Gate opening control system and method based on force-displacement time error algorithm

Abstract

The application discloses a gate opening control system and method based on a force-displacement time error algorithm, and relates to the technical field of gate control, comprising the following modules: an actual comparison module is used for collecting the structure, transmission mechanism and motor performance parameters of a gate, and obtaining the actual measured running time; a core algorithm construction module is used for establishing a function of driving force changing with opening degree based on the relationship between mechanics and kinematics, and constructing a theoretical time-opening degree digital model; a theoretical calculation module is used for forming a fixed parameter combination to be calibrated, and outputting the theoretical running time under different working conditions; a model correction module is used for optimizing the fixed parameters in the theoretical model, so as to minimize the error between the theory and the measurement, and lock the optimal parameter combination; and an algorithm running module is used for inputting the target opening degree into the final control model, calculating the gate running time, and realizing the gate positioning control, so that the system can improve the accuracy and reliability of the gate control.

Description

Technical Field

[0001] This invention relates to the field of gate control technology, specifically to a gate opening control system and method based on a force-displacement time error algorithm. Background Technology

[0002] With the continuous development of computer technology in my country, networks have been successfully applied in hydropower station monitoring and automation systems. By combining automation technology with water conservancy projects, significant manpower and material resources can be saved, as well as time costs. Therefore, automation technology is of great significance to the development of gate control technology.

[0003] In water conservancy projects and other industrial applications, gates serve as crucial control devices, and their stability and accuracy directly impact the overall system's operational efficiency. Existing technologies typically achieve gate opening and closing through simple time control or opening sensor feedback to ensure accurate positioning. These traditional control methods rely on empirically set time periods or pre-defined opening parameters. However, control based on pre-set opening parameters often fails to accurately account for the dynamic characteristics of the gate under different operating conditions, leading to significant opening errors and inaccurate operating times in actual operation. These traditional control systems often exhibit shortcomings when faced with complex operating conditions and diverse operating environments. For example, the systems fail to effectively integrate the relationship between mechanics and kinematics for precise control, leading to low gate control efficiency, accelerated equipment wear, and potential safety hazards under different operating conditions. Therefore, it is difficult to achieve precise positioning and efficient control of gates using traditional control methods alone.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a gate opening control system and method based on a force-displacement time error algorithm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A gate opening control system based on a force-displacement time error algorithm, specifically comprising: The actual comparison module is used to collect the influence parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and to obtain the measured running time required to complete one lifting cycle under different working conditions. The core algorithm construction module is used to establish a functional relationship between the driving force of the opening and the opening degree based on the influencing parameters, through mechanical principles and kinematic relationships. It combines the algorithm of the relationship between the motor speed providing the driving force and the gate's running speed, as well as the algorithm of the relationship between the running speed and the opening degree, to jointly construct a theoretical time-opening digital model with the opening degree as the independent variable and the running time as the dependent variable, which includes fixed parameters to be calibrated. The theoretical calculation module is used to form several combinations of fixed parameters to be calibrated based on the value range of the fixed parameters to be calibrated, and output the theoretical running time required to complete the lifting cycle under different working conditions based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated. The model correction module is used to iteratively optimize the fixed parameters to be calibrated in the theoretical time-opening digital model based on the measured running time and corresponding opening data, so as to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model. The algorithm execution module is used to input the target opening degree into the final control model, calculate the corresponding running time, and indirectly control the opening degree by controlling the running time.

[0007] Furthermore, the structural parameters specifically include the gate's weight, gate thickness, gate width, and upstream water level; the transmission mechanism parameters specifically include the screw lead, screw radius, gear ratio, and gear radius; and the motor performance parameters include the motor speed, motor magnetic flux, and motor input voltage. The logic for obtaining the measured running time required for the gate to be controlled to complete the lifting and lowering cycle under different operating conditions is as follows: The different operating conditions refer to the different operating speed levels corresponding to the gate to be controlled. For any operating condition level, a lifting and lowering cycle test is performed on the gate to be controlled. Specifically, the gate to be controlled is raised from the bottom to the maximum height and lowered from the maximum height to the bottom to complete one lifting and lowering cycle. The time consumed to complete one lifting and lowering cycle is recorded. The lifting and lowering cycle test is performed multiple times under different water flow fluctuations in daily life. The average running time required to complete the lifting and lowering cycle in multiple lifting and lowering cycle tests is taken as the measured running time required to complete the lifting and lowering cycle under the corresponding operating condition level.

