A water conservancy gate remote control method and system

Abstract

The present application belongs to the field of automatic control technology of water conservancy projects, and relates to a remote control method and system for a water conservancy gate. The method comprises: high-frequency synchronous acquisition of three-phase currents of a motor stator and real-time height of the gate, filtering processing of the collected data to obtain smooth currents and instantaneous speed; determination of a starting resistance stiffness index according to the cumulative impulse of the smooth currents and the instantaneous speed; determination of a resistance release decay rate reflecting the resistance release characteristics with movement according to the current peak value in the starting process, the instantaneous current at the determination moment, and the substantial displacement of the gate when the starting action execution reaches a preset determination moment; calculation of a dynamic torque limit threshold value and taking the torque limit threshold value as the maximum torque currently allowed to be output by the motor to realize adaptive control of the gate driving motor. The present application can accurately identify the type of obstruction, allow short-time overload to break silt when silt is adsorbed, and timely stop machine protection when mechanical obstruction occurs, thereby improving the safety and opening and closing success rate of the system.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy engineering automation control technology, specifically relating to a remote control method and system for water conservancy gates. Background Technology

[0002] In modern water conservancy project management systems, the gate control of key facilities such as reservoir spillways and river dams is gradually shifting from traditional manual on-site operation to remote automated control. Existing remote control systems for water conservancy gates typically employ a closed-loop control architecture. Their core logic relies on a programmable logic controller (PLC) working in conjunction with a motor driver. Real-time gate opening is fed back via a pull-rope type or multi-turn absolute encoder, and the operating current of the drive motor is monitored in real time using a current sensor. To ensure equipment safety, the system generally has a pre-set overload protection mechanism based on current amplitude. When the detected motor current exceeds a certain percentage of the rated current and remains above a preset value for an extended period, the system determines it as an overload fault and forces a shutdown to prevent motor coil burnout or damage to mechanical transmission components.

[0003] However, in actual working conditions, especially for downhole gates or sand-draining gates that have been closed for a long time, the starting moment often faces an extremely complex load environment. This starting resistance mainly comes from two situations with completely different physical properties. The first is the huge adsorption force generated by the silt that has been deposited at the bottom of the gate for a long time. This resistance is a soft resistance formed by fluid viscosity and negative pressure adsorption. Its characteristic is that the resistance value is extremely high at the moment of starting, but as long as the gate can produce a slight upward displacement under the action of driving force to break the vacuum adsorption layer, the resistance will rapidly decrease as the silt loosens. In engineering practice, this condition can be overcome by increasing the torque for a short time. The second is the mechanical jamming caused by the corrosion of the gate roller bearings, deformation of the side guide rails, or stones or wood stuck in the slide. This resistance is a rigid hard resistance. Its characteristic is that no matter how much torque the motor outputs, the gate position is always locked and cannot be moved, and the resistance will not decrease with time or the number of attempts.

[0004] The main drawback of existing technology lies in relying solely on the single dimension of current amplitude for fault diagnosis. This limitation makes it difficult for engineers to balance silt-clearing start-up capability with mechanical structural safety when setting overload protection thresholds. If the overload protection threshold is set too low to ensure absolute mechanical structural safety, the system will frequently report false overload faults due to the instantaneous surge in starting current when facing silt adsorption conditions, causing the gate to fail to open normally and severely impacting flood discharge scheduling efficiency during the flood season. Conversely, if the overload protection threshold is set too high to overcome silt resistance, in the event of a mechanical jamming fault, the huge stall torque output by the motor will act entirely on the lead screw, coupling, or gearbox gears, easily causing serious equipment damage accidents such as drive shaft breakage or coupling torsion in a very short time. Summary of the Invention

[0005] The purpose of this invention is to propose a remote control method and system for hydraulic gates, in order to solve the technical problem that existing hydraulic gate control technology cannot distinguish between the soft obstruction of silt adsorption and the hard obstruction of mechanical jamming at the moment of startup based solely on the current amplitude, resulting in the difficulty of achieving a balance between the fixed overload threshold and the needs of silt breaking startup and the protection of mechanical equipment.

