Perception-decision-execution cloud platform for intelligent operation and maintenance of hydropower engineering starting and stopping equipment

Abstract

The invention provides a perception-decision-execution cloud platform for intelligent operation and maintenance of hydropower engineering starting and stopping equipment. The perception-decision-execution cloud platform integrates perception, decision and execution functions. A perception module collects operation state data of a hydraulic starting and stopping machine; the decision module performs analysis based on the data and generates a control instruction; the execution module drives the hoist to act according to the instruction, and closed-loop intelligent control is achieved. Intelligent operation and maintenance of hydropower engineering starting and stopping equipment can be achieved, the operation efficiency, safety and reliability of the equipment are improved, and the operation and maintenance cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of hydropower engineering technology, and more specifically, to a perception-decision-execution cloud platform for intelligent operation and maintenance of hydropower engineering gate opening and closing equipment. Background Technology

[0002] In hydropower projects, the opening and closing equipment of spillway gates is one of the key pieces of equipment ensuring the safe operation of hydropower stations. Traditional opening and closing equipment mostly uses fixed winch-type or hydraulic gate hoists, and their operational status monitoring and control rely on manual operation and simple automation systems. These systems have many problems during operation, such as incomplete equipment status monitoring, untimely fault warnings, low control accuracy, and difficulty in achieving remote monitoring and intelligent decision-making. With the expansion of the scale of hydropower projects and the increase in technical requirements, the level of intelligence of traditional opening and closing equipment can no longer meet the needs of modern hydropower stations for efficient, safe, and reliable operation.

[0003] In implementing the embodiments of the present invention, the prior art suffers from at least the following problems or defects: traditional opening and closing equipment lacks comprehensive sensing capabilities and cannot collect equipment operating status data in real time; the decision-making system has a low level of intelligence, making it difficult to perform accurate analysis and rapid decision-making based on real-time data; the execution module has insufficient control precision, failing to achieve high-precision synchronous control and stable operation under complex working conditions. These problems lead to low equipment operating efficiency, high maintenance costs, and safety hazards. Summary of the Invention

[0004] This invention provides a cloud platform for the intelligent operation and maintenance of hydropower project gate opening and closing equipment, comprising: The sensing module is used to collect operational status data of the hydraulic opening and closing equipment of the flood discharge gate in hydropower projects; The decision module, connected to the sensing module, is used to perform data analysis and decision-making based on the operating status data, and generate equipment control commands. An execution module, connected to the decision module, is used to control the operation of the hydraulic opening and closing equipment according to the equipment control instructions.

[0005] Furthermore, the sensing module includes: The hydraulic data acquisition unit is used to collect data on the submerged water depth, gate opening, and discharge flow rate in the gate area. The structural response data acquisition unit is used to acquire vibration signals and stress-strain data of the gate and plunger rod; The hydraulic system data acquisition unit is used to collect oil pressure and stroke data of each cylinder of the hydraulic hoist; The environmental data acquisition unit is used to collect wind load and seismic motion data.

[0006] Furthermore, the decision-making module includes: The flow-induced vibration analysis unit is used to construct a quantitative prediction model of pressure pulsation-vortex-induced vibration based on the operating status data and a hydraulic model. The core calculation process of the quantitative prediction model includes the calculation of the vortex shedding frequency, and the formula is as follows:

[0007] in, The vortex shedding frequency, For Strauhal numbers, The flow velocity at the characteristic cross-section behind the gate. The characteristic height of the bottom edge of the gate; The characteristic cross-sectional velocity Based on the gate opening in the operating status data With leakage flow Calculated.

[0008] Furthermore, the decision-making module includes: A plunger rod stability assessment unit is used to calculate the critical buckling load of the plunger rod based on the operating state data. The critical buckling load is calculated using the following formula:

[0009] in, This is the critical buckling load. For elastic modulus, For the moment of inertia, To calculate the length coefficient, This is the length of the plunger rod.

[0010] Furthermore, the decision-making module includes: A multi-cylinder synchronous control decision unit is used to generate multi-cylinder synchronous control commands based on the stroke data of each cylinder in the operating status data; The multi-cylinder synchronous control decision unit is configured to execute a master-slave tracking synchronous control strategy, designating one cylinder as the master cylinder and the remaining cylinders as slave cylinders, and controlling the displacement of the slave cylinders to track the displacement of the master cylinder in real time. The multi-cylinder synchronization control decision unit is also configured to perform load pressure compensation based on the oil pressure data in the operating status data, so as to correct the synchronization error caused by load differences.

[0011] Furthermore, the decision-making module also includes: An adaptive flexible connection decision unit is used to generate a flexible connection adaptive adjustment command based on the synchronization error calculated by the multi-cylinder synchronization control decision unit. The adaptive flexible connection decision unit dynamically adjusts the damping characteristics and hinge angle of the adaptive flexible connection device by comparing the synchronization error with a preset threshold.

[0012] Furthermore, the decision-making module includes: The step-lifting decision unit is used to generate a step-lifting control sequence based on the target gate opening. The step-type lifting control sequence controls the piston cylinder to perform multiple step-lifting operations, and controls the locking device to lock the gate after each lift; The step-lifting decision unit is configured to dynamically plan the number of lifts, the single lift stroke, and the specific locking device to be activated after each lift based on the current gate position and the target opening degree in the operating status data.

[0013] Furthermore, the step-by-step lifting control sequence generated by the step-by-step lifting decision unit specifically includes: The control plunger rod pushes out for the first time, lifting the gate for the first stroke via the double-layer lifting beam and tie rod; The gate top locking device locks the gate, and controls the internal pin device to disengage from the pull rod; The control plunger rod retracts, causing the double-layer lifting beam and tie rod to fall, and controls the door's internal pin device and tie rod pin. The control plunger rod is pushed out again, raising the gate to the next stroke, and the dam crest locking device or beam locking device is locked.

