of the present application is to provide a control method of a river model sand adding system, a flowchart of one specific embodiment of which is shown in the figure as Figure 1 The method comprises:

[0035] Step 101: Obtain water flow parameter data in the river model, and perform validity check on the water flow parameter data to generate valid water flow parameter data, transmit the valid water flow parameter data to the control hub of the river model sand adding system, and the water flow parameter data includes water flow velocity, sediment concentration and water depth monitoring information.

[0036] In this step, the river model refers to a physical model constructed according to the topography, hydrology and sediment characteristics of a natural river, reflecting the water and sediment movement law of the natural river, used for studying river evolution, water conservancy engineering influence and flood control measures, based on the measured parameters (such as river width, water depth, flow velocity, etc.) of the prototype river through similarity principle scaling. The water flow parameter data refers to a set of basic data reflecting the state of water flow in the river model, including water flow velocity, sediment concentration and water depth monitoring information, reflecting the movement speed, sediment content and water depth of the current water flow in the river model, obtained by real-time collection of various sensors (flow velocity sensor, sediment concentration sensor, water depth sensor) deployed in the model. The valid water flow parameter data refers to the data obtained after validity check of the water flow parameter data, reflecting the true situation of the water flow state in the river model, used to provide accurate calculation basis for the control hub, based on the comparison of the water flow parameter data with the pre-set reasonable value range, and obtained after removing abnormal data. The river model sand adding system refers to a system for providing sand supply for the river model and adjusting the supply amount, including sensors, control hubs, variable frequency pumps, sand adding execution components and other components, used for dynamically adjusting the sand adding rate according to the water flow state in the river model, designed and constructed based on the test requirements of the river model and the water and sediment balance requirements. The control hub refers to the core control unit of the river model sand adding system, used to receive and process valid water flow parameter data, generate sand adding control signals and check, issue adjustment instructions to variable frequency pumps and sand adding execution components, reflect the decision and control ability of the system, integrate data processing, instruction generation and signal transmission functions. The water depth monitoring information refers to the water depth data of different positions in the river model collected by the water depth sensor, reflecting the vertical distribution of the water body in the river model.

[0037] In the embodiments of the present application, firstly, data collected by all sensors under the same timestamp is acquired, and is integrated into flow parameter data in the format of timestamp + section number + sensor type + parameter value. In the upper, middle and lower three typical sections of the river model (corresponding to the upstream water area, the main channel area in the middle reaches and the downstream outlet area of the river respectively), three flow velocity sensors, two sediment concentration sensors and one water depth sensor are deployed. The flow velocity sensor adopts a propeller structure, the sediment concentration sensor is based on the optical scattering principle, and the water depth sensor is an ultrasonic type (calculating water depth by the time difference between transmitting and receiving ultrasonic waves). All sensors work synchronously at a frequency of collecting data once every 10 seconds, and collect flow velocity, sediment concentration and water depth monitoring information of each monitoring point, ensuring that each group of data can be traced back to a specific monitoring location and sensor. Then, threshold comparison method is used to verify the effectiveness of the flow parameter data in different parameters and scenes. The specific process is as follows: effectiveness verification of flow velocity: firstly, according to the flow velocity range of the prototype river corresponding to the river model, combined with the scaling ratio of the model and the prototype, the reasonable value range of the flow velocity in the river model is calculated as 0.002-0.03 m / s (i.e. the prototype flow velocity divided by the scaling ratio); then each flow velocity value in the flow parameter data is extracted one by one, and compared with the range of 0.002-0.03 m / s: if the flow velocity value is within the range, and the difference between the flow velocity values collected by the adjacent two flow velocity sensors of the same section is less than 0.005 m / s (to avoid abnormality of a single sensor), it is determined that the flow velocity value is valid; if the flow velocity value is less than 0.002 m / s (determined as abnormality caused by water flow stagnation) or greater than 0.03 m / s (determined as abnormality caused by disturbance of the sensor), or the difference between the flow velocity values of the adjacent sensors exceeds 0.005 m / s, the flow velocity value is marked as abnormal data, and the average value of the other two valid flow velocity values of the same section is used to replace it (if the other two are also abnormal, the flow velocity data of the section under the timestamp is excluded). Effectiveness verification of sediment concentration: according to the research target of the river model test (such as setting the sediment concentration range to 0.1-5 kg / m³ for simulating normal erosion and deposition of the river channel, and 5-20 kg / m³ for simulating flood period), the reasonable value range of the sediment concentration is determined; each sediment concentration value in the flow parameter data is extracted, if the sediment concentration value is within the reasonable range, and the change amplitude of the sediment concentration value collected continuously for three times is less than 1 kg / m³ (to avoid instantaneous abnormality caused by sudden interference), it is determined that the sediment concentration value is valid; if the sediment concentration value is less than 0.1 kg / m³ (determined as the sensor failing to capture the sediment signal) or greater than the set upper limit (determined as the sensor misjudgment caused by sediment accumulation), or the change amplitude continuously for three times exceeds 1 kg / m³, it is marked as abnormal data, and the moving average value of the previous five valid sediment concentration values of the sensor is used to replace it (if there is no valid data in the previous five times, the sediment concentration data of the sensor under the timestamp is excluded).The effectiveness of the water depth monitoring information is verified: according to the physical design parameters of the river model (such as the model tank depth is 0.5 m, and a safety distance of 0.05 m is reserved when the sensor is installed), the reasonable value range of the water depth monitoring information is determined to be 0.05-0.45 m (to avoid the sensor from being exposed to the water surface or buried in the tank bottom riverbed); each water depth value in the water flow parameter data is extracted, if the water depth value is within the range of 0.05-0.45 m, and the difference between the water depth values of adjacent monitoring points (2 m apart) at the same section is less than 0.03 m (consistent with the gradual change characteristics of the natural river water depth), it is determined that the water depth value is effective; if the water depth value is less than 0.05 m (determined that the sensor is exposed to the water surface) or greater than 0.45 m (determined that the sensor is buried by sediment), or the difference between the water depth values of adjacent monitoring points exceeds 0.03 m, it is marked as abnormal data, and the value calculated by linear interpolation of the water depth values of the adjacent two monitoring points is used to replace it (if the adjacent monitoring point data is also abnormal, the water depth data of the monitoring point at this time stamp is excluded). After the effectiveness of all parameters is verified, the water flow parameter data at the same time stamp is subjected to secondary screening: only the data set with effective water flow velocity, sediment concentration and water depth monitoring information (or effective after reasonable replacement) is retained, and these data sets are integrated in the format of time stamp + average value of each section effective parameter to form effective water flow parameter data; finally, through the bus type signal transmission module of the river model sand adding system, the effective water flow parameter data is transmitted to the control center of the river model sand adding system after being attached with a sixteen-bit cyclic redundancy check code (generated by a specific algorithm, used to detect whether the data is tampered or lost during transmission); after receiving the data, the control center verifies the sixteen-bit cyclic redundancy check code through a preset algorithm, confirms that the data transmission is correct, and stores the effective water flow parameter data into the local database to provide accurate and traceable data basis for subsequent use.

[0038] Step 102: Based on the effective water flow parameter data received by the control center, the optimal sand adding amount ratio adapting to the water flow state of the river model is calculated.

[0039] In this step, the water flow state refers to the overall motion and sediment distribution of the water flow in the river model, reflecting the comprehensive characteristics of water flow velocity, sediment concentration and water depth, and is used to determine the adapted sand adding amount ratio. The optimal sand adding amount ratio refers to the sand supply ratio adapting to the current water flow state, reflecting the required sand supply intensity of the river model under the current water flow condition, and is used to generate the sand adding control signal.

[0040] Step 103: According to the optimal sand adding amount ratio, the sand adding control signal for adjusting the sand adding rate is generated through the control center, and the sand adding control signal is subjected to timeliness verification to obtain the verified signal.

[0041] In this step, the sanding control signal refers to the instruction signal generated by the control center to adjust the sanding rate, including the target sanding rate and the variable frequency pump preliminary operation parameters, used to drive the sanding execution component and the variable frequency pump action. The verified signal refers to the effective instruction signal obtained after the sanding control signal is time-effectively verified, reflecting the sanding control demand without delay or after correction of delay, used to ensure that the variable frequency pump and the sanding execution component can match the current water flow state when acting.

[0042] Step 104: After receiving the verified signal at the control center, the river model sanding system sends frequency adjustment instructions to the variable frequency pump to calculate the sand flow power of the verified signal, and the variable frequency pump is the core power component of the river model sanding system for regulating water and sand transport flow.

[0043] In this step, the frequency adjustment instruction refers to the instruction signal sent by the control center of the river model sanding system to the variable frequency pump to adjust the operation frequency of the variable frequency pump, reflecting the specific adjustment requirements of the control center for the operation frequency of the variable frequency pump, and is the core instruction carrier connecting the verified signal and the actual action of the variable frequency pump. The sand flow power refers to the power provided by the variable frequency pump for water and sand transport, reflecting the ability of the variable frequency pump to drive sand transport, and is used to determine the adjustment range of the sanding execution component. The water and sand transport flow refers to the volume of water and sand mixture transported by the variable frequency pump per unit time, reflecting the sand transport capacity of the variable frequency pump, and is used to calculate the sand flow power, which is monitored based on the flow sensor deployed at the output end of the variable frequency pump.

[0044] Step 105: According to the sand flow power, adjust the sanding execution component in the river model sanding system, and adjust the actual sanding rate of the sanding execution component after the adjustment operation, to realize dynamic matching between the actual sand transport amount of the sanding execution component and the theoretical sand demand amount, which is calculated based on the effective water flow parameter data received by the control center at the historical time node.

[0045] In this step, the sand delivery and rate adjustment components in the river model sand delivery system, such as sand delivery pipeline valves, sand delivery motors, etc., are used to adjust the actual sand delivery rate. The actual sand delivery rate refers to the actual amount of sand delivered by the sand delivery component per unit time, reflects the actual working effect of the sand delivery component, and is used for comparison with the target sand delivery rate to adjust parameters. The theoretical sand demand refers to the amount of sand required by the river model under a certain flow condition, reflects the sand supply benchmark for maintaining water-sediment balance under the flow condition, and is used for comparison with the actual sand delivery amount to achieve dynamic matching. The effective flow parameter data (flow velocity x sediment concentration x water depth x river model coefficient) received by the control center before the historical time node is calculated based on the effective flow parameter data received and verified by the control center at a certain or multiple preset time nodes (such as the previous calculation period, the previous 10 minutes, etc.) in the past. The effective flow parameter data received by the control center before the historical time node reflects the historical flow state of the river model.