[0006] To solve the above problems, the technical solution of the remote control method for hydraulic gates proposed in this invention is as follows: The remote control method for water conservancy gates includes the following steps: In response to the remote opening command, the stator three-phase current of the gate drive motor and the real-time height of the gate are collected at high frequency and filtered to obtain smooth current and instantaneous speed. The starting resistance stiffness index, which reflects the gate's ability to resist deformation, is determined based on the cumulative impulse and instantaneous velocity of the smooth current within a preset time sliding window. When the start-up action reaches the preset judgment time, the resistance release attenuation rate, which reflects the resistance release characteristics with motion, is determined based on the current peak during the start-up process, the instantaneous current at the preset judgment time, and the substantial displacement generated by the gate. The dynamic torque limit threshold is calculated based on the starting resistance stiffness index and the resistance release attenuation rate. The torque limit threshold is then used as the maximum torque that the gate drive motor is currently allowed to output, thereby achieving adaptive control of the gate drive motor.

[0007] Beneficial effects: By introducing two physical indicators, the starting resistance stiffness index and the resistance release attenuation rate, this invention can accurately distinguish between the soft resistance of silt adsorption and the hard resistance of mechanical jamming encountered when starting the gate. Compared with the existing technology that only relies on the single judgment logic of current amplitude, this invention solves the contradiction between the silt breaking start requirement and the protection of mechanical equipment. It can automatically increase the upper limit of torque to achieve silt breaking under silt adsorption conditions, and can quickly limit the torque output to protect the transmission mechanism under mechanical jamming conditions, thereby improving the safety of the system and the success rate of opening and closing.

[0008] Furthermore, the formula for calculating the starting resistance stiffness index is as follows:

[0009] In the formula, express The starting resistance stiffness index at any given moment Indicates the length of the time sliding window. Indicates the first time within the time sliding window The smoothed current value at any given time. Indicates the sampling time interval. express The instantaneous velocity of the gate at any given moment. Represents the minimum observed velocity constant. express The smoothed current value at any given time. Indicates the rated current of the motor. It represents the natural logarithm.

[0010] Beneficial effects: By using the cumulative impulse within the time sliding window as the numerator and the velocity response as the denominator, the efficiency relationship between the energy input and displacement generated by the system can be intuitively reflected. Especially for mechanical jamming conditions, when the smoothing current is large and the instantaneous velocity of the gate approaches zero, the calculated starting resistance stiffness index will rise sharply, thus accurately marking high-risk jamming states. In addition, the introduction of a logarithmic gain term in the formula to nonlinearly amplify the stiffness weight under high load conditions further improves the system's sensitivity to identifying dangerous conditions.

[0011] Furthermore, the formula for calculating the resistance release attenuation rate is as follows:

[0012] In the formula, Indicates the rate of decrease in resistance release. This represents the maximum smoothing current value monitored during startup. This represents the smoothed current value at the preset determination time. This represents the average current value during startup. Represents the zero bias constant. Indicates the current gate height. Indicates the initial gate height before startup. Represents the reference displacement constant. Represents the natural constant.

[0013] Beneficial effects: This solution ensures that effective resistance release is only determined when the gate actually moves and the current decreases accordingly by detecting the spatiotemporal correlation between the current drop and the actual displacement. This method effectively prevents the system from misjudging the sudden drop in current as a reduction in resistance due to motor thermal protection tripping, improves the accuracy of judging the sludge removal status, and avoids safety hazards caused by logical misjudgment.

[0014] Furthermore, the formula for calculating the torque limiting threshold is as follows:

[0015] In the formula, Indicates the torque limit threshold. Indicates the rated torque of the motor. This represents the silt-clearing gain coefficient. Indicates the rate of decrease in resistance release. express The starting resistance stiffness index at any given moment This represents the stiffness normalization coefficient. This indicates the hardware thermal protection limit current of the gate drive motor. express The smoothed current value at any given time.

[0016] Beneficial effects: This scheme uses the resistance release attenuation rate as the numerator of the gain term, which enables the torque limit threshold to automatically increase under silt conditions to provide sufficient silt-breaking power. At the same time, it uses the starting resistance stiffness index as the denominator, which enables the torque limit threshold to be rapidly reduced under jamming conditions. In addition, the introduction of hardware thermal protection limit current ensures that the hardware physical limit of the gate drive motor will not be exceeded during any dynamic adjustment process, reflecting a high level of engineering safety logic.