[0014] Furthermore, the execution module includes: The hydraulic drive unit is used to receive the control commands of the equipment and drive the action of the plunger-type hydraulic gate hoist and the piston-type hydraulic gate hoist; the hydraulic drive unit adjusts the hydraulic oil flow through the proportional speed control valve to control the extension and retraction speed of the oil cylinder. The locking device control unit is used to receive the equipment control commands and control the locking and unlocking operations of the door top locking device, the dam top locking device, and the beam locking device. The pin insertion device control unit is used to control the pin insertion and pin release operations of the pin insertion device inside the door; the pin insertion device control unit is configured to perform the pin insertion or pin release action when the pear-shaped hole on the pull rod is aligned with the pin insertion device inside the door.

[0015] Furthermore, the decision-making module also includes: An anti-vibration control unit, connected to the flow-induced vibration analysis unit, is used to generate control commands for the anti-vibration device based on the output of the pressure pulsation-vortex-induced vibration quantitative prediction model. The anti-vibration control unit is configured to generate a command to activate the stiffness adjustment function of the reinforced elastic support or to start the hydraulic clamping device to apply additional clamping force to the gate when the predicted pressure pulsation value exceeds a preset safety threshold.

[0016] The embodiments of the present invention have at least the following beneficial effects: 1. Intelligent operation and maintenance of the opening and closing equipment has been achieved. The sensing module collects real-time operational status data of the hydraulic opening and closing equipment of the hydropower project's spillway gate, including hydraulic data, structural response data, hydraulic system data, and environmental data, providing comprehensive data support for precise equipment control and fault early warning. The decision-making module analyzes and makes decisions based on the collected data, generating equipment control commands, thus achieving intelligent control of the opening and closing equipment, improving the reliability and safety of equipment operation, and reducing the need for manual intervention.

[0017] 2. Improved control precision and synchronization performance of the opening and closing equipment. The multi-cylinder synchronization control decision unit in the decision module can generate synchronization control commands based on the stroke data of each cylinder, and adopts a master-slave tracking synchronization control strategy to ensure high-precision synchronization of multiple cylinders during operation. Simultaneously, by compensating for synchronization errors caused by load differences through load pressure compensation, the stability and precision of the opening and closing operation are further improved. This solves the synchronization deviation problem that easily occurs in traditional opening and closing equipment when multiple cylinders work together, extending the service life of the equipment.

[0018] 3. Enhanced vibration resistance and adaptability to complex operating conditions of the gate opening and closing equipment. The flow-induced vibration analysis unit and anti-vibration control unit in the decision module can construct a quantitative prediction model of pressure pulsation-vortex-induced vibration based on operating status data, and generate control commands for the anti-vibration device according to the prediction results. When the predicted pressure pulsation value exceeds the safety threshold, the system can automatically activate the reinforced elastic support or hydraulic clamping device to effectively suppress the vibration of the gate, improve the operational stability of the gate opening and closing equipment under complex operating conditions such as high head and large flow, and ensure the safe operation of hydropower projects. Attached Figure Description

[0019] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated in the drawings by way of example and not limitation, wherein: Figure 1 A schematic diagram of the perception-decision-execution cloud platform for intelligent operation and maintenance of hydropower project gate opening and closing equipment provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a floodgate structure provided in an embodiment of the present invention. Detailed Implementation

[0020] The principles and spirit of the invention will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are provided merely to enable those skilled in the art to better understand and implement the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided to make the invention more thorough and complete, and to fully convey the scope of the invention to those skilled in the art.

[0021] Those skilled in the art will recognize that embodiments of the present invention can be implemented as a system, apparatus, device, method, or computer program product. Therefore, the present invention can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0022] It should be noted that the number of any elements in the accompanying drawings is for illustrative purposes only and not as a limitation, and any naming is for distinction only and has no limiting meaning.

[0023] The following is for reference. Figure 1 , Figure 1 This is a schematic diagram of the perception-decision-execution cloud platform for intelligent operation and maintenance of hydropower project gate opening and closing equipment, provided in an embodiment of the present invention. Figure 1 As shown, a cloud platform for intelligent operation and maintenance of hydropower project gate opening and closing equipment includes: The sensing module 101 is used to collect the operating status data of the hydraulic opening and closing equipment of the flood discharge gate of the hydropower project; Decision module 102, connected to the sensing module, is used to perform data analysis and decision-making based on the operating status data, and generate equipment control commands; The execution module 103 is connected to the decision module and is used to control the operation of the hydraulic opening and closing equipment according to the equipment control command.

[0024] like Figure 2 As shown, the floodgate of this application includes a plunger cylinder fixed inside the gate pier, a double-layer lifting beam hinged to the top of the plunger rod, a movable tie rod hinged to the upper balance beam of the double-layer lifting beam, and an internal pin device installed on the gate. The movable tie rod has multiple pear-shaped holes, and the internal pin device connects and disconnects with pear-shaped holes of different heights by performing pin insertion or disengagement actions. In addition, a group of locking devices distributed at key locations such as the gate, gate slot, and dam crest is also provided, including a gate crest locking device, a dam crest locking device, and a beam-mounted locking device, used to fix the gate or lifting beam during the lifting process.

[0025] The working principle of the floodgate is based on the step-by-step lifting control sequence generated by the decision module. The specific working process is as follows: First, the execution module controls the plunger rod to extend, driving the gate to lift for the first stroke via the double-layer lifting beam and movable tie rod; then, it controls the gate top locking device to lock the gate and controls the internal pin device to disengage from the tie rod; next, it controls the plunger rod to retract, driving the double-layer lifting beam and tie rod to fall, and controls the internal pin device to engage with the tie rod at the new pear-shaped hole position; then, it controls the plunger rod to extend again, lifting the gate to the next stroke, and controls the dam top locking device or beam locking device to lock it.

