Double sliding mode control system and method for layered water taking flapper gate driven by ball screw

Abstract

The present application relates to the technical field of water conservancy and hydropower engineering, and more particularly to a double sliding mode control system and method for a ball screw transmission type layered water intake flap gate, which comprises obtaining the motion data of the rotating mechanism of the flap gate, analyzing the data, and obtaining the functional relationship between the angular displacement of the flap gate of the layered water intake equipment and the linear displacement of the push rod; analyzing the functional relationship between the angular displacement of the flap gate of the layered water intake equipment and the linear displacement of the push rod to obtain the angle of the flap gate and the target angle; the control system receives the water intake scheduling instruction, generates the expected motion trajectory using the cosine wave acceleration trajectory curve according to the current angle of the flap gate and the target angle; a double sliding mode three-closed-loop controller is designed based on the transfer function to make corrections; the rotational speeds of the left motor and the right motor are collected in real time, and the synchronization error is calculated; the error is processed by the synchronization controller to generate a rotational speed compensation value; and the rotational speed compensation value is added to the rotational speed instructions of the left motor and the right motor, respectively.

Description

Technical Field

[0001] This invention relates to the field of water conservancy and hydropower engineering technology, and in particular to a double sliding mold control system and method for a ball screw driven stratified water intake flap gate. Background Technology

[0002] The stratified water intake equipment operates underwater according to dispatch instructions to selectively extract water at different elevations. The underwater working environment is harsh; the valve must withstand enormous water pressure and random impact loads during opening, closing, and operation. Furthermore, due to hydraulic structural limitations, the valves typically have a large span, making it difficult for a single drive source to guarantee smooth movement. Dual-side drive presents the challenge of synchronizing the two cylinders; if the two sides are not synchronized, the gate can easily twist and jam. Therefore, to improve the operational efficiency of stratified water intake and optimize water resource allocation, a compact, impact-resistant valve drive and its control method with high-precision synchronization control capabilities need to be designed.

[0003] Prior art 1, Chinese Patent Application No. 202510910787.3, discloses a dual-mode drive control system and method for a layered water intake valve. This system can not only respond quickly to complex hydrological conditions but also achieve real-time dynamic adjustment during system operation, avoiding over-adjustment or delayed response. Through precise data analysis and real-time control command generation, the system demonstrates significant advantages in optimizing water flow control, improving response speed, and reducing equipment wear. Furthermore, the addition of a learning module enables the system to continuously self-optimize, constantly improving the accuracy of the control strategy through historical data and operational records, thereby further enhancing the overall performance and adaptability of the system. Compared to traditional control systems, this intelligent and adaptive control method greatly enhances the system's stability, flexibility, and accuracy, significantly improving water resource management efficiency and the operational effectiveness of water conservancy projects. However, single-loop PID control struggles to simultaneously handle disturbances such as water flow impact and changes in mechanism friction; parameter tuning relies on experience, resulting in poor adaptability; and it does not fully utilize system state information for forward-looking compensation.

[0004] Prior art two, Chinese patent application number 202510918005.0, discloses a method, device, equipment, and storage medium for simulating the hydraulic characteristics of a tongue-shaped valve. This includes constructing a three-dimensional geometric model of the tongue-shaped valve containing key parameters and dividing the computational domain; employing appropriate mesh generation techniques and verifying mesh independence; establishing a control equation system for the tongue-shaped valve based on the three-dimensional geometric model and setting boundary conditions; numerically solving the hydraulic characteristics of the tongue-shaped valve; performing post-processing analysis of the tongue-shaped valve based on the numerical values ​​of its hydraulic characteristics to obtain the hydraulic properties; conducting multi-condition comparative analysis; verifying the simulation model through physical model experiments; optimizing structural parameters based on the verification results and establishing a mapping relationship model to achieve intelligent operation control; and simultaneously using parallel computing and predictive models to accelerate simulation calculations. While achieving high-precision simulation of the hydraulic characteristics of the tongue-shaped valve significantly improves computational efficiency, supports intelligent control and multi-objective optimization, and significantly enhances engineering safety and economy, the left and right motors often use master-slave control or independent control, which can easily lead to "biased jamming" when the load is uneven; and the synchronization error is only used as an alarm threshold, lacking real-time dynamic compensation.