[0017] Furthermore, the method for achieving adaptive control of the gate drive motor includes: When the calculated resistance release attenuation rate is greater than the preset attenuation threshold and the starting resistance stiffness index is less than the preset stiffness threshold, the torque limit threshold is determined to be greater than the rated torque of the motor, and the control system allows the gate drive motor to run under overload within a preset time range to overcome the sludge adsorption resistance. When the calculated resistance release attenuation rate is less than the preset attenuation threshold and the starting resistance stiffness index is greater than the preset stiffness threshold, the torque limit threshold is determined to be no greater than the rated torque of the motor. If the motor torque corresponding to the smoothing current exceeds the torque limit threshold at this time, a torque limit alarm is triggered and the output is cut off, which is determined to be a mechanical jamming fault.

[0018] Beneficial effects: This scheme transforms the calculated physical indices into specific execution actions. By setting clear threshold judgment conditions, it realizes intervention in the operating status of the gate drive motor. When soft obstruction due to sludge adsorption is detected, short-term overload operation is allowed to overcome static friction by utilizing the torque limit threshold of the gate drive motor. When hard obstruction due to mechanical jamming is detected, the output is immediately limited and the power supply is cut off, thereby realizing intelligent control in unattended situations.

[0019] Furthermore, the stator three-phase current of the gate drive motor is collected by a Hall current sensor, and the root mean square value is calculated as the original instantaneous current. The raw height data of the gate is collected by a pull-wire absolute encoder; The original instantaneous current and the original height data are filtered using a moving average filtering algorithm to obtain smoothed current and smoothed height.

[0020] Furthermore, the instantaneous velocity is obtained in the following manner: Based on the smoothed height data after filtering, calculate the difference between the smoothed height value at the current moment and the smoothed height value at the previous moment; Divide the obtained difference by the sampling time interval to obtain the instantaneous velocity.

[0021] Furthermore, it also includes: After triggering the torque-limited alarm and cutting off the output, the control system automatically generates a maintenance work order containing the mechanical jamming fault type and sends the maintenance work order to the operation and maintenance platform.

[0022] Furthermore, after calculating the dynamic torque limit threshold, the method further includes: The calculated torque limit threshold is sent to the frequency converter or motor driver in real time. The frequency converter or motor driver uses the torque limit threshold as the current torque limit and executes it. When the actual motor torque reaches the torque limit, the current output of the gate drive motor is automatically limited.

[0023] The technical solution of the remote control system for hydraulic gates proposed in this invention is as follows: The remote control system for water conservancy gates includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the remote control method for water conservancy gates described in any of the above technical solutions is implemented.

[0024] The beneficial effects of this invention are as follows: By introducing two physical evaluation indicators—the starting resistance stiffness index and the resistance release attenuation rate—this invention achieves precise decoupling and identification of load characteristics during gate startup, overcoming the limitations of traditional control methods that rely solely on current amplitude for judgment. This invention can accurately distinguish between soft obstructions caused by sludge adsorption at the bottom of the gate and hard obstructions caused by mechanical structural faults, and accordingly establishes a dynamic torque limit threshold adjustment mechanism. When sludge adsorption is detected, the system can automatically increase the allowable upper limit of output torque, enabling the motor to output sufficient power to break up the sludge in a short time, thereby ensuring smooth gate opening and avoiding false alarms and shutdowns caused by overload protection thresholds set too low. When mechanical jamming is detected, the system can quickly lower the torque limit threshold to near or below the rated value and promptly trigger shutdown protection, thereby greatly reducing the risk of mechanical damage to transmission components such as lead screws, couplings, and reducers caused by continuous high torque output from the motor.