[0008] Furthermore, the functional relationship between the driving force of the gate opening and the opening degree is specifically based on the joint characterization of the frictional force, the gate's own weight, and the upward force acting on the gate. The change in gate opening degree is derived from the upward force acting on the gate, and the specific expressions used include: In the formula, The driving force on the gate to be controlled. The gravity of the gate to be controlled. The total frictional force experienced by the gate to be controlled. The upward force acting on the gate to be controlled. The water level is upstream of the sluice gate. To control the gate opening degree as At that time, the height of the control gate is to be controlled. This refers to the height of the gate to be controlled when it is at its maximum opening. This represents the variable indicating the opening degree of the gate to be controlled. This indicates that the gate to be controlled is in the rising state. This indicates that the gate to be controlled is in the descending state; The total frictional force on the gate to be controlled It consists of water-stopping friction and support friction, and the specific formula is as follows: In the formula, To stop water friction resistance, The bearing frictional resistance is specifically expressed as the superposition of sliding water-stopping frictional resistance and static water frictional resistance, and the bearing frictional resistance is specifically expressed as the superposition of sliding bearing frictional resistance and static bearing frictional resistance. The upward force on the gate to be controlled The specific formula used for the calculation is as follows: In the formula, For the specific gravity of water, The upper support force coefficient, and These represent the thickness and width of the gate to be controlled, respectively.

[0009] Furthermore, the algorithm for the relationship between the motor speed providing the driving force and the gate's operating speed is specifically constructed as follows: It is calculated through the mechanical transmission process from the motor to the screw of the gate to be controlled, and the specific formula used is: In the formula, The operating speed of the gate to be controlled. For screw lead, The screw speed is... Where is the screw radius. For the gear radius, This represents the transmission ratio between the worm gear and the screw gear in the motor. For gear speed, This represents the motor speed.

[0010] Furthermore, the specific logic underlying the algorithm for the relationship between operating speed and opening degree is as follows: Constructing the relationship between gate operating speed and gate driving force; then, through the relationship between gate driving force and gate opening degree, further connecting the relationship between gate operating speed and gate opening degree; the specific expression for the relationship between gate operating speed and gate driving force is as follows: In the formula, and For constant terms, The mechanical efficiency of the mechanical transmission of the gate screw to be controlled; constant term and The specific formula used for the calculation is as follows: In the formula, The electromotive force constant is . The torque constant is For the magnetic flux of the motor, This is the input voltage for the motor. This represents the motor impedance.

[0011] Furthermore, the algorithm for constructing the relationship between gate operating speed and gate opening degree, based on the relationship between gate operating speed and gate driving force, is specifically based on the following logic: Substituting the functional relationship between the gate driving force and the gate opening degree into the expression for the relationship between gate operating speed and gate driving force, an arithmetic expression for the relationship between gate operating speed and gate opening degree is obtained. The specific expression is as follows: The theoretical time-opening digital model, constructed simultaneously with opening degree as the independent variable and running time as the dependent variable, and including fixed parameters to be calibrated, is based on the following logic: the motion height for completing one full ascent and descent cycle is divided into several sub-motion intervals of equal height, and the expression for the length of each sub-motion interval is determined using the finite difference method. The specific formula used is as follows: In the formula, Let i be the motion height of the i-th sub-motion interval. Let be the time consumed in the i-th sub-movement interval. Let j be the motion height of the j-th sub-motion interval. , and For the fixed parameters to be calibrated, i and j are both indices of the sub-motion intervals, where , , This represents the total number of sub-motion intervals.

[0012] Furthermore, the logic for forming several combinations of fixed parameters to be calibrated is as follows: based on past experience, determine the basic range of each fixed parameter to be calibrated, set a margin factor, expand the basic range to obtain the value range of the fixed parameter to be calibrated, randomly select a value within the value range of each fixed parameter to be calibrated, and form a combination of three selected values ​​into a fixed parameter to be calibrated. Repeat this selection process multiple times to obtain several combinations of fixed parameters to be calibrated. Determine the theoretical running time required to complete the lifting cycle under different working conditions for each combination of fixed parameters to be calibrated, that is, calculate the time consumed by each sub-motion interval under any combination of fixed parameters to be calibrated by using the expression of the length of each sub-motion interval. The logic behind locking the optimal combination of fixed parameters to be calibrated is as follows: Based on minimizing the error between theoretical and measured running times as the optimization objective, a fitness function is set, and the formula for calculating the fitness function is as follows: In the formula, This represents the fitness function value. This refers to the actual running time. Based on the fitness function, the fixed parameters to be calibrated are iteratively optimized using a genetic algorithm to determine several combinations of fixed parameters to be calibrated whose fitness function values ​​are not greater than a preset time error threshold, and the combination of fixed parameters to be calibrated with the smallest fitness function value is taken as the optimal combination of fixed parameters to be calibrated.

