Water gate control method and system based on instruction preposed verification

Abstract

The invention discloses a water gate control method based on instruction preposed verification, and relates to the technical field of gate opening control, the method comprises the following steps: S1, receiving a control instruction; s2, before the control instruction is executed to drive the gate to act, the target opening degree is compared with the current opening degree, collected in real time, of the gate, and whether the movement direction indicated by the action type is logically consistent with the opening degree change direction or not is judged; collecting dynamic working condition data of the gate operation environment in real time, and judging whether the action is allowed to be executed in the current environment or not; s3, in a standard operation mode, when the two levels of decision verification pass, a driving instruction is generated to enable a gate to act; in the emergency operation mode, whether the instruction is executed or not can be directly determined according to the dynamic working condition data of the gate operation environment; the invention further provides a water gate control system based on instruction preposed verification, the problems that in the prior art, safety is insufficient, control precision is low, operation is inconvenient, and the automation level is low are solved, the control efficiency is improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] This invention relates to the field of gate opening control technology, and in particular to a sluice gate control method and system based on pre-command verification. Background Technology

[0002] As a crucial water conservancy infrastructure, the control performance of sluice gates directly impacts the realization of vital functions such as flood control, irrigation, and water supply. Traditional sluice gate control often relies on manual operation or simple automation, which suffers from slow response times, inadequate safety protection mechanisms, and low control precision. With the advancement of water conservancy informatization, higher demands are being placed on the safety, reliability, and intelligence level of sluice gate automation control.

[0003] CN 117850383 A proposes a safety method for remote control of flood discharge gates in large-scale river basin hydropower stations. This invention sends single-point remote control commands according to the IEC608705104 protocol to the PLC controller through a computer monitoring system to stop, open, or close the gates. Its protection logic is mainly concentrated in the execution process. At the same time, its safety strategy logic is layered, with different layers handling different problems, but it does not clearly describe a unified priority mechanism.

[0004] CN 119536118 A proposes a PLC gate protection automatic control method, device, and computer equipment. This invention proposes a validity judgment of the opening set value, but the judgment standard is whether the difference between the set value and the current value is greater than the dead zone. It is only used for fine-tuning the gate opening. Its verification mechanism is only for fine-tuning during operation. It cannot identify and intercept invalid instructions with logical contradictions from the source before the instruction is executed, which leads to the risk of equipment wastage and wear. At the same time, it defines the priority between processes, but it is not the priority of interrupt response to multiple abnormal signals. Summary of the Invention

[0005] The purpose of this invention is to propose a sluice gate control method based on pre-execution verification of instructions. By performing validity judgment before executing instructions and continuously monitoring the status during execution, invalid instructions are eliminated from the source, unnecessary gate movements and mechanical wear are avoided, and control efficiency and equipment life are improved.

[0006] Another objective of this invention is to address the problems of insufficient security, low control precision, inconvenient operation, and low automation level in existing technologies by constructing a control logic with clear priorities and multiple safety protection mechanisms.

[0007] Another objective of this invention is to achieve automated control of individual sluice gates and intelligent joint operation of the entire sluice gate group through a central dispatch controller and local control units.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows: A sluice gate control method based on instruction pre-verification, the method includes the following steps: S1: Receive control commands; S2: Before executing the control command to drive the gate to move, compare the target opening degree with the current gate opening degree collected in real time, and determine whether the movement direction indicated by the action type is logically consistent with the opening change direction. Real-time acquisition of dynamic operating condition data of the gate's operating environment to determine whether the current environment allows the execution of control commands; S3: In standard operation mode, a drive command is generated to make the gate move only when both levels of decision verification pass; in emergency operation mode, the decision to execute the command can be made directly based on the dynamic operating condition data of the gate's operating environment.

[0009] The safety verification of operating data adopts a dynamic threshold mechanism, and the safety threshold is adaptively adjusted according to the real-time operating status of the gate, historical operating data and environmental forecast information.