[0025] This invention improves the success rate of remote gate opening and closing operations and the level of automated operation and maintenance of the system while ensuring the safety of the mechanical structure of water conservancy facilities. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating the steps of a remote control method for hydraulic gates according to an embodiment of the present invention. Figure 2 This is a two-dimensional clustering distribution diagram of fault properties based on hysteresis characteristics according to an embodiment of the present invention; Figure 3 This is a comparison diagram of the effects of the torque limiting threshold according to an embodiment of the present invention and the fixed threshold of the prior art. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] Specific embodiments of the remote control method for hydraulic gates proposed in this invention: like Figure 1 As shown, the remote control method for water conservancy gates includes the following steps: S1. In response to the remote opening command, the stator three-phase current of the gate drive motor and the real-time height of the gate are collected synchronously at high frequency. The collected data is filtered to obtain smooth current and instantaneous speed.

[0029] In this step, upon receiving a remote opening command, the system enters a soft-start detection mode. To capture the extremely short-term changes in physical quantities during startup, the system utilizes a sensor array installed on the gate hoist for high-frequency synchronous data acquisition, with the acquisition frequency set to 50Hz. Specifically, a Hall current sensor installed on the stator side of the motor is used to acquire the three-phase stator current of the gate drive motor in real time, and the raw instantaneous current data is obtained by calculating the root mean square value of the three-phase stator current. Simultaneously, the system uses a pull-rope absolute encoder to read the current vertical position information of the gate to obtain the raw height data.

[0030] To ensure strict temporal correspondence of the data, the acquisition times of current data and height data are strictly synchronized. To address electromagnetic interference and vibration noise generated by the operation of the gate hoist in industrial settings, the system performs digital filtering on the acquired raw data. Preferably, a moving average filtering algorithm is used to process the raw data. For current data, the system selects several consecutive sampling points, including the current time; for example, it calculates the arithmetic mean of the data from the most recent 5 to 10 sampling points to filter out spike interference and obtain a smoothed current. For velocity data, considering that directly differentiating the raw position data would amplify noise, this step uses a filtering-then-differentiation approach. First, the smoothed height data is obtained using the aforementioned moving average filtering algorithm. Then, the difference between the smoothed height value at the current sampling time and the smoothed height value at the previous sampling time is calculated. Finally, this height difference is divided by the sampling time interval to calculate a smooth and stable instantaneous velocity.

[0031] S2. Determine the starting resistance stiffness index, which reflects the gate's ability to resist deformation, based on the cumulative impulse and instantaneous velocity of the smoothing current within a preset time sliding window.

[0032] In this step, a mapping relationship between motor input and mechanical response is established based on physical principles. The time-domain integral of the current input to the motor stator is considered as the active force applied to the gate, i.e., the cumulative impulse, and the instantaneous velocity of the gate is considered as the deformation response under this force. Based on this principle, when a mechanical jamming fault occurs, although the motor continuously inputs a large current to generate a huge torque, the gate velocity approaches zero, which physically manifests as extremely high resistance stiffness. However, in the case of sludge adsorption, although the starting resistance is also very large, the gate will produce slight viscous creep or displacement under continuous tension, exhibiting a medium to high degree of resistance stiffness, but not infinite. Based on the significant differences in these physical phenomena, this invention constructs a starting resistance stiffness exponential model. Its specific calculation formula is as follows:

[0033] In the formula, express The starting resistance stiffness exponent at time t, its dimensions are: ; The length of the time sliding window; Indicates the first time within the time sliding window The smoothed current value at any given time; The sampling time interval; for The instantaneous velocity of the gate at any given moment; The minimum observation velocity constant is used to prevent the denominator from being zero when the gate is completely stationary, thus preventing calculation overflow, and is also used as the noise floor threshold. This is the rated current of the motor.

[0034] Starting resistance stiffness index The construction of this formula does not employ the classic mechanical stiffness formula, but rather uses an equivalent engineering index based on the law of conservation of electromechanical energy conversion. The natural logarithmic term in the formula utilizes the nonlinear characteristics of the logarithmic function. By calculating 1 plus the ratio of the current smoothed current to the motor's rated current, a logarithmic gain term for the current load rate is constructed. When the system is under high load, i.e., when the current is large, this logarithmic gain term enhances the numerical weight of the starting damping stiffness index through nonlinear amplification, thereby improving the system's sensitivity to identifying high-risk damping conditions.

