Reservoir gate computer monitoring system

Abstract

The invention discloses a reservoir gate computer monitoring system which comprises the following steps: setting a plurality of measurement directrixes at the upstream of a reservoir, deploying a measurement point on each measurement directrix to measure a water flow velocity vector, calculating a water flow incident angle of each measurement point, and obtaining a local incident angle of each gate receiving water flow; the arc length of the arc-shaped guide rail structure is calculated according to the local incidence angle of the gate receiving water flow, the arc-shaped guide rail structure guides the side edge of the gate as a rotating shaft to achieve deflection, and the flowing direction of the water flow passing through the gate is corrected; a sensor is used for measuring the water outlet speed and the water outlet thickness of water flow passing through each gate, and each gate is controlled to deflect according to the water outlet flow; when the gate is closed, the height of the opposite side of the gate rotating shaft is vertically increased, the gate rotating shaft is controlled to be in butt joint with the bottom edge, the opposite side of the gate rotating shaft is suspended to release water flow, the water flow assists the opposite side of the gate rotating shaft in constant-speed restoration, the drainage efficiency is improved, and the bank slope scouring risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of reservoir gate monitoring technology, specifically a reservoir gate computer monitoring system. Background Technology

[0002] As an important infrastructure for regulating reservoir water levels, ensuring river safety, and improving water resource utilization efficiency, the automated control of reservoir gate systems has significant advantages in responding to sudden floods, precisely scheduling water volume, and extending equipment life.

[0003] In existing technologies, firstly, most systems lack real-time sensing and precise adjustment of the water inflow angle, causing the water flow direction to deviate from the design flow direction after exiting the gate. This results in uneven stress on the banks of the spillway, easily leading to localized scour and slope damage, affecting dam safety. Secondly, traditional gates often employ simple lifting and lowering control methods, resulting in high structural rigidity and difficulty in dynamically adjusting the gate deflection angle according to the water flow. This limits water flow guidance and reduces overall spillway efficiency and flow stability. Thirdly, existing technologies lack control strategies for coordinating flow rates among multiple gates. They cannot rationally allocate the opening and flow of each gate while maintaining a constant total outflow, thereby reducing localized impact forces on the spillway banks and lowering the risk of bank scour, especially in complex conditions with multiple gates operating in parallel. Finally, the gate closing process largely relies on mechanical rigid closure, lacking a mechanism for using water flow to assist in gradual closure and correction. This results in large impact forces during closure, easily damaging the gate structure and increasing equipment maintenance costs. These factors restrict the intelligence level and safety protection capabilities of reservoir gate systems. Summary of the Invention

[0004] The purpose of this invention is to provide a computer monitoring system for reservoir gates, improve the intelligence level and safety protection capabilities of reservoir gate systems, and help solve the problems mentioned in the background art.

[0005] This invention provides the following technical solution: a computer monitoring system for reservoir gates, comprising:

[0006] The water inflow angle identification module is used to set up multiple measurement guidelines upstream of the reservoir, deploy measurement points on each measurement guideline to measure the water flow velocity vector, calculate the water inflow angle at the measurement point, and obtain the local incident angle of the water flow received by each gate.

[0007] The gate angle deflection control module is used to calculate the arc length of the arc guide structure based on the local incident angle of the water flow received by the gate, and use the arc guide structure to guide the side of the gate as the rotation axis to achieve deflection, so as to correct the flow direction of the water flow after passing through the gate to be consistent with the flow direction of the spillway.

[0008] The coordinated flow and safety control module is used to measure the outflow velocity and thickness of water through each gate using sensors, and controls the deflection of each gate according to the outflow to keep the total outflow constant and reduce the impact of water flow on the bank slope.

[0009] The progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow in the air on the opposite side of the gate's rotating shaft, and use the water flow to assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed.

[0010] Optionally, the water inflow angle identification module is used to set up multiple measurement guidelines upstream of the reservoir, deploy measurement points on each measurement guideline to measure the water flow velocity vector, calculate the water inflow angle at the measurement points, and obtain the local incident angle of the water flow received by each gate, including:

[0011] The reservoir includes an upstream section and a downstream section. The water flow in the upstream section flows through multiple gates arranged in parallel to the spillway and then flows to the downstream section.

[0012] The spillway is a ramp that receives the water flowing out of the gate, reducing the impact energy of the water flow;

[0013] Set the measurement interval;

[0014] Obtain the normal vector of any gate, wherein the normal vector points from the plane where the gate is located to the upstream of the reservoir;

[0015] Starting from the intersection of the normal vector and the plane where the gate is located, multiple measurement points are evenly deployed at measurement intervals, and a measurement guideline perpendicular to the normal vector is drawn at each measurement point;

[0016] Establish a two-dimensional coordinate system by arbitrarily selecting a point upstream of the reservoir as the origin;

[0017] The water flow velocity vector at each measurement point is measured using sensors.

[0018] For any measurement point, the water flow velocity vector The water inflow angle θ at the measurement point is calculated as follows:

[0019] in, The normal vector of the measurement point. The dot product of the water flow velocity vector and the normal vector. These are the magnitudes of the water flow velocity vector and the normal vector, respectively;

[0020] Obtain the incident angles at all measurement points along the normal vector, calculate the mean, and use the result as the local incident angle of the water flow received by the gate where the normal vector is located.

[0021] Optionally, the gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and to use the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection, including:

[0022] The gate is rectangular and its lifting is controlled by steel wire rope.

[0023] The arc-shaped guide rail structure is set between the gate and the downstream of the reservoir, and is fixed to the partition pier between the gates. The arc-shaped guide rail structure is movably connected to the gate.