[0026] In this invention, the cloud platform's sensing module is used to collect operational status data of the hydraulic opening and closing equipment of the flood discharge gate in hydropower projects. This operational status data refers to various real-time information related to the opening and closing equipment, including hydraulic data, structural response data, hydraulic system data, and environmental data. This data forms the basis for the normal operation of the equipment; by collecting this data, a comprehensive understanding of the equipment's operating status can be achieved. For example, hydraulic data reflects the force of water flow on the gate, while structural response data reflects the vibration of the gate and plunger rod. The collection of this data is a crucial first step in achieving intelligent operation and maintenance, providing a basis for subsequent decision-making and control.

[0027] Specifically, the sensing module includes multiple data acquisition units, such as a hydraulic data acquisition unit, a structural response data acquisition unit, a hydraulic system data acquisition unit, and an environmental data acquisition unit. These units are responsible for collecting different types of operational status data. For example, the hydraulic data acquisition unit acquires data on the submerged water depth, gate opening, and discharge flow rate in the gate area; these parameters directly affect the stress and operational status of the gate. The structural response data acquisition unit monitors the vibration signals and stress-strain data of the gate and plunger rod; this data reflects the structural safety and stability of the equipment during operation. The hydraulic system data acquisition unit collects oil pressure and stroke data from each cylinder of the hydraulic gate hoist; these are key parameters for controlling the opening and closing operation. The environmental data acquisition unit acquires wind load and seismic motion data; these external environmental factors may affect the operation of the gate hoisting equipment.

[0028] Preferably, the flow-induced vibration analysis unit in the decision-making module analyzes operational status data by constructing a quantitative prediction model of pressure pulsation-vortex-induced vibration. This model, based on hydraulic principles, predicts potential vibrations in the gate area by calculating the vortex shedding frequency. Specifically, the formula for calculating the vortex shedding frequency is as follows:

[0029] in Indicates the frequency of vortex shedding. It is a Strauhall number. It is the flow velocity at the characteristic cross-section behind the gate, and This refers to the characteristic height of the gate's bottom edge. These parameters can be calculated from the gate opening and discharge flow rate in the operational status data. Through this quantitative prediction model, the decision-making module can identify potential vibration problems in advance and generate corresponding anti-vibration control commands, thereby effectively reducing the impact of vibration on the opening and closing equipment and improving the operational stability and safety of the equipment.

[0030] In some embodiments, the sensing module includes: The hydraulic data acquisition unit is used to collect data on the submerged water depth, gate opening, and discharge flow rate in the gate area. The structural response data acquisition unit is used to acquire vibration signals and stress-strain data of the gate and plunger rod; The hydraulic system data acquisition unit is used to collect oil pressure and stroke data of each cylinder of the hydraulic hoist; The environmental data acquisition unit is used to collect wind load and seismic motion data.

[0031] In this invention, the sensing module is the foundation for intelligent operation and maintenance of the opening and closing equipment. It is responsible for collecting various operational status data related to the hydraulic opening and closing equipment of the floodgate in hydropower projects. This data includes hydraulic data, structural response data, hydraulic system data, and environmental data. The collection of this data provides a comprehensive basis for subsequent analysis and decision-making. Through real-time monitoring of this data, potential problems in equipment operation can be detected promptly, thereby improving the equipment's operational efficiency and safety.

[0032] Specifically, the hydraulic data acquisition unit in the sensing module monitors the submerged water depth, gate opening, and discharge flow data in the gate area. Submerged water depth refers to the depth of the water below the gate, a parameter that directly affects the pressure distribution of the water flow on the gate. Gate opening refers to the extent to which the gate opens, determining the discharge flow rate. Discharge flow rate is the volume of water passing through the gate per unit time, a key indicator of flood discharge capacity. The structural response data acquisition unit monitors the vibration signals and stress-strain data of the gate and plunger rod, reflecting whether abnormal vibrations or structural damage occur during equipment operation. The hydraulic system data acquisition unit primarily collects oil pressure and stroke data from each cylinder of the hydraulic hoist. Oil pressure reflects the working state of the hydraulic system, while stroke data monitors the extension and retraction of the cylinders, ensuring the accuracy of opening and closing operations. The environmental data acquisition unit monitors wind load and seismic data, as these external environmental factors can affect the operation of the hoisting equipment, especially under extreme weather or earthquake conditions.

[0033] To ensure the accuracy and reliability of data acquisition, the hydraulic data acquisition unit can be implemented through a sensor network installed in the gate area. For example, the submerged water depth can be measured by a water level sensor, the gate opening can be obtained by a displacement sensor installed on the gate, and the discharge flow can be measured by a flow meter. The structural response data acquisition unit can use high-precision vibration sensors and strain gauges, installed on key parts of the gate and plunger rod respectively, to monitor their vibration and stress-strain conditions in real time. The hydraulic system data acquisition unit can collect hydraulic pressure and stroke data of the cylinders through pressure sensors and displacement sensors, respectively. These sensors should have high accuracy and high reliability to adapt to complex field environments. The environmental data acquisition unit can acquire wind load and seismic motion data through anemometers and seismometers. This data will serve as input for external environmental factors in subsequent analysis and decision-making processes. Through these specific data acquisition methods, the sensing module can provide accurate and real-time operating status information for the entire intelligent operation and maintenance system, thereby supporting more precise decision-making and control.

[0034] In some embodiments, the decision module includes: The flow-induced vibration analysis unit is used to construct a quantitative prediction model of pressure pulsation-vortex-induced vibration based on the operating status data and a hydraulic model. The core calculation process of the quantitative prediction model includes the calculation of the vortex shedding frequency, and the formula is as follows:

[0035] in, The frequency of vortex shedding. For Strauhal numbers, The flow velocity at the characteristic cross-section behind the gate. The characteristic height of the bottom edge of the gate; The flow velocity at the characteristic cross section Based on the gate opening in the operating status data With leakage flow Calculated.