[0035] To visually demonstrate the recognition performance of the above algorithm under different working conditions, the following explanation is based on specific examples.

[0036] Assuming the rated current of the gate drive motor Set to 10A, minimum observed velocity constant It is 0.005 m / s.

[0037] The first scenario is an extreme condition where mechanical jamming is suspected. In this scenario, the system is set to monitor that the average motor current remains at an overload level of 20A within the 0.5-second sliding window that has just passed. According to the formula above, the cumulative impulse at this time can be calculated. At the same time, the sensor feedback indicates that the gate's instantaneous lifting speed is extremely low. The value is 0.001 m / s, which is less than the system's preset minimum observation velocity constant. Substituting this data into the formula for calculating the starting lag stiffness exponent, we get: This extremely high value indicates that the system currently faces a very high risk of mechanical blockage.

[0038] In contrast, the second scenario represents normal startup or typical operating conditions with only slight sludge adhesion. In this scenario, it is assumed that the current state is consistent with the previous scenario, i.e., the same overload current produces the same... Accumulated impulse, but at this time the gate produces a certain motion response under the action of driving force, its actual lifting speed The value is 0.05 m / s. Substituting this set of data into the same calculation formula, we get: .

[0039] The numerical comparison of the two scenarios clearly shows that, under the same current input and energy accumulation conditions, the starting resistance stiffness index under the mechanical jamming condition is significantly higher than that under the normal or silt-clearing condition. This significant order-of-magnitude difference verifies that the algorithm can sensitively identify whether the gate is in a rigid jamming state at the physical level.

[0040] S3. When the start-up action reaches the preset judgment time, the resistance release attenuation rate, which reflects the resistance release characteristics with motion, is determined based on the current peak during the start-up process, the instantaneous current at the preset judgment time, and the substantial displacement generated by the gate.

[0041] This step is to avoid the limitations of a single stiffness index, as transient stiffness alone cannot fully distinguish the entire fault development process; time-series characteristics must be introduced for comprehensive judgment. From a physical perspective, sludge adsorption is a brittle resistance; after exceeding the critical point of static friction, the resistance decreases rapidly as the gate detaches from the sludge layer. Mechanical fault jamming, on the other hand, is a rigid resistance; its resistance characteristics do not change over time, exhibiting a continuous high load. Based on this, the system is set to calculate the resistance release attenuation rate after a certain period of time following the start-up action, for example, 2 seconds after start-up. The specific calculation formula is as follows:

[0042] In the formula, Indicates the rate of decrease in resistance release. This represents the maximum smoothing current value monitored during startup. The smoothed current value is preset for the judgment time. This represents the average current value during the startup process. To prevent zero bias, its dimension is ampere; The current gate height. The initial gate height before startup. As a reference displacement constant, It is a natural constant. This is the displacement term.

[0043] The formula for calculating the resistance release attenuation rate draws on a typical first-order inertial decay physical model from cybernetics, accurately reflecting the characteristics of soft silt. In actual operation, if the gate drive motor suddenly loses power due to thermal protection triggering caused by stalling, the current will momentarily drop to zero, manifesting as a significant current decrease. However, the gate does not undergo substantial displacement at this time, causing the value of the entire displacement term to approach zero. Consequently, the calculated resistance release attenuation rate becomes zero, and the system accurately determines that this situation is not resistance release. Only when the current drops significantly and is accompanied by an effective displacement of the gate exceeding the reference constant will the value of the displacement term approach 1, thus outputting a higher resistance release attenuation rate value, indicating successful silt removal.

[0044] To facilitate understanding of the practical application effects of this computational model, specific examples are provided below.

[0045] Set the average current value during startup. 15A, zero bias constant It is 1A.

[0046] The first operating scenario is when the sludge adsorption is successfully overcome. During this process, the maximum smoothing current value monitored during motor startup is... Reaching 30A, the smoothed current value at the judgment moment as the gate detaches from the silt layer. The pressure dropped back to 10A. Simultaneously, a substantial displacement of 0.1m was detected in the gate relative to its starting position, and the system's set reference displacement constant... The value is 0.05m. Substituting the data into the aforementioned formula, we get: This relatively high value indicates that the resistance was effectively released with the movement, which is consistent with the physical characteristics of silt removal.

