Method and device for controlling series-parallel hybrid canal group lock and electronic equipment

Abstract

The application provides a kind of series-parallel hybrid canal group gate control method, device and electronic equipment, method includes: based on canal parameter and topological structure establishes decoupling control equation group, obtains feedback flow by solving, calculates the gate opening of each canal.The method provided by the application decomposes complex canal network to identify the basic local topological structure and combines multi-dimensional engineering and operating state data, constructs decoupling control equation for each canal by fusing downstream flow compensation term, then integrates global linkage network equation into standardized linear equation group for one-time centralized synchronous solving, finally converts into accurate gate opening instruction of each node, effectively solves the technical defects that traditional series-parallel multi-canal control can only adapt to single series canal system and cannot cope with complex series-parallel topologies, realizes effective regulation and control of complex canal network structure, adapts to the actual application requirements of complex series-parallel hybrid topological canal system, and breaks through the topological adaptation limitations of traditional series control.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for water conservancy projects, and in particular to a method, device, and electronic equipment for controlling a series-parallel hybrid canal pool gate group. Background Technology

[0002] In open channel water conveyance, the water flow process exhibits dynamic, interconnected, predictable, and uncertain characteristics. With the advancement of large-scale irrigation area construction, manually controlled irrigation management is ill-suited to these complex water flow characteristics, thus increasing the demand for automatic control technology for canal systems. During canal pool operation control, the opening and closing of a single pool affects the water level and flow rate of multiple upstream and downstream pools. The superposition and mutual influence between gates complicate canal pool control. Therefore, PI (Proportional-Integral) decoupling control is often used to coordinate gate operations between adjacent pools. Existing canal pool control methods mainly focus on the control of multiple pools in series in open channels. By connecting multiple PI controllers in series and using a single pool as a control unit for step-by-step regulation, these methods have some practicality in simple series canal systems.

[0003] However, existing technologies are limited to handling only linear series canal-pool relationships, making it difficult to effectively address the control of complex canal network topologies, including branch canals, parallel canals, and ring canals. This results in significant adaptability deficiencies, and current series multi-canal-pool control methods cannot meet the actual water conveyance control needs of such complex multi-path canal systems. Summary of the Invention

[0004] This invention provides a series-parallel hybrid channel pool gate control method, device, and electronic equipment to solve the shortcomings of existing technologies in effectively handling the automatic control of water conveyance and distribution in actual complex canal network topologies, including branch canals, parallel canals, and ring canals.

[0005] This invention provides a method for controlling a series-parallel hybrid gate system in a canal pool, comprising: The engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated are obtained, and the local topology of each canal pool unit is identified. Based on the engineering parameters and the operating status data, the control parameters of each channel pool unit are calculated. Based on the local topology, the flow compensation terms of the adjacent downstream channels of the channel pool unit are determined. Combining the flow compensation terms and the control parameters, a corresponding decoupling control equation is established for each channel pool unit. The decoupled control equations of each of the channel pool units are integrated into a standardized linear equation system, and the standardized linear equation system is solved to obtain the feedback flow of each of the channel pool units simultaneously. Based on the feedback flow, the opening degree of the channel gate of each channel unit is calculated.

[0006] According to the present invention, a series-parallel hybrid channel pool group gate control method is provided, wherein determining the flow compensation term of the adjacent downstream channel pool based on the local topology includes: In the case of a series structure based on the local topology, the first flow compensation term of the unique adjacent downstream channel pool of the channel pool unit is determined as the flow compensation term of the channel pool unit. When the local topology is a split-type series-parallel hybrid structure, the second flow compensation terms of multiple adjacent downstream channels of the channel pool unit are obtained, and the multiple second flow compensation terms are summed to obtain the total flow compensation term, which is used as the flow compensation term of the channel pool unit. When the local topology is a hybrid serial-parallel structure of a confluence type, the confluence allocation weight coefficients of each confluence branch supplying water to the confluence node are obtained. Based on the confluence allocation weight coefficients, the third flow compensation term of the confluence node is allocated to obtain a weighted flow compensation term, which is used as the flow compensation term of the channel pool unit.

[0007] According to the present invention, a series-parallel hybrid channel pool gate control method is provided, wherein obtaining the confluence allocation weight coefficient of each confluence branch supplying water to the confluence node includes: Obtain the allocation reference parameters for each of the aforementioned confluence branches; the allocation reference parameters include any one of the following: design flow rate, current flow rate, remaining adjustable flow rate, and preset priority value; wherein, the remaining adjustable flow rate is the difference between the maximum allowed flow rate and the current flow rate; The allocation reference parameters of each of the aforementioned confluence branches are summed to obtain the total reference parameters; Calculate the ratio of the allocation reference parameter of each of the confluence branches to the sum of the reference parameters, and use the ratio as the confluence allocation weight coefficient of the corresponding confluence branch.

[0008] According to the present invention, a series-parallel hybrid gate control method for a canal pool group includes integrating the decoupled control equations of each canal pool unit into a standardized linear equation system, comprising: A global coefficient matrix is ​​constructed based on the coefficient characteristics of the flow compensation terms extracted from the decoupled control equations of each of the aforementioned channel and pool units. Construct a constant term vector based on the basic control quantities in each of the decoupled control equations; Based on the global coefficient matrix, the solution vector composed of each of the feedback flows, and the constant term vector, the standardized linear equation system is constructed.

[0009] According to the present invention, a series-parallel hybrid gate control method for a channel pool group is provided, wherein the control parameters for each channel pool unit are calculated based on the engineering parameters and the operating status data, including: Based on the engineering parameters and the operating status data, calculate the uniform flow depth of the channel pool unit, as well as the distance between the boundary points of the uniform flow zone and the return water zone; the operating status data includes the upstream water depth of the channel pool. Based on the judgment results of the upstream water depth and the uniform flow water depth of the canal pool, the zoning results of the canal pool unit are determined; Based on the partitioning results, the integral area and hysteresis time of the canal pool unit are calculated. Based on the integral area, the hysteresis time, and the preset control step interval, the proportional coefficient and the integral coefficient are calculated, and the proportional coefficient and the integral coefficient are used as the control parameters.

[0010] According to the present invention, a series-parallel hybrid channel pool gate control method is provided, wherein the operating status data includes the water depth downstream of the gate and the water depth upstream of the gate of the channel pool unit; the operating status data includes the current flow rate; The calculation of the gate opening of each channel pool unit based on the feedback flow includes: The current flow rate of the channel unit is added to the feedback flow rate to obtain the target flow rate of the current control step; Calculate the ratio of the water depth downstream of the gate to the gate opening of the channel pool to be determined. If the ratio satisfies the free outflow condition, calculate the first flow coefficient based on the first preset rule; or, if the ratio satisfies the submerged outflow condition, calculate the second flow coefficient based on the second preset rule. Based on the first flow coefficient or the second flow coefficient, combined with the target flow rate and the water depth in front of the gate, the opening degree of the canal pool gate is calculated.

[0011] A series-parallel hybrid gate control device for a canal pool, according to the present invention, comprises: The acquisition unit acquires the engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated, and identifies the local topology of each canal pool unit. The control parameter calculation unit calculates the control parameters for each of the canal pool units based on the engineering parameters and the operating status data. The control equation construction unit determines the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology, and establishes a corresponding decoupled control equation for each channel pool unit by combining the flow compensation term and the control parameters. A unified solution unit integrates the decoupled control equations of each of the channel and pool units into a standardized linear equation system, solves the standardized linear equation system, and simultaneously obtains the feedback flow of each of the channel and pool units. The opening calculation unit calculates the opening degree of the channel pool gate for each channel pool unit based on the feedback flow.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the series-parallel hybrid channel pool gate control method as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the series-parallel hybrid channel pool gate control method as described above.

[0014] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the series-parallel hybrid channel pool gate control method as described above.

[0015] The present invention provides a series-parallel hybrid channel pool gate control method, device, and electronic equipment. By decomposing the complex channel network to identify the basic local topology and combining multi-dimensional engineering and operational status data, a decoupled control equation integrating downstream flow compensation terms is constructed for each channel pool. Then, the globally linked network equations are integrated into a standardized linear equation set for centralized synchronous solution, which is finally transformed into precise gate opening commands for each node. This effectively solves the technical defects of traditional series multi-channel pool control, which can only adapt to a single series channel system and cannot cope with complex series-parallel topologies. It realizes effective regulation of complex channel network structures, adapts to the actual application needs of complex series-parallel hybrid topology channel systems, and breaks through the topology adaptation limitations of traditional cascade control. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of the series-parallel hybrid channel pool gate control method provided by the present invention; Figure 2 This is a schematic diagram of the local topology provided by the present invention; Figure 3 This is a schematic diagram of the trapezoidal channel provided by the present invention; Figure 4 This is a schematic diagram of the uniform flow zone and return water zone of the channel pool provided by the present invention; Figure 5 This is a flowchart illustrating the gate opening calculation method provided by the present invention; Figure 6 This is a plan view of the canal network to be regulated provided by the present invention; Figure 7 These are control result diagrams of various channels and pools provided in the embodiments of the present invention; Figure 8 This is a schematic diagram of the series-parallel hybrid channel pool gate control device provided by the present invention; Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0019] It should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Water is a vital strategic resource for national economic development. Currently, nearly 70% of the world's water is used for agricultural irrigation. Irrigation district water distribution systems are a crucial component of agricultural irrigation and water conservancy projects, typically using open channels as the primary water conveyance structures. During open channel water conveyance, the water flow process exhibits dynamic, interconnected, predictable, and uncertain characteristics. With the advancement of large-scale irrigation district construction, manually controlled irrigation management struggles to adapt to these complex water flow characteristics, exhibiting problems such as reliance on experience, insufficient scheduling flexibility, and low control precision. Therefore, the demand for automatic control technology for canal system water distribution is growing rapidly.