[0046] The embodiments of the present application solve the problems of traditional sand delivery systems, such as dependence on static empirical curves, response lag, and low water-sediment matching accuracy, improve the real-time and accuracy of sand supply in river model tests, effectively adapt to water-sediment coupling changes under non-steady flow conditions, reduce local excessive deposition or erosion instability, improve the simulation accuracy of the interaction process between water and sediment in river physical model tests, and meet the technical requirements of high accuracy, strong real-time performance, and adaptive adjustment.

[0047] The present application provides a specific embodiment, step 102, based on the effective flow parameter data received by the control center, the optimal sand delivery amount proportion adapted to the flow state of the river model is calculated, specifically including the following steps:

[0048] Step 201: According to the effective flow parameter data received by the control center, the flow velocity change amount between adjacent time points is calculated, the average value of all flow velocity change amounts is taken as the flow velocity change trend value, and based on the flow velocity change trend value, the trend correction coefficient is determined.

[0049] In this step, the flow rate change amount refers to the difference between the flow rates of two adjacent collection times in the river model, reflecting the change amplitude and direction of the flow rate (a positive value indicates an increase in flow rate, and a negative value indicates a decrease in flow rate) of adjacent times, which is used to calculate the flow rate change trend value based on the flow rate of adjacent times in the effective flow parameter data received by the control hub. The flow rate change trend value refers to the arithmetic mean of the flow rate change amounts of all adjacent times, reflecting the overall change direction and average change intensity of the flow rate in the river model (a positive value indicates an overall increase in flow rate, and a negative value indicates an overall decrease in flow rate), which is used to determine the trend correction coefficient and the allowed sediment carrying range. The trend correction coefficient refers to the coefficient set for correcting the sand adding amount ratio according to the size and sign of the flow rate change trend value, reflecting the influence of flow rate change on sediment supply demand (the sand adding ratio should be appropriately increased when the flow rate increases, and the sand adding ratio should be appropriately reduced when the flow rate decreases), which is used for subsequent calculation of the optimal sand adding amount ratio, and is determined based on the flow rate change trend value and the preset trend-coefficient corresponding rule.

[0050] This step filters out the adjacent collection time data generated according to the system preset collection interval (such as collecting once every 10 seconds) from the effective flow parameter data received by the control hub, and then extracts the flow rate corresponding to each adjacent time one by one. For each group of adjacent times, the flow rate change amount is calculated by subtracting the flow rate of the previous time from the flow rate of the next time. After the flow rate change amounts of all adjacent times are calculated, the total change amount is obtained by adding all the change amounts, and then divided by the total number of flow rate change amounts (i.e. the number of groups of adjacent times), to obtain the flow rate change trend value. Then, the system preset trend value-correction coefficient corresponding rule (which is based on the influence of river model flow rate change on sediment supply demand) is compared to determine the current trend correction coefficient. For example, when the flow rate change trend value is greater than 0.002 m / s, it indicates that the overall flow rate is increasing and the sediment carrying capacity is increasing, so the sand adding ratio should be increased, and the trend correction coefficient is set to 1.1; when -0.002 m / s≤trend value≤0.002 m / s, the overall flow rate is stable and the sediment carrying capacity does not change significantly, so the coefficient is set to 1.0; when the trend value is less than -0.002 m / s, the overall flow rate is decreasing and the sediment carrying capacity is decreasing, so the sand adding ratio should be reduced, and the coefficient is set to 0.9.

[0051] Step 202: determining the allowed sediment carrying range of the flow in the river model according to the flow rate change trend value.

[0052] In this step, the allowed sediment carrying range refers to the upper and lower limit value interval of the amount of sediment that the flow in the river model can stably carry under the current flow rate change trend, reflecting the dynamic range of the flow sediment carrying capacity (the upper limit of the interval increases when the flow rate increases, and the upper limit decreases when the flow rate decreases), which is used to compare with the comprehensive sediment concentration to determine the sediment concentration load rate, and is determined based on the flow rate change trend value and the preset trend-sediment range corresponding rule.

[0053] This step takes the flow velocity variation trend value as the core basis, and compares it with the system preset trend value-allowed sediment carrying range corresponding rule, which is based on the influence law of flow velocity variation on the sediment carrying capacity of water flow, for example, when the flow velocity variation trend value is 0.0015 m / s, the flow velocity shows a small increasing trend, and the sediment carrying capacity of the water flow is slightly improved, so the allowed sediment carrying range is set to 0.5-2.5 kg / m3; when the flow velocity variation trend value is -0.001 m / s, the flow velocity shows a small decreasing trend, and the sediment carrying capacity is slightly decreased, and the range is set to 0.3-2.0 kg / m3), to determine the allowed sediment carrying range of the water flow in the current river model, which clearly defines the upper and lower limits of the sediment that can be stably carried under the current water flow state.

[0054] Step 203: Extract the real-time sediment concentration and real-time water depth value of each monitoring point in the river model from the effective water flow parameter data, and calculate the comprehensive sediment concentration combined with the total number of monitoring points.

[0055] In this step, the total number of monitoring points refers to the total number of sensor deployment points for collecting water flow parameter data in the river model, reflecting the coverage and density of data collection, which is preset based on the scale of the river model (such as model length, width) and monitoring accuracy requirements. The comprehensive sediment concentration refers to the average value of the real-time sediment concentration of all monitoring points in the river model weighted by the corresponding real-time water depth, reflecting the average level of the overall sediment distribution in the model (the monitoring point with higher water depth has higher weight on the comprehensive sediment concentration), which is used for comparison with the allowed sediment carrying range.

[0056] This step extracts the real-time sediment concentration of each monitoring point and the real-time water depth value of the corresponding monitoring point from the effective water flow parameter data one by one according to the monitoring point number (such as No. 1 to No. 10 monitoring point), and simultaneously retrieves the preset total number of monitoring points from the system preset parameter library; for each monitoring point, the weighted sediment concentration of the single monitoring point is calculated by the real-time sediment concentration of the monitoring point x the corresponding real-time water depth value (the sediment concentration of the monitoring point with higher water depth has greater influence on the overall sediment state, so it needs to be weighted); after the weighted sediment concentration of all monitoring points is calculated, the total weighted sediment concentration is obtained by adding all the weighted sediment concentrations, and the total water depth is obtained by adding all the real-time water depth values of the monitoring points, and the comprehensive sediment concentration = total weighted sediment concentration ÷ total water depth.

[0057] Step 204: Compare the comprehensive sediment concentration with the allowed sediment carrying range to obtain the sediment concentration load rate matched by the comprehensive sediment concentration in the allowed sediment carrying range.

[0058] In this step, the sediment load ratio refers to the ratio of the comprehensive sediment concentration to the upper limit value of the allowable sediment carrying range, which reflects the degree of load of the actual sediment concentration in the current model relative to the maximum sediment carrying capacity of the flow (the smaller the ratio, the greater the sediment carrying space of the flow, and the larger the ratio, the closer to the upper limit of the sediment carrying capacity of the flow). The target sanding basic proportion is used to query.

[0059] This step compares the comprehensive sediment concentration with the allowable sediment carrying range, extracts the upper limit value from the allowable sediment carrying range (which represents the maximum sediment carrying capacity of the current flow), and calculates the sediment load ratio of the comprehensive sediment concentration in the allowable sediment carrying range = comprehensive sediment concentration ÷ upper limit value of the allowable sediment carrying range. The load ratio can directly reflect the degree of load of the actual sediment concentration relative to the maximum sediment carrying capacity of the flow.

[0060] Step 205: According to the sediment load ratio, query the target sanding basic proportion corresponding to the flow velocity in the preset flow velocity-sanding basic proportion correspondence table from the effective flow parameter data;

[0061] In this step, the preset flow velocity-sanding basic proportion correspondence table refers to a table that records the initial sanding proportion corresponding to different flow velocities according to the river model test data in advance, which reflects the basic strength of sediment supply under different flow velocities (the greater the flow velocity, the higher the basic sanding proportion), and is used to query the target sanding basic proportion. The target sanding basic proportion is obtained based on a large number of river model test data of flow velocity-sanding amount adaptation. The target sanding basic proportion refers to the initial sanding proportion corresponding to the flow velocity in the effective flow parameter data from the preset correspondence table, which reflects the basic sediment supply proportion under the current flow velocity without considering other factors (such as water depth, flow velocity trend), and is used to calculate the optimal sanding amount proportion in combination with the correction coefficient.

[0062] This step is based on the preset flow velocity-sanding basic proportion correspondence table (which is based on a large number of river model test data and records the initial sanding proportion under different flow velocities, such as 0.02 m / s corresponding to 0.7, 0.023 m / s corresponding to 0.8); then extract the current actual flow velocity from the effective flow parameter data; and adjust the basic proportion queried from the table in combination with the sediment load ratio (for example, when the load ratio is greater than 0.8, the current sediment concentration is close to the upper limit of the sediment carrying capacity of the flow, and the sanding proportion needs to be reduced, so the basic proportion corresponding to the flow velocity in the table is reduced by 5%; when the load ratio is less than 0.5, the current sediment concentration is far below the upper limit of the sediment carrying capacity of the flow, and the sanding proportion needs to be increased, so the basic proportion corresponding to the flow velocity in the table is increased by 5%; when the load ratio is between 0.5 and 0.8, the sediment load is moderate, and the corresponding value in the table is directly taken), to finally determine the target sanding basic proportion corresponding to the current flow velocity.

[0063] Step 206: determining a water depth correction coefficient according to the effective water flow parameter data, multiplying the target sedimentation basis ratio, the water depth correction coefficient, and the trend correction coefficient to obtain an optimal sedimentation amount ratio adapted to the water flow state of the river model.

[0064] In this step, the water depth correction coefficient refers to reflecting the influence of water depth distribution characteristics on sediment supply demand according to the water depth related information (average water depth, water depth fluctuation, water depth gradient) in the effective water flow parameter data, which is used for subsequent calculation of the optimal sedimentation amount ratio.