[0047] In contrast, the second operating condition is a pseudo-current drop scenario where the motor stops due to overload triggering thermal protection. In this case, the maximum smoothed current value monitored during motor startup is... The current remained at 30A, then instantly dropped to 0A, but the sensor showed that the gate displacement was 0. Substituting this data into the aforementioned formula yields: This result forces the final resistance release attenuation rate to zero, thus accurately eliminating the false current drop caused by the fault shutdown and determining that the system has not experienced effective resistance release.

[0048] S4. Calculate the dynamic torque limit threshold based on the starting resistance stiffness index and the resistance release attenuation rate, and use the torque limit threshold as the maximum torque currently allowed to be output by the gate drive motor to achieve adaptive control of the gate drive motor.

[0049] In this step, the formula for calculating the torque limit threshold is as follows:

[0050] In the formula, This is the torque limit threshold, which is the maximum torque that the motor is allowed to output at the current moment. This refers to the rated torque of the motor. This is the silt-clearing gain coefficient, used to set the maximum allowable overload factor of the system; This is the stiffness normalization coefficient, whose dimension is set as the reciprocal of the damping stiffness exponent, i.e. This is used to map the numerically large starting damping stiffness exponent to a suitable computational level. This refers to the hardware thermal protection limit current of the gate drive motor. This is the residual heat capacity factor.

[0051] Analysis of the formula reveals that the resistance release attenuation rate, as the numerator, exhibits a higher attenuation rate when sludge adsorption is detected, automatically increasing the torque limit value to support sludge removal. Conversely, the starting resistance stiffness index, located in the denominator, has extremely high stiffness when mechanical jamming is detected, rapidly lowering the gain term and causing the torque limit value to return to its rated value or even lower, thereby suppressing the output of destructive forces. Furthermore, the formula incorporates a residual heat capacity factor, forming a hardware safety barrier. Regardless of how the starting resistance stiffness index or resistance release attenuation rate is determined, once the real-time current approaches the physical limit of the gate drive motor, this residual heat capacity factor will approach zero, forcibly lowering the torque limit threshold and unconditionally preventing the gate drive motor from burning out due to overheating.

[0052] Based on this, the present invention adopts the following adaptive control strategy: when the calculated resistance release attenuation rate is greater than the preset attenuation threshold and the starting resistance stiffness index is less than the preset stiffness threshold, the torque limit threshold determined by the formula will be greater than the rated torque of the motor, and the control system allows the gate drive motor to operate under overload within a preset time range to overcome the sludge adsorption resistance; while when the calculated resistance release attenuation rate is less than the preset attenuation threshold and the starting resistance stiffness index is greater than the preset stiffness threshold, the torque limit threshold determined by the formula is limited to not greater than the rated torque of the motor. If the motor torque corresponding to the smoothing current exceeds the torque limit threshold at this time, the system will trigger a torque limitation alarm and cut off the output, which is determined to be a mechanical jamming fault.

[0053] To translate the above calculations into physical actions, after calculating the dynamic torque limit threshold, the control system sends the calculated torque limit threshold to the frequency converter or motor drive in real time via a communication interface or analog signal. Upon receiving the command, the frequency converter or motor drive uses this torque limit threshold as the current torque upper limit. When the actual motor torque attempts to reach or exceed this torque upper limit, the current loop inside the drive automatically limits the current output of the gate-driven motor, ensuring that the motor output torque is always limited within a safe range.

[0054] To facilitate understanding of the adaptive adjustment effect of the torque limit threshold, the following explanation is provided with specific examples.

[0055] Rated torque of the gate drive motor 100 Silt-clearing gain coefficient The stiffness normalization factor is set to 0.5. The hardware thermal protection limit current of the gate drive motor is set to 0.01. The current is 40A, and the smoothed current value at the current operating moment. It is 20A.

[0056] The first operating condition is when the system identifies the system as having absorbed sludge. In this case, a higher resistance release attenuation rate is calculated based on the aforementioned steps. The value is 1.08, and a low starting drag stiffness index is also calculated. The value is 200. Substituting these values ​​into the torque limit threshold calculation formula, we get: The calculation results indicate that the system allows the motor to operate with a torque output 9% higher than its rated value.