[0021] In the operation and control of canals and pools, the opening and closing of a single canal or pool affects the water level and flow rate of multiple upstream and downstream canals and pools. The superposition and mutual influence between the gates make canal and pool control complex. Therefore, PI decoupling control methods are often used to coordinate the gate operations between adjacent canals and pools, thereby reducing mutual interference. Existing canal and pool control methods mainly focus on open channel series multi-canal and pool control, using multiple PI controllers in series and controlling each canal and pool as a control unit for step-by-step regulation. This method has certain practicality in simple series canal systems. However, this control method based on series canals and pools can only handle linear series canal and pool relationships. When facing complex canal network topologies in actual engineering, there are significant adaptability defects. The canal system structure in actual engineering is often not a simple linear series form, but includes complex topologies such as branch canals, parallel canals, and ring canals, with multiple canals and pools having mutual coupling and cross-influence relationships. Current series multi-canal and pool control methods cannot meet the actual water conveyance control requirements of such complex multi-path canal systems.

[0022] To address the problem that the linear series characteristics of existing multi-channel pool control technologies cannot meet the control requirements of complex canal systems with branching, parallel, and other network topologies, this invention provides a hybrid series-parallel canal pool group gate control method to achieve efficient coordinated control of complex canal networks. This method can be widely applied to complex water conveyance and distribution systems containing various topologies such as basic series connection, branching parallel connection, and confluence. Figure 1 This is a flowchart illustrating the series-parallel hybrid channel pool gate control method provided by the present invention, as shown below. Figure 1 As shown, the method includes: Step 110: Obtain the engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated, and identify the local topology of each canal pool unit.

[0023] Here, the canal network to be regulated refers to a complete open channel water conveyance system in agricultural irrigation or water conservancy projects that requires global water allocation and unified control. Its internal water flow typically exhibits dynamic and strongly coupled complex characteristics. Here, the canal-pool unit is a basic water conveyance and control segment formed by dividing the vast and complex canal network to be regulated, with the control gates on the canal as boundaries.

[0024] Here, the engineering parameters reflect the inherent physical dimensions and hydraulic characteristics of each canal unit, including static features such as the canal's length, bottom width, side slope coefficient, bottom slope gradient, surface roughness, and bottom elevation, as well as the gate opening width and maximum gate height of the control gate. The operational status data reflects the real-time dynamic indicators of water flow changes during water conveyance, including design flow rate, minimum allowable flow rate, maximum allowable flow rate, current measured flow rate, and water level parameters such as target water level, current water level, and initial water level.

[0025] In addition, the local topology here represents the physical water flow convergence or divergence relationship between a specific canal pool unit and its upstream water supply canal pool and downstream water receiving canal pool.

[0026] Specifically, firstly, a plan of the overall irrigation system layout is collected, and the entire network of canals to be regulated is scientifically divided into multiple independent canal-pool units based on the distribution nodes of the control gates. Next, for each divided canal-pool unit, its inherent engineering parameters and current operational status data are comprehensively collected.

[0027] Simultaneously, along the water flow direction, the number and location of upstream and downstream channels directly connected to each channel unit are checked one by one, thereby accurately identifying the local topology type of the node where each channel unit is located. In one embodiment, Figure 2 This is a schematic diagram of the local topology provided by the present invention, such as... Figure 2 As shown, for each canal pool unit in the canal system network to be regulated, its direct upstream and downstream physical connections are first obtained, thereby extracting and identifying the current canal pool unit. The corresponding direct downstream pool set, i.e., the downstream set Subsequently, based on the quantitative characteristics of the elements in the downstream set of the canal pool unit, as well as the node inflow attributes of its directly downstream canal pool, the local topology was precisely divided into three basic types, including basic series structure, split-type series-parallel hybrid structure, and convergence-type series-parallel hybrid structure.

[0028] In this case, the current channel pool unit has only one direct downstream connection, meaning the downstream set has only one element. And the downstream canal pool If it is a normal series node, then define the current channel pool unit. This is a basic series structure. The current channel / pool unit has two or more direct downstream connections, meaning the number of elements in the downstream set is greater than one. If a multi-downstream branch water supply structure is formed, then the current channel pool unit is defined. It is a split-type series-parallel hybrid structure. The current channel pool unit has a direct downstream connection, and this downstream channel pool... If a node is a confluence node, meaning it receives water from multiple upstream sources, then this current channel / pool unit is defined. It is a bus-type series-parallel hybrid structure.

[0029] Step 120: Based on the engineering parameters and the operating status data, calculate the control parameters for each of the channel pool units.

[0030] The control parameters here are adjustment coefficients used to guide the flow deviation correction of individual channel units. The form of the control parameters varies under different control logics. For example, when using the classic proportional-integral control strategy, the control parameters are specifically manifested as a proportional coefficient that determines the severity of the response and an integral coefficient that eliminates steady-state error.

[0031] Specifically, the static engineering parameters and dynamic operational data obtained above can be used to deeply analyze the propagation and evolution of water flow within the canal unit. For example, based on the channel cross-sectional dimensions and current flow rate and water depth, the equivalent integral area of ​​different flow regime regions or the hysteresis time of water flow wave propagation within the canal can be calculated. Then, these hydraulic evolution variables can be used to derive and calculate control parameters suitable for the current operating conditions of the canal.

[0032] Understandably, by combining real-time engineering parameters and operational status data to dynamically calculate control parameters, the control strategy can adapt to the current physical environment and water flow conditions of the canal, effectively improving the accuracy and environmental robustness of the control algorithm for a single canal.

[0033] Step 130: Based on the local topology, determine the flow compensation term for the downstream channel pool adjacent to the channel pool unit, and combine the flow compensation term and the control parameters to establish a corresponding decoupled control equation for each channel pool unit.

[0034] Here, "adjacent downstream channel pool" refers to the directly connected channel pool that receives the outflow from the current channel pool unit in terms of spatial physical connection. Here, "flow compensation term" refers to the flow feedforward adjustment value that needs to be added or subtracted in advance in the control target of the current channel pool to offset the water level backflow or flow suction interference caused by the opening and closing of gates in adjacent downstream channel pools.

[0035] In addition, the decoupled control equation here is a dynamic equilibrium equation constructed by mathematically fusing the closed-loop feedback control logic of the current canal pool based on its own water level deviation with the feedforward compensation logic that eliminates downstream action interference.

[0036] Specifically, based on the previously identified local topology, the flow direction of the water in the channel unit is determined. Depending on whether the water flows smoothly to a single basic series node, disperses to multiple parallel branch nodes, or converges to a mixed series node, the flow compensation term transmitted from the adjacent downstream channel is calculated accordingly.

[0037] For example, if the local topology of a channel pool unit is a basic series structure, then the unique flow compensation term of the only adjacent downstream channel pool of that channel pool unit can be used as the flow compensation term. Alternatively, if the local topology of a channel pool unit is a split-type series-parallel hybrid structure, then the flow compensation terms of all adjacent downstream channel pools of that channel pool unit can be used as the total flow compensation term. Furthermore, if the local topology of a channel pool unit is a convergence-type series-parallel hybrid structure, then the flow compensation of adjacent downstream channel pools can be allocated according to the weighting coefficient of that channel pool unit relative to its adjacent downstream channel pool, thus obtaining the flow compensation term of the adjacent downstream channel pool for that channel pool unit.

[0038] Subsequently, the calculated control parameters of the canal pool itself are used as the basic adjustment kernel, and the constraint of the flow compensation term is superimposed to create a decoupled control equation tailored to each canal pool unit that is not affected by the downstream.

[0039] It should be noted that by introducing a flow compensation term based on the local topology and establishing decoupling control equations, the hydraulic coupling interference caused by the gate action of adjacent channels and pools is effectively weakened or even fundamentally eliminated, thus realizing independent, stable and coordinated control of each adjacent channel and pool in a complex pipe network.

[0040] Step 140: Integrate the decoupled control equations of each of the channel pool units into a standardized linear equation set, solve the standardized linear equation set, and simultaneously obtain the feedback flow of each of the channel pool units.

[0041] Here, the standardized linear equation system refers to the set of global matrix equations formed by arranging, reducing the dimension, and reorganizing the independent and decentralized decoupled control equations of each canal and pool unit in the entire network according to unified mathematical matrix rules. Here, feedback flow refers to the absolute value of the actual increase or decrease in flow for each canal and pool unit within the current automatic control scheduling cycle, planned by the algorithm to achieve the preset ideal target operating state.