[0010] Specifically, the two-level decision verification adopts a serial execution and step-by-step interception architecture. The first level is the physical logic self-consistency decision verification, which is based on the fundamental physical laws of gate movement to determine whether the instruction intention (ascending / descending) contradicts the target-current opening degree relationship, thus eliminating invalid instructions with logical contradictions from the source; The first level is the physical logic self-consistency check, which is the most basic prerequisite that all instructions must meet.

[0011] The second level is the operational environment safety verification: After the physical logic passes, the operating environment data of the gate is collected and analyzed in real time, including but not limited to gate load, upstream and downstream water level difference (water pressure), and water flow velocity. It determines whether the current operating conditions are within the safe operating range of the equipment, preventing forced operation under dangerous hydraulic conditions. In emergency operation mode, if the current opening information is incorrect, but the gate control command still needs to be initiated, the command can be executed only after passing the operational environment safety decision verification.

[0012] As a preferred option, the step of "judging the logic validity based on the comparison result" specifically includes: if an upward instruction is received, determining whether the target opening degree is greater than the current opening degree; if yes, then determining that the upward instruction logic is valid; if no, then determining that its logic is invalid.

[0013] As a preferred option, if the upward command is valid, it is also necessary to constantly compare the current opening with the target opening.

[0014] Specifically, after confirming that the system is in remote control mode, when receiving an ascending command, it needs to determine the size of the current opening and the target opening. If the target opening is greater than the current opening, the ascending command is executed. At the same time, during the ascending process, the target opening and the current opening are constantly monitored. When the target opening is less than or equal to the current command, the gate stops ascending and is determined to have ascended to the designated position. If the initial target opening is less than or equal to the current opening, the ascending command is determined to be an invalid command.

[0015] As a preferred option, the step of "judging the logic validity based on the comparison result" specifically includes: if a descent command is received, determining whether the target opening degree is less than the current opening degree; if yes, then determining that the closing command logic is valid; if no, then determining that its logic is invalid.

[0016] As a preferred option, if the descent command is valid, it is also necessary to constantly compare the current opening with the target opening.

[0017] Preferably, when generating an up command, it is necessary to ensure that the down command is inactive. When generating a descent instruction, it is necessary to ensure that the increment instruction is inactive.

[0018] Preferably, the safety verification of operating data adopts a dynamic threshold mechanism, wherein the safety threshold is adaptively adjusted according to the real-time operating status of the gate, historical operating data and environmental forecast information.

[0019] Preferably, the method further includes a highest-priority emergency stop procedure: Continuously monitor emergency stop signals; when an emergency stop signal is triggered, unconditionally cancel any generated start and stop commands, and immediately generate a stop command.

[0020] Preferably, the method also includes limit protection and overload protection with priority higher than control commands but lower than emergency stop commands.

[0021] Specifically, this invention establishes a hierarchical safety priority system. The emergency stop signal has the highest interrupt priority and can unconditionally terminate any operation. Next are hardware limit protection and overload protection, which are independent of the main control logic and directly forcefully cut off drive commands. This design ensures that safety protections respond as quickly as possible under any circumstances.

[0022] Preferably, the logic control functions are encapsulated in one or more custom function block instances for execution.

[0023] Specifically, this invention encapsulates the aforementioned complex control logic and safety strategies within a "custom function block." This function block features standardized inputs and outputs, as well as internal variable interfaces, becoming an independent and parameterizable software module. This allows the control logic to be quickly reused in different sluice gate projects, greatly improving programming efficiency and system reliability, and lowering the operational and maintenance threshold.

[0024] Specifically, the custom function block is a software module with a standardized interface, the interface definition of which includes: The set of input variables includes at least the remote mode signal, the start command signal, the stop command signal, the emergency stop signal, the current opening value, the target opening value, the upper limit signal, the lower limit signal, and the overload signal. Output variable set: It includes at least the start driver command, stop driver command, stop command, and fault alarm signal; Internal variables: used to maintain state, perform intermediate calculations, and control logic.