[0057] In contrast, the second operating condition is a fault condition identified by the system as mechanical jamming. In this case, due to the lack of effective displacement and the high current, the calculated resistance release attenuation rate approaches 0, while the starting resistance stiffness index reaches as high as 1830. Substituting these values ​​into the formula again yields: Because the actual load torque required under mechanical jamming conditions usually far exceeds this rated value, the drive will immediately trigger a torque-limited alarm and cut off the output when it detects that the actual current or torque request is trying to exceed the limit, thereby protecting the equipment from overload damage.

[0058] In addition, when the control system determines a mechanical jamming fault based on the above logic and cuts off the output, the system will immediately trigger the intelligent operation and maintenance process, automatically generate a digital maintenance work order containing the specific fault type of mechanical jamming, and send it to the remote operation and maintenance platform in real time, thereby prompting maintenance personnel to bring special tools for hard obstructions to the site for inspection.

[0059] The following combination Figure 2 and Figure 3 The solution and effects of the present invention will be further explained.

[0060] like Figure 2 As shown in the figure, this diagram intuitively reflects the distribution pattern of different types of obstruction in the physical parameter space. The horizontal axis represents the starting resistance stiffness index, and the vertical axis represents the resistance release attenuation rate. The first type of sample points are concentrated in the upper left region of the coordinate system. These sample points share the characteristics of a low starting resistance stiffness index and a high resistance release attenuation rate, which is consistent with the physical fact that the resistance is large but elastic-plastic under sludge adsorption conditions and decreases rapidly once it moves. Therefore, this region is designated as the permissible sludge breaking zone. The second type of sample points are concentrated in the lower right region of the coordinate system. These sample points exhibit an extremely high starting resistance stiffness index and a resistance release attenuation rate approaching zero, corresponding to the physical characteristics of position locking and constant resistance under mechanical jamming conditions. Therefore, this region is designated as the immediate shutdown zone. A dashed line between the two types constitutes the intelligent classification decision boundary. This boundary effectively separates the two fault types that are easily confused in a single current dimension, proving that the physical indicators extracted in this invention have extremely high classification discrimination.

[0061] like Figure 3 As shown in the figure, the horizontal axis represents the system's running time after startup, and the vertical axis represents the percentage of motor torque or current relative to its rated value. A horizontal dashed line represents the fixed protection threshold commonly used in existing technologies. A solid line showing a sharp initial rise followed by a fall represents the actual load current spike generated by the motor under sludge adsorption conditions. Observation reveals that this actual load current spike significantly exceeds the fixed protection threshold at startup, which, under traditional control logic, would directly lead to a false overload alarm and forced shutdown. However, another solid line in the figure, exhibiting a mountain-like envelope shape, represents the torque limit threshold calculated in real-time by the algorithm of this invention. This threshold curve rises in real-time as the algorithm identifies the operating conditions, enveloping and covering the peak area of ​​the actual load current. This dynamic adjustment mechanism allows the system to allow a short period of high current to complete the sludge removal action, and after the sludge removal is completed, the threshold curve quickly falls back to a safe level. This comparison intuitively demonstrates the superiority of this solution in handling soft obstacles, namely, it achieves intelligent release of necessary overload capacity while ensuring no false alarms occur, and at the same time retains the ability to protect the safety of subsequent operation.

[0062] Specific embodiments of the remote control system for hydraulic gates proposed in this invention: The remote control system for water conservancy gates includes a processor and a memory. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the remote control method for water conservancy gates in the above embodiments is implemented.

[0063] The remote control system for hydraulic gates also includes other components well known to those skilled in the art, such as communication buses and communication interfaces. Their settings and functions are known in the art and will not be described in detail here.

[0064] While various embodiments of the invention have been shown and described in this specification, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention.