[0005] Currently, existing technologies 1 and 2 suffer from weak anti-disturbance capability in multi-closed-loop control and poor synchronous coordination of dual motors. To solve these problems, this invention provides a dual sliding mode control system and method for a ball screw driven stratified water intake flap gate. Summary of the Invention

[0006] The main objective of this invention is to provide a dual sliding mode control system and method for a ball screw driven stratified water intake flap gate, in order to solve the problems of weak anti-disturbance capability and poor synchronous coordination of dual motors in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A double-sliding control system for a ball screw-driven stratified water intake flap gate, comprising: The dual sliding mode three-closed-loop control module is used to process the feedback between the desired motion trajectory and the actual position of the tongue valve to obtain the motor speed command, which in turn generates the output torque of the drive motor. The ball screw drive module is used to process the output torque of the drive motor to obtain the linear displacement of the push rod, and the linear displacement of the push rod forms the angular displacement of the tongue flap. The cross-coupled synchronization control module is used to obtain the angular displacement of the tongue flap door, process the left motor speed and the right motor speed to obtain the synchronization error, and form the speed compensation value from the synchronization error.

[0008] As a further improvement of the present invention, the ball screw transmission module includes a stacked beam frame installed in the dam; a synchronization box is fixed on the top of the stacked beam frame and its lower end is connected to an electric cylinder; the electric cylinder includes a ball nut, a ball screw, a reversing gear, and a reducer, serving as a drive mechanism for the tongue-and-valve door. The ball nut mates with the ball screw; the ball screw is fixed on the reversing gear; the reversing gear is connected to the reducer output shaft; the reducer input shaft is connected to the motor output shaft; the motor acts as a power input unit, inputting power to the reducer; after the reducer adjusts its speed, it outputs to the reversing gear, transmitting motion to the ball screw, which is connected to the ball nut; the ball screw converts rotational motion into linear motion; the motion is transmitted to the push rod through the ball nut; the push rod drives the connecting rod, which in turn drives the crank to rotate; when the motor stops outputting torque, the brake caliper brakes and locks the door shaft.

[0009] As a further improvement of the present invention, the battery box is installed at the bottom of the stacked beam frame; the door hinge of the flap door is keyed; the brake caliper is installed on the brake disc of the door hinge; the brake motor is fixed at the top of the stacked beam frame, and its lower end is connected to the brake caliper; the motor is installed at the lower end of the synchronizing box; the lower end of the electric cylinder is connected to the upper end of the push rod; the other end of the push rod is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to one end of the crank; the crank is fixed on the door hinge; the door hinge is installed in the middle of the stacked beam frame; the brake caliper and the brake motor form a brake to realize the braking of the door hinge of the flap door.

[0010] As a further improvement of the present invention, the dual sliding mode three closed-loop control module includes: The speed command processing submodule is used to process the expected motion trajectory and the actual position feedback of the tongue flap gate to obtain the speed command through the outer adaptive robust sliding mode position loop, and the speed command forms the input of the middle sliding mode rotation speed loop; The speed command conversion submodule is used to process the speed command and the actual rotational speed feedback of the tongue valve through the middle sliding mode rotational speed loop to obtain the current command, which forms the input of the inner PI current loop. The drive voltage acquisition submodule is used to obtain the drive voltage by processing the current command and the actual motor current feedback through the inner PI current loop, and then to generate the motor speed command from the drive voltage.