[0013] This invention also provides a gate opening control method based on a force-displacement time error algorithm. This method is used to control the aforementioned gate opening control system based on a force-displacement time error algorithm, and includes: Collect the influencing parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and obtain the measured running time required to complete one lifting cycle under different operating conditions. Based on the influencing parameters, a functional relationship between the driving force of the gate opening and the gate operating speed is established through mechanical principles and kinematic relationships. Combined with the algorithms for the relationship between the motor speed providing the driving force and the gate operating speed, as well as the algorithm for the relationship between the operating speed and the opening, a theoretical time-opening digital model is constructed with the opening as the independent variable and the operating time as the dependent variable, including the fixed parameters to be calibrated. Based on the value range of the fixed parameters to be calibrated, several combinations of fixed parameters to be calibrated are formed, and based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated, the theoretical running time required to complete the lifting cycle under different working conditions is output respectively. Based on the measured running time and corresponding opening data, the fixed parameters to be calibrated in the theoretical time-opening digital model are iteratively optimized to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model. The target opening degree is input into the final control model, the corresponding running time is calculated, and the opening degree is indirectly controlled by controlling the running time.

[0014] Compared with the prior art, the beneficial effects of the present invention are: The core algorithm module combines mechanical principles with kinematic relationships to establish a functional relationship between the gate's driving force and its opening degree. This technical feature enables the system to accurately calculate the required driving force under different opening degrees and further derive the relationship between the corresponding motor speed and the gate's running speed. Based on a comprehensive consideration of mechanics and kinematics, the goal is to control the gate opening degree through time, ensuring that the gate's operation will not be unstable or unsafe due to changes in opening degree during the opening and closing process. Compared with traditional control methods, it can more scientifically reflect the gate's true performance under different operating states, improving the reliability and effectiveness of the control system. The model correction module uses the measured time-opening dataset as a benchmark to iteratively optimize the fixed parameters to be calibrated in the theoretical time-opening digital model, ensuring an effective match between the theoretical model and the actual operating data, minimizing errors. Based on the data-driven optimization strategy, the model can be continuously adjusted and improved to achieve precise control of the opening and closing height of small gates and reduce gate wear caused by inaccurate control. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall system structure of the present invention; Figure 2 The curve showing the speed-time relationship during the ascent phase; Figure 3 The speed-time relationship curve for the descent phase; Figure 4 This is a schematic diagram of the overall method flow of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0017] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0018] Example: Please see Figures 1-3 The present invention provides a technical solution: A gate control system based on a force-displacement time error algorithm, specifically comprising: The actual comparison module is used to collect the influence parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and to obtain the measured running time required to complete one lifting cycle under different operating conditions.

[0019] The structural parameters specifically include the gate's weight, gate thickness, gate width, and upstream water level; the transmission mechanism parameters specifically include the screw lead, screw radius, gear ratio, and gear radius; and the motor performance parameters include the motor speed, motor magnetic flux, and motor input voltage. The specific method for obtaining the influence parameters of the gate to be controlled is as follows: by consulting the design drawings of the gate to be controlled, accurate gate thickness, gate width and mass data are obtained, and the gravity of the gate is calculated based on the mass data; A water level gauge, such as a float-type water level gauge or a pressure water level gauge, is installed upstream of the gate to measure the water level in real time and serve as the upstream water level of the gate. To obtain the radius of the gate screw, use calipers or vernier calipers to directly measure the diameter of the screw to ensure accurate measurement, or consult the gate design drawings or technical documents to obtain the screw diameter data used in the design. Screw lead is determined by measuring the vertical distance traveled per revolution of the screw during its complete rotation. This can usually be achieved through actual testing or by consulting product specifications. The gear radius can be measured using a vernier caliper or a special gear measuring tool to determine the outer diameter of the gear, or by consulting the gear manufacturing specifications or design drawings to obtain the gear diameter information. The most direct method for obtaining motor speed is to use a digital tachometer or photoelectric tachometer. This type of device measures the motor shaft speed using a light sensor or contact probe. The sensor is mounted on the motor shaft, and the device displays the speed in real time. Motor flux is a parameter that describes the strength and effective area of ​​the magnetic field generated by the motor. You can find the flux value for the corresponding motor model in the motor's technical manual or design documents.

[0020] The motor input voltage can be monitored in real time by installing a voltage sensor in the motor power supply line; The gear ratio can be calculated by measuring the number of teeth on the large and small gears, or by consulting the design drawings or technical parameters of the transmission system.