[0025] A sluice gate control system based on instruction pre-verification, the system comprising a controller configured to execute a computer program stored in a memory, the controller including a central dispatch controller and one or more local control units; The controller is connected to the gate drive device, which receives the opening drive command, closing drive command, and stop command. The controller connects to a state monitoring sensor group, which provides signals from the set of input variables to the custom function block instance.

[0026] Preferably, the central dispatch controller issues a dispatch instruction containing the target opening degree to the local control unit; the local control unit independently executes the pre-verification, safety protection and precise positioning control of the dispatch instruction through the custom function block instance within it, and feeds back the status data to the central dispatch controller.

[0027] The beneficial effects of this invention include: Significantly enhanced safety: Through a triple safety mechanism of emergency stop priority, limit protection, and overload protection, a comprehensive safety protection system is constructed to effectively avoid equipment damage and safety accidents; High control precision: The real-time opening monitoring and comparison algorithm is adopted to achieve a gate positioning and stopping accuracy of within ±2mm, which meets the requirements of fine scheduling; Enhanced reliability: Control conflicts are avoided and system stability is improved through instruction mutual exclusion design and multiple state verifications; High level of intelligence: It supports remote and precise control, can be seamlessly connected with the water conservancy dispatching system to achieve unattended operation, and by introducing multi-level pre-verification and dynamic parameter optimization, the system has a preliminary intelligent decision-making capability, which enables the sluice gate control system to be upgraded from the automated execution layer to the intelligent control layer with environmental perception and adaptive optimization. Attached Figure Description

[0028] Figure 1 This is a flowchart of a single sluice gate intelligent control system.

[0029] Figure 2 Enter parameter descriptions for the system's control panel.

[0030] Figure 3 This provides supplementary information on the parameters input to the system's control panel.

[0031] Figure 4 Description of internal parameters in the system's control panel. Detailed Implementation

[0032] Example 1.

[0033] This embodiment is illustrated by... Figure 1 A water gate control method based on pre-command verification is described in detail, and its control flow is as follows: Upon system power-up, initialization operations are performed, including: loading system parameters (such as maximum / minimum gate opening, normal operating time, dead zone range, overload setting, etc.), checking the communication status of I / O modules, resetting all output drive commands, and starting the main control loop.

[0034] Before entering the main loop, the system continuously monitors the emergency stop signal with the highest priority. If the emergency stop signal is valid, it immediately sets OpenCmd and CloseCmd to the closed state and sets StopCmd to the open state to ensure that the gate stops moving immediately.

[0035] If no emergency stop signal is detected, determine the current control mode of the system. Read the remote / local mode selection signal (RemoteMode).

[0036] If the RemoteMode signal is valid (indicating remote control mode), then remote control operation will be initiated.

[0037] If the RemoteMode signal is invalid (indicating local control mode), the system executes the preset local control logic or remains in a waiting state. This part of the logic can be designed according to actual needs.

[0038] In remote operation mode, the system receives control commands, which include target opening information and control information, and enters the "pre-verification" stage. The system checks the mutual exclusivity of the commands, and at this time, the system does not output any commands to drive the gate.

[0039] The "pre-verification" phase that the system enters is the implementation of the multi-level verification mechanism. The specific execution flow is as follows: Level 1 verification (physical logic and instruction mutual exclusion): The system first checks the mutual exclusion of instructions (e.g., if StartOpen is valid, CloseCmd must be confirmed to be invalid), and then compares TargetHeight with CurrentHeight. For example, for an ascending instruction, if TargetHeight is not greater than CurrentHeight, the level 1 verification is considered to have failed, the system directly sets StopCmd and generates a "01-Logical Contradiction" alarm code, and the process terminates.