[0065] Optionally, in step 206, the water depth correction coefficient is determined according to the effective water flow parameter data, specifically including the following steps:

[0066] Step 211: calculating an average water depth value according to the real-time water depth values of the monitoring points and the total number of monitoring points.

[0067] In this step, the average water depth value refers to the arithmetic mean of the real-time water depth values of all monitoring points in the river model, reflecting the overall average level of the water depth in the model (for judging whether the water depth is overall shallow, medium or deep).

[0068] Step 212: calculating a water depth deviation value of each monitoring point from the average water depth value, and taking the sum of the absolute values of the maximum positive value and the maximum negative value in the water depth deviation value as the water depth fluctuation amplitude.

[0069] In this step, the water depth deviation value refers to the difference between the real-time water depth value of each monitoring point and the average water depth value, reflecting the deviation of the water depth of a single monitoring point from the overall average water depth (positive value for higher than average, negative value for lower than average), which is used for calculating the water depth fluctuation amplitude. The maximum positive value refers to the maximum positive difference value in all water depth deviation values, reflecting the maximum deviation amplitude of the water depth from the average value. The maximum negative value refers to the minimum negative difference value in all water depth deviation values, reflecting the maximum deviation amplitude of the water depth from the average value. The water depth fluctuation amplitude refers to the sum of the absolute values of the maximum positive value and the maximum negative value in the water depth deviation value, reflecting the overall fluctuation degree of the water depth distribution in the river model (the larger the value, the more uneven the water depth distribution).

[0070] Step 213: determining a reference correction coefficient according to the average water depth value, combining the water flow characteristics and sediment deposition rules, calculating a fluctuation influence coefficient according to the water depth fluctuation amplitude, combining the water flow characteristics and sediment distribution rules, and multiplying the reference correction coefficient and the fluctuation influence coefficient to obtain a preliminary water depth correction coefficient.

[0071] In this step, the water flow characteristics and sediment deposition rules reflect the correlation between water depth and sediment deposition (such as water flow disturbance is strong when water depth is shallow, sediment is easy to deposit; water flow and sediment deposition reach equilibrium when water depth is medium; water flow disturbance is weak when water depth is deep, sediment is not easy to deposit but easy to accumulate), which are used to determine the reference correction coefficient, which is summarized based on the correlation data of water depth-sediment deposition in river model test. The reference correction coefficient refers to the coefficient determined according to the average water depth value and the water flow characteristics and sediment deposition rules, which reflects the basic correction effect of the average water depth on the sedimentation amount ratio, and is used to calculate the preliminary water depth correction coefficient, which is determined based on the average water depth value and the preset average water depth-reference coefficient corresponding rule. The water flow characteristics and sediment distribution rules reflect the correlation between water depth fluctuation amplitude and sediment distribution (such as sediment distribution is uniform when water depth fluctuation is small, sediment is easy to gather in shallow water area and sparse in deep water area when water depth fluctuation is large), which are used to calculate the fluctuation influence coefficient, which is summarized based on the correlation data of water depth fluctuation-sediment distribution uniformity in river model test. The fluctuation influence coefficient refers to the coefficient calculated according to the water depth fluctuation amplitude and the water flow characteristics and sediment distribution rules, which reflects the correction effect of water depth fluctuation on the sedimentation amount ratio, and is used to calculate the preliminary water depth correction coefficient, which is determined based on the water depth fluctuation amplitude and the preset fluctuation amplitude-influence coefficient corresponding rule. The preliminary water depth correction coefficient refers to the product of the reference correction coefficient and the fluctuation influence coefficient, which reflects the comprehensive correction effect of the average water depth and the water depth fluctuation on the sedimentation amount ratio (without considering the influence of water depth gradient).

[0072] Step 214: According to the real-time water depth value of the deepest monitoring point and the real-time water depth value of the shallowest monitoring point extracted from the effective water flow parameter data in the river model, the water depth gradient ratio is calculated.

[0073] In this step, the deepest monitoring point refers to the monitoring point with the largest real-time water depth value among all monitoring points in the river model, which reflects the deepest position of the water body in the model. The shallowest monitoring point refers to the monitoring point with the smallest real-time water depth value among all monitoring points in the river model, which reflects the shallowest position of the water body in the model. The water depth gradient ratio refers to the ratio of the real-time water depth value of the deepest monitoring point to the real-time water depth value of the shallowest monitoring point, which reflects the gradient difference of the water depth distribution in the model (the larger the ratio, the greater the water depth gradient, the more significant the difference in sediment carrying capacity of water flow), which is used to adjust the preliminary water depth correction coefficient.

[0074] Step 215: According to the water depth gradient ratio and the sediment carrying capacity gradient change rule, the preliminary water depth correction coefficient is adjusted to obtain the water depth correction coefficient.

[0075] In this step, the variation law of the sediment carrying capacity of water flow gradient reflects the correlation between the water depth gradient ratio and the sediment carrying capacity of water flow (such as when the water depth gradient ratio is large, the difference in the sediment carrying capacity of water flow between deep and shallow water areas is large, and the correction coefficient needs to be reduced to avoid local deposition; when the gradient ratio is small, the difference in the sediment carrying capacity is small, and the correction coefficient can remain unchanged), which is used to adjust the preliminary water depth correction coefficient and is based on the correlation data of the water depth gradient ratio-sediment carrying capacity difference in the river model test.

[0076] In the embodiment of the present application, the implementation process of step 206 is as follows: first, sub-step 211 is executed to extract the real-time water depth values of all monitoring points from the effective water flow parameter data according to the monitoring point numbers, and the average water depth value is calculated by combining the preset total number of monitoring points, i.e., the average water depth value = the sum of the real-time water depth values of the monitoring points ÷ the total number of monitoring points; in sub-step 212, for each monitoring point, the water depth deviation value of the single monitoring point is calculated as the real-time water depth value of the monitoring point minus the average water depth value, and a positive value represents that the water depth of the point is higher than the average value, and a negative value represents that the water depth of the point is lower than the average value; the largest positive deviation (i.e., the largest positive value) and the smallest negative deviation (i.e., the largest negative value) are selected from all the water depth deviation values; the water depth fluctuation amplitude is equal to the numerical value of the largest positive value plus the absolute value of the largest negative value; in sub-step 213, when the reference correction coefficient is determined, the water flow characteristics and the sediment deposition law are first determined, and specifically, when the water depth is shallow, the water flow friction with the riverbed is strong, the water flow disturbance is large, and the sediment particles are easy to settle due to disturbance and collision, and the sand feeding ratio needs to be increased to compensate for the settlement loss; when the water depth is medium, the water flow disturbance and the sediment carrying capacity are balanced, and the sediment settlement and suspension are in a stable state, and the sand feeding ratio does not need to be adjusted additionally; when the water depth is deep, the water flow disturbance is weak but the sediment carrying space is large, the sediment is not easy to settle but easy to accumulate to form silt, and the sand feeding ratio needs to be reduced to avoid siltation, and then the reference correction coefficient is determined by referring to the preset average water depth-reference correction coefficient rule, for example, when the average water depth is less than 0.3 meters, the corresponding coefficient is 1.08; when the average water depth is 0.3-0.4 meters, the corresponding coefficient is 1.0; and when the average water depth is greater than 0.4 meters, the corresponding coefficient is 0.96; when the fluctuation influence coefficient is determined, the water flow characteristics and the sediment distribution law are first determined, and specifically, when the water depth fluctuation is small, the water flow velocity distribution is uniform, the sediment spreads uniformly with the water flow, and the sand feeding ratio does not need to be adjusted greatly; when the water depth fluctuation is medium, the flow velocity difference in the local area is small, the sediment distribution is slightly uneven, and the sand feeding ratio needs to be adjusted slightly; and when the water depth fluctuation is large, the flow velocity difference in different areas is significant, the sediment is easy to gather in the low-flow velocity area and sparse in the high-flow velocity area, the distribution is uneven, and the sand feeding ratio needs to be adjusted greatly, and then the fluctuation influence coefficient is determined by referring to the preset water depth fluctuation amplitude-fluctuation influence coefficient rule, for example, when the fluctuation amplitude is less than 0.04 meters, the corresponding coefficient is 0.99; when the fluctuation amplitude is 0.04-0.08 meters, the corresponding coefficient is 0.97; and when the fluctuation amplitude is greater than 0.08 meters, the corresponding coefficient is 0.96.94), determine the fluctuation influence coefficient; the preliminary water depth correction coefficient = the reference correction coefficient x the fluctuation influence coefficient; execute sub-step 214 to extract the real-time water depth values of all monitoring points from the effective water flow parameter data, screen out the monitoring point with the largest real-time water depth value (i.e. the deepest monitoring point) and the monitoring point with the smallest real-time water depth value (i.e. the shallowest monitoring point), and the water depth gradient ratio = the real-time water depth value of the deepest monitoring point ÷ the real-time water depth value of the shallowest monitoring point; execute sub-step 215 to determine the water depth gradient ratio and the gradient change rule of the sediment carrying capacity of the water flow, specifically: when the water depth gradient ratio is large, the difference between the deep and shallow water areas in the model is significant, the sediment carrying capacity of the water flow along the water depth direction is large, and the correction coefficient needs to be reduced to avoid deposition in the deep water area; when the water depth gradient ratio is small, the difference between the deep and shallow water areas is small, and the sediment carrying capacity difference is small, and the correction coefficient does not need to be adjusted), and the preset rule is compared, such as: when the gradient ratio > 1.2, the preliminary correction coefficient is reduced by 2%; when the gradient ratio ≤ 1.2, the preliminary correction coefficient remains unchanged, the preliminary water depth correction coefficient is adjusted, and the final water depth correction coefficient is obtained. The optimal sand adding amount ratio = the target sand adding basic ratio x the water depth correction coefficient x the trend correction coefficient.

[0077] The embodiment of the application can flexibly adjust the sand adding amount ratio according to the overall change trend of the flow rate, improve the adaptability to unsteady flow, and reduce local deposition or erosion caused by the mismatch between the sediment carrying capacity and the sediment concentration of the water flow; the influence of the water depth distribution characteristics on sediment deposition, distribution and sediment carrying capacity is considered, which makes up for the sand adding deviation caused by the water depth difference; the sand adding amount ratio and the multi-parameter dynamic adaptation of the water flow state are realized, the problems of sand adding response lag and large control deviation are solved, the control precision and self-adaptive adjustment ability of the sand adding system of the river model are improved, and the simulation accuracy of the natural river water-sediment interaction process in the river model test is ensured.