[0036] In this invention, the flow-induced vibration analysis unit in the decision-making module is the core component for constructing a quantitative prediction model of pressure pulsation-vortex-induced vibration based on operational status data. This unit predicts potential vibrations that may occur during gate operation by analyzing collected hydraulic and structural response data. Such vibrations are typically caused by the shedding of vortices formed by water flow behind the gate. Therefore, the quantitative prediction model can identify potential vibration problems in advance and provide a basis for subsequent vibration-resistant measures. This prediction model is established based on fundamental principles of fluid mechanics, assessing the intensity and frequency of vibration by calculating the vortex shedding frequency.

[0037] Specifically, the flow-induced vibration analysis unit is responsible for building and running the quantitative prediction model, the core of which is calculating the vortex shedding frequency. . formula The parameters in the text have clear physical meanings: It is the Strauhal number, a dimensionless constant, usually between 0.2 and 0.3, used to describe the frequency characteristics of vortex shedding; It is the flow velocity at the characteristic cross-section behind the gate, which can be obtained from the gate opening in the operating status data. and leakage flow Calculated; The characteristic height of the gate's bottom edge is a geometric parameter of the gate structure. These parameters are obtained based on data collected by the sensing module. For example, the gate opening can be measured by a displacement sensor, the discharge flow rate can be measured by a flow meter, while the characteristic height of the gate's bottom edge is a known parameter from the gate design. Through the calculation and analysis of these parameters, the model can predict pressure pulsations and vortex-induced vibrations in the gate area.

[0038] Preferably, the process of constructing a quantitative prediction model includes the following steps: First, the flow velocity at the characteristic section is calculated using the gate opening and discharge data collected by the sensing module. Then, combining the known Strauhall numbers... and gate bottom edge feature height Substitute into the formula to calculate the vortex shedding frequency. In practical applications, the Strouhal number can be determined experimentally or through empirical formulas, typically ranging from 0.2 to 0.3. The calculated vortex shedding frequency is used as the model output to assess the vibration intensity in the gate region. If the predicted vibration frequency approaches or exceeds the equipment's safe operating threshold, the decision module generates corresponding vibration control commands, such as activating reinforced elastic supports or hydraulic clamping devices, to reduce the impact of vibration on the equipment. This analytical method based on a quantitative prediction model can effectively improve the equipment's vibration resistance and operational stability.

[0039] In some embodiments, the decision module includes: A plunger rod stability assessment unit is used to calculate the critical buckling load of the plunger rod based on the operating state data. The critical buckling load is calculated using the following formula:

[0040] in, This is the critical buckling load. For elastic modulus, For the moment of inertia, To calculate the length coefficient, This is the length of the plunger rod.

[0041] It should be noted that the plunger rod stability assessment unit in the decision-making module is used to calculate the critical buckling load of the plunger rod based on operational data. The critical buckling load refers to the maximum load that the plunger rod can withstand during compression. When this load is exceeded, the plunger rod may experience buckling instability. By calculating the critical buckling load, the stability of the plunger rod during operation can be assessed in advance, allowing for appropriate measures to be taken to prevent buckling instability and ensure the safe operation of the opening and closing equipment.

[0042] Specifically, the formula for calculating the critical buckling load is as follows: ,in It is the buckling critical load. It is the elastic modulus of a material, reflecting the material's ability to resist elastic deformation; It is the moment of inertia, which is related to the cross-sectional shape and size of the plunger rod and represents the cross-section's ability to resist bending deformation; It is a calculation length factor, which is related to the support conditions of the plunger rod and is used to account for the influence of boundary conditions on buckling; This is the actual length of the plunger rod. Obtaining and setting these parameters is crucial for accurately calculating the critical buckling load. Elastic modulus Moment of inertia is an inherent property of materials and can be obtained through material performance testing. The length coefficient can be calculated geometrically based on the cross-sectional shape of the plunger rod, such as circular or square. The actual length of the plunger rod is usually determined from engineering manuals, depending on the support method of the plunger rod, such as fixed at both ends or fixed at one end and free at the other. These are design parameters, obtained directly from the equipment's design drawings.

[0043] Preferably, to more accurately assess the stability of the plunger rod, the calculation of the buckling critical load can be refined by incorporating actual operating conditions. For example, the calculation process needs to consider the actual stress on the plunger rod under different operating conditions, including the working pressure of the hydraulic system and the dynamic load during opening and closing operations. This load data can be collected by the sensing module and used as input parameters for calculating the buckling critical load. In practical applications, the calculated buckling critical load can be compared with the actual working load. If the actual working load is close to or exceeds the buckling critical load, the decision module will generate corresponding control commands, such as adjusting the pressure of the hydraulic system or taking other reinforcement measures to ensure the stability of the plunger rod. This dynamic evaluation method based on operating status data can effectively improve the operational safety of opening and closing equipment under complex conditions.

[0044] In some embodiments, the decision module includes: A multi-cylinder synchronous control decision unit is used to generate multi-cylinder synchronous control commands based on the stroke data of each cylinder in the operating status data; The multi-cylinder synchronous control decision unit is configured to execute a master-slave tracking synchronous control strategy, designating one cylinder as the master cylinder and the remaining cylinders as slave cylinders, and controlling the displacement of the slave cylinders to track the displacement of the master cylinder in real time. The multi-cylinder synchronization control decision unit is also configured to perform load pressure compensation based on the oil pressure data in the operating status data, so as to correct the synchronization error caused by load differences.

[0045] It should be noted that the multi-cylinder synchronization control decision unit in the decision module is designed for the coordinated control of multiple cylinders in hydraulic opening and closing equipment. Its core function is to generate multi-cylinder synchronization control commands based on the stroke data of each cylinder in the operating status data, ensuring precise synchronization of multiple cylinders during opening and closing operations. Synchronization control is one of the key technologies in hydraulic opening and closing systems, as differences in stroke between different cylinders can lead to uneven force on the gate, thus affecting the stability and safety of the opening and closing operation. Through a master-slave tracking synchronization control strategy, one cylinder is designated as the master cylinder, and the remaining cylinders as slave cylinders. The displacement of the slave cylinders tracks the displacement of the master cylinder in real time, thereby achieving precise synchronization of multiple cylinders. Furthermore, this unit also has a load pressure compensation function to correct synchronization errors caused by load differences, further improving the reliability of the system.

