Water level monitoring control method and system suitable for hydropower station portal crane grabbing beam

Abstract

The invention discloses a water level monitoring control method and system suitable for a hydropower station portal crane grabbing beam, and the method comprises the steps: collecting the original sensor data of the hydropower station portal crane grabbing beam through a multi-mode sensor; transmitting the data of the original sensor by using a deepwater cable, and correcting the data through a high-precision measurement algorithm; corrected data are sent to a PLC, and a control instruction and real-time state data are obtained through logic decision and safety linkage of the PLC; the control instruction is sent to an executing mechanism, the real-time state data is transmitted to a touch screen, and water level control and monitoring of the grabbing beam of the gate hoist of the hydropower station are achieved. According to the invention, reliable technical support is provided for safety evaluation of maintenance operation, and the intelligent level and the operation safety of the maintenance operation of the hydropower station are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measuring hydrostatic pressure to determine liquid level, in particular to a water level monitoring control method and system suitable for a water power station gate machine grab beam. BACKGROUND

[0002] With the large-scale construction and operation of the water power station, the safety and intelligence level of the gate hoist equipment in the maintenance, maintenance and operation process are increasingly valued. In the maintenance operation of the water power station, the gate machine grab beam is widely used to lift and lower the gate, and its operating state is directly related to the maintenance efficiency and the safety of personnel and equipment. The existing technology mainly relies on the visual perception, auditory judgment and experience accumulation of the operator, and refers to the sensor parameters in a relatively remote position, which is difficult to ensure the measurement accuracy and operating safety of the grab beam during underwater operation.

[0003] The existing technology cannot accurately determine the water pressure balance state of the two sides of the grab beam. Due to water impact, mechanical swing and change of the grab beam posture, the pressure data collected by the sensor often has a large error, which leads to the inability to reflect the actual water depth in real time and accurately, and further affects the balance control of the grab beam.

[0004] In addition, how to improve the measurement accuracy, control response speed and operating safety of the grab beam during underwater operation, and improve the intelligent level and operating safety of the maintenance operation of the water power station, has become an important technical direction in the industry. Therefore, a high-precision, dynamic compensation and intelligent interlocking water level monitoring control method suitable for the water power station gate machine grab beam is needed. SUMMARY

[0005] Therefore, the technical problem solved by the present application is that the existing water power station gate hoist machine grab beam has the problems of being difficult to accurately determine the pressure balance state of the two sides of the gate during the lifting and lowering operation of the gate, and having safety hazards during the high-speed lifting and lowering of the grab beam in water.

[0006] To solve the above technical problems, the present application provides the following technical solutions: In a first aspect, the present application provides a water level monitoring control method suitable for a water power station gate machine grab beam, comprising: Collecting original sensor data of the water power station gate machine grab beam through a multi-modal sensor; Transmitting the original sensor data through a deep water cable and correcting the data through a high-precision measurement algorithm; Sending the corrected data to a PLC controller to obtain control instructions and real-time state data through logical decision and safety linkage of the PLC controller; Sending the control instructions to an actuator and transmitting the real-time state data to a touch screen to realize water level control and monitoring of the water power station gate hoist machine grab beam.

[0007] As a preferred embodiment of the water level monitoring and control method for the grab beam of a hydropower station gantry crane described in this invention, the original sensor data includes the left pressure sensor value, the right pressure sensor value, the vertical acceleration value, the water temperature, the sampling time interval, the sensor installation spacing, the grab beam length, the target water depth, the water turbulence noise, the mechanical vibration noise, the electronic background noise, the environmental electromagnetic interference, the vertical motion inertial effect of the grab beam, the water surface fluctuation and long-period swell, and the grab beam swing and overturning moment.

[0008] As a preferred embodiment of the water level monitoring and control method for the gantry crane grab beam of a hydropower station described in this invention, the high-precision measurement algorithm includes real-time compensation for dynamic measurement errors caused by water flow impact and mechanical oscillation based on the established dynamic model. The compensated data is subjected to Kalman filtering for optimal estimation to suppress random noise and improve data smoothness and accuracy.

[0009] As a preferred embodiment of the water level monitoring and control method for the gantry crane grab beam in hydropower stations described in this invention, the dynamic model includes: In real-time water density calculation based on temperature compensation, the water density calculation is performed by calling the water temperature T: Where T represents water temperature, This represents the density of water at temperature T. In the pressure balance and beam tilt angle calculation, the processor fuses the left and right pressure values ​​to calculate the balanced pressure. : Calculate the beam inclination angle based on the pressure difference between the left and right sides: in, Indicates balanced forces. This indicates the value from the left pressure sensor. The value represents the right pressure sensor value, θ represents the grab beam tilt angle, d represents the sensor installation spacing, L represents the grab beam length, and ρ represents the water density. In the calculation of foundation water depth and tilt compensation, the uncompensated foundation water depth is calculated. : Using the calculated inclination angle Given the base water depth, calculate the water depth after tilt compensation. : in, Indicates the uncompensated base water depth. Indicates the water depth after compensation. The pressure represents the atmospheric pressure above the water surface, and g represents the acceleration due to gravity. express The cosine value.