[0042] Specifically, after establishing decoupled control equations for the entire network, the variable relationships and multiplier characteristics in each equation can be extracted to construct a coefficient matrix and constant term vector reflecting the global network coupling relationship. This allows the complex canal network flow adjustment problem to be mapped and integrated into a standardized linear equation system. Then, a centralized computation is performed on this standardized linear equation system using computer numerical solving tools, simultaneously calculating the current feedback flow required by all canal / pool units in the network. For example, the standardized linear equation system can be imported into numerical computing software, such as the MATLAB solver, Python's NumPy and SciPy libraries, and the Fortran sparse matrix solver library, and numerical solutions can be obtained using Gaussian elimination, conjugate gradient methods, or dedicated solvers for sparse linear systems to obtain the feedback flow of each canal / pool.

[0043] It should be noted that unifying and integrating the locally dispersed decoupled control equations into a globally standardized linear equation system and performing centralized solution not only breaks through the bottleneck of poor timeliness and error accumulation caused by the traditional method of recursively calculating from downstream to upstream, but also achieves the global optimal planning and one-time accurate solution of the traffic distribution of the entire complex cross network.

[0044] Step 150: Based on the feedback flow, calculate the gate opening of each channel pool unit.

[0045] Here, the opening degree of the channel gate refers to the specific physical height value that the bottom of the gate plate of the physical control gate needs to be raised from the bottom of the channel in order to accurately match and achieve the feedback flow target calculated above.

[0046] Specifically, the feedback flow obtained from the global solution is superimposed and fused with the current actual background flow of the canal to calculate the true target passage flow that the canal needs to achieve within the current control cycle. Then, based on the empirical formula for passage flow in hydraulics, and combined with the actual upstream and downstream water depths at the current node, the gate opening value matching the target passage flow is calculated through reverse deduction. Finally, this gate opening value can be converted into an execution command for the drive motor.

[0047] It is understood that local topologies include three basic types: basic serial topologies, split-type serial-parallel hybrid topologies, and merging-type serial-parallel hybrid topologies. In practical applications, at least two of these basic local topologies can be combined to construct a more complex local topology, and then multiple complex local topologies can be used to construct a complete channel network. Therefore, the method provided in this embodiment of the invention can be applied to more complex channel networks.

[0048] The method provided in this invention decomposes complex canal networks to identify basic local topologies and combines multi-dimensional engineering and operational status data to construct decoupled control equations for each canal pool that incorporate downstream flow compensation terms. Then, the globally linked network equations are integrated into a standardized linear equation set for centralized, synchronous solution, ultimately transforming into precise gate opening commands for each node. This effectively addresses the technical shortcomings of traditional series multi-canal pool control, which can only adapt to single series canal systems and cannot handle complex series-parallel topologies. It achieves effective regulation of complex canal network structures, adapts to the practical application needs of complex series-parallel hybrid topology canal systems, and breaks through the topology adaptation limitations of traditional cascade control.

[0049] Based on any of the above embodiments, in step 130, determining the flow compensation term for the adjacent downstream channel pool of the channel pool unit based on the local topology includes: In the case of a series structure based on the local topology, the first flow compensation term of the unique adjacent downstream channel pool of the channel pool unit is determined as the flow compensation term of the channel pool unit. When the local topology is a split-type series-parallel hybrid structure, the second flow compensation terms of multiple adjacent downstream channels of the channel pool unit are obtained, and the multiple second flow compensation terms are summed to obtain the total flow compensation term, which is used as the flow compensation term of the channel pool unit. When the local topology is a hybrid serial-parallel structure of a confluence type, the confluence allocation weight coefficients of each confluence branch supplying water to the confluence node are obtained. Based on the confluence allocation weight coefficients, the third flow compensation term of the confluence node is allocated to obtain a weighted flow compensation term, which is used as the flow compensation term of the channel pool unit.

[0050] Specifically, the local topology here includes three types: basic series structure, split-type series-parallel hybrid structure, and split-type series-parallel hybrid structure. For each type, there is a specific flow compensation term.

[0051] In the case of a basic series structure in the local topology, the first flow compensation term of the unique adjacent downstream channel of the channel unit is determined as the flow compensation term of the channel unit. Here, the basic series structure means that the current channel unit has a unique direct downstream connection, that is, the number of elements in its direct downstream channel set is 1, and this downstream channel is a normal series node. In addition, the first flow compensation term here is the amount of interference compensation for the current channel caused by the downstream action calculated for this single series feature.

[0052] In specific implementation, for each channel-pool unit identified as having a basic series structure, its unique adjacent downstream channel-pool is identified. Then, the feedback flow of this adjacent downstream channel-pool is obtained, and combined with the decoupling coefficient of the current channel-pool, a first flow compensation term is calculated. This calculation can be expressed as the product of the decoupling coefficient and the feedback flow of the downstream channel-pool. Finally, this first flow compensation term is directly used as the overall flow compensation term for the current channel-pool unit, and introduced into the decoupling control equation. Here, in the... In the case of a local topology of a channel-pool unit based on a series structure, the channel-pool unit The decoupling control equations can be expressed by the following formula, as shown in the following equation: ; In the formula, Indicates the first The feedback flow rate of each channel pool, in m³. 3 / s; Indicates the first The first flow compensation term for each canal pool (the only adjacent downstream canal pool), in m³. 3 / s; Indicates the first The increment of the downstream gate water level deviation of each canal and pool, in meters, can be controlled by the water level deviation of this step. Subtract the water level deviation from the previous control step Calculated, i.e. based on the formula Calculated; Indicates the first The downstream water level deviation of each canal and reservoir, measured in meters, can be determined by the target water level. Subtract the current water level of this control step Calculated, i.e. based on the formula Calculated; , The first The proportional coefficient and integral coefficient of each canal pool; For the first The decoupling coefficient of each channel pool is recommended to be between 0.6 and 1.0, with 0.8 being the most common value. For channels with frequent water division, a smaller value should be used. The total number of canals and pools; To control the time step. Among them, , , as well as For the first The control parameters are calculated from the engineering parameters and operational status data of each canal and reservoir. It is understandable that... That is, to represent the canal pool unit The only adjacent downstream canal pool The first traffic compensation item.

[0053] It should be noted that when the first The canal pool is a basic series structure, that is, when it is the last canal pool unit, this canal pool unit The decoupling control equations can be expressed by the following formula, as shown in the following equation: ; In the formula, For the first The feedback flow rate of each channel pool, in m³. 3 / s; , The first The proportional coefficient and integral coefficient of each canal pool; Indicates the first The incremental deviation of the downstream gate water level of each canal pool, in meters; Indicates the first The deviation of the downstream gate water level of each canal pool, in meters.

[0054] It should be noted that, for a single-flow-direction basic series structure, the interference caused by the flow change of the only adjacent downstream channel pool is directly calculated, thus achieving an objective quantification of the hydraulic coupling effect under the basic topology.

[0055] Furthermore, in the case of a local topology with a split-type series-parallel hybrid structure, the second flow compensation terms of multiple adjacent downstream canals of the canal-pool unit are obtained. These multiple second flow compensation terms are then summed to obtain the total flow compensation term, which is used as the flow compensation term for the canal-pool unit. Here, a split-type series-parallel hybrid structure refers to a canal-pool unit having two or more direct downstream connections, forming a multi-downstream branch water supply structure. Here, the second flow compensation term refers to the interference compensation component caused by the action of each individual downstream branch canal-pool on the current canal-pool.

[0056] In specific implementation, for a channel pool unit divided into a split-type series-parallel hybrid structure, all its adjacent downstream channel pools are traversed. The feedback flow of each adjacent downstream channel pool is obtained, and the corresponding second flow compensation term is determined based on the decoupling coefficient. Subsequently, all second flow compensation terms are linearly summed to obtain the total flow compensation term. This total flow compensation term is used as the comprehensive flow compensation term for the current channel pool unit in the construction of subsequent decoupling control equations. Here, in the... When the local topology of a channel pool unit is a split-type series-parallel hybrid structure, the channel pool unit... The decoupling control equations can be expressed by the following formula, as shown in the following equation: ; In the formula, Indicates all adjacent downstream channels and pools The total flow compensation term is obtained by linearly summing the second flow compensation term; where... , Indicates the first The set of adjacent downstream canals of the first canal unit; other parameters are obtained from the above calculations. In the case of a local topology of a channel-pool unit based on a series structure, the channel-pool unit The parameters in the decoupling control equations have the same meaning.

[0057] It should be noted that, for one-to-many split water supply scenarios, the interference components of multiple downstream branches are summed to fully cover all hydraulic interference sources at the split nodes.