[0046] Specifically, the master-slave tracking synchronization control strategy in a multi-cylinder synchronous control decision unit is a common synchronization control method. In this strategy, the master cylinder is the selected reference cylinder, and its stroke data serves as the benchmark for synchronization control; the slave cylinders are other cylinders that need to follow the stroke changes of the master cylinder. The stroke data of each cylinder is monitored in real time by sensors, and the stroke of the slave cylinders is compared with that of the master cylinder. The control commands of the slave cylinders are then adjusted to achieve synchronization. Furthermore, the load pressure compensation function is implemented based on the hydraulic pressure data in the operating status data. Since different cylinders may bear different loads, differences in hydraulic pressure occur, which can affect the synchronization of the cylinder strokes. Therefore, by monitoring the hydraulic pressure data and making compensation adjustments, the synchronization error caused by load differences can be effectively reduced, ensuring the accuracy of multi-cylinder synchronous control.

[0047] Preferably, the implementation process of the multi-cylinder synchronous control decision unit can be further refined. First, high-precision displacement and pressure sensors are installed on each cylinder to collect real-time stroke and oil pressure data. This data is transmitted to the decision module for processing. During synchronous control, the system sets a synchronization accuracy threshold, for example, a stroke error not exceeding ±5mm. When the detected stroke error exceeds this threshold, the decision module adjusts the control command of the slave cylinder to ensure its displacement is consistent with the master cylinder. Simultaneously, load pressure compensation based on oil pressure data can be achieved by calculating the oil pressure difference between the cylinders. For example, if the oil pressure of a slave cylinder is lower than that of the master cylinder, the system will appropriately increase the oil pressure of that slave cylinder to compensate for its stroke lag. This dynamic adjustment and compensation mechanism effectively improves the accuracy and reliability of multi-cylinder synchronous control, ensuring stable operation of the hydraulic opening and closing equipment under complex working conditions.

[0048] In some embodiments, the decision module further includes: An adaptive flexible connection decision unit is used to generate a flexible connection adaptive adjustment command based on the synchronization error calculated by the multi-cylinder synchronization control decision unit. The adaptive flexible connection decision unit dynamically adjusts the damping characteristics and hinge angle of the adaptive flexible connection device by comparing the synchronization error with a preset threshold.

[0049] It should be noted that the adaptive flexible connection decision unit is a crucial component of the decision module. Its core function is to generate adaptive adjustment commands for the flexible connection device based on the synchronization error calculated by the multi-cylinder synchronization control decision unit. This adaptive adjustment dynamically modulates the damping characteristics and hinge angle of the flexible connection device to accommodate minute displacement deviations and angle changes that may occur during multi-cylinder synchronization. This design is essential for improving the stability and reliability of the hydraulic opening and closing system, especially under complex operating conditions, effectively reducing structural stress concentration and equipment wear caused by synchronization errors.

[0050] Specifically, the adaptive flexible connection decision unit operates based on the real-time monitoring and analysis of synchronization errors. Synchronization error refers to the deviation between the actual stroke and the theoretical stroke of each cylinder during multi-cylinder synchronous control. When the synchronization error exceeds a preset threshold, the adaptive flexible connection decision unit triggers an adjustment command. The flexible connection device here refers to the connector that links each cylinder to the gate or other structural components, and its design allows for displacement and angle adjustments within a certain range. By changing the damping characteristics of the flexible connection device, its ability to buffer vibrations and shocks can be adjusted; while adjusting the hinge angle can adapt to changes in the cylinder's position under different operating conditions, ensuring the stability and flexibility of the connection. The setting and adjustment of these parameters are based on the magnitude and trend of the synchronization error, and are dynamically optimized through algorithms.

[0051] Preferably, the operation steps of the adaptive flexible connection decision unit can be further refined. First, the stroke data of each cylinder is monitored in real time by sensors, and the synchronization error is calculated. The formula for calculating the synchronization error is: Synchronization Error = Actual Stroke - Theoretical Stroke. When the synchronization error exceeds a preset threshold, such as ±5mm, the decision unit generates an adjustment command based on the magnitude of the error. The process of generating the adjustment command includes adjusting the damping characteristics of the flexible connection device, for example, by changing the oil flow rate of the damper to adjust the damping coefficient; simultaneously, the hinge angle is adjusted according to the direction and magnitude of the synchronization error to adapt to the displacement changes of the cylinder. This dynamic adjustment process can be realized through a closed-loop control system to ensure that the flexible connection device is always in the optimal working state, thereby improving the stability and reliability of the entire hydraulic opening and closing system.

[0052] In some embodiments, the decision module includes: The step-lifting decision unit is used to generate a step-lifting control sequence based on the target gate opening. The step-type lifting control sequence controls the piston cylinder to perform multiple step-lifting operations, and controls the locking device to lock the gate after each lift; The step-lifting decision unit is configured to dynamically plan the number of lifts, the single lift stroke, and the specific locking device to be activated after each lift based on the current gate position and the target opening degree in the operating status data.

[0053] It should be noted that the step-lifting decision unit is a crucial component of the decision module. Its function is to generate a step-lifting control sequence based on the target opening degree of the gate. This control method breaks down the gate opening process into multiple small lifting steps, locking the gate after each lift using a locking device, thereby achieving smooth and safe opening and closing operations. This step-by-step control method is particularly suitable for the opening and closing operations of large gates, effectively reducing structural impact and equipment wear caused by large-stroke operations in a single operation, while improving operational accuracy and reliability.