[0010] As a preferred embodiment of the water level monitoring and control method for the gantry crane grab beam in hydropower stations described in this invention, the dynamic model further includes: In acceleration dynamic compensation, iterative calculations are performed to eliminate dynamic errors caused by water ripples and the vertical movement of the grab beam; As input, combined with the vertical acceleration measured by the triaxial accelerometer Secondary compensation is performed using the dynamic acceleration compensation formula, which manifests as follows: in, This represents the initial value of h during iterative calculations. This represents the dynamic compensation water depth after k+1 iterations. This represents the dynamic compensation water depth after k iterations. This represents the vertical acceleration value, and k represents an empirical coefficient related to the system's damping characteristics. This represents the threshold at which the iteration stops.

[0011] As a preferred embodiment of the water level monitoring and control method for the gantry crane grab beam in hydropower stations described in this invention, the logical decision includes the PLC adjusting the corrected final water depth. With the preset target water depth The comparison is performed to obtain the comparison results. Then, using PID and fuzzy control logic, control commands are generated to drive the actuator to move.

[0012] As a preferred embodiment of the water level monitoring and control method for the gantry crane grab beam in hydropower stations described in this invention, the safety linkage includes: when When the preset limit position is reached, the PLC automatically cuts off the power output and executes position limit protection; if If the water level falls below the safe level, the system triggers an audible and visual alarm and automatically reduces its operating speed, providing low water level protection. When the PLC receives and processes the operation instructions from the industrial control touchscreen, it imposes access restrictions on safety conditions.

[0013] Secondly, the present invention provides a water level monitoring and control system suitable for the gantry crane grab beam of a hydropower station, comprising: The underwater signal acquisition unit collects raw sensor data from the grab beam of the gantry crane at the hydropower station through multi-modal sensors. The signal transmission unit utilizes a deep-sea cable to transmit the raw sensor data. The signal processing unit performs data correction using a high-precision measurement algorithm; it sends the corrected data to the PLC controller, and obtains control commands and real-time status data through the PLC controller's logical decision-making and safety linkage; it sends the control commands to the actuator and transmits the real-time status data to the touch screen, thereby realizing the water level control and monitoring of the gate hoisting beam of the hydropower station.

[0014] Thirdly, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program is executed by the processor, it implements any step of the water level monitoring and control method for the gantry crane grab beam of a hydropower station as described in the first aspect of the present invention.

[0015] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the water level monitoring and control method for the gantry crane grab beam of a hydropower station as described in the first aspect of the present invention.

[0016] The beneficial effects of this invention are as follows: The water level monitoring and control method for gantry cranes in hydropower stations provided by this invention improves the intelligence level and operational safety of hydropower station maintenance operations. It uses a high-precision measurement algorithm to eliminate errors and obtain a compensated water depth. Furthermore, Kalman filtering is used for optimization to obtain the final optimal water depth estimate, improving operational accuracy. By using the logic decision-making and safety linkage of the PLC controller to determine control commands and real-time status data, which are then sent to the actuators and touchscreen, the safety of the monitoring system is improved, making the system more intelligent. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart for a water level monitoring and control method applicable to the gantry crane grab beam of a hydropower station. Detailed Implementation

[0019] Reference Figure 1 As one embodiment of the present invention, this embodiment provides a water level monitoring and control method applicable to the gantry crane grab beam of a hydropower station, comprising: S1: Collect raw sensor data of the gantry crane grab beam of the hydropower station through multimodal sensors.

[0020] Furthermore, the raw sensor data includes: environmental noise, dynamic interference, left pressure sensor value, right pressure sensor value, vertical acceleration value, water temperature, sampling time interval, sensor installation spacing, grab beam length, and target water depth.

[0021] It should be noted that the raw signals output by each sensor are sent to the data aggregation processor in real time for analog-to-digital conversion, initial screening and filtering, and data packaging to form a standardized data frame containing all sensor information.

[0022] S2: The original sensor data is transmitted using a deep-sea cable, and the data is corrected using a high-precision measurement algorithm.

[0023] It should be noted that using deep-sea cables for data transmission provides signal isolation, anti-interference capabilities, and long-distance lossless transmission, ensuring the reliability of data transmission from underwater to the control cabinet.

[0024] Furthermore, high-precision measurement algorithms include: Based on the established dynamic model, the dynamic measurement errors caused by water flow impact and mechanical oscillation are compensated in real time.