[0058] Furthermore, in the case of a local topology that is a hybrid serial-parallel structure with a flow-generating configuration, the flow allocation weight coefficients of each flow branch supplying water to the flow-generating node are obtained. Based on these weight coefficients, the third flow compensation term of the flow-generating node is allocated to obtain a weighted flow compensation term, which serves as the flow compensation term for the channel-pool unit. Here, a hybrid serial-parallel structure with a flow-generating configuration refers to a channel-pool unit having a direct downstream connection, and this downstream channel-pool being a flow-generating node, meaning that the downstream channel-pool simultaneously receives water from multiple upstream branches. Additionally, the flow allocation weight coefficients here are used to measure the proportion that each upstream flow branch must bear when sharing the disturbance of the downstream flow-generating node. Here, the third flow compensation term refers to the total disturbance generated by the downstream flow-generating node as a whole.

[0059] In practical implementation, for channel-pool units belonging to a hybrid serial-parallel structure of a confluence type, the channel-pool units directly downstream of their confluence nodes are identified. The set of all upstream confluence branches supplying water to this confluence node is obtained; here, the current channel-pool unit can be any confluence branch. The confluence allocation weight coefficient corresponding to the current channel-pool unit is determined, and all weight coefficients belonging to the same confluence node must satisfy normalization constraints.

[0060] Then, the third flow compensation term corresponding to the feedback flow of the downstream confluence node is obtained. This third flow compensation term is proportionally allocated using the confluence allocation weight coefficient corresponding to the current channel / pool unit, and a weighted flow compensation term is calculated by combining it with the decoupling coefficient. Finally, this weighted flow compensation term is used as the flow compensation term for the current channel / pool unit. Here, in the... When the local topology of a channel pool unit is a hybrid series-parallel connection structure, the channel pool unit... The decoupling control equations can be expressed by the following formula, as shown in the following equation: ; In the formula, This refers to a channel pool unit that is one of the various confluence branches. The confluence allocation weighting coefficient; This indicates that the weighting coefficients are assigned to the confluence nodes. The third flow compensation item The weighted flow compensation term is obtained through allocation. Other parameters are calculated in conjunction with the above calculations to obtain the... In the case of a local topology of a channel-pool unit based on a series structure, the channel-pool unit The parameters in the decoupling control equations have the same meaning.

[0061] It should be noted that, for the many-to-one confluence water supply scenario, the total interference of downstream nodes is reasonably divided by introducing a weight allocation mechanism, which ensures the scientific nature of the disturbance distribution and prevents the same disturbance from being repeatedly compensated in multiple upstream channels and pools.

[0062] The method provided in this invention classifies three typical local topologies in the canal network: basic series, branching, and confluence. It then designs corresponding mechanisms for single-node direct compensation, multi-node cumulative compensation, and weighted allocation compensation based on hydraulic connection characteristics. This objectively quantifies the interaction effects of water flow under different physical connection states, improves the rationality of flow compensation term calculation and the accuracy of decoupling equations, and ultimately achieves precise and coordinated control of water volume in complex canal networks.

[0063] Based on any of the above embodiments, the flow allocation weight coefficients of each flow branch supplying water to the flow junction node are obtained, including: Obtain the allocation reference parameters for each of the aforementioned confluence branches; the allocation reference parameters include any one of the following: design flow rate, current flow rate, remaining adjustable flow rate, and preset priority value; wherein, the remaining adjustable flow rate is the difference between the maximum allowed flow rate and the current flow rate; The allocation reference parameters of each of the aforementioned confluence branches are summed to obtain the total reference parameters; Calculate the ratio of the allocation reference parameter of each of the confluence branches to the sum of the reference parameters, and use the ratio as the confluence allocation weight coefficient of the corresponding confluence branch.

[0064] Here, the allocation benchmark parameter refers to the basic physical quantity or artificially set weighting index used to measure the contribution of different confluence branches to downstream flow adjustment tasks. The allocation benchmark parameter includes any one of the following: design flow, current flow, remaining adjustable flow, and preset priority value. The design flow refers to the standard flow allowed to pass through the channel during planning. The current flow reflects the current operating conditions. The remaining adjustable flow reflects the channel's current additional water supply adjustment potential. The preset priority value is an artificially set bias indicator to ensure the flow of critical water conveyance channels or specific priority water use targets.

[0065] In practice, firstly, for the confluence node identified as a confluence-type series-parallel hybrid structure, the direct upstream set consisting of all confluence branches supplying water to that confluence node is determined. Then, based on the actual canal system operation and management habits and current scheduling needs of the irrigation district, a suitable parameter is selected from the design flow, current flow, remaining adjustable flow, and preset priority values ​​as the allocation benchmark parameter.

[0066] For example, if the remaining adjustable flow is selected as the allocation benchmark parameter, the maximum allowable flow and the current flow at the current moment of the corresponding bus branch are obtained respectively, and the remaining adjustable flow of the bus branch is calculated by subtracting the maximum allowable flow from the current flow.

[0067] It should be noted that by providing a variety of allocation benchmark parameters, including static engineering planning, dynamic real-time operating conditions, and human scheduling experience, the confluence weight allocation mechanism can flexibly adapt to different irrigation district operation and management scenarios and the physical constraints of canal water conveyance capacity.

[0068] Then, the allocation baseline parameters of each confluence branch are summed to obtain the total baseline parameters. Here, the total baseline parameters refer to the total value of all upstream confluence branches supplying water to this confluence node under the selected allocation baseline parameter dimension.

[0069] In practice, the allocation baseline parameters of all confluence branches in the direct upstream set under the selected dimension are traversed and linearly accumulated. For example, if the weight allocation is based on the design flow of the channel pool, the design flow of each confluence branch in the upstream set is summed one by one to obtain the total design flow. If the real-time weight allocation is based on the current operating conditions, the current flow of each confluence branch is accumulated to obtain the total current flow.

[0070] Understandably, by performing a unified summation operation on various benchmark parameters, the comprehensive water conveyance capacity or flow base of all related confluence branches is statistically analyzed, providing accurate global data for subsequent standardized proportional allocation operations.

[0071] Further, the ratio of the allocation baseline parameter of each bus branch to the sum of the baseline parameters is calculated, and this ratio is used as the bus allocation weight coefficient for the corresponding bus branch. Specifically, the allocation baseline parameter of a single bus branch is divided by the sum of the baseline parameters obtained in the previous step to calculate the ratio, which is then used as the bus allocation weight coefficient for that bus branch. It is understandable that this ratio calculation process naturally satisfies the mathematical normalization constraint, ensuring that the sum of the bus allocation weight coefficients of all bus branches is strictly equal to 1. That is, it satisfies... ,in Indicates a confluence node The direct upstream collection, i.e., to the canal pool The collection of channels and pools for all water supply branches, And the parameters here The definition applies to the formula for calculating the confluence allocation weight coefficient based on the following three allocation benchmark parameters.

[0072] For example, when allocating water based on the remaining water conveyance capacity of upstream canals, the proportion of the remaining adjustable flow of a particular water supply canal to the total remaining adjustable flow of all confluence branches is used as its real-time weighting coefficient. If there are channels that require priority, the weighting can also be directly calculated based on a preset priority value.

[0073] In one embodiment, when weighting is performed based on design flow, the confluence branch... Convergence allocation weight coefficient It can be calculated using the following formula, as shown in the following equation: ; In the formula, Indicates confluence branch Design flow rate.

[0074] In another embodiment, when weight allocation is performed based on the current traffic, the confluence branch... Convergence allocation weight coefficient It can be calculated using the following formula, as shown in the following equation: ; In the formula, Indicates confluence branch Current traffic.

[0075] In yet another embodiment, when weight allocation is performed based on the remaining adjustable flow, the confluence branch... Convergence allocation weight coefficient It can be calculated using the following formula, as shown in the following equation: ; In the formula, Indicates confluence branch Maximum allowed traffic; Indicates confluence branch Current traffic.

[0076] It should be noted that the above-described method of calculating weighting coefficients proportionally ensures that the flow disturbances in the downstream channel pool are fully distributed to the controllers of each upstream confluence branch. Furthermore, by calculating the ratio of a single branch to the global sum to determine the weight, the flow adjustment pressure of the downstream confluence node is objectively and reasonably allocated according to the actual carrying capacity or set importance of the upstream branches, avoiding omissions or one-way over-allocation during flow distribution.

[0077] The method provided in this invention introduces multiple benchmark parameters such as design flow rate, current flow rate, remaining adjustable flow rate, and preset priority, and calculates the ratio of the benchmark parameters of each confluence branch to the sum of the benchmark parameters to determine the confluence allocation weight coefficient. This scheme can scientifically divide and distribute the flow disturbance generated by the downstream confluence nodes based on the actual management conditions of the irrigation area and the real-time flow redundancy capacity of each channel, preventing some branch canals from overloading beyond their physical water conveyance limits during the automatic water allocation process.

[0078] For any of the above embodiments, in step 140, the decoupling control equations of each of the channel / pool units are integrated into a standardized linear equation system, including: A global coefficient matrix is ​​constructed based on the coefficient characteristics of the flow compensation terms extracted from the decoupled control equations of each of the aforementioned channel and pool units. Construct a constant term vector based on the basic control quantities in each of the decoupled control equations; Based on the global coefficient matrix, the solution vector composed of each of the feedback flows, and the constant term vector, the standardized linear equation system is constructed.