[0024] The arc-shaped guide rail structure has a telescopic function, extending or retracting from inside the partition pier, changing the arc length of the arc-shaped guide rail structure to achieve the deflection of the gate, with its center coinciding with the gate's rotation axis.

[0025] The plane containing the arc-shaped guide rail structure is perpendicular to the plane containing the gate.

[0026] Arc-shaped guide rail structures are installed on both sides of the gate to control the gate to deflect around any side as a rotation axis.

[0027] Optionally, the gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and to use the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection. It also includes:

[0028] The two sides of the gate are respectively designated as the first side and the second side;

[0029] Obtain all water flow velocity vectors along the normal vector, calculate the mean, and obtain the average water flow velocity vector.

[0030] Calculate the average flow velocity vector In the normal vector The components on in, The dot product of the water flow velocity vector and the normal vector yields a scalar.

[0031] Normal vector Unit vector on;

[0032] Calculate the average flow velocity vector Perpendicular to the normal vector The components on

[0033] Determine components The direction;

[0034] when If the direction is from the first side to the second side, then the first side is used as the axis of rotation;

[0035] when If the direction is from the second side to the first side, then the second side is used as the axis of rotation.

[0036] Optionally, the gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and to use the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection. It also includes:

[0037] Obtain the fixed radius r of the arc-shaped guide rail structure corresponding to the rotating axis;

[0038] calculate Where Δs is the local incident angle of the gate deflection about the rotation axis. The arc length is increased corresponding to the arc-shaped guide rail structure;

[0039] Control the extension of the arc-shaped guide rail structure to increase the arc length Δs of the arc-shaped guide rail structure.

[0040] Optionally, the coordinated flow and safety control module is used to measure the outflow velocity and thickness of water passing through each gate using sensors, and to control the deflection of each gate according to the outflow rate to maintain a constant total outflow rate, including:

[0041] Number the gates arranged side by side sequentially;

[0042] Measure the outflow velocity u and the outflow thickness d of the water flowing through gate i;

[0043] Measure the length b of gate i;

[0044] Calculate the outflow rate Q of gate i. i Q i =b×d×u;

[0045] Calculate the outflow kinetic energy E of gate i i E i =0.5×ρ×Q i ×u 3 , where ρ is the density of water;

[0046] Set the total outflow rate Q total ;

[0047] Keep the total outflow constant: Where n is the total number of gates;

[0048] The change in the angle of deflection of gate i is denoted as Δθ. i Wherein, the value of the angle at which gate i deflects is equal to the local incident angle of the water flow received by gate i;

[0049] Set the deflection angle change threshold θ * Then θ is limited * ≥Δθ i ;

[0050] Hydraulic model experiments were conducted on gate n to test the outflow kinetic energy under different gate deflection angles, and the optimal outflow kinetic energy E was obtained. * ;

[0051] The kinetic energy of the water flowing out of gate 1 is limited to E1≤E * ;

[0052] The kinetic energy E of the water flowing out of the gate n is limited. n ≤E * .

[0053] Optionally, the hydraulic model experiment is used to test the outflow kinetic energy of the gate n under different gate deflection angles, and the optimal outflow kinetic energy E is obtained. * ,include:

[0054] The deflection angle change threshold θ * Divide into several equal parts, and denot the size of each part as Δθ. * ;

[0055] Obtain the local incident angle θ of the water flow received by gate n. n ;

[0056] Set multiple gate deflection angles θ′ for hydraulic model experiments n ;

[0057] θ′ n The calculation formula is: θ′ n =θ n +m×Δθ * Where m is the deflection angle change threshold θ * The number of equal parts;

[0058] The angle of deflection of the control gate n is θ′ n Determine whether the water flowing out of gate n flows over the bank slope;

[0059] Obtain the deflection angles of all slopes that did not flow over;

[0060] Calculate the kinetic energy of the gate's outflow at the stated deflection angle, and take the maximum outflow kinetic energy as the optimal outflow kinetic energy E. * .

[0061] Optionally, the progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow while the opposite side of the gate's rotating shaft is suspended, and assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed through the water flow, including:

[0062] Set the tilt closure angle α;

[0063] For any gate:

[0064] Calculate the height h that the axis of rotation will be vertically lifted to the opposite side, h = b × sin(α);

[0065] The gate is fixed to rotate around its axis of rotation, while steel wire ropes are used to vertically lift the gate to the opposite side of its axis of rotation.

[0066] After raising the gate's rotating shaft to a height h on the opposite side;

[0067] If the average resistance F of the horizontally pulled gate is measured by a sensor, a supporting force of magnitude F is applied to the gate through the arc-shaped guide rail structure;

[0068] Simultaneously shrink the arc-shaped guide rail structure;

[0069] The tension of the steel wire rope is adjusted in real time by the sensor, and the support force provided by the arc-shaped guide rail structure controls the gate's rotating shaft to return to the center at a uniform speed on the opposite side.

[0070] The present invention has the following beneficial effects:

[0071] 1. This invention acquires real-time water inflow angle information and controls the gate deflection angle to ensure the gate's opening direction aligns with the water flow direction, reducing head loss and turbulence. It is suitable for fine-tuning the water flow direction at ecological discharge outlets of small reservoirs, guiding water flow flexibly through sensitive areas (such as wetlands and urban regulating reservoirs). In traditional designs, excessively large angles of attack between the water flow and the gate can lead to chaotic flow patterns or stagnant water zones, affecting downstream sedimentation, ecological water conveyance, and even structural stability. This solution proposes to guide water flow solely through angle deflection, achieving high-precision flexible water flow control, under the premise of "constant flow rate and no drastic velocity changes." It is particularly suitable for ecological discharge outlets and tributary diversion gates with high precision requirements.