[0078] The application provides a specific embodiment, step 103, generating a sand adding control signal for adjusting the sand adding rate according to the optimal sand adding amount ratio through the control core, and performing timeliness verification on the sand adding control signal to obtain a verified signal, specifically including the following steps:

[0079] Step 301: determining the generation interval of the sand adding control signal according to the optimal sand adding amount ratio and the response characteristics of the sand adding execution member in the river model sand adding system.

[0080] In this step, the response characteristic of the sand feeding execution component refers to the time characteristic of the sand feeding execution component (such as a sand feeding valve and a sand feeding motor) from receiving a control signal to stably reaching a target sand feeding rate, including an action delay time (i.e. the time from signal reception to starting action) and a rate stabilization time (i.e. the time from starting action to rate stabilization), reflecting the response speed and stability of the sand feeding execution component to the control signal, for determining the generation interval of the sand feeding control signal, to avoid excessive signal generation leading to frequent adjustment of the execution component or insufficient signal generation leading to sand feeding lag. The generation interval refers to the time interval between two consecutive sand feeding control signals generated by the control center, reflecting the update frequency of the sand feeding control signal, for ensuring that each generated signal can be responded in time by the execution component, while avoiding unnecessary signal redundancy.

[0081] In the embodiments of the present application, according to the optimal sand feeding amount ratio and the response characteristic of the sand feeding execution component in the river model sand feeding system, the variation range of the optimal sand feeding amount ratio is analyzed: if the optimal sand feeding amount ratio changes greatly (such as a change of more than 10%) in adjacent periods, it indicates that the flow state changes rapidly, and the generation interval needs to be shortened to respond quickly; if the change is small (such as a change of less than 5%), it indicates that the flow state is stable, and the generation interval can be appropriately lengthened to avoid frequent adjustment of the execution component; at the same time, the response characteristic of the sand feeding execution component is combined (if the response delay is long and the stabilization time is long, the generation interval needs to be greater than the total response time to avoid receiving a new signal before the previous signal is stabilized), and by taking the larger value between the interval corresponding to the variation of the optimal sand feeding amount ratio and the interval corresponding to the response characteristic of the execution component, the generation interval of the sand feeding control signal is determined.

[0082] Step 302: According to the optimal sand feeding amount ratio and the generation interval, the target sand feeding rate that the sand feeding execution component needs to reach in the generation interval and the operation adjustment parameter that the variable frequency pump needs to match are calculated, the target sand feeding rate and the operation adjustment parameter are integrated, the sand feeding control signal is generated, and the generation time of the sand feeding control signal is recorded.

[0083] In this step, the target sand feeding rate refers to the sand delivery amount per unit time that the sand feeding executive component needs to reach within a generation interval, reflects the sand supply intensity within the interval, and is the core parameter of the sand feeding control signal, directly guiding the action of the sand feeding executive component. The operation adjustment parameter refers to the operation parameter that needs to be set for the variable frequency pump to match the target sand feeding rate, including the target operation frequency (i.e., the rotation frequency of the variable frequency pump, which determines the water and sand delivery flow size) and the target operation time length (i.e., the time during which the variable frequency pump needs to run continuously, consistent with the generation interval), reflecting the power output requirement of the variable frequency pump, used for integration into the sand feeding control signal to ensure the power coordination of the variable frequency pump and the sand feeding executive component. The sand feeding control signal refers to the instruction signal generated by the control center for adjusting the sand feeding rate, integrating the target sand feeding rate and the operation adjustment parameter of the variable frequency pump, reflecting the sand feeding demand under the current water flow state, used for transmission to the variable frequency pump and the sand feeding executive component as the direct basis for their actions. The generation time refers to the specific time point at which the control center completes the generation of the sand feeding control signal, recorded by the real-time clock module of the control center, reflecting the generation time of the signal, and is the basic time reference for judging the time effectiveness of the signal.

[0084] In the embodiments of the present application, with the generation interval as the time reference, the target total sand feeding amount (i.e., the basic sand feeding amount standard x the optimal sand feeding amount ratio) that needs to be delivered within a generation interval is first calculated according to the basic sand feeding amount standard (such as 100 kg per hour) preset by the river model; the target sand feeding rate that the sand feeding executive component needs to reach within the interval = target total sand feeding amount ÷ generation interval; the operation adjustment parameter (including the target operation frequency and the target operation time length, the target operation time length being consistent with the generation interval, and the target operation frequency being calculated according to the target sand feeding rate x the variable frequency pump power coefficient, the coefficient being preset by the variable frequency pump model) that the variable frequency pump needs to match is calculated according to the power matching relationship between the target sand feeding rate and the variable frequency pump, such as the higher the target sand feeding rate, the greater the water and sand delivery flow provided by the variable frequency pump, and the higher the corresponding operation frequency; then the target sand feeding rate parameter and the operation adjustment parameter are arranged in a preset order, the value of the target sand feeding rate parameter is written first, and then the values of the operation adjustment parameter are continuously written after the value; a start code for identifying the start of the signal is added at the starting position of the two sets of values, and an end code for identifying the end of the signal is added at the ending position of the two sets of values, forming a continuous data string containing parameter boundary identifiers; the data string is converted into a signal format supported by the transmission protocol in the river model sand feeding system as the sand feeding control signal, and the generation time of the sand feeding control signal is recorded by the real-time clock module of the control center.

[0085] Step 303: According to the signal transmission path length in the river model sand feeding system, the expected time consumption of the sand feeding control signal from generation to transmission to the variable frequency pump is determined, and the expected execution time of the sand feeding control signal is calculated in combination with the generation time.

[0086] In this step, the signal transmission path length refers to the physical transmission distance of the sand-adding control signal from the output end of the control hub to the receiving end of the frequency conversion pump, such as the cable length of wired transmission or the spatial distance of wireless transmission, reflecting the physical cost of signal transmission, for calculating the expected time consumption of signal transmission. The expected time consumption refers to the estimated time required for the sand-adding control signal to be generated and transmitted to the frequency conversion pump, reflecting the time cost of signal transmission, for determining the expected execution time of the signal. The expected execution time refers to the estimated time point when the sand-adding control signal starts to execute the action after reaching the frequency conversion pump, reflecting the actual time of signal action, for judging whether the signal is mismatched with the current flow state due to transmission delay.

[0087] In the embodiment of the present application, the signal transmission path length (i.e. the physical distance from the signal output interface of the control hub to the signal receiving interface of the frequency conversion pump, such as the cable length of 5 meters for wired transmission or the spatial distance of 8 meters for wireless transmission) is retrieved from the hardware parameter library of the river model sand-adding system; combined with the default speed of the signal transmission medium, the expected time consumption of the sand-adding control signal from generation to transmission to the frequency conversion pump = signal transmission path length ÷ signal transmission speed, and the expected execution time of the sand-adding control signal to start executing the action after reaching the frequency conversion pump = generation time of the sand-adding control signal + expected time consumption.

[0088] Step 304: Calculate the time difference between the expected execution time and the time point when the execution time difference calculation action is performed, if the time difference is less than or equal to the upper limit value of the preset allowed time range, the sand-adding control signal is directly used as the verified signal, if the time difference is greater than the upper limit value of the preset allowed time range, the parameter adjustment amplitude is calculated according to the difference between the time difference and the upper limit value of the preset allowed time range, and the target sand-adding rate and the frequency conversion pump operation adjustment parameter in the sand-adding control signal are modified according to the parameter adjustment amplitude to obtain the verified signal.

[0089] In this step, the time point when the execution time difference calculation action is performed refers to the real-time time point when the control hub calculates the difference between the expected execution time and the current time, reflecting the current actual time, which is the reference time for calculating the time difference and judging the timeliness of the signal. The preset allowed time range refers to the maximum delay time range allowed for the sand-adding control signal from generation to execution, which is determined by the accuracy requirement of the river model test, reflecting the qualified standard of the timeliness of the signal, for judging whether the signal is overdue, so as to avoid the disconnection between sand-adding and flow state caused by overdue signal. The parameter adjustment amplitude refers to the amplitude of modifying the target sand-adding rate and the frequency conversion pump operation adjustment parameter in the sand-adding control signal when it is overdue, reflecting the degree of parameter modification, for compensating for the sand-adding deviation caused by transmission delay and ensuring that the modified signal adapts to the current flow state.

[0090] In the embodiments of the present application, the current execution time difference calculation action corresponds to the time point obtained by the control center itself through the real-time clock module, the difference between the expected execution time and the time point is calculated to obtain the time difference between the two (if the expected execution time is later than the current time, the time difference is positive, which means that the signal needs to be delayed for execution; if it is earlier than the current time, the time difference is negative, which means that the signal has expired); then the preset allowable time range (if the signal exceeds the time, the corresponding sand requirement may be out of line with the current flow state) preset by the system is called to determine whether the time difference is less than or equal to the upper limit value of the preset allowable time range: if it is satisfied, it means that the signal is time-effective, and the sand control signal is directly used as the verified signal; if it is not satisfied (the time difference is greater than the upper limit value), the overtime length is calculated, the overtime length = time difference - preset allowable time range upper limit value, the parameter adjustment amplitude = overtime length × preset adjustment coefficient, which is calibrated by test data, and the parameter adjustment amplitude includes the target sanding rate adjustment amplitude and the variable frequency pump operating frequency adjustment amplitude); the sand control signal is corrected according to the parameter adjustment amplitude to obtain the verified signal that can adapt to the current flow state, for example, if the overtime length is 0.3 seconds and the adjustment amplitude is 0.03 kg / s, then 0.03 kg / s is added to the original target sanding rate, and the corresponding variable frequency pump target operating frequency is also increased.

[0091] The embodiments of the present application avoid the problem that the existing scheme uses a fixed interval to cause the signal to be too dense to cause the execution component to adjust frequently and the signal to be too sparse to cause the sanding to lag, ensure that the signal generation matches the execution capability, compensate for the deviation caused by transmission delay, avoid the problem that the sanding and the flow carrying capacity are not matched due to the direct execution of the overtime signal, improve the real-time performance and precision of sanding control, and ensure the dynamic balance of the flow and the sediment in the river model test and accurately reproduce the erosion and deposition process of the prototype river.