[0079] Here, coefficient characteristics refer to the specific weighting ratio coefficients in the decoupling control equations multiplied by the feedback flow of adjacent downstream channels and pools, such as the decoupling coefficient, or the product of the flow distribution weight coefficient and the decoupling coefficient. The global coefficient matrix is ​​a square matrix composed of the coefficient characteristics of all channel and pool units arranged according to a specific spatial topological correspondence, used to mathematically fully express the hydraulic coupling relationships between various nodes in the entire canal network.

[0080] Specifically, firstly, the coefficient characteristics corresponding to the flow compensation term are extracted from the decoupled control equations of each canal-pool unit. Then, a dimension-based control system is constructed based on the total number of canal-pool units in the canal network to be regulated. The global coefficient matrix, This represents the total number of canal / pool units. The diagonal elements of this global coefficient matrix are all set to 1.

[0081] For elements not on the main diagonal, the extracted coefficient features are filled into the corresponding positions according to local topology rules. That is, if the channel pool is a split-type series-parallel hybrid structure, its directly downstream channel pool is the channel pool. , , Indicates the first The set of adjacent downstream canal pool units of the nth canal pool unit, then the matrix of the nth canal pool unit will be... Line number The elements of the column are assigned negative decoupling coefficients, i.e. If the canal pool has a hybrid series-parallel structure, then the matrix will be... Line number The elements of the column are assigned the product of the negative decoupling coefficient and the pooling weight coefficient, i.e. All other elements in the matrix that have no direct upstream or downstream connection are assigned a value of 0.

[0082] Then, a constant term vector is constructed based on the basic control quantities in each decoupled control equation. Here, the basic control quantity refers to the internal feedback regulation demand calculated solely from the water level deviation and control parameters of the current canal / pool unit, i.e., the original basic regulation quantity before downstream flow compensation disturbances. Here, the constant term vector is a one-dimensional column vector formed by sequentially arranging the basic control quantities of all canal / pool units.

[0083] In practical implementation, for the decoupled control equations of each channel / pool unit, the basic control quantity is extracted, which is obtained by multiplying and summing the water level deviation and water level deviation increment of the current control step with the proportional coefficient and integral coefficient. Here, the first... The basic control vector of each canal unit This can be expressed by the following formula, as shown in the following equation: ; Then, the basic control quantities of these n independent canal-pool units are arranged vertically in the order of their corresponding canal-pool numbers, constructing a constant term vector of dimension n×1. It should be noted that by extracting the basic adjustment quantities determined by the canal-pool's own state and constructing them as a one-dimensional column vector, the known sides of the global hydraulic equations are clarified, providing precise initial boundary inputs for the numerical solution of the entire network equations.

[0084] Finally, the feedback flow of each of the channel units can be taken as unknown elements, and the channel units can be arranged in the same order as the constant term vector to construct a dimension of... The vector to be solved is then, using the rules for constructing standard equation systems in linear algebra, the constructed vector with dimensions of... The global coefficient matrix is ​​used as the coefficient term, with dimension . The solution vector is used as the unknown term with dimension . The constant term vector is used as the result term on the right side of the equation. Based on the algebraic formula that the dot product of the coefficient matrix and the vector to be solved equals the constant term vector, these terms are combined and connected to construct a unified, standardized system of linear equations. Here, the standard matrix form of the standard linear system of equations can be expressed as: In the formula, for The global coefficient matrix, This represents the total number of canal / pool units; for The vector to be solved, i.e. ; for A vector of constant terms.

[0085] It is understandable that by integrating the global coefficient matrix, the vector to be solved, and the constant term vector, the highly coupled and nonlinear complex physical process of open channel hydrodynamic scheduling can be reduced in dimension and mapped to a standard linear algebraic problem.

[0086] The method provided in this invention constructs a global coefficient matrix reflecting the network topology coupling relationship and a constant term vector reflecting its own regulation needs, based on the coefficient features and basic control quantities extracted from the decoupled control equations. These are then combined with the vector to be solved formed by the feedback flow to form a standardized linear equation system. This transforms the multivariate strongly coupled control system into a standard algebraic form, enabling the direct use of mature numerical calculation tools for synchronous calculation of the entire network's water volume. This eliminates the complex iterative process of solving backwards from downstream to upstream, significantly improving the computational efficiency of large-scale canal network regulation commands.

[0087] Based on any of the above embodiments, step 120 includes: Based on the engineering parameters and the operating status data, calculate the uniform flow depth of the channel pool unit, as well as the distance between the boundary points of the uniform flow zone and the return water zone; the operating status data includes the upstream water depth of the channel pool. Based on the judgment results of the upstream water depth and the uniform flow water depth of the canal pool, the zoning results of the canal pool unit are determined; Based on the partitioning results, the integral area and hysteresis time of the canal pool unit are calculated. Based on the integral area, the hysteresis time, and the preset control step interval, the proportional coefficient and the integral coefficient are calculated, and the proportional coefficient and the integral coefficient are used as the control parameters.

[0088] Specifically, Figure 3 This is a schematic diagram of the trapezoidal channel provided by the present invention, such as... Figure 3 As shown, the canal unit in the figure is trapezoidal, including the width of the canal base. Canal and pond slope , canal pond water depth and the width of the canal pool . Figure 4 This is a schematic diagram of the uniform flow zone and return water zone of the channel pool provided by the present invention, as shown below. Figure 4 As shown, the control gate and control gate The space between them is a canal / pool unit. Among them, the channel pool unit This includes the uniform flow zone and the recirculation zone. The control parameters can be obtained through the following process: Step one involves calculating the uniform flow depth of the channel unit and the distance between the boundary point between the uniform flow zone and the backwater zone, based on the engineering parameters and the operational status data. Here, the operational status data includes the upstream water depth of the channel unit. This upstream water depth can be calculated by subtracting the channel bottom elevation of the channel unit from the actual water level at its upstream end. The uniform flow zone refers to a channel section where the water depth remains constant and the flow is relatively stable. The backwater zone refers to a channel section where the water depth gradually increases along the flow direction due to the backwater effect from the downstream gate. Therefore, the distance between the boundary points here refers to the physical length from the upstream end of the channel unit to the boundary between the uniform flow zone and the backwater zone.

[0089] In practice, based on the obtained engineering parameters such as the length, bottom width, side slope, roughness coefficient, bottom slope, and bottom elevation of the canal, as well as the current flow rate of the canal, the uniform flow depth of the canal under normal water conveyance conditions is calculated. Here, the water depth is uniform. It can be calculated using the following formula, as shown in the following equation: ; ; In the formula, The flow rate of the canal / pool is expressed in cubic meters per second (m³). 3 / s; The width of the bottom of the canal / pool is in meters (m). The bottom slope of the canal; For the roughness of the canal pool; The hydraulic radius is expressed in meters (m). Area, unit is m 2 ; The wetted perimeter is measured in meters (m).

[0090] Simultaneously, calculate the rate of change of water depth in the canal / pond along the downstream direction. Here, the rate of change can be calculated using the following formula, as shown below: ; In the formula: For Froude number, ; For water flow velocity, The unit is m / s; For water wave speed, The unit is m / s; For the width of the water surface, The unit is meters (m). Water depth, in meters (m). This is the acceleration due to gravity, measured in m / s². 2 The hydraulic gradient of the channel is calculated using the Manning-Strickler formula. ,Right now ,in, The flow rate of the canal / pool is expressed in cubic meters per second (m³). 3 / s; For the roughness of the canal pool; and The same parameter represents the cross-sectional area of ​​the canal, in meters (m²). 2 ; The hydraulic radius is in meters (m). Then, the length of the canal / pool is used. Downstream water depth of the canal and pond Uniform water depth and the rate of change of water depth Substitute into the formula The distance between the boundary points of the uniform flow zone and the return water zone of the canal pool unit is calculated. As shown in the formula, if the calculated result is greater than zero, it is taken as the boundary distance; if the calculated result is less than or equal to zero, the canal is determined to be in a state of complete backflow, and the boundary distance is zero. The downstream water depth of the canal can be calculated by subtracting the bottom elevation of the adjacent downstream canal of the current canal unit from the actual water level at the downstream end of the unit.

[0091] Next, step two is executed: based on the judgment results of the upstream water depth and the uniform flow water depth, the zoning result of the canal unit is determined. Specifically, when the actual water depth at the upstream end of the canal is greater than the uniform flow water depth, the canal unit is entirely in the backwater zone where the water depth increases linearly downstream; that is, the zoning result of the canal unit is a completely backwater zone. When the difference between the actual water depth at the upstream end of the canal and the uniform flow water depth is less than a preset threshold, and the actual water depth at the upstream end of the canal is less than the uniform flow water depth, it indicates that the canal unit is entirely in the backwater zone where the water depth increases linearly downstream; that is, the zoning result of the canal unit is a uniform flow zone with constant water depth and a backwater zone where the water depth increases downstream.