[0072] 2. This invention defines the normal vector of each gate as a reference and sets multiple water flow velocity measurement points to obtain accurate water inflow status. In small-to-medium flow reservoirs or tributary scheduling, the water flow pattern changes significantly with time and environment. Without a precise acquisition mechanism, effective control is impossible. This invention lays the foundation for subsequent comprehensive judgment of water flow angle and velocity. By calculating the incident angle by the angle between the water flow velocity vector and the gate normal vector, in small-to-medium flow scenarios, the water flow direction may experience minor disturbances. If the mechanism is adjusted for every disturbance, it can easily cause control oscillations and fatigue wear. A "angle change threshold" mechanism is set, and adjustment is only performed when the incident angle exceeds a preset limit, thereby achieving a "stability-first, efficiency-oriented" control strategy. This ensures that accuracy is maintained while considering system lifespan and response speed.

[0073] 3. This invention utilizes the interference between water flows from adjacent gates to actively create an interference zone or "flow field convergence zone," thereby reducing the direct impact of water flow on the bank slopes or bottom structures. In scenarios such as ecological water release and branch canal control, boundary erosion is a key issue affecting ecological stability and project lifespan. By coordinating the flow rates of the gates, the flow angle is finely adjusted, causing two water flows to converge or disturb in the middle, forming a "flow interference zone," effectively reducing the shear and erosion forces exerted by the water body on the shoreline or sidewalls. This intervention method is more flexible and economical than rigid revetments or energy reduction structures, while also being eco-friendly, helping to protect sensitive hydrological environments such as wetlands and sedimentary areas.

[0074] 4. This invention divides the deflection angle change threshold into multiple steps and tests the water discharge under multiple deflection angles based on the local incident angle of the water flow received by the gate. This not only clarifies whether the water flow path corresponding to each angle impacts the bank slope, but also screens out the optimal combination of deflection angles while meeting safety requirements. It overcomes the problem that theoretical models cannot accurately reflect complex water flow interference, and possesses stronger adaptability and engineering reliability. Compared to flow rate or kinetic energy calculations based solely on static formulas, obtaining optimal values ​​through dynamic experiments improves the system's control accuracy under complex boundary conditions, which is beneficial for improving water discharge efficiency while reducing scouring damage to the bank structure.

[0075] 5. This invention coordinates the vertical lifting function of the wire rope with the deflection action of the gate around the arc-shaped guide rail to achieve a "flexible transition" during the water flow closure process. First, the opposite edge of the rotating shaft is raised, reserving a flow passage area at the bottom. Then, the gate is slowly lowered using the wire rope, ultimately causing the gate to close smoothly with the flow. This not only avoids backflow during the closure process but also reduces structural vibration caused by rapid changes in the deflection angle. Furthermore, compared to rigid mechanical connections, wire rope transmission offers better compliance and buffering performance, making it suitable for fine-tuning operations in low-flow, precise control, thus improving control accuracy and system reliability. This coordinated mechanism achieves "predictable, low-disturbance" closure control, making it particularly suitable for water flow management requirements with high stability and low disturbance in ecological water release scenarios.

[0076] 6. During the closing process, this invention elevates the gate edge opposite the rotating shaft to form a bottom edge outflow channel, allowing water to flow slowly from the bottom of the gate, avoiding the impact caused by sudden closure. This closure strategy has two major advantages: first, it avoids structural impact caused by sudden changes in water pressure through "bottom buffer outflow"; second, it provides auxiliary space for the edge of the rotating shaft, reserving structural positions for outward displacement of the gate during rotation, effectively avoiding mechanical interference. In high-precision ecological water release, excessive hydraulic disturbance during gate closure can disrupt the hydrological balance of the downstream ecological zone. By forming a brief and controllable bottom edge auxiliary space during rotation, the system achieves coordinated control of "uniform flow correction" and "smooth cut-off," representing an eco-friendly gate design. Attached Figure Description

[0077] Figure 1 This is a schematic diagram of the system modules of the present invention.

[0078] Figure 2 This is a schematic diagram of the gates arranged side by side according to the present invention.

[0079] Figure 3 This is a top view of the gate closing according to the present invention.

[0080] Figure 4 This is a top view schematic diagram of the gate deflection of the present invention.

[0081] Figure 5 This is a schematic diagram of the progressive closure and correction auxiliary structure of the present invention. Detailed Implementation

[0082] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] Example 1, refer to Figure 1 A computer monitoring system for reservoir gates, comprising:

[0084] This solution targets scenarios requiring fine-grained control of small to medium flow rates, necessitating adjustments to local flow direction to meet specific needs. For example, consider reservoir tailwater, which flows through several gates into downstream wetlands or ecological buffer zones. Due to the relatively small size of the reservoir, the flow rate is moderate to low, and flow stability is relatively high. However, the flow direction is frequently affected by environmental changes, resulting in a certain local angle of incidence, which causes the tailwater flow to deviate.

[0085] The reason why the direction of water flow is affected by environmental changes is that:

[0086] The reservoir has a complex structure and topography: small reservoirs have diverse surrounding environments. When water flows out of the reservoir, it encounters physical obstacles such as the reservoir slope and gate structure, which can cause the water flow to not exit the gate completely perpendicularly, resulting in deflection and varying degrees of incident angle.