[0092] The present application provides a specific embodiment, step 104, the river model sanding system sends a frequency adjustment instruction to the variable frequency pump to calculate the sand transport flow power of the verified signal, which specifically includes the following steps:

[0093] Step 401: According to the target sanding rate in the verified signal, and in combination with the sand transport efficiency of the sanding execution component in the river model sanding system, the target sand transport flow power corresponding to the verified signal is calculated.

[0094] In this step, the sand transport efficiency refers to the sediment transport rate corresponding to the unit sand transport flow power of the sanding execution component in the river model sanding system, which reflects the efficiency of the sanding execution component in converting power into actual sand transport capacity, and is determined based on the model specification of the sanding execution component and the test calibration data. The target sand transport flow power refers to the sand transport power value (unit: kilowatt) that the variable frequency pump needs to provide to make the sanding execution component reach the target sanding rate in the verified signal, which reflects the core target of the sand transport power and is used as a benchmark to judge whether the variable frequency pump adjustment is up to standard.

[0095] In the embodiment of the present application, since the target sand-conveying flow power is the power required to drive the sand-conveying executing member to reach the target sand-conveying rate, the target sand-conveying flow power corresponding to the checked signal is obtained by dividing the target sand-conveying rate by the sand-conveying efficiency characteristic of the sand-conveying executing member, and the power value serves as a core target basis for subsequent adjustment of the variable frequency pump.

[0096] Step 402: obtaining the actual running frequency and the actual cumulative running time length of the variable frequency pump in the river model sand-conveying system, calculating a frequency deviation value of the actual running frequency and the target running frequency in the checked signal, and calculating a time length deviation value of the actual cumulative running time length and the target running time length in the checked signal.

[0097] In this step, the actual running frequency refers to the actual rotation frequency of the variable frequency pump at the current time, which is obtained by a frequency sensor arranged on the variable frequency pump in real time, reflects the current power output intensity of the variable frequency pump, and is used for comparison and calculation of the frequency deviation value with the target running frequency. The actual cumulative running time length refers to the time that the variable frequency pump has actually and continuously run from the start to the current time in the current sand-conveying period, which is obtained by a running timing module of the variable frequency pump, reflects the current running time progress of the variable frequency pump, and is used for comparison and calculation of the time length deviation value with the target running time length. The target running frequency refers to the variable frequency pump running frequency that is preset in the checked signal and can match the target sand-conveying flow power, reflects the power output frequency standard that the variable frequency pump needs to reach, and is used as a target reference for frequency adjustment. The frequency deviation value refers to the difference (actual running frequency minus target running frequency) between the actual running frequency and the target running frequency, a positive value represents that the actual frequency is too high, a negative value represents that the actual frequency is too low, reflects the difference between the variable frequency pump in the frequency dimension and the target requirement, and is used to determine the frequency adjustment step. The target running time length refers to the time that the variable frequency pump needs to continuously run in the current sand-conveying period, which is preset in the checked signal and is consistent with the generation interval of the sand-conveying control signal, reflects the running time standard that the variable frequency pump needs to reach, and is used as a target reference for time length adjustment. The time length deviation value refers to the difference between the actual cumulative running time length and the target running time length, a positive value represents that the running is too long, a negative value represents that the running is insufficient, reflects the difference between the variable frequency pump in the time dimension and the target requirement, and is used to determine the running time length compensation value.

[0098] In the embodiment of the present application, the frequency sensor of the river model sand adding system deployed on the variable frequency pump is used to collect the current actual operating frequency (unit: hertz) of the variable frequency pump in real time; at the same time, the actual cumulative operating time length (unit: second) from the start of the current sand adding cycle to the current time is retrieved through the operating timing module of the variable frequency pump; then the preset target operating frequency and target operating time length (the target operating time length is consistent with the generation interval of the sand adding control signal) are extracted from the verified signal; the frequency deviation value = actual operating frequency - target operating frequency, and the time length deviation value = actual cumulative operating time length - target operating time length, the two deviation values respectively reflect the difference between the variable frequency pump in the frequency and time length dimensions and the target requirement.

[0099] Step 403: determining the frequency adjustment step of the variable frequency pump according to the frequency deviation value.

[0100] In this step, the frequency adjustment step refers to the amplitude (unit: hertz / time) of adjusting the operating frequency of the variable frequency pump each time, which is determined based on the size of the frequency deviation value and the mechanical adjustment accuracy of the variable frequency pump, reflects the single amplitude of frequency adjustment, and is used to ensure that the frequency adjustment of the variable frequency pump is efficient and avoids water and sand flow fluctuations caused by sudden changes.

[0101] In the embodiment of the present application, the frequency adjustment step is determined according to the frequency deviation value and the mechanical adjustment accuracy (such as the minimum adjustable frequency of 0.5 hertz) of the variable frequency pump: if the absolute value of the frequency deviation value is greater than 5 hertz (the deviation is large), the frequency adjustment step is set to 2 hertz / time (adjusting 2 hertz each time) to speed up the adjustment efficiency; if the absolute value of the deviation value is between 1-5 hertz (the deviation is moderate), the step is set to 1 hertz / time to avoid water and sand flow fluctuations caused by sudden changes in frequency; if the absolute value of the deviation value is less than 1 hertz (the deviation is small), the step is set to 0.5 hertz / time (consistent with the mechanical adjustment accuracy) to accurately approach the target frequency; by the way that different steps correspond to different deviation sizes, efficient and stable adjustment is ensured.

[0102] Step 404: according to the frequency adjustment step, the river model sand adding system sends a frequency adjustment instruction to the variable frequency pump to adjust the actual operating frequency of the variable frequency pump, to obtain an adjusted operating frequency, so that the difference between the actual operating frequency and the target operating frequency is less than a first preset threshold.

[0103] In this step, the frequency adjustment instruction refers to the instruction sent by the control center to the variable frequency pump for adjusting its operating frequency, including the adjustment direction (increase or decrease) and the frequency adjustment step, reflecting the specific adjustment requirement of the control center to the frequency of the variable frequency pump, for driving the variable frequency pump to gradually approach the target operating frequency. The adjusted operating frequency refers to the frequency value when the difference between the actual operating frequency of the variable frequency pump after frequency adjustment and the target operating frequency is less than the first preset threshold, reflecting that the variable frequency pump has met the target requirement in the frequency dimension, and is used as the stable frequency reference for subsequent monitoring of the sand conveying power. The first preset threshold refers to the maximum allowed deviation value for judging whether the actual operating frequency of the variable frequency pump meets the standard, which is set based on the requirement of the river model for the stability of water and sediment conveying flow, reflecting the precision standard of frequency adjustment, and is used to terminate the frequency adjustment action.

[0104] In the embodiments of the present application, according to the frequency adjustment step, the frequency adjustment instruction containing the adjustment direction (wherein the frequency deviation value is positive, the direction is decreased, and the direction is increased when the value is negative) and the step value is generated; the instruction is sent to the drive unit of the variable frequency pump through the signal transmission module of the system, and the drive unit adjusts the actual operating frequency of the variable frequency pump step by step according to the instruction; after each adjustment, the control center reacquires the actual operating frequency through the frequency sensor, calculates the difference with the target operating frequency, and repeats the adjustment action until the difference is less than the first preset threshold (which is set based on the requirement of the river model for the stability of water and sediment flow), at which time the actual operating frequency is the adjusted operating frequency.

[0105] Step 405: determining the operating time compensation value of the variable frequency pump according to the time length deviation value.

[0106] In this step, the operating time compensation value refers to the time value for correcting the operating time deviation of the variable frequency pump, reflecting the operating time amplitude that needs to be adjusted, and is used to correct the target stop time in the initial operation plan.

[0107] In the embodiments of the present application, the operating time compensation value is determined according to the time length deviation value in combination with the sand conveying amount requirement of the sand adding execution member: if the time length deviation value is negative, the operating time compensation value is set as the absolute value of the time length deviation value (for example, the deviation value is -2 seconds, and the operating time compensation value is 2 seconds, which needs to be extended for 2 seconds); if the time length deviation value is positive, the operating time compensation value is set as a negative value (for example, the time length deviation value is 3 seconds, and the operating time compensation value is -3 seconds, which needs to be shortened for 3 seconds); the size of the operating time compensation value directly corresponds to the operating time that needs to be corrected, ensuring that the total operating time of the variable frequency pump can match the target requirement.

[0108] Step 406: updating the target stop time in the initial operation plan of the variable frequency pump according to the operating time compensation value, to obtain the updated stop time.

[0109] In this step, the initial operation plan refers to the initial operation plan of the variable frequency pump in this sanding cycle, which includes the initial target stop time (calculated by adding the target operation time to the initial start time), reflects the initial operation arrangement of the variable frequency pump, and is used as the basis plan for time length compensation. The target stop time refers to the time point at which the variable frequency pump is preset to stop operating in the initial operation plan, reflects the initial operation time endpoint of the variable frequency pump, and is used to update the final stop time in combination with the operation time compensation value. The updated stop time refers to the stop time point after the initial target stop time and the operation time compensation value are superimposed, reflects the final operation endpoint after the variable frequency pump corrects the time length deviation, and is used to ensure that the total operation time length of the variable frequency pump matches the target requirement.

[0110] In the embodiment of the application, the initial operation plan (which includes the initial target stop time of the variable frequency pump in this sanding cycle, calculated by adding the target operation time to the initial start time) is retrieved from the operation control module of the variable frequency pump; the operation time compensation value is time superimposed with the initial target stop time (the operation time compensation value is positive to delay the stop, and negative to advance the stop), for example, the initial target stop time is 10:00:10, and the operation time compensation value is 2 seconds, then the updated stop time is 10:00:12, to ensure that the total operation time length of the variable frequency pump can correct the time length deviation and match the target operation time length requirement.

[0111] Step 407: Monitor the instantaneous sand conveying flow of the sanding execution member when the variable frequency pump operates at the adjusted operation frequency and the updated stop time, and calculate the average value of the instantaneous sand conveying flow in a preset statistical period as the to-be-confirmed sand conveying flow power.