[0092] Further, in step three, based on the zoning results, the integral area and lag time of the channel / pool unit are calculated. Specifically, when the channel / pool unit is a uniform flow region and a backwater region, the equivalent area of ​​the uniform flow region can be calculated separately. Transmission time And the equivalent area of ​​the backwater zone was calculated. Transmission time This allows us to calculate the integral area and lag time of the entire canal / pool unit. For example, it can be calculated using the following formula, as shown below: ; ; In the formula, This represents the integral area of ​​the entire canal / pool unit; This indicates the lag time of the entire canal / pool unit.

[0093] Specifically, for uniform flow regions, parameters related to the uniform flow depth, such as water surface width, are considered. Water wave speed Water flow velocity The distance between the boundary points of the uniform flow zone and the return water zone of the canal / pool unit Substituting the parameters into the following calculation, the return water area of ​​the uniform flow zone is calculated. and the transit time in the uniform flow region The formula is shown below: ; ; In the formula, Simplified , Approximately .

[0094] In addition, for the backwater area, the distance to the dividing point is obtained by subtracting the length of the canal from the length of the pool. As the length of the backwater zone, the equivalent area upstream of the backwater zone is calculated using the corresponding formulas, taking into account the parameters of the upstream uniform flow depth and the downstream water depth. and transmission time and the equivalent area downstream of the backwater zone With transmission time The following formulas are shown respectively: ; ; ; ; In the formula, It cannot be simplified. For a trapezoidal cross section, assume the slope is... can If all differentials in the expression are transformed by difference, then... for: ;in, For parameters related to water depth, Water depth is adopted from the downstream water depth. .

[0095] Subsequently, the equivalent area of ​​the entire backwater zone was obtained by calculating the arithmetic mean. and transmission time As shown in the following formula: ; .

[0096] It is understandable that, when the canal-pool unit is a completely backwater zone, the integral area and lag time of the canal-pool unit can be calculated using the above formulas for calculating the equivalent area and transmission time of the backwater zone, which will not be elaborated here.

[0097] Finally, in step four, based on the integral area, hysteresis time, and preset control step interval, the proportional coefficient and integral coefficient are calculated and used as the control parameters. Specifically, the proportional coefficient can first be calculated using the following formula, as shown below: ; In the formula, Indicates the proportionality coefficient; Represents the integral area; Indicates the delay time.

[0098] Then, the integral coefficient can be calculated using the following formula, as shown below: ; In the formula, Indicates the integral coefficient; This indicates the preset control step interval time; Integral time constant, ; Indicates the delay time.

[0099] Therefore, the calculated proportional coefficient and integral coefficient can be used as control parameters.

[0100] Based on any of the above embodiments, the operating status data includes the water depth behind the gate and the water depth in front of the gate of the channel pool unit; the operating status data includes the current flow rate. Figure 5 This is a flowchart illustrating the gate opening calculation method provided by the present invention, as shown below. Figure 5 As shown, step 150 includes: Step 510: Add the current flow rate of the channel pool unit to the feedback flow rate to obtain the target flow rate of the current control step.

[0101] Here, the target flow rate for the current control step refers to the expected flow rate that the channel pool needs to actually achieve in response to global control commands within the current automated scheduling cycle.

[0102] In practice, the current flow rate measured at the current moment of the channel / pool unit is extracted, and this current flow rate is directly algebraically added to the feedback flow rate obtained by solving the aforementioned standardized linear equations. The specific calculation can be performed using the following formula: ; In the formula, Represents a canal / pool unit The target traffic; Represents a canal / pool unit Current traffic; Represents a canal / pool unit Feedback traffic.

[0103] Step 520: Calculate the ratio of the water depth downstream of the gate to the gate opening of the channel pool to be determined. If the ratio satisfies the free outflow condition, calculate the first flow coefficient based on the first preset rule; or, if the ratio satisfies the submerged outflow condition, calculate the second flow coefficient based on the second preset rule.

[0104] Here, the downstream water depth of a channel-pool unit refers to the downstream water depth of the control gate upstream of that unit. Conversely, the upstream water depth of a channel-pool unit refers to the upstream water depth of the control gate upstream of that unit. Here, free outflow conditions and submerged outflow conditions are two flow regime criteria in hydraulics used to characterize whether water flow is affected by downstream water level backflow after passing through the gate. Here, the first and second preset rules correspond to empirical mathematical formulas used to correct for uneven theoretical velocity distribution under these two specific flow regimes. Furthermore, the first and second flow coefficients are flow regime characteristic parameters calculated based on the aforementioned rules.

[0105] In practice, the real-time downstream water depth of the channel pool unit is obtained. Water depth in front of the sluice gate And establish the water depth after the sluice gate The required opening degree of the canal gate The ratio between them. Based on this ratio, the current flow state is conditionally determined. When the free outflow condition is met, i.e. The first flow coefficient is calculated based on the first preset rule. Here, the first flow coefficient... It can be calculated using the following formula, as shown in the following equation: ; When the ratio satisfies the flood outflow condition, i.e. The second flow coefficient is calculated based on the second preset rule. Here, the second flow coefficient It can be calculated using the following formula, as shown in the following equation: ; It should be noted that the flow regime is strictly distinguished based on the real-time proportional relationship between the on-site water depth and the gate opening, and different flow coefficient calculation rules are matched to fit the actual movement mechanism of water flow through the gate in the open channel.

[0106] Step 530: Based on the first flow coefficient or the second flow coefficient, and in combination with the target flow rate and the water depth in front of the gate, calculate the gate opening of the channel pool.

[0107] In practice, based on the classic Henry formula for calculating gate flow rate in hydraulics, the first or second flow coefficient selected in the above steps is uniformly denoted as the flow coefficient. and target traffic , water depth in front of the gate Substituting the gate width b and gravitational acceleration g into the basic formula In the middle. Due to the undetermined gate opening of the canal pool. It not only exists as an independent variable in the flow formula, but is also implicit in the calculation of the flow coefficient. In the nonlinear relationship, a numerical iterative solution algorithm can be used to back-calculate and approximate the actual required gate opening of the canal pool based on the known target flow rate and water level boundary conditions. .

[0108] Finally, the calculated gate opening is sent to the gate actuator to complete the opening adjustment.

[0109] The method provided in this invention introduces a gate flow formula that fits hydrodynamic characteristics and strictly defines the free outflow and submerged outflow flow states based on the ratio of the downstream water depth to the gate opening to dynamically match the flow coefficient. Finally, the target gate opening is accurately solved, reducing the theoretical error caused by directly and linearly converting the ideal control flow into physical action, improving the fit between the control algorithm and the hydraulic characteristics of real hydraulic structures, and ensuring the accurate execution of flow regulation commands.

[0110] It should be noted that after adjusting the opening of each canal unit, the hydraulic state of the canal network is updated, driving the next round of iterative control. Additionally, the current data is stored in the historical record, making... Then return to step 3 for the next cycle, until the simulation ends. Specifically, an integral time-delay model can be used to describe the water level-discharge relationship and update the water level deviation, as shown in the following equation: ; In the formula: for Downstream water level of the canal Relative to the downstream water level at the initial moment The increment, m; for Inflow rate of the canal pool relative to the inflow rate at the initial moment The increment, m 3 / s; for outflow rate of the canal pool relative to the outflow rate at the initial moment The increment, m 3 / s; For water distribution outlet Water flow rate of the canal pool relative to the initial water distribution flow rate at the water distribution outlet The increment, m 3 / s; The integral area; This refers to the lag time.

[0111] Among them, in the channel pool unit In the case of a basic series structure, the channel pool The change in inflow rate is equal to the difference between its current inflow rate and the inflow rate at the initial moment, which is obtained by solving the linear equations of the channel pool. Feedback traffic Canal and pool The change in outlet flow rate is equal to the change in inlet flow rate of the directly downstream canal pool. Therefore, it can be calculated using the following formula: and As shown in the following formula: ; ; In the formula, Indicates downstream channel pool Import flow.

[0112] In the canal unit In the case of a split-type series-parallel hybrid structure, the channel pool The change in inlet flow rate is calculated using the formula assuming a series connection of the foundation. (Channel / Pool) The change in export flow is equal to the sum of the changes in import flow at all downstream branch nodes, which can be calculated using the following formula: ; In the formula, Indicates downstream branch node Changes in import flow.

[0113] In the canal unit In the case of a hybrid series-parallel structure with a merging configuration, the channel pool The change in inlet flow rate is calculated using the formula assuming a series connection of the foundation. (Channel / Pool) The change in outlet flow is due to the downstream confluence-type node channel pool. A portion of the import flow is calculated using the following formula: .

[0114] Based on any of the above embodiments Figure 6 This is a plan view of the canal network to be regulated provided by the present invention, such as... Figure 6 As shown, the canal system is divided into 7 canal-pool control units, with the control gate as the boundary. The gate opening of each canal-pool control unit can be calculated through the following process: First, perform step one to collect the engineering characteristic parameters of each canal pool unit and the engineering parameters of the control gate, as shown in Table 1.

[0115] Table 1. Parameters of each canal pool unit and control gate project

[0116] In addition, operational status data, including flow rate data and water level data, are obtained, as shown in Table 2.