[0087] Hydrodynamic disturbances: The flow of water in the reservoir is affected by wind, changes in reservoir water level, and fluctuations in upstream water flow, which can lead to changes in flow velocity and direction. Especially in non-uniform flow fields, the direction of water flow changes constantly, causing fluctuations in the angle of incidence.

[0088] Human operation or external factors: reservoir water release scheduling, uneven gate opening, reverse flow of downstream water or water level fluctuations can also affect the direction of water flow into the gate, resulting in deflection or backflow.

[0089] If left unchecked, this can lead to the following problems:

[0090] Water flow directly impacts the bank slope and wetland edge: When the angle of incidence is large, the water flow deviates and impacts the bank or wetland, causing bank erosion, soil loss, and damage to the wetland ecosystem.

[0091] Water agitation and sediment resuspension: Deviation of flow direction generates eddies, backflows or turbulence, which resuspends sediments in the sedimentation zone and affects the water purification effect.

[0092] Downstream ecological environment deterioration: Uneven water flow distribution can affect the survival of fish and aquatic plants, and reduce the stability of the ecosystem;

[0093] Decreased water resource utilization efficiency: Turbulent water flow near the water intake may reduce water intake efficiency or even damage water intake facilities.

[0094] The water inflow angle recognition module is used to set up multiple measurement guidelines upstream of the reservoir, deploy measurement points on each guideline to measure the water flow velocity vector, calculate the water inflow angle at each measurement point, and obtain the local incident angle of the water flow received by each gate, including:

[0095] The reservoir includes an upstream section and a downstream section. The water flow in the upstream section flows through multiple gates arranged in parallel to the spillway and then flows to the downstream section.

[0096] The spillway is a ramp that receives the water flowing out of the gate, reducing the impact energy of the water flow;

[0097] In this embodiment, the small reservoir is equipped with four gates, as shown in the reference. Figure 2 They are numbered A, B, C, and D in sequence. Each gate is a rectangular planar structure with its normal vector pointing upstream of the reservoir.

[0098] The normal vector of gate A:

[0099] The normal vector of gate B: Gates C and D are similar.

[0100] For each gate, in its normal vector direction, the system starts from the intersection of the gate plane and the normal vector, and sets up 5 measurement points upstream at 1-meter intervals, numbered A1 to A5:

[0101] The velocity vectors of the water flow at each measuring point are:

[0102] Measuring point number A1, water flow velocity vector (1.2, 1.8);

[0103] Measuring point number A2, water flow velocity vector (1.0, 2.0);

[0104] Measuring point number A3, water flow velocity vector (0.5, 2.5);

[0105] Measuring point number A4, water flow velocity vector (0.2, 2.8);

[0106] Measuring point number A5, water flow velocity vector (-0.1, 2.9);

[0107] Calculate the angle of incidence for measuring point A1:

[0108]

[0109] cosθ = 1.8 / 2.163 ≈ 0.832;

[0110] θ≈arccos(0.832)≈33.3°;

[0111] Similarly, the angle of incidence for measuring point A2 is approximately 26.4°.

[0112] Measurement point number A3, incident angle ≈ 11.5°;

[0113] Measurement point A4, incident angle ≈ 4.4°; Measurement point A5, incident angle ≈ 1.7°.

[0114] Calculate the local incident angle of the water flow received by gate A.

[0115] The gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and uses the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection, including:

[0116] The gate is rectangular and its lifting is controlled by a steel wire rope.

[0117] Arc-shaped guide rail structures are installed on both sides of the gate to control the gate to deflect around any side as a rotation axis;

[0118] 1. Arrangement of arc-shaped guide rail structure:

[0119] In this embodiment, refer to Figure 3 Each gate is equipped with a pair of arc-shaped guide rail structures on both sides, with the guide rails distributed in a horizontal arc shape.

[0120] The center of the guide rail is located on the central axis of the gate, and the trajectory forms a fan-shaped arc on the horizontal plane, allowing the gate to rotate slightly around the vertical axis;

[0121] Each guide rail is equipped with a sliding groove assembly that extends or locks along the guide rail to adjust the angle.

[0122] The arc-shaped guide rail structure is installed in the middle of the gate width;

[0123] 2. Driving and Control Mechanisms

[0124] Drive method:

[0125] The guide rail slide is controlled to move back and forth by a miniature electric push rod, hydraulic cylinder or stepper motor.

[0126] The control system adjusts the left and right guide rails asymmetrically according to the water inflow angle adjustment strategy, thereby causing the gate to deflect slightly around the vertical central axis.

[0127] Source of control signal:

[0128] The local angle of incidence is calculated from the water flow velocity vector collected by the upstream sensor.

[0129] The controller calculates the current deviation angle in real time, determines which side to turn to and the magnitude thereto, and drives the guide rail to adjust.

[0130] 3. Usage and Workflow

[0131] Initial state: The gate remains vertical and does not deflect, and the arc-shaped guide rail is in a neutral position.

[0132] Real-time monitoring: The sensor array collects the water flow velocity vector to determine the current incident angle.

[0133] Angle adjustment: If the current water flow is biased to the left, control the right guide rail to move forward and the left guide rail to move backward, so that the gate is adjusted clockwise.

[0134] The deflection range is generally within ±10°, and the specific value is automatically set by the control strategy.

[0135] Angle maintenance: Once the water flow direction is stable, the system locks the current guide rail position and maintains the flow direction.

[0136] Dynamic response: If the water flow direction continues to change, the system reassesses the incident angle every few seconds and dynamically adjusts the guide rail.

[0137] Obtain all water flow velocity vectors along the normal vector, calculate the mean, and obtain the average water flow velocity vector.