[0021] The logic for obtaining the measured running time required for the gate to be controlled to complete the lifting and lowering cycle under different operating conditions is as follows: The different operating conditions refer to the different operating speed levels corresponding to the gate to be controlled. For any operating condition level, a lifting and lowering cycle test is performed on the gate to be controlled. Specifically, the gate to be controlled is raised from the bottom to the maximum height and lowered from the maximum height to the bottom to complete one lifting and lowering cycle. The time consumed to complete one lifting and lowering cycle is recorded. The lifting and lowering cycle test is performed multiple times under different water flow fluctuations in daily life. The average running time required to complete the lifting and lowering cycle in multiple lifting and lowering cycle tests is taken as the measured running time required to complete the lifting and lowering cycle under the corresponding operating condition level.

[0022] The core algorithm construction module is used to establish a functional relationship between the driving force of the opening and the opening degree based on the influencing parameters, through mechanical principles and kinematic relationships. It combines the algorithm of the relationship between the motor speed providing the driving force and the gate's running speed, as well as the algorithm of the relationship between the running speed and the opening degree, to jointly construct a theoretical time-opening digital model with the opening degree as the independent variable and the running time as the dependent variable, which includes fixed parameters to be calibrated.

[0023] The functional relationship between the driving force and the opening degree of the gate to be controlled is specifically based on the joint characterization of the frictional force, the weight of the gate itself, and the upward force on the gate. The change in gate opening degree is derived from the upward force on the gate. The specific expressions used include: In the formula, The driving force on the gate to be controlled. The gravity of the gate to be controlled. The total frictional force acting on the gate to be controlled is The upward force acting on the gate to be controlled. The water level is upstream of the sluice gate. To control the gate opening degree as At that time, the height of the control gate is to be controlled. This refers to the height of the gate to be controlled when it is at its maximum opening. This represents the variable indicating the opening degree of the gate to be controlled. This indicates that the gate to be controlled is in the rising state. This indicates that the gate to be controlled is in the descending state; It should be noted that in the first case... In this situation, the gate is in the process of opening, the water level is still lower than the upstream water level, the water level is lower than the gate, and the gate is in the process of rising. Therefore, it is necessary to overcome the forces of gravity, friction and upward force to increase the gate opening in order to achieve the purpose of opening the gate. The second scenario In this situation, the gate opening has reached or exceeded the upstream water level. At this point, the gate is above the water surface and is no longer subject to upward force. The influence of friction on the gate can also be ignored, and the gate's gravity... It is the only force that needs to be considered, therefore the driving force is only equal to the weight of the gate; The third scenario In this situation, the gate is closing, and the factors of gravity and upward force must be taken into account, while also needing to counteract the effects of friction. This provides additional assistance at this point, while friction... Therefore, the negative sign in the formula indicates the suppressive effect of friction. This formula takes into account the interaction between gravity, friction, and upward force, and can more accurately reflect the actual driving force of the gate at different opening degrees. This comprehensive consideration makes the model more realistic. The formula adopts a segmented definition method, and gives different calculation methods according to different operating states (raising, holding, lowering), making the formula more adaptable and flexible in actual operation.

[0024] The total frictional force on the gate to be controlled It consists of water-stopping friction and support friction, and the specific formula is as follows: In the formula, To stop water friction resistance, The bearing frictional resistance is specifically expressed as the superposition of sliding water-stopping frictional resistance and static water frictional resistance, and the bearing frictional resistance is specifically expressed as the superposition of sliding bearing frictional resistance and static bearing frictional resistance. It should be noted that when the gate is moving, sliding friction will occur between the water-stopping surface and the gate. This frictional resistance is related to the weight of the gate, the coefficient of friction of the contact surface material, and the sliding speed. Even when the gate is stationary, there will still be friction between the water-stopping surface and the gate. This frictional resistance generally plays a decisive role when the gate just begins to move. Therefore, the total frictional force on the gate to be controlled is defined as the superposition of the two parts. The specific method for obtaining the sliding water-stop friction resistance is as follows: The sliding water-stop friction resistance refers to the frictional force generated between the water-stop surface and the gate due to relative sliding during the gate movement. Using a friction testing machine, prepare samples of the water-stop material and the gate material, apply a certain vertical load to the sample, keep the sample in contact, and gradually apply a horizontal force until the sample begins to slide; record the horizontal force value at this time, which is the sliding water-stop friction resistance.

[0025] Static water friction is the frictional force between the water-stopping surface and the gate when the gate is stationary. The measurement method is similar to that of sliding water-stopping friction. A known vertical load is applied to a sample where the water-stopping material and the gate material are in contact, and a horizontal force is gradually applied. The maximum horizontal force value before the sample begins to slide is recorded, which is the static water-stopping friction.

[0026] The specific methods for calculating the friction resistance of sliding supports are the same as those for static supports, and will not be elaborated here.