[0117] Table 2 Flow data for each canal / pool unit

[0118] Continued from Table 2: Water Level Data for Each Canal and Pool Unit

[0119] In addition, data on irrigation water intake plans for the irrigation district were collected, including the simulated water distribution flow rate of canal-pond unit 5 in the third hour. m 3 / s; Channel pool unit 6 simulates the water distribution flow rate in the 3rd hour. m 3 / s.

[0120] Next, proceed to step two to identify the local topology of the canal-pool unit. For each canal-pool unit in the canal network, obtain its direct upstream and downstream connections, as shown in Table 3.

[0121] Table 3. Direct Upstream and Downstream Connections of Each Canal / Pool Unit

[0122] In Table 3, NONE indicates that the channel pool unit has no directly upstream / downstream channel pools.

[0123] Further, proceed to step three to determine the confluence allocation weighting coefficients. According to Table 3, canal pool 1 and canal pool 7 in this canal system belong to a confluence-type series-parallel hybrid structure. Canal pool 1 and canal pool 7 have a direct downstream connection to canal pool 2, and this downstream canal pool 2 is a confluence-type node, receiving water from multiple upstream sources. Therefore, it is necessary to determine the confluence allocation weighting coefficients for canal pool 1 and canal pool 7. and In this embodiment, the allocation is based on the real-time weight of the remaining adjustable flow rate of the upstream channel pool. It is known that the maximum allowable flow rate of channel pool 1 is... m 3 / s, current traffic is m 3 / s, the maximum allowable flow rate of channel pool 7 is m 3 / s, current traffic is m 3 / s, then: ; ; Satisfy normalization constraints .

[0124] Then, proceed to step four to determine the control parameters. Calculate the integral area based on the trapezoidal channel cross-sectional parameters. and delay time Set the control step interval time s (20 minutes), further calculate the proportion coefficient of each canal pool. and integral coefficient The results are shown in Table 4 below: Table 4 Calculation results of control parameters for each canal / pool unit

[0125] Furthermore, the decoupling coefficients of each channel and pool are taken. The value is 0.8, and the total simulation time is 48 hours. Control step... hour, , Water level deviation in various canals and pools and water level deviation increment See Table 5 below, as shown in the table below: Next, proceed to step five to establish the governing equations for each channel / pool unit. It can be seen that channel pools 2, 4, 5, and 6 are in a basic series connection; channel pool 3 is a split-type series-parallel hybrid connection; and channel pools 1 and 7 are a convergent-type series-parallel hybrid connection. Therefore… When establishing decoupled control equations for each canal and pool, we have: ; Specifically: ; Therefore, the decoupling control equations for each canal and pool were rearranged into the standard matrix form of a linear system of equations.

[0126] Construct the coefficient matrix based on the topology. The process includes: main diagonal elements Canal pool 1 has no upstream, but has one downstream canal pool 2, and canal pool 2 is a confluence node, therefore there is Canal pool 2 has a downstream canal pool 3, and canal pool 3 is a normal series node, therefore there is Canal pool 3 has two downstream canal pools 4 and 6, forming a multi-downstream branch water supply structure, therefore... , Canal pool 4 has a downstream canal pool 5, and canal pool 5 is a normal series node, therefore there is Canal pool 5 has one upstream canal pool 4 and no downstream canal pool; canal pool 6 has one upstream canal pool 3 and no downstream canal pool; canal pool 7 has no upstream canal pool and one downstream canal pool 2, and canal pool 2 is a confluence node, therefore... ; other positions are 0.

[0127] In addition, the vector elements to be solved are the feedback flow rates of the seven canals and pools. m 3 / s. Constant term vector Basic control quantities for each of the seven canals and pools. Therefore, we obtain coefficient matrix , The vector to be solved , constant term vector Therefore, the standard matrix form of the linear equation system is: .

[0128] Specifically: .

[0129] Then, numerical solutions are obtained using the NumPy library in Python to determine the current control step for each canal / pool. Feedback traffic The results are shown in Table 6 below: Table 6 Calculation results of control parameters for each canal / pool unit

[0130] Furthermore, the current data is stored in the historical record, making... Then proceed to the next cycle until the simulation ends. The final state of each channel and pool after 48 hours of simulation is shown in Table 7. Table 7 Final Operating Status of Each Canal Pool Unit

[0131] in addition, Figure 7 These are control result diagrams of various channels and pools provided in the embodiments of the present invention, such as... Figure 7 The diagram shows the key operational states of seven canals under this control method. The results demonstrate that the method of this invention effectively controls... Figure 2After implementing control in the complex channel network structure example shown, multi-node control under a diversion and convergence topology was effectively achieved, further demonstrating the adaptability of this invention to complex series-parallel hybrid topology channel systems and overcoming the limitation of traditional series multi-channel pool control in adapting to such complex topologies. Specific details are as follows: Figure 7 (a) The flow rate of each channel pool starts to rise at time 3, reaches its peak within about 10 hours and gradually stabilizes. There is a slight overshoot in the flow rate, with the peak value slightly higher than the final steady state value, and then it smoothly falls back. This shows that the control algorithm has good adjustment capability in flow tracking and can adapt to the dynamic flow change requirements under complex diversion and confluence topology. Figure 7 (b) The gate action actively cooperates with the control target, and the change trend is highly synchronized with the flow change. The adjustment process is smooth and there is no continuous oscillation, indicating that the control algorithm of the present invention is stable and can effectively adapt to the coordinated control needs of complex canal networks. Figure 7 (c) Figure 7 In (d), the feedback flow rate is positive in the initial stage, indicating the water replenishment demand, and then gradually returns to zero; the water level deviation fluctuates significantly after time 3, and the water level deviation of all canals and pools converges to near 0 within about 10-15 hours, indicating that the control algorithm of the present invention can effectively maintain the stability of the water level in the canals and pools and meet the core requirements of water level control in the irrigation area.

[0132] Based on any of the above embodiments Figure 8 This is a schematic diagram of the structure of the series-parallel hybrid channel pool gate control device provided by the present invention, as shown below. Figure 8 As shown, the device includes: The acquisition unit 810 acquires the engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated, and identifies the local topology of each canal pool unit. The control parameter calculation unit 820 calculates the control parameters for each of the canal pool units based on the engineering parameters and the operating status data. The control equation construction unit 830 determines the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology, and establishes a corresponding decoupled control equation for each channel pool unit by combining the flow compensation term and the control parameters. The unified solution unit 840 integrates the decoupling control equations of each of the channel pool units into a standardized linear equation system, solves the standardized linear equation system, and simultaneously obtains the feedback flow of each of the channel pool units. The opening calculation unit 850 calculates the opening of the channel pool gate for each channel pool unit based on the feedback flow.

[0133] The device provided in this invention decomposes complex canal networks to identify basic local topologies and combines multi-dimensional engineering and operational status data to construct decoupled control equations for each canal pool that incorporate downstream flow compensation terms. It then integrates the globally linked network equations into a standardized linear equation set for centralized, synchronous solution, ultimately converting them into precise gate opening commands for each node. This effectively addresses the technical limitations of traditional series multi-canal pool control, which can only adapt to single series canal systems and cannot handle complex series-parallel topologies. It achieves effective regulation of complex canal network structures, adapts to the practical application needs of complex series-parallel hybrid topology canal systems, and breaks through the topology adaptation limitations of traditional cascade control.

[0134] Based on any of the above embodiments, the governing equation construction unit is specifically used for: In the case of a series structure based on the local topology, the first flow compensation term of the unique adjacent downstream channel pool of the channel pool unit is determined as the flow compensation term of the channel pool unit. When the local topology is a split-type series-parallel hybrid structure, the second flow compensation terms of multiple adjacent downstream channels of the channel pool unit are obtained, and the multiple second flow compensation terms are summed to obtain the total flow compensation term, which is used as the flow compensation term of the channel pool unit. When the local topology is a hybrid serial-parallel structure of a confluence type, the confluence allocation weight coefficients of each confluence branch supplying water to the confluence node are obtained. Based on the confluence allocation weight coefficients, the third flow compensation term of the confluence node is allocated to obtain a weighted flow compensation term, which is used as the flow compensation term of the channel pool unit.

[0135] Based on any of the above embodiments, the governing equation construction unit is further specifically used for: Obtain the allocation reference parameters for each of the aforementioned confluence branches; the allocation reference parameters include any one of the following: design flow rate, current flow rate, remaining adjustable flow rate, and preset priority value; wherein, the remaining adjustable flow rate is the difference between the maximum allowed flow rate and the current flow rate; The allocation reference parameters of each of the aforementioned confluence branches are summed to obtain the total reference parameters; Calculate the ratio of the allocation reference parameter of each of the confluence branches to the sum of the reference parameters, and use the ratio as the confluence allocation weight coefficient of the corresponding confluence branch.

[0136] Based on any of the above embodiments, the unified solution unit is specifically used for: A global coefficient matrix is ​​constructed based on the coefficient characteristics of the flow compensation terms extracted from the decoupled control equations of each of the aforementioned channel and pool units. Construct a constant term vector based on the basic control quantities in each of the decoupled control equations; Based on the global coefficient matrix, the solution vector composed of each of the feedback flows, and the constant term vector, the standardized linear equation system is constructed.