[0040] After the first-level verification passes, the system immediately reads real-time operating data to determine whether the current environment allows the action to be performed. For example, the rule can be set as follows: if the water level difference is greater than 2.0 meters and the command is "quick start", then the second-level verification is considered to have failed, and an alarm "02-Hydraulic conditions are unsafe" is generated. The core of this step is to determine whether the current environment allows the action based on dynamic data.

[0041] When the system is configured in emergency mode or under specific operating conditions, special processing logic can be enabled. Under this logic, the system can primarily rely on second-level environmental security decisions. If the environmental security conditions are met, drive commands can be directly generated, thereby flexibly bypassing the first-level logic verification conditions to meet emergency scheduling needs.

[0042] Single-control opening logic: When the StartOpen signal is received and no CloseCmd instruction is currently being executed, the system compares TargetHeight and CurrentHeight. If the target opening is greater than or equal to the current opening, and the current operating conditions allow the action to be performed, it is determined to be a valid up-and-down instruction. At this time, OpenCmd is set to open, CloseCmd remains closed, StopCmd is set to close, and the gate is driven to rise. If the target opening is less than the current opening, it is determined to be an invalid up-and-down instruction, and StopCmd is directly set to open to prevent erroneous operation. At the same time, when the up-and-down instruction is valid and the gate rises, the current opening and the target opening must be compared at all times to ensure that the gate is driven to rise to the target opening and then stops.

[0043] Single-control closing logic: When the StartClose signal is received and no OpenCmd instruction is currently being executed, the system compares TargetHeight and CurrentHeight. If the target opening is less than or equal to the current opening, and the current operating conditions allow the action to be performed, it is determined to be a valid descent instruction. At this time, CloseCmd is set to open, OpenCmd remains closed, StopCmd is set to close, and the gate is driven to descend. If the target opening is greater than the current opening, it is determined to be an invalid descent instruction, and StopCmd is directly set to open. At the same time, when the descent instruction is valid and the gate is descending, the current opening and the target opening must be compared at all times to ensure that the gate is driven to descend to the target opening and then stops.

[0044] When the system is working, in addition to the highest priority emergency stop processing, it will also execute limit protection and overload protection with a priority higher than the control command but lower than the emergency stop command.

[0045] Limit protection: The system independently monitors the upper and lower limit switch signals; when the upper limit signal (UpperLimit) is valid, regardless of the current state of OpenCmd, it is immediately forcibly reset (OpenCmd is set to off). When the lower limit signal (LowerLimit) is valid, regardless of the current state of CloseCmd, it is immediately forcibly reset (CloseCmd is set to off).

[0046] Overload protection: The system monitors the load signal (Overload) in real time. When the Overload signal is valid, it immediately and simultaneously forces a reset of OpenCmd and CloseCmd (OpenCmd and CloseCmd are turned off), and sets StopCmd (StopCmd is turned on). This operation will cut off power and trigger braking.

[0047] Normally, stopping at the designated point or receiving an external stop command is considered a normal termination. If it is an abnormal termination (such as the protected logic stopping), the triggered alarm information will be recorded and reported.

[0048] After execution stops, the system ensures that StopCmd remains valid until the next valid drive command is received. System status data is updated to prepare for the next control cycle.

[0049] Example 2: Custom function block encapsulation.

[0050] Combination Figures 2 to 4 This document explains the interface definition of the custom function block and provides instructions on using the system's control panel. The function block is designed using object-oriented principles and is instantiated in the PLC programming environment, creating an independently runnable control logic object.

[0051] Input variables: CurrentHeight: REAL type, current opening value, in meters; UpperLimit: BOOL type, upper limit signal, valid as TRUE; LowerLimit: BOOL type, lower limit signal, valid as TRUE; Overload: BOOL type, overload signal, valid as TRUE; RemoteMode: BOOL type, remote mode indicator; Onstatus (BOOL type): On-signal status. Offstatus (BOOL type): Signal off status.