[0027] The upward force on the gate to be controlled The specific formula used for the calculation is as follows: In the formula, For the specific gravity of water, The upper support force coefficient, and These refer to the thickness and width of the gate to be controlled. The specific upward force coefficient can be obtained by referring to the design specifications for steel gates in water conservancy and hydropower projects. It should be noted that the specific weight of water is a crucial factor affecting buoyancy, directly related to the magnitude of the buoyancy exerted by the water on the gate. The specific weight of water is introduced into the formula to explain the force exerted by a unit volume of water on the gate. Uplift coefficient This coefficient reflects the effectiveness of the buoyancy force on the gate in the water. It takes into account the influence of the gate's geometry (such as arc, plane, etc.) and the water flow state (such as flow velocity, turbulence, etc.) on the buoyancy force. By consulting relevant design specifications, this coefficient can ensure that current standards and best practices are fully considered during the design process, thereby improving the reliability of the design. water level difference This item indicates the effective height of the water above the gate, reflecting the height at a specific opening. Below, the water body and water level above the sluice gate The greater the difference in water level, the greater the upward force, indicating that when the gate is closed, the pressure of the water above will be greater than the pressure of the water below, thus generating buoyancy. The thickness and width of the gate to be controlled together determine the area of ​​contact between the gate and the water. The upward force is directly proportional to the area of ​​contact with the water; the greater the thickness and width of the gate, the greater the buoyancy it experiences.

[0028] The algorithm relating the motor speed providing the driving force to the gate's operating speed is specifically constructed as follows: It calculates the relationship through the mechanical transmission process from the motor to the gate screw, using the following formula: In the formula, The operating speed of the gate to be controlled. For screw lead, The screw speed is... Where is the screw radius. For the gear radius, This represents the transmission ratio between the worm gear and the screw gear in the motor. For gear speed, This represents the motor speed, used to provide the driving force for the gate's movement.

[0029] It should be noted that this formula is based on the basic principle of mechanical transmission, which ensures that the characteristics and behavior of each mechanical component are considered when calculating the operating speed of the gate to be controlled. Through the geometric relationship between the screw and the gear, the rotational speed can be effectively calculated. In the first formula In the middle, it represents the operating speed of the gate to be controlled. With screw speed The relationship between them; due to the lead of the screw. This determines the linear distance it travels per revolution, thus this formula reasonably explains the direct relationship between the screw speed and the gate speed; The second formula is used to calculate the gear speed. In this formula, the operating speed of the gate is... By combining the screw lead, gear radius, and screw radius, the gear rotation speed can be obtained. The influence of the lever arm and the linear relationship of the screw motion are taken into account, ensuring the rationality of the rotation speed. The third formula Indicates the motor speed With gear speed The relationship between the worm and the gear depends on the transmission ratio between them. transmission ratio It is a key parameter that reflects the conversion relationship between motor speed and screw speed; The algorithm for the relationship between gate operating speed and gate opening is based on the following logic: It establishes the relationship between gate operating speed and gate driving force; through the relationship between gate driving force and gate opening, it further connects the relationship between gate operating speed and gate opening; the specific expression for the relationship between gate operating speed and gate driving force is as follows: In the formula, and For constant terms, The mechanical efficiency of the mechanical transmission of the gate screw to be controlled; It should be noted that this formula uses the gate's operating speed... Expressed as driving force The function reflects the change in the opening and closing speed of the gate under different forces. The greater the driving force, the more the operating speed is affected. By combining the relationship between the driving force and the opening, the operating speed of the gate can be indirectly related to its opening. constant term and The specific formula used for the calculation is as follows: In the formula, Let be the electromotive force constant. The torque constant is For the magnetic flux of the motor, This is the input voltage for the motor. This represents the motor impedance.

[0030] It should be noted that the constant term and The relationship between motor performance and the mechanical system is reflected by parameters such as the motor's input voltage, constant, and magnetic flux. The expression describes the motor's ability to output energy under specific voltage and electromotive force constant conditions. This takes into account the motor's impedance and torque constant, reflecting the current required by the motor when outputting driving force and the associated efficiency loss. The input voltage of the motor can be obtained by measuring the motor input voltage with a multimeter; The electromotive force constant represents the relationship between the output electromotive force of a motor and its speed. It is obtained through experiments. The motor is connected to a tachometer, its speed is gradually increased, and the corresponding electromotive force is recorded. Through linear regression analysis, the output voltage and speed data are fitted, and the slope is the electromotive force constant. Torque constant This indicates the relationship between the motor's output torque and current. Under different current values ​​of the motor, the corresponding torque is measured, and the torque constant is calculated using a torque sensor or by using a known load. The algorithm for constructing the relationship between gate operating speed and gate opening degree, based on the relationship between gate operating speed and gate driving force, is as follows: Substituting the functional relationship between the driving force of the gate to be controlled and the gate opening degree into the expression for the relationship between gate operating speed and driving force, we obtain the arithmetic expression for the relationship between gate operating speed and gate opening degree. The specific expression is as follows: The segmented design takes into account the gate behavior under different opening degrees and incremental directions, enhancing the adaptability and accuracy of the formula. Specifically, it includes the operating speed of the gate during the rising phase in the water; the operating speed of the gate during the phase when it is completely out of the water; and the operating speed of the gate during the descending phase in the water.