[0138] Calculate the average flow velocity vector In the normal vector The components on in, The dot product of the water flow velocity vector and the normal vector yields a scalar.

[0139]

[0140] Normal vector Unit vector on;

[0141] Calculate the average flow velocity vector Perpendicular to the normal vector The components on

[0142]

[0143] Determine components The direction;

[0144] when If the direction is from the first side (left) to the second side (right), then the first side is used as the axis of rotation. In this embodiment, refer to... Figure 4 The first side serves as the rotation axis, and the gate rotates around the rotation axis upstream of the reservoir by a deflection angle;

[0145] Obtain the fixed radius r of the arc-shaped guide rail structure corresponding to the rotating axis;

[0146] calculate Where Δs is the local incident angle of the gate deflection about the rotation axis. The arc length is increased corresponding to the arc-shaped guide rail structure;

[0147] Controlling the extension of the arc-shaped guide rail structure increases the arc length Δs of the arc-shaped guide rail structure. In this embodiment, refer to... Figure 4 The deflection angle corresponding to the arc length Δs of the arc-shaped guide rail structure is increased by the arc length of the arc-shaped guide rail structure.

[0148] The reason for the deflection gate is:

[0149] Because: the water itself comes at an angle (for example, from the upper left corner to the lower right corner);

[0150] If the gate does not deflect and the water inflow angle is not corrected, the water will continue to rush out at an angle after passing through the gate, resulting in the outflow direction not being the same as the spillway direction.

[0151] Therefore, the gate should be tilted to "meet" the direction of the incoming water, forming a deflection surface with the normal direction of the main water flow. In this way, the water will be guided to flow vertically down as if passing through a "slanted water pipe", that is: the direction of water outflow is approximately equal to the direction of the spillway.

[0152] Essentially, the angle of the gate deflection is just "aligned" with the angle of the incoming water flow, "correcting" the original lateral deviation of the water, and finally allowing the water to flow naturally down the designed spillway. After passing through the gate, the water no longer has lateral velocity and can flow naturally along the spillway.

[0153] The coordinated flow and safety control module uses sensors to measure the outflow velocity and thickness of water passing through each gate, and controls the deflection of each gate based on the outflow rate to maintain a constant total outflow rate. This includes:

[0154] Number the gates arranged side by side sequentially;

[0155] Measure the outflow velocity u and the outflow thickness d of the water flowing through gate i;

[0156] Gate number A, water velocity 1.7 m / s, water thickness 0.30 m;

[0157] Gate number B, water velocity 1.9 m / s, water thickness 0.30 m;

[0158] Gate number C, water velocity 2.1 m / s, water thickness 0.32 m;

[0159] Gate number D, water velocity 1.8 m / s, water thickness 0.31 m;

[0160] The length of gate i is measured to be b = 1.2m;

[0161] Calculate the outflow kinetic energy E of gate i i E i =0.5×ρ×Q i ×u 3 Where ρ = 1000 kg / m 3 The density of water;

[0162] Calculate the outflow rate Q of gate i. i Q i =b×d×u, which is existing technology;

[0163] Set the total outflow rate Q total =2.7m 3 / s;

[0164] Keep the total outflow constant: Where n is the total number of gates;

[0165] Gate number A, outflow rate 1.2 × 0.30 × 2.0 = 0.72 m³ / s. 3 / s;

[0166] Gate number B, outflow rate 1.2 × 0.28 × 1.9 = 0.6384 m³ 3 / s;

[0167] Gate number C, outflow rate 1.2 × 0.32 × 2.1 = 0.8064 m³ 3 / s;

[0168] Gate number D, water velocity 1.2 × 0.31 × 1.8 = 0.6696 m / s 3 / s;

[0169] If the total outflow exceeds the required flow rate, the deflection angle of each gate needs to be adjusted.

[0170] The change in the angle of deflection of gate i is denoted as Δθ. i Wherein, the value of the angle at which gate i deflects is equal to the local incident angle of the water flow received by gate i;

[0171] Gate A, local incident angle 15.5°; Gate B, local incident angle 10°;

[0172] Gate C has a local incident angle of 12°; Gate D has a local incident angle of 18°.

[0173] Set the deflection angle change threshold θ * =6°, all satisfying θ * ≥Δθ i The system adjusts the gate deflection angle accordingly to control the flow rate of each gate, so that the total flow rate is Q. total And optimize security and traffic distribution.

[0174] To achieve precise flow direction control under low flow conditions, a deflection angle variation threshold was set to limit the angle adjustment range of the gates in response to water flow disturbances, preventing large-scale deflections that could disrupt overall flow stability. Based on adjusting the water flow velocity, only the incident angle deviation exceeding the threshold is fine-tuned. This allows for flexible guidance of local water flow direction without changing the total water level and flow rate, ensuring more consistent and precise flow direction coordination control among multiple gates.

[0175] The calculation shows that the gate number is A, and the updated deflection angle is 11°.

[0176] Gate number B, updated deflection angle 6°; Gate number C, updated deflection angle 9°;

[0177] Gate number D, updated deflection angle 12°, the change in deflection angle is less than θ. * =6°;

[0178] Hydraulic model experiments were conducted on gate n to test the outflow kinetic energy under different gate deflection angles, and the optimal outflow kinetic energy E was obtained. * ;

[0179] The kinetic energy of the water flowing out of gate 1 is limited to E1≤E * ;

[0180] The kinetic energy E of the water flowing out of the gate n is limited. n ≤E * .