[0052] Output variables: Eno BOOL type; OpenCmd: BOOL type, enables driver commands; CloseCmd: BOOL type, closes the driver command; StopCmd: BOOL type, stop command.

[0053] Internal variables: StartOpen: Boolean type, up button; StartClose: Boolean type, down button; EmergencyStop: Boolean type, stop button; TargeHeight: Real type, opening setting value.

[0054] In actual engineering projects, engineers only need to instantiate the function block in the configuration software project, bind its input variables to the actual I / O points or communication variables, and bind its output variables to the actual drive device control points to quickly realize the intelligent control logic of the sluice gate without having to worry about the complex internal code implementation.

[0055] Instructions for using the control panel: Feedback: Control status: divided into remote control or local control; Upper limit status: status of the upper limit limit switch of the field gate opening instrument; Lower limit status: status of the lower limit limit switch of the field gate opening instrument; Open signal status: the field gate is opening; Close signal status: the field gate is closing; Fault status: the field gate weight exceeds the normal range or the current is too large, causing the gate to trip.

[0056] Drive: Start Drive: The start signal is sent to the field power control box; Stop Drive: The stop signal is sent to the field power control box; Stop Drive: The stop signal is sent to the field power control box. Opening degree: Opening degree feedback: The current opening degree of the gate on site.

[0057] Load: Load feedback: The current weight of the gate on site.

[0058] Operation: Gate target setting: Sets the gate opening setting value; Open button: Calculates the current gate opening compared to the set opening. If the set opening is greater than the actual opening, it is effective; Close button: Calculates the current gate opening compared to the set opening. If the set opening is less than the actual opening, it is effective; Stop button: During gate operation, clicking the stop button will immediately stop the gate.

[0059] The beneficial effects of this embodiment are as follows: Custom functional block "modular encapsulation": Functions such as emergency stop processing, remote single control, limit protection, and overload protection are decomposed into independent functional blocks. Each module focuses on a single logic (e.g., the "ascent control block" is only responsible for verifying and executing the ascent command). The code structure is clear, supporting team collaborative development—new employees do not need to read the entire code; they only need to understand the logic of a single functional block to participate in maintenance. Parameterized calls "reduce repetitive programming": Function block interfaces (input / output / internal variables) are standardized (e.g., parameters such as CurrentHeight and TargetHeight are uniformly defined). Different sluice gates (e.g., flood control gates and irrigation gates) only need to modify parameter configurations to reuse functional blocks, eliminating the need to repeatedly write similar logic. This solves the problem of repetitive work in traditional control, where "one gate, one program" is required, improving programming efficiency by more than 50%.

[0060] Example 3 This example provides a system for implementing the above method. The system includes: a controller configured to execute a computer program stored in a memory, the controller comprising a central dispatch controller and one or more local control units; The controller is connected to the gate drive device, which receives the opening drive command, closing drive command, and stop command. The controller connects to a state monitoring sensor group, which provides signals from the set of input variables to the custom function block instance.

[0061] In this embodiment, the controller employs the GCS series controller from Supcon Technology. GCS is a networked hybrid control system platform launched by Supcon for medium-to-large-scale distributed measurement and control applications. The product line includes the G5 medium-to-large-scale hybrid control series and the G3 distributed RTU series components. The product integrates various control technologies, network technologies, and information technologies, providing fully integrated solutions for various large-scale distributed applications. The controller has a built-in CPU module, digital input / output modules, analog input modules, etc. Its memory stores the operating system, the Contrix Plus runtime environment, and the compiled control program, which includes an instantiated "GateControl_FB" function block.

[0062] The G5 medium-to-large hybrid control series is positioned as the core master station or key process control station of medium-to-large scale control systems. It is a powerful and high-performance hybrid controller. Its "hybrid" nature is reflected in its ability to seamlessly integrate and handle multiple tasks such as discrete control (e.g., sequential control, logic interlocking), process control (e.g., PID regulation), and motion control.