[0031] The theoretical time-opening digital model, constructed simultaneously with opening degree as the independent variable and running time as the dependent variable, and including fixed parameters to be calibrated, is based on the following logic: the motion height for completing one full ascent and descent cycle is divided into several sub-motion intervals of equal height, and the expression for the length of each sub-motion interval is determined using the finite difference method. The specific formula used is as follows: In the formula, Let i be the motion height of the i-th sub-motion interval. Let be the time consumed in the i-th sub-movement interval. Let j be the motion height of the j-th sub-motion interval. , and For the fixed parameters to be calibrated, i and j are both indices of the sub-motion intervals, where , , This represents the total number of sub-motion intervals.

[0032] Since the speed change during the opening and closing of a small gate is small, it can be approximated as uniform motion. Therefore, in order to ensure the stability of the system control, the measured average speed can be calculated by measuring the total time required for a complete opening and closing cycle, and this speed can be used as the fixed calculation speed for controlling the gate opening, so as to achieve the purpose of controlling the gate opening by time.

[0033] The theoretical calculation module is used to form several combinations of fixed parameters to be calibrated based on the value range of the fixed parameters to be calibrated, and output the theoretical running time required to complete the lifting cycle under different working conditions based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated. The logic behind forming several combinations of fixed parameters to be calibrated is as follows: Based on past experience, determine the basic range of each fixed parameter to be calibrated, set a margin factor, generally between 1.2 and 2, to expand the basic range and obtain the value range of the fixed parameter to be calibrated. Within the value range of each fixed parameter to be calibrated, randomly select a value, and form a combination of three selected values ​​into a fixed parameter to be calibrated. Repeat this selection process multiple times to obtain several combinations of fixed parameters to be calibrated.

[0034] The model correction module is used to iteratively optimize the fixed parameters to be calibrated in the theoretical time-opening digital model based on the measured running time and corresponding opening data, so as to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model.

[0035] Determine the theoretical running time required to complete the lifting cycle under different working conditions for each combination of fixed parameters to be calibrated, that is, calculate the time consumed by each sub-motion interval under any combination of fixed parameters to be calibrated by using the expression of the length of each sub-motion interval. The logic behind locking the optimal combination of fixed parameters to be calibrated is as follows: Based on minimizing the error between theoretical and measured running times as the optimization objective, a fitness function is set, and the formula for calculating the fitness function is as follows: In the formula, This represents the fitness function value. This refers to the actual running time. Based on the fitness function, the fixed parameters to be calibrated are iteratively optimized using a genetic algorithm to determine several combinations of fixed parameters to be calibrated whose fitness function values ​​are not greater than a preset time error threshold, and the combination of fixed parameters to be calibrated with the smallest fitness function value is taken as the optimal combination of fixed parameters to be calibrated.

[0036] The specific steps for iteratively optimizing the fixed parameters to be calibrated using a genetic algorithm include: taking the combination of fixed parameters to be calibrated as individuals, taking the data within the combination of fixed parameters to be calibrated as genes, constructing an initial population based on several individuals, performing iterative selection, crossover, and mutation operations on the individuals in the initial population, and taking the combination of fixed parameters to be calibrated with the smallest fitness function value as the optimal combination of fixed parameters to be calibrated.

[0037] The algorithm execution module is used to input the target opening degree into the final control model, calculate the corresponding running time, and indirectly control the opening degree by controlling the running time.

[0038] Please see Figure 4The present invention also provides a gate opening control method based on a force-displacement time error algorithm. This gate opening control method is used to control the aforementioned gate opening control system based on a force-displacement time error algorithm, and includes: Step 1: Collect the influencing parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and obtain the measured running time required to complete one lifting cycle under different operating conditions. Step 2: Based on the influencing parameters, establish the functional relationship between the driving force of the opening and the opening degree through mechanical principles and kinematic relationships. Combine the algorithm of the relationship between the motor speed providing the driving force and the gate's running speed, as well as the algorithm of the relationship between the running speed and the opening degree, and construct a theoretical time-opening digital model with the opening degree as the independent variable and the running time as the dependent variable, which includes the fixed parameters to be calibrated. Step 3: Based on the value range of the fixed parameters to be calibrated, form several combinations of fixed parameters to be calibrated, and based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated, output the theoretical running time required to complete the lifting cycle under different working conditions. Step 4: Based on the measured running time and corresponding opening data, iteratively optimize the fixed parameters to be calibrated in the theoretical time-opening digital model to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model. Step 5: Input the target opening degree into the final control model, calculate the corresponding running time, and indirectly control the opening degree by controlling the running time.