[0025] It should be noted that real-time compensation eliminates the error caused by the drift of the hydrostatic pressure calculation benchmark due to water temperature changes, providing adaptive density parameters for subsequent calculations and significantly improving the measurement consistency of the system under different seasons and water temperature environments; differential measurement by dual pressure sensors enables the perception of the non-horizontal state of the grab beam, providing a basis for tilt angle compensation; real-time compensation eliminates the projection error caused by the non-parallelism between the sensor plane and the horizontal plane due to the swing of the grab beam, unifying the measurement benchmark to the vertical water depth; iterative calculation is performed to eliminate the dynamic errors caused by water ripples and the vertical movement of the grab beam.

[0026] Real-time compensation step one: In the real-time calculation of water density based on temperature compensation, call the water temperature T and execute the water density calculation: Where T represents water temperature, This represents the density of water at temperature T.

[0027] Step 2: In the pressure balance and beam tilt angle calculation, the processor merges the left and right pressure values ​​to calculate the balance pressure. : The tilt angle of the grab beam can be calculated by the pressure difference between the left and right sides.

[0028] in, Indicates balanced forces. This indicates the value from the left pressure sensor. θ represents the right pressure sensor value, d represents the grab beam tilt angle, d represents the sensor installation spacing, L represents the grab beam length, and ρ represents the water density.

[0029] Step 3: In the foundation water depth calculation and tilt angle compensation, calculate the uncompensated foundation water depth. : Using the calculated inclination angle Given the base water depth, calculate the water depth after tilt compensation. : in, Indicates the uncompensated base water depth. Indicates the water depth after compensation. The pressure represents the atmospheric pressure above the water surface, and g represents the acceleration due to gravity. express The cosine value.

[0030] Step 4: In the dynamic acceleration compensation, iterative calculations are performed to eliminate dynamic errors caused by water ripples and the vertical movement of the grab beam. As input, combined with the vertical acceleration measured by the triaxial accelerometer Secondary compensation is performed using the dynamic acceleration compensation formula, which manifests as follows: in, This represents the initial value of h during iterative calculations. This represents the dynamic compensation water depth after k+1 iterations. This represents the dynamic compensation water depth after k iterations. This represents the vertical acceleration value, and k represents an empirical coefficient related to the system's damping characteristics. This represents the threshold at which the iteration stops.

[0031] The Kalman filter is used to estimate the optimal value of the compensated data, which effectively suppresses random noise and improves data smoothness and accuracy.

[0032] It should be noted that Kalman filtering is a mathematical method for state estimation of dynamic systems. It can fuse model predictions with measured data to provide the optimal estimate even in the presence of noise and uncertainty. Through a "prediction-update" mechanism, it effectively suppresses random noise, smooths data fluctuations, and significantly improves measurement accuracy and stability. In the monitoring of water level on the gantry crane's grab beam in hydropower stations, even under interference from water flow impact and mechanical swaying, Kalman filtering can still provide the optimal estimate of the compensated data, ensuring more accurate and reliable water level data.

[0033] S3: Send the corrected data to the PLC controller, and obtain control commands and real-time status data through the PLC controller's logical decision-making and safety linkage.

[0034] Furthermore, logical decision-making includes: The PLC will adjust the final water depth. With the preset target water depth The comparison is performed to obtain the comparison results. Then, using PID and fuzzy control logic, control commands are generated to drive the actuator to move.

[0035] Furthermore, security collaboration includes: when When the preset limit position is reached, the PLC automatically cuts off the power output and executes position limit protection; if If the water level falls below the safe level, the system triggers an audible and visual alarm and automatically reduces its operating speed, providing low water level protection. When the PLC receives and processes the operation instructions from the industrial control touchscreen, it imposes access restrictions on safety conditions.

[0036] S4: Send the control command to the actuator and transmit the real-time status data to the touch screen to realize the water level control and monitoring of the gate opening and closing machine of the hydropower station.

[0037] It should be noted that the industrial control touch screen communicates with the PLC controller in real time, centrally displaying information including... T It provides operators with a complete understanding of the operating conditions, including all key parameters such as equipment status and alarm information.

[0038] This embodiment also provides a computer device applicable to the water level monitoring and control method for the gantry crane beam grabbing in a hydropower station, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the water level monitoring and control method for the gantry crane beam grabbing in a hydropower station as proposed in the above embodiment.