[0054] Specifically, the core function of the step-lifting decision unit is to dynamically plan the number of lifts, the stroke of each lift, and the specific locking device to be activated after each lift. The target opening height refers to the final opening height the gate needs to reach, a parameter typically set based on actual flood discharge requirements. For example, during flood discharge, the required gate opening height is determined based on flow demand. The step-lifting control sequence breaks down the gate opening process into multiple small steps, each corresponding to one lift operation. After each lift, the gate is locked at the current height by a locking device, ensuring the gate's stability during the lift process. The locking device can be mechanical or hydraulic, and its function is to prevent accidental movement of the gate due to external forces during the lift process. In this way, the step-lifting decision unit can dynamically adjust the number of lifts and the stroke of each lift based on the gate's current position and target opening height, thereby achieving precise opening and closing control.

[0055] Preferably, the operation steps of the step-lifting decision unit can be further refined. First, the required total lifting stroke is calculated based on the target opening degree and current position of the gate. Then, the total stroke is decomposed into multiple smaller lifting steps, the stroke of which can be set according to the structural characteristics and operational requirements of the gate. For example, for large gates, the lifting stroke for each step can be set to approximately 10 centimeters to ensure operational stability. After each lift, the corresponding locking device is selected and locked according to the gate's height position. For example, when the gate is lifted to the first height, the gate top locking device is activated; when it continues to be lifted to the second height, the dam top locking device is activated.

[0056] Furthermore, the step-lifting decision unit can dynamically adjust the lifting speed and locking time based on real-time monitored operating data, such as cylinder pressure and gate vibration, to adapt to different working conditions. This dynamic adjustment mechanism can further improve the safety and reliability of gate opening and closing operations, ensuring stable operation of the hydraulic opening and closing equipment even under complex working conditions.

[0057] In some embodiments, the step-lifting decision unit generates a step-lifting control sequence that specifically includes: The control plunger rod pushes out for the first time, lifting the gate for the first stroke via the double-layer lifting beam and tie rod; The gate top locking device locks the gate, and controls the internal pin device to disengage from the pull rod; The control plunger rod retracts, causing the double-layer lifting beam and tie rod to fall, and controls the door's internal pin device and tie rod pin. The control plunger rod is pushed out again, raising the gate to the next stroke, and the dam crest locking device or beam locking device is locked.

[0058] It should be noted that the step-by-step lifting control sequence generated by the step-by-step lifting decision unit is designed for the complex opening and closing operations of large floodgates. This control sequence ensures that the gate is stably locked after each lifting action by controlling the lifting movement of the plunger cylinder in stages, thereby achieving safe and reliable opening and closing operations. This step-by-step control method is particularly suitable for floodgates with high water heads and large orifices, effectively reducing the structural impact and equipment wear caused by large-stroke operations in a single operation, while improving the accuracy and reliability of the operation.

[0059] Specifically, the step-by-step jacking control sequence includes the following key operational steps: First, the plunger rod extends for the first time, lifting the gate to the first stroke height via the double-layer lifting beam and tie rod. The double-layer lifting beam is a special mechanical structure consisting of an upper balance beam and a lower steel frame, used to support and lift the gate; the tie rod is the transmission component connecting the plunger rod and the gate, responsible for transmitting the jacking force. Second, the gate is locked by the gate top locking device to ensure the stability of the gate at the current height. At this time, the internal pin device disengages from the tie rod, preparing for the next operation. Next, the plunger rod retracts, causing the double-layer lifting beam and tie rod to fall, while the internal pin device re-pins the tie rod, completing one jacking cycle. Finally, the plunger rod extends again, lifting the gate to the next stroke height, and is locked by the dam top locking device or the beam locking device. During this process, the selection and activation sequence of the locking devices are dynamically adjusted according to the gate's height position to ensure the stability of the gate after each jacking.

[0060] Preferably, the operation steps of the step-lifting control sequence can be further refined. For example, before each lift, the system dynamically plans the number of lifts and the single lift stroke based on the current position and target opening of the gate. The planning of the number of lifts and stroke is based on the gate's structural parameters and operating status data, such as the gate's weight, the piston cylinder's load-bearing capacity, and the hydraulic system pressure. During the lift, sensors monitor the piston rod's stroke and the gate's displacement in real time to ensure the accuracy of each lift. Simultaneously, the activation sequence and locking time of the locking devices are dynamically adjusted based on real-time monitoring data. For example, when the gate approaches the target opening, the system activates the locking devices in advance to ensure the stability of the gate in its final position. Furthermore, to cope with emergencies, the system also has an emergency locking mechanism that immediately activates all locking devices upon detecting abnormal vibration or pressure changes to ensure the gate's safety. Through this dynamic planning and real-time adjustment control method, the step-lifting decision unit can effectively improve the safety and reliability of the opening and closing operation of large floodgates.

[0061] In some embodiments, the execution module includes: The hydraulic drive unit is used to receive the control commands of the equipment and drive the action of the plunger-type hydraulic gate hoist and the piston-type hydraulic gate hoist; the hydraulic drive unit adjusts the hydraulic oil flow through the proportional speed control valve to control the extension and retraction speed of the oil cylinder. The locking device control unit is used to receive the equipment control commands and control the locking and unlocking operations of the door top locking device, the dam top locking device, and the beam locking device. The pin insertion device control unit is used to control the pin insertion and pin release operations of the pin insertion device inside the door; the pin insertion device control unit is configured to perform the pin insertion or pin release action when the pear-shaped hole on the pull rod is aligned with the pin insertion device inside the door.

[0062] It should be noted that the execution module is the part of the entire intelligent operation and maintenance cloud platform responsible for specific operations. Its function is to receive equipment control commands generated by the decision-making module and drive the hydraulic gate hoist and related devices to complete the corresponding actions. The core components of the execution module include the hydraulic drive unit, the locking device control unit, and the pin-operated device control unit. These units work together to ensure that the hydraulic gate hoist can accurately execute opening and closing operations according to the predetermined control commands, while ensuring the safety and reliability of the operation process.