[0039] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0040] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution.

[0041] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0042] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A gate opening control system based on a force-displacement time error algorithm, characterized in that, Specifically, it includes: The actual comparison module is used to collect the influence parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and to obtain the measured running time required to complete one lifting cycle under different working conditions. The core algorithm construction module is used to establish a functional relationship between the driving force of the opening and the opening degree based on the influencing parameters, through mechanical principles and kinematic relationships. It combines the algorithm of the relationship between the motor speed providing the driving force and the gate's running speed, as well as the algorithm of the relationship between the running speed and the opening degree, to jointly construct a theoretical time-opening digital model with the opening degree as the independent variable and the running time as the dependent variable, which includes fixed parameters to be calibrated. The theoretical calculation module is used to form several combinations of fixed parameters to be calibrated based on the value range of the fixed parameters to be calibrated, and output the theoretical running time required to complete the lifting cycle under different working conditions based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated. The model correction module is used to iteratively optimize the fixed parameters to be calibrated in the theoretical time-opening digital model based on the measured running time and corresponding opening data, so as to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model. The algorithm execution module is used to input the target opening degree into the final control model, calculate the corresponding running time, and indirectly control the opening degree by controlling the running time.

2. The gate opening control system based on a force-displacement time error algorithm according to claim 1, characterized in that: The structural parameters specifically include the gate's weight, gate thickness, gate width, and upstream water level; the transmission mechanism parameters specifically include the screw lead, screw radius, gear ratio, and gear radius; and the motor performance parameters include the motor speed, motor magnetic flux, and motor input voltage. The logic for obtaining the measured running time required for the gate to be controlled to complete the lifting and lowering cycle under different operating conditions is as follows: The different operating conditions refer to the different operating speed levels corresponding to the gate to be controlled. For any operating condition level, a lifting and lowering cycle test is performed on the gate to be controlled. Specifically, the gate to be controlled is raised from the bottom to the maximum height and lowered from the maximum height to the bottom to complete one lifting and lowering cycle. The time consumed to complete one lifting and lowering cycle is recorded. The lifting and lowering cycle test is performed multiple times under different water flow fluctuations in daily life. The average running time required to complete the lifting and lowering cycle in multiple lifting and lowering cycle tests is taken as the measured running time required to complete the lifting and lowering cycle under the corresponding operating condition level.

3. A gate opening control system based on a force-displacement time error algorithm according to claim 2, characterized in that: The functional relationship between the driving force and the opening degree of the gate to be controlled is specifically based on the joint characterization of the frictional force, the weight of the gate itself, and the upward force on the gate. The change in gate opening degree is derived from the upward force on the gate. The specific expressions used include: In the formula, The driving force on the gate to be controlled. The gravity of the gate to be controlled. The total frictional force experienced by the gate to be controlled. The upward force acting on the gate to be controlled. The water level is upstream of the sluice gate. To control the gate opening degree as At that time, the height of the control gate is to be controlled. This refers to the height of the gate to be controlled when it is at its maximum opening. This represents the variable indicating the opening degree of the gate to be controlled. This indicates that the gate to be controlled is in the rising state. This indicates that the gate to be controlled is in the descending state; The total frictional force on the gate to be controlled It consists of water-stopping friction and support friction, and the specific formula is as follows: In the formula, To stop water friction resistance, The bearing frictional resistance is specifically expressed as the superposition of sliding water-stopping frictional resistance and static water frictional resistance, and the bearing frictional resistance is specifically expressed as the superposition of sliding bearing frictional resistance and static bearing frictional resistance. The upward force on the gate to be controlled The specific formula used for the calculation is as follows: In the formula, For the specific gravity of water, The upper support force coefficient, and These represent the thickness and width of the gate to be controlled, respectively.

4. A gate opening control system based on a force-displacement time error algorithm according to claim 3, characterized in that: The algorithm relating the motor speed providing the driving force to the gate's operating speed is specifically constructed as follows: It calculates the relationship through the mechanical transmission process from the motor to the gate screw, using the following formula: In the formula, The operating speed of the gate to be controlled. For screw lead, The screw speed is... Where is the screw radius. For the gear radius, This represents the transmission ratio between the worm gear and the screw gear in the motor. For gear speed, This represents the motor speed.