[0112] In this step, the instantaneous sand conveying flow refers to the volume of water and sand mixture conveyed by the sanding execution member per unit time when the variable frequency pump operates (unit: cubic meters / second), which is obtained by real-time collection through a flow sensor, reflects the real-time fluctuation of the sand conveying flow, and is used to calculate the average sand conveying flow. The preset statistical period refers to a fixed time interval for statistical analysis of the instantaneous sand conveying flow and calculation of the average value, which needs to cover the time of stable sand conveying flow fluctuation, reflects the time range of the statistics, and is used to eliminate the influence of instantaneous fluctuation on the sand conveying power judgment. The to-be-confirmed sand conveying flow power refers to the sand conveying power value corresponding to the average value of the instantaneous sand conveying flow in the preset statistical period (because the flow and the power are in a fixed proportion, the average value of the flow can directly correspond to the power), reflects the actual sand conveying power output by the current variable frequency pump, and is used for comparison and verification with the target sand conveying flow power.

[0113] In the embodiment of the present application, the flow sensor deployed at the output end of the sand feeding mechanism is used to monitor the instantaneous sand feeding flow rate of the variable frequency pump in real time when it is running at the adjusted operating frequency and the updated stop time; a preset statistical period (which covers the time of stable flow fluctuation) is set, all the instantaneous sand feeding flow rates collected in this period are added, and then divided by the number of collection times to calculate the average sand feeding flow rate in this period, which is used as the to-be-confirmed sand feeding flow power (since the sand feeding flow rate and the power are in a fixed proportion, the average flow value can directly correspond to the power value) to verify whether the target sand feeding flow power is reached.

[0114] Step 408: If the power difference between the to-be-confirmed sand feeding flow power and the target sand feeding flow power is less than a second preset threshold, the to-be-confirmed sand feeding flow power is used as the sand feeding flow power adapted to the checked signal; if the power difference is greater than or equal to the second preset threshold, the frequency adjustment step and the operating time compensation value of the variable frequency pump are recalculated until the sand feeding flow power adapted to the checked signal is calculated.

[0115] In this step, the power difference refers to the difference between the to-be-confirmed sand feeding flow power and the target sand feeding flow power, which reflects the gap between the current sand feeding power and the target requirement, and is used to determine whether the sand feeding power meets the requirement. The second preset threshold refers to the maximum allowed deviation value for determining whether the sand feeding power meets the requirement, which is set based on the requirement of the river model on the accuracy of the sand feeding power, and reflects the accuracy standard of the sand feeding power, which is used to terminate or restart the adjustment process of the variable frequency pump.

[0116] In the embodiment of the present application, the difference between the to-be-confirmed sand feeding flow power and the target sand feeding flow power is calculated, which is the power difference; the second preset threshold set by the system is retrieved (which is set based on the requirement of the river model on the accuracy of the sand feeding power): if the power difference is less than the second preset threshold, it means that the current sand feeding power meets the target requirement, and the to-be-confirmed sand feeding flow power is used as the sand feeding flow power adapted to the checked signal; if the power difference is greater than or equal to the second preset threshold, it means that the power is still not matched, and the frequency adjustment step is recalculated (according to the current frequency deviation value), and the operating time compensation value is recalculated (according to the current time deviation value), and the adjustment and monitoring actions of steps 404-407 are repeated until the power difference is less than the second preset threshold, and the adapted sand feeding flow power is determined.

[0117] The embodiment of the present application takes into account the adjustment efficiency and stability, avoids the water and sand flow fluctuation caused by the sudden change of the frequency of the variable frequency pump or the time deviation, ensures that the sand feeding flow power can accurately adapt to the requirement of the checked signal, guarantees that the actual sand feeding rate of the sand feeding mechanism is consistent with the target rate, and realizes the accurate control of water and sand transportation in the river model.

[0118] The application provides one embodiment, step 105, adjusting the sand feeding execution component in the sand feeding system of the river model according to the sand feeding flow power, and adjusting the actual sand feeding rate of the sand feeding execution component after the adjustment operation, so that the actual sand feeding amount of the sand feeding execution component and the theoretical sand demand amount are dynamically matched, the theoretical sand demand amount is calculated based on the effective flow parameter data received by the control center at the historical time node, and specifically includes the following steps:

[0119] Step 501: According to the inherent characteristic parameters of the sand feeding execution component, and in combination with the sand feeding flow power, the target rotating speed and the target opening degree of the sand feeding execution component are calculated, and the inherent characteristic parameters include the mechanical transmission ratio and the caliber coefficient.

[0120] In this step, the inherent characteristic parameters refer to the physical and mechanical parameters inherent to the sand feeding execution component and not changing with the running state, including the mechanical transmission ratio and the caliber coefficient, reflecting the power transmission efficiency and the opening degree-flow matching relationship of the sand feeding execution component, and being obtained based on the design specifications and the factory calibration data of the sand feeding execution component. The target rotating speed refers to the rotating speed required by the sand feeding execution component to reach the sand feeding flow power requirement, reflecting the power output strength of the execution component, and being used for driving the motor operation of the sand feeding execution component. The target opening degree refers to the degree required by the sand feeding execution component to match the sand feeding flow power, reflecting the material channel size of the execution component, and being used for controlling the channel width of the sand feeding. The mechanical transmission ratio refers to the ratio of the motor rotating speed to the execution component rotating speed in the sand feeding execution component, reflecting the rotating speed conversion relationship in the power transmission process, and being used for converting the sand feeding flow power into the target rotating speed of the execution component. The caliber coefficient refers to the proportional relationship between the opening degree of the sand feeding execution component and the corresponding sand feeding flow, and is used for converting the sand feeding flow power into the target opening degree of the execution component.

[0121] Step 502: Based on the target rotating speed and the target opening degree, the control center is controlled to adjust the sand feeding execution component and the valve adjusting mechanism in the sand feeding system of the river model, so as to collect the actual sand feeding rate of the sand feeding execution component after the adjustment operation.

[0122] In this step, the actual sand feeding rate refers to the actual sand feeding amount per unit time of the sand feeding execution component after the adjustment operation, reflecting the actual working effect of the execution component, and being used for comparing with the target sand feeding rate to judge whether the adjustment is up to the standard. The actual sand feeding rate is collected in real time by the sand flow sensor arranged at the output end of the execution component.

[0123] Step 503: The rate deviation value of the actual sand feeding rate and the target sand feeding rate in the verified signal is calculated, and the parameter correction step of the sand feeding execution component is determined according to the rate deviation value.

[0124] In this step, the rate deviation value refers to the difference between the actual sand feeding rate of the sand feeding execution component and the target sand feeding rate in the verified signal, and a positive value represents that the actual rate is too high, and a negative value represents that the actual rate is too low, reflecting the difference between the actual sand feeding and the target requirement. The parameter correction step refers to the amplitude of adjusting the rotation speed or opening degree of the sand feeding execution component each time, reflecting the single change amount of parameter adjustment, and is used to ensure that the actual sand feeding rate gradually approaches the target rate, and avoid sand feeding fluctuations caused by sudden changes.

[0125] Step 504: According to the parameter correction step, the control center controls the sand feeding execution component to send a parameter correction instruction to correct the actual sand feeding rate until the absolute value of the rate deviation value is less than or equal to the preset deviation threshold, and obtains a preliminary corrected sand feeding rate.

[0126] In this step, the parameter correction instruction refers to the instruction sent by the control center to the sand feeding execution component for adjusting the rotation speed or opening degree, and contains the correction direction (i.e. the rotation speed / opening degree needs to be raised or lowered) and the parameter correction step, reflecting the specific adjustment requirements of the control center to the execution component, and is used to drive the execution component to correct the actual sand feeding rate. The preset deviation threshold refers to the maximum allowed deviation value for judging whether the actual sand feeding rate meets the standard, which is set based on the requirement of the river model for sand feeding accuracy, reflecting the accuracy standard of the sand feeding rate, and is used to terminate the parameter correction process. The preliminary corrected sand feeding rate refers to the actual sand feeding rate when the absolute value of the deviation value between the actual sand feeding rate and the target sand feeding rate is less than or equal to the preset deviation threshold, reflecting the standard rate of the execution component under static adjustment, and is used for further adjustment in combination with the water flow parameter changes.

[0127] Step 505: Calculate the water flow parameter difference value of the effective water flow parameter data received by the control center at the historical time node and the effective water flow parameter data received in the last calculation period. When the water flow parameter difference value is greater than the preset difference threshold, adjust the preliminary corrected sand feeding rate according to the sediment discharge flow power corresponding to the effective water flow parameter data received by the control center, so that the water flow parameter difference value is less than or equal to the preset difference threshold, and the actual sand feeding amount of the sand feeding execution component and the theoretical required sand amount are dynamically matched.

[0128] In this step, the effective flow parameter data received by the last calculation period refers to the effective flow parameters (including flow velocity, sediment concentration, and water depth monitoring information) received and verified by the control center in the last control period (such as the last 10 seconds) of the river model sand adding system, reflecting the flow state of the last period, which is used for comparison with historical data to judge the flow change amplitude. The flow parameter difference value refers to the comprehensive difference between the effective flow parameter data received by the control center before the historical time node and the data of the last calculation period, reflecting the degree of change of the flow state, which is used to judge whether the sand adding rate needs to be further adjusted. The preset difference threshold refers to the critical value for judging whether the flow state change needs to adjust the sand adding rate, which is set based on the influence degree of flow change on sediment demand, and is used to trigger or terminate the dynamic adjustment of the sand adding rate.

[0129] Optionally, in step 503, a parameter correction step of the sand adding execution member is determined according to the rate deviation value, specifically including the following steps:

[0130] Step 511: According to the mechanical adjustment precision of the sand adding execution member, the allowable sand adding rate fluctuation range stored by the river model, and the error convergence interval in the historical adjustment data, a deviation judgment threshold is set.