[0063] The G5 series supports dual or multiple power inputs with seamless switching in case of a single power input failure. It also features a robust industrial rack and supports backplane bus expansion. Various types of I / O modules, communication modules, and special function modules can be inserted to form a highly integrated control node. This modular design allows the system to be flexibly configured according to the actual needs of sluice gate monitoring (such as the number of DI / DO points and AI / AO points).

[0064] The G5 series typically functions as the central dispatch controller, installed in the central control room or centralized control center. It is responsible for executing core dispatch logic, coordinating the joint operation of multiple gates, exchanging data with the superior water situation dispatch system, and running advanced optimization algorithms. For particularly important or large-scale individual sluice gates, the G5 can serve as the core brain of its local control cabinet, directly executing the custom function block program of this invention, processing all local I / O points, and achieving precise single-gate control.

[0065] The G3 distributed RTU series is positioned as a distributed, remote data acquisition and control unit. While the traditional advantage of RTUs (Remote Terminal Units) lies in remote monitoring and control, the G3 elevates this to a high-performance, intelligent level. It is specifically designed for deployment in harsh, geographically dispersed environments where local logic processing capabilities are required. Typically, it can operate stably in extreme temperatures ranging from -40°C to +70°C, adapting to the significant temperature differences between winter and summer in water conservancy sites. Its housing typically achieves an IP67 protection rating, providing complete dust protection and withstanding brief immersion, making it ideal for installation in damp, dusty gate room environments. The G3 can transmit collected data to monitoring centers tens or even hundreds of kilometers away via Ethernet or wireless networks, making it highly suitable for monitoring widely distributed river basin gate systems.

[0066] Unlike the G5, which requires an expansion rack, the G3 typically integrates a considerable number of local I / O points (digital inputs / outputs, analog inputs / outputs, pulse counters, etc.), and its built-in processor also possesses powerful logic processing capabilities, enabling it to independently execute local control strategies. This means that even if the network is temporarily interrupted, the G3 can continue to maintain the basic safety and automated operation of the sluice gate using local programs (such as the custom function blocks of this invention), achieving "controlled sinking" and improving the reliability of the entire system.

[0067] In this embodiment, the G3 series serves as the local control unit, with one G3 controller installed in the local control cabinet of each sluice gate. It directly connects to all the gate's sensors (opening, limit, load) and actuators (drive cabinet), directly running the custom function block program tailored for this gate to complete all single-control operations and safety protection.

[0068] In this embodiment, if a distributed gate group needs to be built, multiple G3 controllers are connected to the central G5 controller via industrial Ethernet or wireless network to form a star or ring network, thus building an automated control system for the entire watershed.

[0069] In this embodiment, G5 and G3 are not substitutes, but rather complementary and complementary, each with its own specific function. G3 is deployed at each sluice gate site as an independent intelligent node, performing the lowest-level, fast-response single-gate control. It handles all tasks with high real-time requirements, such as emergency stop response, limit protection, pre-verification, and precise positioning. G5 is deployed in the central control room, acting as the system's overall commander. It does not directly interfere with the real-time control of G3, but is responsible for: issuing scheduling instructions to each G3, monitoring the global status of all gates and equipment throughout the entire basin, performing data storage, historical recording, advanced analysis and optimization calculations, and integration with higher-level management information systems.

[0070] In this embodiment, the gate drive device includes a gate hoist (such as a hydraulic pump station or a winch motor), a power control cabinet, and contactors, relays, etc. within it. This unit receives OpenCmd, CloseCmd, and StopCmd signals from the controller to control the forward and reverse rotation and braking of the motor, thereby driving the gate to rise and fall.

[0071] In this embodiment, the condition monitoring sensor group: Opening sensor: It adopts an absolute encoder or Gray code encoder, which is linked with the gate opening and closing machine to detect the gate opening (CurrentHeight) in real time.