[0181] Hydraulic model experiments were conducted on gate n to test the outflow kinetic energy under different gate deflection angles, and the optimal outflow kinetic energy E was obtained. * ,include:

[0182] The deflection angle change threshold θ * Divide into 6 equal parts, and denot the size of each part as Δθ. * =6 / 6=1;

[0183] The deflection angle change threshold θ * Dividing the deflection into multiple parts also controls the change in deflection angle within the deflection angle change threshold θ. * Inside;

[0184] Obtain the local incident angle θ of the water flow received by gate n. n ;

[0185] Set multiple gate deflection angles θ′ for hydraulic model experiments n ;

[0186] θ′ n The calculation formula is: θ′ n =θ n +m×Δθ * Where m is the deflection angle change threshold θ * The number of equal parts, m = 0, 1, 2, 3, 4, 5, 6;

[0187] θ′ n = 12.5°, 13.5°, 14.5°, 15.5°, 16.5°, 17.5°, 18.5°;

[0188] The angle of deflection of the control gate n is θ′ n Determine whether the water flowing out of gate n flows over the bank slope;

[0189] θ′ n At an angle of 12.5°, without flowing over the bank slope, the outflow kinetic energy is 610 J / s;

[0190] θ′ n At an angle of 13.5°, without flowing over the bank slope, the outflow kinetic energy is 635 J / s;

[0191] θ′ n When θ′ = 14.5°, the flow passes over the bank slope; n At an angle of 15.5°, the river flows along the bank slope;

[0192] θ′ n At an angle of 16.5°, without flowing over the bank slope, the outflow kinetic energy is 615 J / s;

[0193] θ′ n At an angle of 17.5°, without flowing over the bank slope, the outflow kinetic energy is 600 J / s;

[0194] θ′ n At an angle of 18.5°, the river flows along the bank slope;

[0195] Obtain the deflection angles of all slopes that did not flow over;

[0196] Flowing along a bank slope refers to the phenomenon where water flows directly into and along the slopes of riverbanks, reservoirs, or channels during its movement. It typically occurs when water flow is not effectively guided, flow direction control fails, or overflow areas are restricted, causing the water to deviate from its designed channel and spread and erode along the bank slope.

[0197] If water flows over the bank slope, it can easily cause a variety of problems such as shoreline erosion, siltation, ecological disturbance and decreased structural stability. In severe cases, it can even cause the functional degradation of wetland areas and the failure of hydraulic structures.

[0198] Calculate the kinetic energy of the gate's outflow at the stated deflection angle, and take the maximum outflow kinetic energy as the optimal outflow kinetic energy E. * =635j / s.

[0199] Given that the gate deflection angle affects both flow rate and outflow velocity, the flow rate and kinetic energy are calculated by measuring the outflow velocity and flow thickness as the basis for control. Combined with the deflection angle adjustment and other flow regulation methods, the combined control of flow rate and kinetic energy is achieved, thereby accurately balancing the correction of water flow direction and the risk of bank impact, and ensuring the safety and stability of water flow.

[0200] The gates are numbered A, B, C, and D, with A and D being adjacent to the bank slope;

[0201] Objective: To reduce the outflow kinetic energy of the gates on both sides of the bank to be lower than the average kinetic energy of the central gate, thereby reducing the risk of impact.

[0202] Gate A has an outflow kinetic energy of 0.5 × 1000 × 0.72 × 1.7 = 612 J / s;

[0203] Gate number B, water outflow kinetic energy: 0.5 × 1000 × 0.6384 × 1.9 = 606.48 J / s;

[0204] Gate number C, water outflow kinetic energy: 0.5 × 1000 × 0.8064 × 2.1 = 846.72 J / s;

[0205] Gate number D, water outflow kinetic energy: 0.5 × 1000 × 0.6696 × 1.8 = 602.64 J / s;

[0206] The kinetic energy of the adjacent slopes at A and D is less than the optimal outflow kinetic energy, so the water flow will not impact the slopes.

[0207] The progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow while the opposite side of the gate's rotating shaft is suspended, and assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed through the water flow. This includes:

[0208] Set the tilt closure angle α = 15°;

[0209] For any gate:

[0210] Calculate the height h that the axis of rotation will be vertically lifted to the opposite side, h = b × tan(α) ≈ 0.2679 m;

[0211] In this embodiment, refer to Figure 5 The diagram shows the deflection of the gate along the normal vector of the plane where the gate is located after the height h of the second side is increased. The deflection of the gate around the rotation axis is fixed, and the height of the opposite side of the gate rotation axis is vertically raised using a steel wire rope.

[0212] As a rectangular structure, when the gate rotates around the vertex of its rotation axis, the side containing the rotation axis will experience a spatial displacement towards the separating pier. This displacement results in:

[0213] The structural portion corresponding to the rotation axis will "swing out" of its original planar range, resulting in a certain spatial change. To prevent mechanical interference between the gate structure and the partition pier or other fixed components, space is needed to accommodate this displacement. This space is the "outward expansion area" naturally formed by the gate structure during rotation. It is not in the gap between the partition pier and the gate, but located outside the partition pier, i.e., the open space outside the gate. Like the space "sweeped out" by a door on the outside of a hinge, the door will occupy this area, but this will not affect the seal between the door and the door frame.

[0214] During the transition of the gate from the open to the closed state, relying solely on the curved guide rail to adjust the gate's deflection angle will still present the following technical challenges:

[0215] Water flows vertically outward from the side of the rotating shaft, forming an uncontrolled flow stream: as the gate deflection angle gradually decreases, the gate structure tends to be perpendicular to the water flow. Especially when the upstream water level is high, the water pressure will leak vertically downstream along the gap between the gate and the rotating shaft (usually near the dividing pier or wall). This "vertical outflow" phenomenon is extremely difficult to control under high water levels, leading not only to uneven flow velocity and uncontrolled direction, but also potentially eroding the downstream slope or interfering with the flow normalization process. Especially in scenarios such as reservoir ecological spillways where high precision is required, even minor disturbances in the outflow can have a cumulative impact on the downstream environment.