[0011] As a further improvement of the present invention, the speed command processing submodule includes: The motion deviation calculation unit is used to calculate the angular displacement deviation by feeding back the desired motion trajectory and the actual position of the tongue valve through the outer position loop. The angular displacement deviation is then used as the input to the sliding mode control law of the outer position loop. The robust adjustment processing unit is used to process the angular displacement deviation through the outer position loop sliding mode control law to obtain the initial speed adjustment amount, and the initial speed adjustment amount forms the speed reference value; the speed reference value and the actual rotation speed of the tongue valve are fed back through the adaptive robust adjustment in the outer position loop to obtain the speed adjustment amount, and the speed adjustment amount forms the speed command. The limiting unit is used to limit the speed command in the outer position loop to obtain the limited speed command, which then forms the input of the middle speed loop.

[0012] As a further improvement of the present invention, the robust adjustment processing unit includes: The deviation decomposition subunit is used to decompose the deviation between the speed reference value and the actual rotational speed feedback of the flap gate into steady-state deviation and transient deviation. It determines whether the steady-state deviation exceeds the preset static zone threshold. If it does, it performs nonlinear accumulation on the steady-state deviation to obtain the amplitude compensation coefficient. If it does not exceed the threshold, it sets the amplitude compensation coefficient to zero. The differential operation subunit is used to perform differential operations on the transient deviation to obtain the error change rate, determine the gain mapping interval based on the ratio of the transient deviation to the error change rate, and read the corresponding transient correction coefficient from the preset nonlinear gain curve. The coefficient superposition subunit is used to superimpose the amplitude compensation coefficient and the transient correction coefficient to obtain the speed adjustment amount, and output the speed adjustment amount as the speed command.

[0013] As a further improvement of the present invention, the differential operation subunit includes: The magnitude representation processing component is used to determine the magnitude of transient deviation by amplitude range and obtain the magnitude of deviation identifier. The magnitude of deviation identifier is then used to form the range parameter for differential gain selection. The error change acquisition component is used to obtain the differential time constant by selecting the differential gain from the deviation level identifier and the transient deviation, and the integration time limit of the differential operation is formed from the differential time constant; the error change rate is obtained by differential operation from the differential time constant and the transient deviation, and the error change rate is formed from the index parameter for querying the transient correction coefficient; The coefficient query component is used to obtain the transient correction coefficient from the error change rate and transient deviation amount through the transient correction coefficient query, and the correction component of the coefficient superposition sub-unit is formed from the transient correction coefficient.

[0014] As a further improvement of the present invention, the error change acquisition component includes: The flip-representation sub-component is used to obtain the transient deviation amplitude decay rate and transient deviation polarity flip-representation by analyzing the deviation change trend of the deviation magnitude identifier and the transient deviation amplitude decay rate and transient deviation polarity flip-representation. The transient deviation amplitude decay rate and transient deviation polarity flip-representation form the matching conditions for the differential gain level decision. The first constant mapping sub-component is used to obtain the differential gain level index by the differential gain level decision after the transient deviation amplitude attenuation rate and transient deviation polarity reversal identifier are determined by the differential gain level, and the address offset of the differential time constant mapping is formed by the differential gain level index. The second constant mapping sub-component is used to map the differential gain level index to the differential time constant, and the differential time constant forms the integration time limit for differential operations.

[0015] As a further improvement of the present invention, the flip-representation sub-component includes: The weighting coefficient output subsystem is used to perform polarity coupling calculation and normalization of the transient deviation amplitude attenuation rate and transient deviation polarity reversal flag, and output the gain tendency weighting coefficient. The gear combination extraction subsystem is used to perform weight threshold segmentation in a preset differential gain gear mapping table according to the gain tendency weight coefficient, extract gear combinations that meet the weight conditions, and output a differential gain gear candidate set. The candidate set convenience subsystem is used to traverse each gear in the differential gain gear candidate set, perform amplitude matching verification with the current transient deviation, lock the gear that passes the verification as the final output, and obtain the differential gain gear index.