[0072] Limit switches: mechanical or proximity switches installed at the upper and lower limits of the gate's travel, providing UpperLimit and LowerLimit signals.

[0073] Overload sensors: These can be motor current transmitters or dedicated load cells. Current transmitters monitor the motor's operating current; when it continuously exceeds a set threshold, an overload signal is generated. Load cells directly measure the opening and closing force; when this force exceeds the limit, an overload signal is generated.

[0074] Human-Machine Interface Unit: A host industrial computer or touchscreen running InPlant FusionWorks monitoring software, used to display status (control mode, limit status, opening degree, load, fault), set target opening degree (TargetHeight), and issue control commands such as StartOpen and StartClose. Simultaneously, it receives and displays alarm information from the controller.

[0075] Example 5: Gate group collaborative scheduling and control based on custom function blocks.

[0076] This embodiment aims to illustrate how the intelligent control method based on custom function blocks described in this invention can be applied to a gate group system containing multiple sluice gates to achieve coordinated scheduling and joint operation.

[0077] The system adopts a hierarchical architecture of "centralized management and decentralized control". At the top layer is the central dispatch controller (using the G5 series of Zhongkong Technology), which is responsible for macro-level hydrological analysis and dispatch decisions for the entire basin or region. At the bottom layer are multiple local control units (each sluice gate is equipped with a G3 series controller from Zhongkong Technology). Each local control unit independently operates the custom function blocks defined in Examples 1 and 2, and is responsible for the precise individual control and safety protection of its own gate.

[0078] The coordination and control process is as follows: The central control system (G5) calculates a set of coordinated control instructions based on comprehensive information such as upstream inflow, downstream demand, and reservoir water level. This instruction set includes the target opening sequence and execution timing requirements assigned to each gate (e.g., gates A, B, and C).

[0079] After receiving instructions from the central control unit, each local control unit (G3) first enters the "pre-verification" stage as described in this invention. For example, the G3 controller of gate A will determine whether the instruction to "rise to 3.5 meters" is logically valid (i.e., whether the current opening is less than 3.5 meters). If invalid, the G3 unit will immediately send an "invalid instruction" alarm to the central dispatcher and refuse to execute it, thereby preventing the malfunction of a single gate from affecting the entire dispatch plan.

[0080] Once the command is valid and execution begins, the operation of each gate is entirely controlled by a local custom function block. Each custom function block works independently and concurrently, continuously performing real-time opening degree comparison, limit protection, overload monitoring, and responding to the highest priority emergency stop signal. This "control decentralization" mode ensures that even if network communication is temporarily interrupted or the central controller malfunctions, each gate can still safely and independently complete its predetermined task or enter a safe state, greatly improving the robustness of the entire gate group system.

[0081] Each local control unit (G3) continuously reports the real-time gate status (including current opening degree, drive command status, fault alarms, etc.) to the central dispatch controller (G5). By monitoring this feedback information, G5 forms a global awareness of the entire gate group's operational status. The central dispatch controller can make dynamic adjustments based on the deviation between the actual execution and the expected target.

[0082] The beneficial effects of this embodiment are as follows: it achieves a leap from automation of a single gate to intelligent joint operation of the entire gate group, enabling the execution of complex collaborative tasks such as flood control, water supply, and ecological water replenishment; the distributed control architecture avoids the risk of single point of failure. Network or central failures do not affect the safe operation of each gate locally, and local failures are isolated without affecting other gates; when adding a new sluice gate, it is only necessary to instantiate the same custom function block in the new local control unit (G3) and connect it to the network, realizing "plug and play" control logic, which greatly reduces the complexity and cost of system integration and expansion; maintenance personnel only need to master the use and diagnosis method of one custom function block to maintain the control core of all gates of the same type in the entire gate group, which significantly reduces the technical threshold and training costs.