[0216] By actively raising one side of the rotating shaft during the closing phase, water flow is guided to preferentially flow out through the bottom edge gap, suppressing the phenomenon of water flowing vertically through the top. Combined with the tension of the steel wire rope to control the closing rhythm, this scheme effectively achieves:

[0217] Precise control of water flow direction and velocity during steady-state closure of the gate; reduction of fatigue impact on the gate structure under long-term operation; and improvement of the responsiveness and coordination of the high-precision control system for small flow rates.

[0218] The progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow while the opposite side of the gate's rotating shaft is suspended in the air, and assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed through the water flow. It also includes:

[0219] After raising the gate's rotating shaft to a height h on the opposite side;

[0220] If the average resistance F = 280N is measured by a sensor when the gate is pulled horizontally, a supporting force of magnitude F is applied to the gate through the arc-shaped guide rail structure, so that the gate is not pushed back by the water pressure and maintains a stable contact state.

[0221] In practice, obtaining the total resistance through testing or sensor measurement is the most common method, especially suitable for systems affected by multiple complex factors (such as water flow, friction, sealing pressure, etc.).

[0222] Tension sensor: measures the minimum tension required for the gate to slide along the guide rail;

[0223] Displacement + Force Feedback Test: Determines the traction force required for sliding at a certain speed;

[0224] Operating condition simulation: Simulate the sliding resistance under different guide rail angles and water flow pressures on the control system.

[0225] The average resistance of horizontally pulling the gate can be measured using the above method.

[0226] Simultaneously, the arc-shaped guide rail structure contracts, and the control system measures the gate deflection angle as 10.3°.

[0227] The calculated contraction arc length of the arc-shaped guide rail structure is 0.27m;

[0228] The existing wire rope tensioning technology is mature enough to support the technical capability of raising the opposite side of the rotating shaft on one side when the gate deflects.

[0229] The tension of the wire rope is adjusted in real time by the sensor, and the support force provided by the arc-shaped guide rail structure controls the gate's rotation axis to return to the center at a constant speed on the opposite side. The existing PID controller is used to read the resistance change in real time, and the wire rope length is released slowly to maintain a constant speed of return (to prevent rebound / instantaneous impact). When the control system measures that the gate deflection angle is 0 and the sensor detects contact with the bottom edge, the contraction and wire rope adjustment are stopped, and the return and closure are completed.

[0230] The uniform speed correction process described above can be implemented using existing mature PID control algorithms. Since PID controllers are widely used in hydraulic engineering, machinery, and automation, their input is the deflection angle of the gate's rotating shaft on the opposite side or the correction speed error, and their output is the tension adjustment of the wire rope. Control parameters can be flexibly set according to engineering requirements.

[0231] Existing technologies are mainly used to control the overall lifting or synchronous movement of gates. This solution uses a coordinated control mechanism of wire rope tension and guide rail support, taking into account the tension adjustment process of water flow thrust feedback; combined with real-time tension adjustment of tilt angle and correction path, it realizes staged, asymmetric fine closure control.

[0232] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0233] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A computer monitoring system for reservoir gates, characterized in that, include: The water inflow angle identification module is used to set up multiple measurement guidelines upstream of the reservoir, deploy measurement points on each measurement guideline to measure the water flow velocity vector, calculate the water inflow angle at the measurement point, and obtain the local incident angle of the water flow received by each gate. The gate angle deflection control module is used to calculate the arc length of the arc guide structure based on the local incident angle of the water flow received by the gate, and use the arc guide structure to guide the side of the gate as the rotation axis to achieve deflection, so as to correct the flow direction of the water flow after passing through the gate to be consistent with the flow direction of the spillway. The coordinated flow and safety control module is used to measure the outflow velocity and thickness of water through each gate using sensors, and controls the deflection of each gate according to the outflow to keep the total outflow constant and reduce the impact of water flow on the bank slope. The progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow in the air on the opposite side of the gate's rotating shaft, and use the water flow to assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed.

2. The reservoir gate computer monitoring system according to claim 1, characterized in that, The water inflow angle identification module is used to set up multiple measurement guidelines upstream of the reservoir, deploy measurement points on each guideline to measure the water flow velocity vector, calculate the water inflow angle at each measurement point, and obtain the local incident angle of the water flow received by each gate, including: The reservoir includes an upstream section and a downstream section. The water flow in the upstream section flows through multiple gates arranged in parallel to the spillway and then flows to the downstream section. The spillway is a ramp that receives the water flowing out of the gate, reducing the impact energy of the water flow; Set the measurement interval; Obtain the normal vector of any gate, wherein the normal vector points from the plane where the gate is located to the upstream of the reservoir; Starting from the intersection of the normal vector and the plane where the gate is located, multiple measurement points are evenly deployed at measurement intervals, and a measurement guideline perpendicular to the normal vector is drawn at each measurement point; Establish a two-dimensional coordinate system by arbitrarily selecting a point upstream of the reservoir as the origin; The water flow velocity vector at each measurement point is measured using sensors. For any measurement point, the water flow velocity vector The water inflow angle θ at the measurement point is calculated as follows: in, The normal vector of the measurement point. The dot product of the water flow velocity vector and the normal vector. These are the magnitudes of the water flow velocity vector and the normal vector, respectively; Obtain the incident angles at all measurement points along the normal vector, calculate the mean, and use the result as the local incident angle of the water flow received by the gate where the normal vector is located.