[0131] In this step, the mechanical adjustment precision refers to the minimum change amount that can be achieved by the sand adding execution member in a single adjustment of the speed or opening, reflecting the adjustment precision of the execution member, and is used to set the deviation judgment threshold to avoid invalid adjustment caused by the step size being smaller than the adjustment precision. The allowable sand adding rate fluctuation range refers to the maximum range in which the actual sand adding rate deviates from the target rate without affecting the water and sediment simulation effect in the river model test, reflecting the tolerance of the test to sand adding fluctuation, and is used to set the grading standard of the deviation judgment threshold. The error convergence interval refers to the deviation range in the historical adjustment data in which the parameter correction step can quickly reduce the rate deviation to the preset threshold, reflecting the correlation between the deviation and the correction efficiency, and is used to set the interval division of the deviation judgment threshold. The deviation judgment threshold refers to the critical value for dividing the size of the rate deviation, which is set based on the mechanical adjustment precision, the allowable sand adding rate fluctuation range, and the error convergence interval, and is used to determine the size of the preliminary parameter correction step.

[0132] Step 512: Comparing the rate deviation value with the deviation judgment threshold to obtain a preliminary parameter correction step.

[0133] In this step, the preliminary parameter correction step refers to the correction step obtained by comparing the rate deviation value with the deviation judgment threshold, reflecting the theoretical adjustment amplitude without considering safety constraints, and is used to obtain the final step length by combining safety parameters in the subsequent step.

[0134] Step 513: Adjust the preliminary parameter correction step according to the safe operation parameters of the sand discharge execution component to obtain the parameter correction step of the sand discharge execution component, wherein the safe operation parameters include minimum safe rotating speed and minimum safe opening degree.

[0135] In this step, the safe operation parameters refer to the operation limit parameters that the sand discharge execution component needs to comply with to avoid mechanical damage or functional failure, reflecting the safe operation boundary of the execution component, and are used to adjust the preliminary parameter correction step to avoid over-limit. The minimum safe rotating speed refers to the lowest rotating speed at which the motor or execution component of the sand discharge execution component can stably operate without damage, and below this speed will cause motor stalling or execution component jamming, which is used to limit the rotating speed correction step. The minimum safe opening degree refers to the minimum opening degree at which the sand discharge execution component (such as a valve) can normally transport sand without clogging, and below this opening degree will cause sand accumulation to block the channel, which is used to limit the opening degree correction step.

[0136] In the embodiments of the present application, first, step 501 is performed: the inherent characteristic parameters of the sand adding execution component are called from the parameter library of the river model sand adding system, and the sand discharge flow power of the verified signal is combined, since the target rotating speed needs to match the rotating speed of the execution component corresponding to the sand discharge flow power, the target rotating speed of the sand adding execution component is calculated = sand discharge flow power × mechanical transmission ratio; since the target opening degree needs to match the size of the sand passage corresponding to the sand discharge flow power, the target opening degree of the sand adding execution component is calculated = sand discharge flow power ÷ caliber coefficient. Second, step 502 is performed: according to the target rotating speed and the target opening degree, an adjustment instruction is sent to the driving module of the sand adding execution component, the driving motor is driven to increase the rotating speed to the target rotating speed, and an opening degree adjustment instruction is sent to the valve adjusting mechanism, the valve is driven to adjust the opening degree to the target opening degree; after the adjustment is completed, the sand discharge flow sensor deployed at the output end of the sand adding execution component is started, and three actual sand adding rates are collected, actual sand adding rate = sum of three collected data ÷ 3. Then, step 503 (including sub-steps 511-513) is performed: first, the rate deviation value is calculated, rate deviation value = actual sand adding rate - target sand adding rate in the verified signal; then, sub-step 511 is performed, the control center extracts the mechanical adjustment precision of the sand adding execution component, the allowed sand adding rate fluctuation range stored in the river model, and the error convergence interval in the historical adjustment data from the system parameter library, and sets the deviation judgment threshold value (for example, set the large threshold value 0.08 kg / s, the medium threshold value 0.04 kg / s, and the small threshold value 0.02 kg / s); in sub-step 512, first, the absolute value of the rate deviation value is calculated = |rate deviation value|, and then it is compared with the deviation judgment threshold value, because it is equal to the small threshold value, the preliminary parameter correction step (such as rotating speed adjustment 2 revolutions / minute, opening degree adjustment 1%, and the direction is to increase) is determined; in sub-step 513, the safe operation parameters of the sand adding execution component are called, first, the adjusted rotating speed = current rotating speed + rotating speed correction step, and the adjusted opening degree = current opening degree + opening degree correction step are calculated, and it is confirmed that the adjusted parameters are all higher than the safety value, so the preliminary parameter correction step is the final parameter correction step. Step 504 is performed: the control center sends a parameter correction instruction to the sand adding execution component according to the parameter correction step, after the execution component is adjusted, the actual sand adding rate is re-collected, the rate deviation value is calculated again, and it is judged whether |rate deviation value| ≤ preset deviation threshold value, if the condition is met, the correction is stopped, and the preliminary corrected sand adding rate is obtained.Finally, the dynamic adjustment is realized through the step 505: the effective flow parameter data received before the historical time node (such as the flow velocity 0.023 m / s, the sediment concentration 1.2 kg / m3, and the water depth 0.32 m in the last 5 minutes) is called from the historical database, and the effective flow parameter data received in the last calculation period (such as the flow velocity 0.025 m / s, the sediment concentration 1.3 kg / m3, and the water depth 0.33 m in the last 10 seconds) is called; the flow parameter difference value is calculated, the flow parameter difference value = √[(the flow velocity in the last period - the historical flow velocity)² + (the sediment concentration in the last period - the historical sediment concentration)² + (the water depth in the last period - the historical water depth)²], such as √[(0.025 - 0.023)² + (1.3 - 1.2)² + (0.33 - 0.32)²] ≈ 0.102, and the flow parameter difference value is obtained; if the flow parameter difference value > the preset difference threshold value, such as 0.102 > 0.1, the sediment transport power corresponding to the current effective flow parameter data (such as 2.1 kW) is called, and the target rotating speed (2.1 kW x 5 = 10.5 r / min) and the target opening degree (2.1 kW ÷ 0.004 m3 / s x % = 525, taking 52.5%) are recalculated according to the logic of 501-504, the preliminary corrected sand adding rate is adjusted, the adjusted |flow parameter difference value| ≤ the preset difference threshold value, and finally the actual sediment transported by the sand adding execution component and the theoretical required sediment amount are dynamically matched.

[0137] The embodiment of the application avoids the sediment transport fluctuation caused by blind adjustment; the correction step is limited by the safe operation parameter, the mechanical safety of the execution component is guaranteed, the equipment damage caused by over-limit is prevented, the sand adding amount can adapt to the change of the flow state, and the problem that the existing scheme cannot adapt to the non-steady flow and causes the mismatch between the sediment supply and the flow sediment carrying capacity is solved.

[0138] Figure 2 A specific implementation structure diagram of a control system of a river model sand adding system provided by the embodiment of the application is shown in Figure 2 The system can include:

[0139] The acquisition module 21 is configured to acquire flow parameter data in the river model, perform validity verification on the flow parameter data, generate effective flow parameter data, and transmit the effective flow parameter data to a control center of the river model sand adding system. The flow parameter data includes flow velocity, sediment concentration, and water depth monitoring information.

[0140] The first calculation module 22 is configured to calculate an optimal sand adding amount ratio that adapts to the flow state of the river model based on the effective flow parameter data received by the control center.

[0141] The check module 23 is configured to generate a sand adding control signal for adjusting the sand adding rate according to the optimal sand adding proportion through the control center, and perform timeliness check on the sand adding control signal to obtain a checked signal.

[0142] The second calculation module 24 is configured to control a frequency adjustment instruction to be sent from the river model sand adding system to a variable frequency pump to calculate a sand flow power of the checked signal after the control center receives the checked signal.

[0143] The adjustment module 25 is configured to adjust the sand adding execution component in the river model sand adding system according to the sand flow power, and adjust the actual sand adding rate of the sand adding execution component after the adjustment operation, so as to realize dynamic matching between the actual sand amount delivered by the sand adding execution component and the theoretical sand amount, and the theoretical sand amount is calculated based on the effective water flow parameter data received by the control center before the historical time node.

[0144] The control system of the river model sand adding system according to the embodiment of the present application is used to realize the control method of the river model sand adding system, and the specific implementation of the control system of the river model sand adding system can refer to the description of the embodiment of the control method of the river model sand adding system, which will not be repeated here.

[0145] The present application further provides an electronic device, which comprises a memory for storing a computer program and a processor for executing the computer program to realize the steps of the control method of the river model sand adding system.

[0146] The present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the control method of the river model sand adding system.

[0147] In an exemplary embodiment, the computer readable storage medium can include but is not limited to a U disk, a read-only memory, a random access memory, a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0148] The embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to realize the steps in the control method of the river model sand adding system.

[0149] Those skilled in the art will further realize that the mere concepts, teachings, and embodiments described herein are merely meant to provide an enabling description of embodiments of the present application and that various modifications can be made thereto without departing from the scope of the present application. Accordingly, the appended claims are intended to embrace all such alterations, modifications, and variations of the present application. The above detailed description has been presented for the purposes of clarity and understanding. It is not intended to be exhaustive or to limit the present application to the precise form described. Many modifications and variations are possible in the scope of the application. The described embodiments are intended to be illustrative, but not restrictive, of the present application. Alternate embodiments will become apparent to those of ordinary skill in the art, and it will be apparent that one or more modifications can be made to the described embodiments without departing from the scope of the claims of the application. Accordingly, the scope of the present application should be determined not with reference to the above description but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of each patent, patent application, and publication cited herein are hereby incorporated herein by reference, each in its entirety.