[0063] Specifically, the hydraulic drive unit in the execution module is responsible for receiving equipment control commands and driving the piston-type and piston-type hydraulic gate hoists. This unit regulates the flow rate of hydraulic oil through a proportional speed control valve, thereby controlling the extension and retraction speed of the cylinder and achieving precise control of the gate. The proportional speed control valve is a device that adjusts the hydraulic oil flow rate according to the input signal; its adjustment accuracy directly affects the smoothness of the opening and closing operation. The locking device control unit receives control commands and controls the locking and unlocking operations of the gate top locking device, dam top locking device, and beam locking device. These locking devices are used to fix the gate in a specific position, preventing displacement due to external forces. The pin-feeding device control unit controls the pin-feeding and pin-unpinning operations of the pin-feeding device inside the gate. Its working principle is that when the pear-shaped hole on the tie rod aligns with the pin-feeding device inside the gate, the pin-feeding or pin-unpinning action is performed, thereby connecting or separating the gate from the tie rod.

[0064] Preferably, the operation steps of the execution module can be further refined. For example, in the hydraulic drive unit, the adjustment parameters of the proportional speed control valve can be dynamically set according to the gate's weight, opening and closing speed requirements, and hydraulic system pressure. In the locking device control unit, the activation sequence of the locking device can be optimized according to the gate's current position and target opening degree to ensure the accuracy and timeliness of each locking operation. For the pin-feeding device control unit, sensors can monitor the alignment of the pull rod and the pin-feeding device in real time to ensure the precise execution of the pin-feeding or pin-removing actions. In addition, the execution module can also be equipped with a fault detection and alarm mechanism. When an abnormality is detected, such as insufficient hydraulic system pressure or locking device malfunction, the operation will be stopped immediately and an alarm will be issued to ensure the safety of the equipment and operators. Through these optimization measures, the execution module can complete the operation tasks of the hydraulic opening and closing equipment more efficiently and safely.

[0065] In some embodiments, the decision module further includes: An anti-vibration control unit, connected to the flow-induced vibration analysis unit, is used to generate control commands for the anti-vibration device based on the output of the pressure pulsation-vortex-induced vibration quantitative prediction model. The anti-vibration control unit is configured to generate a command to activate the stiffness adjustment function of the reinforced elastic support or to start the hydraulic clamping device to apply additional clamping force to the gate when the predicted pressure pulsation value exceeds a preset safety threshold.

[0066] It should be noted that the anti-vibration control unit in the decision-making module is designed to address potential vibration issues that may occur during the operation of hydraulic gate opening and closing equipment. Its core function is to generate control commands for the anti-vibration device based on the prediction results of the flow-induced vibration analysis unit. When the predicted pressure pulsation value exceeds a preset safety threshold, the anti-vibration control unit can automatically activate the stiffness adjustment function of the reinforced elastic support or initiate the hydraulic clamping device to apply additional clamping force to the gate, thereby effectively suppressing vibration and ensuring stable equipment operation. This design is crucial for improving the operational safety of gate opening and closing equipment under complex conditions such as high head and large flow rates.

[0067] Specifically, the anti-vibration control unit operates based on the output of the quantitative prediction model for pressure pulsation-vortex-induced vibration provided by the flow-induced vibration analysis unit. Here, pressure pulsation refers to the local pressure fluctuations caused by the shedding of vortices formed by water flow behind the gate; its magnitude directly affects the gate's vibration intensity. The preset safety threshold is a critical value set according to the equipment's structural characteristics and operational requirements. When the pressure pulsation value exceeds this threshold, the equipment's vibration may threaten structural safety. The reinforced elastic support is a device capable of adjusting its own stiffness to resist vibration by increasing stiffness; the hydraulic clamping device reduces vibration amplitude by applying additional clamping force to the gate. The activation conditions and adjustment parameters of these anti-vibration devices are dynamically determined based on the prediction model's output, ensuring effective vibration suppression under different operating conditions.

[0068] Preferably, the operation steps of the anti-vibration control unit can be further refined. First, the flow-induced vibration analysis unit calculates the current pressure pulsation value using real-time monitored operating status data, such as gate opening, discharge flow, and cylinder stroke, and compares it with a preset safety threshold. When the detected pressure pulsation value exceeds the safety threshold, the anti-vibration control unit generates corresponding control commands based on the intensity and frequency of the vibration. For example, if the vibration is mainly caused by low-frequency pressure pulsation, the system will prioritize activating the reinforced elastic support to counteract the vibration by adjusting its stiffness; while for high-frequency vibration, the hydraulic clamping device is activated to apply additional clamping force to the gate.

[0069] Furthermore, the vibration damping control unit can optimize vibration damping strategies by combining historical operating data and fault modes of the equipment. For example, under certain specific operating conditions, the system will adjust the parameters of the vibration damping device in advance to prevent potential vibration problems. Through this dynamic adjustment and optimization mechanism, the vibration damping control unit can effectively improve the vibration resistance and operational stability of the opening and closing equipment under complex operating conditions.

[0070] The above embodiments of the present invention have the following beneficial effects: 1. Intelligent operation and maintenance of the opening and closing equipment has been achieved. The sensing module collects real-time operational status data of the hydraulic opening and closing equipment of the hydropower project's spillway gate, including hydraulic data, structural response data, hydraulic system data, and environmental data, providing comprehensive data support for precise equipment control and fault early warning. The decision-making module analyzes and makes decisions based on the collected data, generating equipment control commands, thus achieving intelligent control of the opening and closing equipment, improving the reliability and safety of equipment operation, and reducing the need for manual intervention.

[0071] 2. Improved control precision and synchronization performance of the opening and closing equipment. The multi-cylinder synchronization control decision unit in the decision module can generate synchronization control commands based on the stroke data of each cylinder, and adopts a master-slave tracking synchronization control strategy to ensure high-precision synchronization of multiple cylinders during operation. Simultaneously, by compensating for synchronization errors caused by load differences through load pressure compensation, the stability and precision of the opening and closing operation are further improved. This solves the synchronization deviation problem that easily occurs in traditional opening and closing equipment when multiple cylinders work together, extending the service life of the equipment.