5. A gate opening control system based on a force-displacement time error algorithm according to claim 4, characterized in that: The algorithm for the relationship between gate operating speed and gate opening is based on the following logic: It establishes the relationship between gate operating speed and gate driving force; through the relationship between gate driving force and gate opening, it further connects the relationship between gate operating speed and gate opening; the specific expression for the relationship between gate operating speed and gate driving force is as follows: In the formula, and For constant terms, The mechanical efficiency of the mechanical transmission of the gate screw to be controlled; constant term and The specific formula used for the calculation is as follows: In the formula, Let be the electromotive force constant. The torque constant is For the magnetic flux of the motor, This is the input voltage for the motor. This represents the motor impedance.

6. A gate opening control system based on a force-displacement time error algorithm according to claim 5, characterized in that: The algorithm for constructing the relationship between gate operating speed and gate opening degree, based on the relationship between gate operating speed and gate driving force, is as follows: Substituting the functional relationship between the driving force of the gate to be controlled and the gate opening degree into the expression for the relationship between gate operating speed and driving force, we obtain the arithmetic expression for the relationship between gate operating speed and gate opening degree. The specific expression is as follows: The theoretical time-opening digital model, constructed simultaneously with opening degree as the independent variable and running time as the dependent variable, and including fixed parameters to be calibrated, is based on the following logic: the motion height for completing one full ascent and descent cycle is divided into several sub-motion intervals of equal height, and the expression for the length of each sub-motion interval is determined using the finite difference method. The specific formula used is as follows: In the formula, Let i be the motion height of the i-th sub-motion interval. Let be the time consumed in the i-th sub-movement interval. Let j be the motion height of the j-th sub-motion interval. , and For the fixed parameters to be calibrated, i and j are both indices of the sub-motion intervals, where , , This represents the total number of sub-motion intervals.

7. A gate opening control system based on a force-displacement time error algorithm according to claim 6, characterized in that: The logic behind forming several combinations of fixed parameters to be calibrated is as follows: Based on past experience, determine the basic range of each fixed parameter to be calibrated, set a margin factor, expand the basic range to obtain the value range of the fixed parameter to be calibrated, randomly select a value within the value range of each fixed parameter to be calibrated, and form a combination of three selected values ​​into a fixed parameter to be calibrated. Repeat this selection process multiple times to obtain several combinations of fixed parameters to be calibrated. Determine the theoretical running time required to complete the lifting cycle under different working conditions for each combination of fixed parameters to be calibrated, that is, calculate the time consumed by each sub-motion interval under any combination of fixed parameters to be calibrated by using the expression of the length of each sub-motion interval. The logic behind locking the optimal combination of fixed parameters to be calibrated is as follows: Based on minimizing the error between theoretical and measured running times as the optimization objective, a fitness function is set, and the formula for calculating the fitness function is as follows: In the formula, This represents the fitness function value. This refers to the actual running time. Based on the fitness function, the fixed parameters to be calibrated are iteratively optimized using a genetic algorithm to determine several combinations of fixed parameters to be calibrated whose fitness function values ​​are not greater than a preset time error threshold, and the combination of fixed parameters to be calibrated with the smallest fitness function value is taken as the optimal combination of fixed parameters to be calibrated.

8. A gate opening control method based on a force-displacement time error algorithm, used to control the gate opening control system based on a force-displacement time error algorithm as described in any one of claims 1-7, characterized in that: include: Collect the influencing parameters of the control gate opening, including structural parameters, transmission mechanism parameters and motor performance parameters, and obtain the measured running time required to complete one lifting cycle under different operating conditions. Based on the influencing parameters, a functional relationship between the driving force of the gate opening and the gate operating speed is established through mechanical principles and kinematic relationships. Combined with the algorithms for the relationship between the motor speed providing the driving force and the gate operating speed, as well as the algorithm for the relationship between the operating speed and the opening, a theoretical time-opening digital model is constructed with the opening as the independent variable and the operating time as the dependent variable, including the fixed parameters to be calibrated. Based on the value range of the fixed parameters to be calibrated, several combinations of fixed parameters to be calibrated are formed, and based on the theoretical time-opening digital model under each combination of fixed parameters to be calibrated, the theoretical running time required to complete the lifting and lowering cycle under different working conditions is output respectively. Based on the measured running time and corresponding opening data, the fixed parameters to be calibrated in the theoretical time-opening digital model are iteratively optimized to minimize the error between the theoretical and measured running time, lock the optimal combination of fixed parameters to be calibrated, and determine the final control model. The target opening degree is input into the final control model, the corresponding running time is calculated, and the opening degree is indirectly controlled by controlling the running time.

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