Claims

1. A method for remote control of hydraulic gates, characterized in that, Includes the following steps: In response to the remote opening command, the stator three-phase current of the gate drive motor and the real-time height of the gate are collected at high frequency and filtered to obtain smooth current and instantaneous speed. The starting resistance stiffness index, which reflects the gate's ability to resist deformation, is determined based on the cumulative impulse and instantaneous velocity of the smooth current within a preset time sliding window. The formula for calculating the starting resistance stiffness index is as follows: In the formula, express The starting resistance stiffness index at any given time. Indicates the length of the time sliding window. Indicates the first time within the time sliding window The smoothed current value at any given time. Indicates the sampling time interval. express The instantaneous velocity of the gate at any given moment. Represents the minimum observed velocity constant. express The smoothed current value at any given time. Indicates the rated current of the motor. Represents the natural logarithm; When the start-up action reaches the preset judgment time, the resistance release attenuation rate, which reflects the resistance release characteristics with motion, is determined based on the current peak during the start-up process, the instantaneous current at the preset judgment time, and the substantial displacement generated by the gate. The formula for calculating the resistance release attenuation rate is as follows: In the formula, Indicates the rate of decrease in resistance release. This represents the maximum smoothing current value monitored during startup. This represents the smoothed current value at the preset determination time. This represents the average current value during startup. Represents the zero bias constant. Indicates the current gate height. Indicates the initial gate height before startup. Represents the reference displacement constant. Represents the natural constant; The dynamic torque limit threshold is calculated based on the starting resistance stiffness index and the resistance release attenuation rate. The torque limit threshold is then used as the maximum torque that the gate drive motor is currently allowed to output, thereby achieving adaptive control of the gate drive motor.

2. The remote control method for hydraulic gates according to claim 1, characterized in that, The formula for calculating the torque limit threshold is as follows: In the formula, Indicates the torque limit threshold. Indicates the rated torque of the motor. This represents the silt-clearing gain coefficient. Indicates the rate of decrease in resistance release. express The starting resistance stiffness index at any given time. This represents the stiffness normalization coefficient. This indicates the hardware thermal protection limit current of the gate drive motor. express The smoothed current value at any given time.

3. The remote control method for hydraulic gates according to claim 2, characterized in that, The method for achieving adaptive control of the gate drive motor includes: When the calculated resistance release attenuation rate is greater than the preset attenuation threshold and the starting resistance stiffness index is less than the preset stiffness threshold, the torque limit threshold is determined to be greater than the rated torque of the motor, and the control system allows the gate drive motor to run under overload within a preset time range to overcome the sludge adsorption resistance. When the calculated resistance release attenuation rate is less than the preset attenuation threshold and the starting resistance stiffness index is greater than the preset stiffness threshold, the torque limit threshold is determined to be no greater than the rated torque of the motor. If the motor torque corresponding to the smoothing current exceeds the torque limit threshold at this time, a torque limit alarm is triggered and the output is cut off, which is determined to be a mechanical jamming fault.

4. The remote control method for hydraulic gates according to claim 1, characterized in that, The stator three-phase current of the gate drive motor is collected by a Hall current sensor, and the root mean square value is calculated as the original instantaneous current. The raw height data of the gate is collected by a pull-wire absolute encoder; The original instantaneous current and the original height data are filtered using a moving average filtering algorithm to obtain smoothed current and smoothed height.

5. The remote control method for hydraulic gates according to claim 4, characterized in that, The instantaneous velocity is obtained in the following way: Based on the smoothed height data after filtering, calculate the difference between the smoothed height value at the current moment and the smoothed height value at the previous moment; Divide the obtained difference by the sampling time interval to obtain the instantaneous velocity.

6. The remote control method for hydraulic gates according to claim 3, characterized in that, Also includes: After triggering the torque-limited alarm and cutting off the output, the control system automatically generates a maintenance work order containing the mechanical jamming fault type and sends the maintenance work order to the operation and maintenance platform.

7. The remote control method for hydraulic gates according to claim 1, characterized in that, After calculating the dynamic torque limit threshold, the method further includes: The calculated torque limit threshold is sent to the frequency converter or motor driver in real time. The frequency converter or motor driver uses the torque limit threshold as the current torque limit and executes it. When the actual motor torque reaches the torque limit, the current output of the gate drive motor is automatically limited.

8. A remote control system for hydraulic gates, characterized in that, It includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement the remote control method for hydraulic gates as described in any one of claims 1-7.

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