[0137] Based on any of the above embodiments, the control parameter calculation unit is specifically used for: Based on the engineering parameters and the operating status data, calculate the uniform flow depth of the channel pool unit, as well as the distance between the boundary points of the uniform flow zone and the return water zone; the operating status data includes the upstream water depth of the channel pool. Based on the judgment results of the upstream water depth and the uniform flow water depth of the canal pool, the zoning results of the canal pool unit are determined; Based on the partitioning results, the integral area and hysteresis time of the canal pool unit are calculated. Based on the integral area, the hysteresis time, and the preset control step interval, the proportional coefficient and the integral coefficient are calculated, and the proportional coefficient and the integral coefficient are used as the control parameters.

[0138] Based on any of the above embodiments, the operating status data includes the water depth behind the gate and the water depth in front of the gate of the channel pool unit; the operating status data includes the current flow rate; The opening calculation unit is specifically used for: The current flow rate of the channel unit is added to the feedback flow rate to obtain the target flow rate of the current control step; Calculate the ratio of the water depth downstream of the gate to the gate opening of the channel pool to be determined. If the ratio satisfies the free outflow condition, calculate the first flow coefficient based on the first preset rule; or, if the ratio satisfies the submerged outflow condition, calculate the second flow coefficient based on the second preset rule. Based on the first flow coefficient or the second flow coefficient, combined with the target flow rate and the water depth in front of the gate, the opening degree of the canal pool gate is calculated.

[0139] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 can call logic instructions in the memory 930 to execute a series-parallel hybrid channel pool gate control method. The method includes: acquiring the engineering parameters and operating status data of each channel pool unit in the channel system network to be controlled, and identifying the local topology of each channel pool unit; calculating the control parameters of each channel pool unit based on the engineering parameters and the operating status data; determining the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology, and establishing a corresponding decoupling control equation for each channel pool unit by combining the flow compensation term and the control parameters; integrating the decoupling control equations of each channel pool unit into a standardized linear equation system, solving the standardized linear equation system, and synchronously obtaining the feedback flow of each channel pool unit; and calculating the channel pool gate opening of each channel pool unit based on the feedback flow.

[0140] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0141] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the series-parallel hybrid channel pool gate control method provided by the above methods. The method includes: acquiring the engineering parameters and operating status data of each channel pool unit in the channel system network to be controlled, and identifying the local topology of each channel pool unit; calculating the control parameters of each channel pool unit based on the engineering parameters and the operating status data; determining the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology, and establishing a corresponding decoupling control equation for each channel pool unit by combining the flow compensation term and the control parameters; integrating the decoupling control equations of each channel pool unit into a standardized linear equation system, solving the standardized linear equation system, and synchronously obtaining the feedback flow of each channel pool unit; and calculating the channel pool gate opening of each channel pool unit based on the feedback flow.

[0142] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a series-parallel hybrid channel pool gate control method provided by the above methods. The method includes: acquiring engineering parameters and operating status data of each channel pool unit in the channel network to be controlled; identifying the local topology of each channel pool unit; calculating control parameters of each channel pool unit based on the engineering parameters and the operating status data; determining the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology; establishing a corresponding decoupling control equation for each channel pool unit by combining the flow compensation term and the control parameters; integrating the decoupling control equations of each channel pool unit into a standardized linear equation system; solving the standardized linear equation system to synchronously obtain the feedback flow of each channel pool unit; and calculating the channel pool gate opening of each channel pool unit based on the feedback flow.

[0143] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0144] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a series-parallel hybrid gate system in a canal and pool complex, characterized in that, include: The engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated are obtained, and the local topology of each canal pool unit is identified. Based on the engineering parameters and the operating status data, the control parameters of each channel pool unit are calculated. Based on the local topology, the flow compensation terms of the adjacent downstream channels of the channel pool unit are determined. Combining the flow compensation terms and the control parameters, a corresponding decoupling control equation is established for each channel pool unit. The decoupled control equations of each of the channel pool units are integrated into a standardized linear equation system, and the standardized linear equation system is solved to obtain the feedback flow of each of the channel pool units simultaneously. Based on the feedback flow, the opening degree of the channel gate of each channel unit is calculated.

2. The method for controlling a series-parallel hybrid canal pool gate group according to claim 1, characterized in that, The determination of the flow compensation term for the adjacent downstream channel pool of the channel pool unit based on the local topology includes: In the case of a series structure based on the local topology, the first flow compensation term of the unique adjacent downstream channel pool of the channel pool unit is determined as the flow compensation term of the channel pool unit. When the local topology is a split-type series-parallel hybrid structure, the second flow compensation terms of multiple adjacent downstream channels of the channel pool unit are obtained, and the multiple second flow compensation terms are summed to obtain the total flow compensation term, which is used as the flow compensation term of the channel pool unit. When the local topology is a hybrid serial-parallel structure of a confluence type, the confluence allocation weight coefficients of each confluence branch supplying water to the confluence node are obtained. Based on the confluence allocation weight coefficients, the third flow compensation term of the confluence node is allocated to obtain a weighted flow compensation term, which is used as the flow compensation term of the channel pool unit.

3. The method for controlling a series-parallel hybrid canal pool gate group according to claim 2, characterized in that, The process of obtaining the confluence allocation weight coefficients for each confluence branch supplying water to the confluence node includes: Obtain the allocation reference parameters for each of the aforementioned confluence branches; the allocation reference parameters include any one of the following: design flow rate, current flow rate, remaining adjustable flow rate, and preset priority value; wherein, the remaining adjustable flow rate is the difference between the maximum allowed flow rate and the current flow rate; The allocation reference parameters of each of the aforementioned confluence branches are summed to obtain the total reference parameters; Calculate the ratio of the allocation reference parameter of each of the confluence branches to the sum of the reference parameters, and use the ratio as the confluence allocation weight coefficient of the corresponding confluence branch.

4. The method for controlling a series-parallel hybrid gate system in a canal and pool according to any one of claims 1 to 3, characterized in that, The process of integrating the decoupled control equations of each of the channel pool units into a standardized linear equation system includes: A global coefficient matrix is ​​constructed based on the coefficient characteristics of the flow compensation terms extracted from the decoupled control equations of each of the aforementioned channel and pool units. Construct a constant term vector based on the basic control quantities in each of the decoupled control equations; Based on the global coefficient matrix, the solution vector composed of each of the feedback flows, and the constant term vector, the standardized linear equation system is constructed.

5. The method for controlling a series-parallel hybrid gate system in a canal and pool area according to any one of claims 1 to 3, characterized in that, The control parameters for each channel pool unit are calculated based on the engineering parameters and the operating status data, including: Based on the engineering parameters and the operating status data, calculate the uniform flow depth of the channel pool unit, as well as the distance between the boundary points of the uniform flow zone and the return water zone; the operating status data includes the upstream water depth of the channel pool. Based on the judgment results of the upstream water depth and the uniform flow water depth of the canal pool, the zoning results of the canal pool unit are determined; Based on the partitioning results, the integral area and hysteresis time of the canal pool unit are calculated. Based on the integral area, the hysteresis time, and the preset control step interval, the proportional coefficient and the integral coefficient are calculated, and the proportional coefficient and the integral coefficient are used as the control parameters.

6. The method for controlling a series-parallel hybrid gate system in a canal and pool area according to any one of claims 1 to 3, characterized in that, The operational status data includes the water depth behind and in front of the gate in the channel pool unit; the operational status data includes the current flow rate; The calculation of the gate opening of each channel pool unit based on the feedback flow includes: The current flow rate of the channel unit is added to the feedback flow rate to obtain the target flow rate of the current control step; Calculate the ratio of the water depth downstream of the gate to the gate opening of the channel pool to be determined. If the ratio satisfies the free outflow condition, calculate the first flow coefficient based on the first preset rule; or, if the ratio satisfies the submerged outflow condition, calculate the second flow coefficient based on the second preset rule. Based on the first flow coefficient or the second flow coefficient, combined with the target flow rate and the water depth in front of the gate, the opening degree of the canal pool gate is calculated.

7. A series-parallel hybrid gate control device for a canal pool, characterized in that, include: The acquisition unit acquires the engineering parameters and operating status data of each canal pool unit in the canal system network to be regulated, and identifies the local topology of each canal pool unit. The control parameter calculation unit calculates the control parameters for each of the canal pool units based on the engineering parameters and the operating status data. The control equation construction unit determines the flow compensation term of the adjacent downstream channel pool of the channel pool unit based on the local topology, and establishes a corresponding decoupled control equation for each channel pool unit by combining the flow compensation term and the control parameters. A unified solution unit integrates the decoupled control equations of each of the channel and pool units into a standardized linear equation system, solves the standardized linear equation system, and simultaneously obtains the feedback flow of each of the channel and pool units. The opening calculation unit calculates the opening degree of the channel pool gate for each channel pool unit based on the feedback flow.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the series-parallel hybrid channel pool gate control method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the series-parallel hybrid channel pool gate control method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the series-parallel hybrid channel pool gate control method as described in any one of claims 1 to 6.

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