[0039] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0040] This embodiment also provides a storage medium storing a computer program. When executed by a processor, the program implements the water level monitoring and control method for the gantry crane beam grabbing mechanism in a hydropower station as proposed in the above embodiment. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A water level monitoring control method suitable for a water power station portal crane grab beam, characterized in that, The method comprises the following steps: Collecting original sensor data of the gate beam of the gate hoist of the hydropower station through multi-modal sensors; Transmitting the original sensor data through a deep water cable and correcting the data through a high-precision measurement algorithm; Sending the corrected data to a PLC controller to obtain control instructions and real-time state data through logical decision and safety linkage of the PLC controller; Sending the control instructions to an actuator and transmitting the real-time state data to a touch screen to realize water level control and monitoring of the gate beam of the gate hoist of the hydropower station.

2. The water level monitoring control method suitable for the gate beam of the hydroelectric station door machine according to claim 1, characterized in that: The original sensor data includes left pressure sensor value, right pressure sensor value, vertical acceleration value, water temperature, sampling time interval, sensor installation interval, beam length, target water depth, water turbulence noise, mechanical vibration noise, electronic background noise, environmental electromagnetic interference, beam vertical motion inertia effect, water surface fluctuation and long-period surge, beam swing and overturning moment.

3. The water level monitoring control method suitable for the gate beam of the water power station door machine according to claim 2, characterized in that: The high-precision measurement algorithm includes real-time compensation for dynamic measurement errors caused by water flow impact and mechanical swing based on the established dynamic model; Performing Kalman filter optimal estimation on the compensated data to suppress random noise and improve data smoothness and accuracy.

4. The water level monitoring control method suitable for the gate beam of the water power station door machine according to claim 3, characterized in that: The dynamic model includes: In the real-time calculation of water density based on temperature compensation, the water temperature T is called to perform water density calculation: where T represents the water temperature, represents the water density at temperature T. In the pressure balance and the calculation of the angle of the grab beam, the processor fuses the left and right pressure values to calculate the balanced pressure : The beam inclination angle is calculated by the left and right pressure difference: wherein, represents the equilibrium force, represents the left pressure sensor value, represents the right pressure sensor value, θ represents the dip angle of the grab beam, d represents the sensor installation interval, L represents the length of the grab beam, and ρ represents the water density. In the calculation of the base water depth and the inclination compensation, the base water depth without compensation is calculated : Using the calculated dip angle and the base water depth, the water depth after dip angle compensation is calculated : wherein, denotes the uncompensated base water depth, denotes the compensated water depth, denotes the atmospheric pressure above the water surface, g denotes the gravitational acceleration, denotes the cosine value of the angle of the water surface.

5. The water level monitoring control method suitable for the gate girder of a hydroelectric station door machine according to claim 4, characterized in that: The dynamic model also includes: In the acceleration dynamic compensation, iterative calculation is performed to eliminate the dynamic error caused by water body fluctuation and grab beam vertical movement; taking the input vertical acceleration measured by the three-axis accelerometer , through the acceleration dynamic compensation formula for secondary compensation, which is represented as: wherein, represents an initial value of h when iterative calculation is performed, represents a dynamically compensated water depth after iteration k+1 times, represents a dynamically compensated water depth after iteration k times, represents a vertical acceleration value, and k represents an empirical coefficient related to a damping characteristic of the system, represents a threshold value at which iteration is stopped.

6. The water level monitoring control method suitable for the gate girder of a hydroelectric station gate according to claim 5, characterized in that: The logic decision includes that the PLC compares the corrected final water depth with the preset target water depth to obtain a comparison result, generates a control instruction according to PID and fuzzy control logic, and drives the actuator to act.

7. The water level monitoring control method suitable for the gate girder of a hydroelectric station gate according to claim 6, characterized in that: The safety linkage includes, when When the preset limit position is reached, the PLC automatically cuts off the power output to execute position limit protection; if When the water level is lower than the safety water level, the system triggers an audible and light alarm and automatically runs at a reduced speed, and the water level is low protection; the PLC receives and processes the operation instructions of the industrial control touch screen, and the authority constraint of the safety condition.

8. A water level monitoring control system suitable for a water power station gate crane grab beam, based on the water level monitoring control method of any one of claims 1-7, characterized in that: The method comprises the following steps: An underwater signal acquisition unit collects original sensor data of the gate beam of the gate hoist of the hydropower station through multi-modal sensors; A signal transmission unit transmits the original sensor data through a deep water cable; 9. A computer device comprising: A signal processing unit corrects the data through a high-precision measurement algorithm, sends the corrected data to a PLC controller, obtains control instructions and real-time state data through logical decision and safety linkage of the PLC controller, sends the control instructions to an actuator, and transmits the real-time state data to a touch screen to realize water level control and monitoring of the gate beam of the gate hoist of the hydropower station.

10. A computer readable storage medium having stored thereon a computer program, characterized in that: A memory and a processor; the memory stores a computer program, and the processor executes the computer program to realize the steps of the method of any one of claims 1 to 7. The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 7.

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