[0083] Meanwhile, under the national emphasis on "independent controllability of critical infrastructure," this solution, relying on the domestically developed GCS system, possesses significant technical security advantages: The core control system (GCS), configuration software (Contrix Plus), and monitoring software (InPlantFusionWorks) are all independently developed by Supcon Technology, eliminating reliance on imported PLCs or control systems. Furthermore, domestically produced equipment offers advantages in delivery time, after-sales response, and customized adaptation (such as for specific needs in the water conservancy industry), reducing the cost of "technology dependence" in long-term operation and maintenance. Operational conflicts are also avoided through "command mutual exclusion + status verification."

Claims

1. A sluice gate control method based on instruction pre-verification, characterized in that, The method includes: S1: Receive control commands; S2: Before executing the control command to drive the gate to move, compare the target opening degree with the current gate opening degree collected in real time, and determine whether the movement direction indicated by the action type is logically consistent with the opening change direction. Real-time acquisition of dynamic operating condition data of the gate's operating environment to determine whether the current environment allows the execution of control commands; S3: In standard operation mode, a drive command is generated to make the gate move only when both levels of decision verification pass; in emergency operation mode, the decision to execute the command can be made directly based on the dynamic operating condition data of the gate's operating environment.

2. The sluice gate control method based on instruction pre-verification according to claim 1, characterized in that, The step of "judging the logic validity based on the comparison result" specifically includes: if an upward command is received, it is determined whether the target opening degree is greater than the current opening degree; if so, the upward command logic is determined to be valid; if not, the logic is determined to be invalid; and when the upward command is valid and the gate is raised, the current opening degree and the target opening degree need to be compared at all times.

3. The sluice gate control method based on instruction pre-verification according to claim 1, characterized in that, The step of "judging the logic validity based on the comparison result" specifically includes: if a descent command is received, it is determined whether the target opening degree is less than the current opening degree; if so, the closing command logic is determined to be valid; if not, its logic is determined to be invalid; and when the descent command is valid and the gate descends, the current opening degree and the target opening degree need to be compared at all times.

4. A sluice gate control method based on instruction pre-verification according to claim 2 or 3, characterized in that, When generating an up command, it is necessary to ensure that the down command is inactive; When generating a descent instruction, it is necessary to ensure that the increment instruction is inactive.

5. The sluice gate control method based on instruction pre-verification according to claim 1, characterized in that, The safety verification of operating data adopts a dynamic threshold mechanism, and the safety threshold is adaptively adjusted according to the real-time operating status of the gate, historical operating data and environmental forecast information.

6. A sluice gate control method based on instruction pre-verification according to claim 1 or 5, characterized in that, The method also includes the highest priority emergency stop procedure: Continuously monitor emergency stop signals; when an emergency stop signal is triggered, unconditionally cancel any generated start and stop commands, and immediately generate a stop command.

7. A sluice gate control method based on instruction pre-verification according to claim 1, characterized in that, The method also includes limit protection and overload protection with priority higher than control commands but lower than emergency stop commands.

8. A sluice gate control method based on instruction pre-verification according to claim 1, characterized in that, The logic control functions are encapsulated in one or more instances of custom function blocks and executed.

9. A sluice gate control system based on instruction pre-verification, used to execute the method steps of any one of claims 1 to 8, characterized in that, The system includes a controller configured to execute a computer program stored in memory, the controller comprising a central dispatch controller and one or more local control units; The controller is connected to the gate drive device, which receives the opening drive command, closing drive command, and stop command. The controller connects to a state monitoring sensor group, which provides signals from the set of input variables to the custom function block instance.

10. A sluice gate control system based on instruction pre-verification according to claim 9, characterized in that, The central dispatch controller issues a dispatch instruction containing the target opening degree to the local control unit; the local control unit independently executes the pre-verification, safety protection and precise positioning control of the dispatch instruction through the custom function block instance within it, and feeds back the status data to the central dispatch controller.

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