3. The reservoir gate computer monitoring system according to claim 2, characterized in that, The gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and uses the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection, including: The gate is rectangular and its lifting is controlled by steel wire rope. The arc-shaped guide rail structure is set between the gate and the downstream of the reservoir, and is fixed to the partition pier between the gates. The arc-shaped guide rail structure is movably connected to the gate. The arc-shaped guide rail structure has a telescopic function, extending or retracting from inside the partition pier to change the arc length of the arc-shaped guide rail structure and achieve the deflection of the gate. The center of the arc-shaped guide rail structure coincides with the rotation axis of the gate; The plane containing the arc-shaped guide rail structure is perpendicular to the plane containing the gate. Arc-shaped guide rail structures are installed on both sides of the gate to control the gate to deflect around any side as a rotation axis.

4. The reservoir gate computer monitoring system according to claim 3, characterized in that, The gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and to use the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection. It also includes: The two sides of the gate are respectively designated as the first side and the second side; Obtain all water flow velocity vectors along the normal vector, calculate the mean, and obtain the average water flow velocity vector. Calculate the average flow velocity vector In the normal vector The components on in, The dot product of the water flow velocity vector and the normal vector yields a scalar. Normal vector Unit vector on; Calculate the average flow velocity vector Perpendicular to the normal vector The components on Determine components The direction; when If the direction is from the first side to the second side, then the first side is used as the axis of rotation; when If the direction is from the second side to the first side, then the second side is used as the axis of rotation.

5. The reservoir gate computer monitoring system according to claim 4, characterized in that, The gate angle deflection control module is used to calculate the arc length of the arc-shaped guide rail structure based on the local incident angle of the water flow received by the gate, and to use the arc-shaped guide rail structure to guide the side of the gate as a rotation axis to achieve deflection. It also includes: Obtain the fixed radius r of the arc-shaped guide rail structure corresponding to the rotating axis; calculate Where Δs is the local incident angle of the gate deflection about the rotation axis. The arc length is increased corresponding to the arc-shaped guide rail structure; Control the extension of the arc-shaped guide rail structure to increase the arc length Δs of the arc-shaped guide rail structure.

6. The reservoir gate computer monitoring system according to claim 2, characterized in that, The coordinated flow and safety control module is used to measure the outflow velocity and thickness of water passing through each gate using sensors, and to control the deflection of each gate according to the outflow rate to maintain a constant total outflow rate, including: Number the gates arranged side by side sequentially; Measure the outflow velocity u and the outflow thickness d of the water flowing through gate i; Measure the length b of gate i; Calculate the outflow rate Q of gate i. i Q i =b×d×u; Calculate the outflow kinetic energy E of gate i i E i =0.5×ρ×Q i ×u 3 , where ρ is the density of water; Set the total outflow rate Q total ; Keep the total outflow constant: Where n is the total number of gates; The change in the deflection angle of gate i is denoted as Δθ. i Wherein, the value of the deflection angle of gate i is equal to the local incident angle of the water flow received by gate i; Set the deflection angle change threshold θ * Then θ is limited * ≥Δθ i ; Hydraulic model experiments were conducted on gate n to test the outflow kinetic energy under different gate deflection angles, and the optimal outflow kinetic energy E was obtained. * ; The kinetic energy of the water flowing out of gate 1 is limited to E1≤E * ; The kinetic energy E of the water flowing out of the gate n is limited. n ≤E * .

7. The reservoir gate computer monitoring system according to claim 6, characterized in that, The hydraulic model experiment was used to test the outflow kinetic energy of the gate n under different gate deflection angles, and the optimal outflow kinetic energy E was obtained. * ,include: The deflection angle change threshold θ * Divide into several equal parts, and denot the size of each part as Δθ. * ; Obtain the local incident angle θ of the water flow received by gate n. n ; Set multiple gate deflection angles θ′ for hydraulic model experiments n ; θ′ n The calculation formula is: θ′ n =θ n +m×Δθ * Where m is the deflection angle change threshold θ * The number of equal parts; The angle of deflection of the control gate n is θ′ n Determine whether the water flowing out of gate n flows over the bank slope; Obtain the deflection angles of all slopes that did not flow over; Calculate the kinetic energy of the gate's outflow at the stated deflection angle, and take the maximum outflow kinetic energy as the optimal outflow kinetic energy E. * .

8. The reservoir gate computer monitoring system according to claim 1, characterized in that, The progressive closure and correction auxiliary module is used to vertically raise the height of the opposite side of the gate's rotating shaft when closing the gate, control the gate's rotating shaft to connect with the bottom edge, release water flow while the opposite side of the gate's rotating shaft is suspended, and assist the opposite side of the gate's rotating shaft to correct itself at a uniform speed through the water flow, including: Set the tilt closure angle α; For any gate: Calculate the height h that the axis of rotation will be vertically lifted to the opposite side, h = b × sin(α); To fix the deflection of the gate around its rotation axis, a steel wire rope is used to vertically lift the gate to the opposite side of its rotation axis. When the gate's rotation axis is raised to a height h on the opposite side, the average resistance F of horizontally pulling the gate is measured using a sensor. Then, a supporting force of magnitude F is applied to the gate through the arc-shaped guide rail structure. Simultaneously shrink the arc-shaped guide rail structure; The tension of the steel wire rope is adjusted in real time by the sensor, and the support force provided by the arc-shaped guide rail structure controls the gate's rotating shaft to return to the center at a uniform speed on the opposite side.

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