[0072] 3. Enhanced vibration resistance and adaptability to complex operating conditions of the gate opening and closing equipment. The flow-induced vibration analysis unit and anti-vibration control unit in the decision module can construct a quantitative prediction model of pressure pulsation-vortex-induced vibration based on operating status data, and generate control commands for the anti-vibration device according to the prediction results. When the predicted pressure pulsation value exceeds the safety threshold, the system can automatically activate the reinforced elastic support or hydraulic clamping device to effectively suppress the vibration of the gate, improve the operational stability of the gate opening and closing equipment under complex operating conditions such as high head and large flow, and ensure the safe operation of hydropower projects.

[0073] Furthermore, the storage medium in the embodiments of this application stores program instructions capable of implementing all the above methods. These program instructions can be stored in the storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0074] The above description is merely an explanation of some preferred embodiments of the present invention and the technical principles employed. Those skilled in the art should understand that the scope of the invention as described in the embodiments of the present invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of the present invention.

Claims

1. A cloud platform for intelligent operation and maintenance of hydropower project gate opening and closing equipment, characterized in that: The cloud platform includes: The sensing module is used to collect operational status data of the hydraulic opening and closing equipment of the flood discharge gate in hydropower projects; The decision module, connected to the sensing module, is used to perform data analysis and decision-making based on the operating status data, and generate equipment control commands. An execution module, connected to the decision module, is used to control the operation of the hydraulic opening and closing equipment according to the equipment control instructions.

2. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The sensing module includes: The hydraulic data acquisition unit is used to collect data on the submerged water depth, gate opening, and discharge flow rate in the gate area. The structural response data acquisition unit is used to acquire vibration signals and stress-strain data of the gate and plunger rod; The hydraulic system data acquisition unit is used to collect oil pressure and stroke data of each cylinder of the hydraulic hoist; The environmental data acquisition unit is used to collect wind load and seismic motion data.

3. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The decision-making module includes: The flow-induced vibration analysis unit is used to construct a quantitative prediction model of pressure pulsation-vortex-induced vibration based on the operating status data and a hydraulic model. The core calculation process of the quantitative prediction model includes the calculation of the vortex shedding frequency, and the formula is as follows: in, The vortex shedding frequency, For Strauhal numbers, The flow velocity at the characteristic cross-section behind the gate. The characteristic height of the bottom edge of the gate; The characteristic cross-sectional velocity Based on the gate opening in the operating status data With leakage flow Calculated.

4. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The decision-making module includes: A plunger rod stability assessment unit is used to calculate the critical buckling load of the plunger rod based on the operating state data. The critical buckling load is calculated using the following formula: in, This is the critical buckling load. For elastic modulus, For the moment of inertia, To calculate the length coefficient, This is the length of the plunger rod.

5. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The decision-making module includes: A multi-cylinder synchronous control decision unit is used to generate multi-cylinder synchronous control commands based on the stroke data of each cylinder in the operating status data; The multi-cylinder synchronous control decision unit is configured to execute a master-slave tracking synchronous control strategy, designating one cylinder as the master cylinder and the remaining cylinders as slave cylinders, and controlling the displacement of the slave cylinders to track the displacement of the master cylinder in real time. The multi-cylinder synchronization control decision unit is also configured to perform load pressure compensation based on the oil pressure data in the operating status data, so as to correct the synchronization error caused by load differences.

6. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 5, characterized in that, The decision-making module also includes: An adaptive flexible connection decision unit is used to generate a flexible connection adaptive adjustment command based on the synchronization error calculated by the multi-cylinder synchronization control decision unit. The adaptive flexible connection decision unit dynamically adjusts the damping characteristics and hinge angle of the adaptive flexible connection device by comparing the synchronization error with a preset threshold.

7. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The decision-making module includes: The step-lifting decision unit is used to generate a step-lifting control sequence based on the target gate opening. The step-type lifting control sequence controls the piston cylinder to perform multiple step-lifting operations, and controls the locking device to lock the gate after each lift; The step-lifting decision unit is configured to dynamically plan the number of lifts, the single lift stroke, and the specific locking device to be activated after each lift based on the current gate position and the target opening degree in the operating status data.

8. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 7, characterized in that, The step-by-step lifting control sequence generated by the step-by-step lifting decision unit specifically includes: The control plunger rod pushes out for the first time, lifting the gate for the first stroke via the double-layer lifting beam and tie rod; The gate top locking device locks the gate, and controls the internal pin device to disengage from the pull rod; The control plunger rod retracts, causing the double-layer lifting beam and tie rod to fall, and controls the door's internal pin device and tie rod pin. The control plunger rod is pushed out again, raising the gate to the next stroke, and the dam crest locking device or beam locking device is locked.

9. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 1, characterized in that, The execution module includes: The hydraulic drive unit is used to receive the control commands of the equipment and drive the action of the plunger-type hydraulic gate hoist and the piston-type hydraulic gate hoist; the hydraulic drive unit adjusts the hydraulic oil flow through the proportional speed control valve to control the extension and retraction speed of the oil cylinder. The locking device control unit is used to receive the equipment control commands and control the locking and unlocking operations of the door top locking device, the dam top locking device, and the beam locking device. The pin insertion device control unit is used to control the pin insertion and pin release operations of the pin insertion device inside the door; the pin insertion device control unit is configured to perform the pin insertion or pin release action when the pear-shaped hole on the pull rod is aligned with the pin insertion device inside the door.

10. The intelligent operation and maintenance cloud platform for hydropower project gate opening and closing equipment according to claim 3, characterized in that, The decision-making module also includes: An anti-vibration control unit, connected to the flow-induced vibration analysis unit, is used to generate control commands for the anti-vibration device based on the output of the pressure pulsation-vortex-induced vibration quantitative prediction model. The anti-vibration control unit is configured to generate a command to activate the stiffness adjustment function of the reinforced elastic support or to start the hydraulic clamping device to apply additional clamping force to the gate when the predicted pressure pulsation value exceeds a preset safety threshold.

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