[0150] The above describes in detail the control method and system of the river model sand adding system provided by the present application. The principles and implementation manners of the present application are described by using specific examples in the present text. The above description of the embodiments is only for helping to understand the method of the present application and its core idea. It should be pointed out that, for the ordinary skilled in the art, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A method of controlling a sediment supply system for a river model, characterized by, The method comprises the following steps: acquiring water flow parameter data in a river model and performing validity check on the water flow parameter data to generate valid water flow parameter data, the water flow parameter data including water flow velocity, sediment concentration and water depth monitoring information; based on the valid water flow parameter data received by the control hub, calculating an optimal sediment adding amount ratio adapted to the water flow state of the river model; generating a sediment adding control signal for adjusting the sediment adding rate through the control hub according to the optimal sediment adding amount ratio, and performing timeliness check on the sediment adding control signal to obtain a checked signal; after the control hub receives the checked signal, controlling the river model sediment adding system to send a frequency adjustment instruction to a variable frequency pump, which is a core power component for regulating water and sediment conveying flow in the river model sediment adding system, to calculate the sediment conveying flow power of the checked signal; adjusting the sediment adding execution component in the river model sediment adding system according to the sediment conveying flow power and adjusting the actual sediment adding rate of the sediment adding execution component after the adjustment operation, so that the actual conveying amount of the sediment adding execution component and the theoretical required sediment amount are dynamically matched, and the theoretical required sediment amount is calculated based on the valid water flow parameter data received by the control hub at the historical time node; based on the valid water flow parameter data received by the control hub, calculating an optimal sediment adding amount ratio adapted to the water flow state of the river model, comprising: calculating the flow velocity change amount between adjacent time points based on the valid water flow parameter data received by the control hub, taking the average value of all flow velocity change amounts as the flow velocity change trend value, and determining a trend correction coefficient based on the flow velocity change trend value; determining the allowed sediment carrying range of the water flow in the river model according to the flow velocity change trend value; extracting the real-time sediment concentration and real-time water depth value of each monitoring point in the river model from the valid water flow parameter data, and calculating the comprehensive sediment concentration combined with the total number of monitoring points; comparing the comprehensive sediment concentration with the allowed sediment carrying range to obtain the matching sediment concentration load rate of the comprehensive sediment concentration in the allowed sediment carrying range; according to the sediment concentration load rate, querying a target sediment adding basic ratio adapted to the water flow velocity from a preset corresponding relationship table of water flow velocity and sediment adding basic ratio; determining a water depth correction coefficient based on the valid water flow parameter data, and multiplying the target sediment adding basic ratio, the water depth correction coefficient and the trend correction coefficient to obtain the optimal sediment adding amount ratio adapted to the water flow state of the river model.

2. The method of claim 1, wherein, determining a water depth correction coefficient based on the valid water flow parameter data, comprising: calculating an average water depth value based on the real-time water depth value of each monitoring point and the total number of monitoring points; calculating the water depth deviation value of the real-time water depth value of each monitoring point from the average water depth value, and taking the sum of the absolute values of the maximum positive value and the maximum negative value in the water depth deviation value as the water depth fluctuation amplitude; According to the average water depth value, the reference correction coefficient is determined in combination with water flow characteristics and sediment deposition rules, according to the water depth fluctuation amplitude, the fluctuation influence coefficient is calculated in combination with water flow characteristics and sediment distribution rules, the reference correction coefficient is multiplied by the fluctuation influence coefficient to obtain a preliminary water depth correction coefficient; According to the real-time water depth values of the deepest monitoring point and the shallowest monitoring point in the river model extracted from the effective water flow parameter data, the water depth gradient ratio is calculated; According to the water depth gradient ratio and the gradient variation rule of the water flow sediment carrying capacity, the preliminary water depth correction coefficient is adjusted to obtain the water depth correction coefficient.

3. The method of claim 1, wherein, According to the optimal sand adding amount proportion, a sand adding control signal for adjusting the sand adding rate is generated through the control core, the sand adding control signal is time-effectively verified to obtain a verified signal, including: According to the optimal sand adding amount proportion and the response characteristics of the sand adding execution member in the river model sand adding system, the generation interval of the sand adding control signal is determined; According to the optimal sand adding amount proportion and the generation interval, the target sand adding rate that the sand adding execution member needs to reach within the generation interval and the operation adjustment parameter that the variable frequency pump needs to match are calculated, the target sand adding rate and the operation adjustment parameter are integrated to generate the sand adding control signal, and the generation time of the sand adding control signal is recorded; According to the signal transmission path length in the river model sand adding system, the expected time consumption of the sand adding control signal from generation to transmission to the variable frequency pump is determined, and the expected execution time of the sand adding control signal is calculated in combination with the generation time; The time difference between the expected execution time and the time corresponding to the execution time difference calculation action is calculated, if the time difference is less than or equal to the upper limit value of the preset allowable time range, the sand adding control signal is directly taken as the verified signal, if the time difference is greater than the upper limit value of the preset allowable time range, the parameter adjustment amplitude is calculated according to the difference between the time difference and the upper limit value of the preset allowable time range, and the target sand adding rate and the variable frequency pump operation adjustment parameter in the sand adding control signal are corrected according to the parameter adjustment amplitude to obtain the verified signal.

4. The method of claim 1, wherein, The frequency adjustment instruction is sent to the variable frequency pump to calculate the sediment transport flow power of the verified signal, including: According to the target sand adding rate in the verified signal, in combination with the sediment transport efficiency of the sand adding execution member in the river model sand adding system, the target sediment transport flow power corresponding to the verified signal is calculated; The actual operation frequency and the actual cumulative operation time length of the variable frequency pump in the river model sand adding system are obtained, the frequency deviation value of the actual operation frequency and the target operation frequency in the verified signal is calculated, and the time length deviation value of the actual cumulative operation time length and the target operation time length in the verified signal is calculated; According to the frequency deviation value, the frequency adjustment step length of the variable frequency pump is determined; According to the frequency adjustment step length, the frequency adjustment instruction is sent to the variable frequency pump to adjust the actual operation frequency of the variable frequency pump to obtain an adjusted operation frequency, so that the difference between the actual operation frequency and the target operation frequency is less than a first preset threshold value; According to the time length deviation value, a running time length compensation value of the variable frequency pump is determined; According to the running time length compensation value, a target stop time in an initial running plan of the variable frequency pump is updated to obtain an updated stop time; An instantaneous sand conveying flow rate of the sand feeding member when the variable frequency pump runs at the adjusted running frequency and the updated stop time is monitored, and an average value of the instantaneous sand conveying flow rate in a preset statistical time period is calculated as a to-be-confirmed sand conveying flow rate power; If a power difference value between the to-be-confirmed sand conveying flow rate power and the target sand conveying flow rate power is less than a second preset threshold value, the to-be-confirmed sand conveying flow rate power is taken as a sand conveying flow rate power adapted to the checked signal, and if the power difference value is greater than or equal to the second preset threshold value, a frequency adjustment step and a running time length compensation value of the variable frequency pump are recalculated until a sand conveying flow rate power adapted to the checked signal is calculated.

5. The method of claim 1, wherein, According to the sand conveying flow rate power, the sand feeding member in the sand feeding system of the river model is adjusted, and an actual sand feeding rate of the sand feeding member after the adjustment operation is adjusted, so that the actual sand conveying amount of the sand feeding member and the theoretical sand demand amount are dynamically matched, and the theoretical sand demand amount is calculated based on effective flow parameter data received by the control center before the historical time node and includes: According to the inherent characteristic parameters of the sand feeding member and the sand conveying flow rate power, a target rotating speed and a target opening degree of the sand feeding member are calculated, and the inherent characteristic parameters include a mechanical transmission ratio and a caliber coefficient; Based on the target rotating speed and the target opening degree, the control center is controlled to adjust the sand feeding member and a valve adjusting mechanism in the sand feeding system of the river model, so as to collect the actual sand feeding rate of the sand feeding member after the adjustment operation; A rate deviation value between the actual sand feeding rate and a target sand feeding rate in the checked signal is calculated, and a parameter correction step of the sand feeding member is determined according to the rate deviation value; According to the parameter correction step, the control center is controlled to send a parameter correction instruction to the sand feeding member, so as to correct the actual sand feeding rate until an absolute value of the rate deviation value is less than or equal to a preset deviation threshold value, and a preliminarily corrected sand feeding rate is obtained; A flow parameter difference value between the effective flow parameter data received by the control center before the historical time node and effective flow parameter data received in a last calculation period is calculated, and when the flow parameter difference value is greater than a preset difference threshold value, the preliminarily corrected sand feeding rate is adjusted according to a sand conveying flow rate power corresponding to the effective flow parameter data received by the control center, so that the flow parameter difference value is less than or equal to the preset difference threshold value, and the actual sand conveying amount of the sand feeding member and the theoretical sand demand amount are dynamically matched.

6. The method of claim 5, wherein, According to the rate deviation value, a parameter correction step of the sand feeding member is determined, including: A deviation judgment threshold value is set according to a mechanical adjustment precision of the sand feeding member, an allowed sand feeding rate fluctuation range stored in the river model, and an error convergence interval in historical adjustment data; The rate deviation value is compared with the deviation judgment threshold value to obtain a preliminary parameter correction step; According to the safe operation parameters of the Gaza executive component, the preliminary parameter correction step is adjusted to obtain a parameter correction step of the Gaza executive component, and the safe operation parameters include a minimum safe rotating speed and a minimum safe opening degree.

7. A control system of a river model sand adding system for executing a control method of a river model sand adding system as claimed in claim 1, characterized by The method comprises the following steps: An acquisition module is configured to acquire water flow parameter data in a river model, perform validity verification on the water flow parameter data to generate valid water flow parameter data, and transmit the valid water flow parameter data to a control hub of a river model sand feeding system, wherein the water flow parameter data comprises water flow speed, sediment concentration and water depth monitoring information; A first calculation module is configured to calculate an optimal sand feeding amount ratio that is suitable for a water flow state of the river model based on the valid water flow parameter data received by the control hub; A verification module is configured to generate a sand feeding control signal for adjusting a sand feeding rate based on the optimal sand feeding amount ratio through the control hub, and perform timeliness verification on the sand feeding control signal to obtain a verified signal; A second calculation module is configured to control the river model sand feeding system to send a frequency adjustment instruction to a variable frequency pump to calculate a sediment transport flow power of the verified signal after the control hub receives the verified signal, wherein the variable frequency pump is a core power component of the river model sand feeding system for regulating and controlling water and sediment transport flow; An adjustment module is configured to adjust a sand feeding executive component of the river model sand feeding system based on the sediment transport flow power, and adjust an actual sand feeding rate of the sand feeding executive component after the adjustment operation, so as to dynamically match the actual sediment transport amount of the sand feeding executive component with a theoretical sediment demand amount, wherein the theoretical sediment demand amount is calculated based on the valid water flow parameter data received by the control hub at a historical time node.

8. A computing device, comprising: The method comprises a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement the control method of the river model sand feeding system according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The computer program is stored in the computer and is executed by the computer to implement the control method of the river model sand feeding system according to any one of claims 1 to 6.

Images