[0016] To achieve the above objectives, the present invention also provides the following technical solution: A dual-sliding mode control method for a ball screw driven tiered water intake flap gate includes the following steps: The motion data of the rotating mechanism of the tongue valve is acquired and analyzed to obtain the functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment. The functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment is analyzed to obtain the angle of the tongue valve and the target angle. The control system receives water intake scheduling instructions, generates the desired motion trajectory using a cosine wave acceleration trajectory curve based on the current angle of the valve and the target angle, calculates the transfer function, and designs a dual sliding mode three-closed-loop controller based on the transfer function for correction and trajectory tracking of the valve. The speeds of the left and right motors are collected in real time, and the synchronization error is calculated. After the error is processed by the synchronization controller, a speed compensation value is generated. This value is then added to the speed commands of the left and right motors, respectively, with positive and negative values.

[0017] To achieve the above objectives, the present invention also provides the following technical solution: An electronic device includes a processor and a memory coupled to the processor, the memory storing program instructions executable by the processor; when the processor executes the program instructions stored in the memory, it implements the dual sliding mode control method of the ball screw driven tiered water intake flap gate as described above.

[0018] To achieve the above objectives, the present invention also provides the following technical solution: A storage medium storing program instructions, which, when executed by a processor, implement a dual sliding mode control method for a ball screw-driven tiered water intake flap gate as described above.

[0019] This invention employs a ball screw drive system in conjunction with a crank-connecting rod mechanism, making it suitable for installation within narrow stacked beam door frames. The addition of a brake prevents accidental rotation of the flap door, improving safety. Cosine wave acceleration trajectory planning avoids rigid impacts during the flap door's opening and closing process, extending mechanical life. A symmetrically installed transmission system and cross-coupled synchronous control enable precise control of the flap door's opening angle, ensuring smooth operation. The invention includes a battery pack, flap door, brake caliper, brake motor, stacked beam frame, synchronization box, motor, electric cylinder, push rod, connecting rod, crank, and door. The system consists of a shaft, ball nuts, a ball screw, a reversing gear, and a reducer; a battery box is installed at the bottom of the stacked beam frame; the flap door is keyed to the door shaft; a brake caliper is installed on the brake disc of the door shaft; a brake motor is fixed to the top of the stacked beam frame, with its lower end connected to the brake caliper; the stacked beam frame is installed inside the dam; a synchronization box is fixed to the top of the stacked beam frame, with its lower end connected to the electric cylinder; a motor is installed at the lower end of the synchronization box; the lower end of the electric cylinder is connected to the upper end of the push rod; the other end of the push rod is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to one end of the crank; the crank is fixed to the door shaft; the door shaft is installed in the middle of the stacked beam frame. The motor drives the screw to move, converting rotational motion into linear motion, which drives the flap door to rotate via the crank; the control method for the flap door of the ball screw-type stratified water intake equipment adopts cosine wave acceleration trajectory planning, uses double sliding diaphragm three-closed-loop control to achieve trajectory tracking, and combines dual-motor cross-coupling synchronous control to ensure synchronous driving on both sides. This device uses a ball screw drive, which is small in size, produces no oil pollution, is easy to control, and is suitable for use in hydraulic metal structures. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the composition of an embodiment of the dual sliding mode control system of the ball screw driven stratified water intake valve of the present invention. Figure 2 This is a simplified transmission diagram of the drive electric cylinder of the double sliding mold control system for the ball screw driven stratified water intake flap gate of the present invention. Figure 3 This is a flowchart illustrating the steps of an embodiment of the double sliding mode control method for a ball screw driven stratified water intake flap gate of the present invention. Figure 4 This is a schematic diagram of the motion of the ball screw driven layered water intake flap gate mechanism of the present invention; Figure 5This is a three-ring control block diagram of the ball screw driven stratified water intake device of the present invention; Figure 6 This is a block diagram of the synchronous control of the ball screw driven stratified water intake device of the present invention. Figure 7 This is a control flowchart of the ball screw driven stratified water intake device of the present invention; Figure 8 This is a schematic diagram of the structure of an embodiment of the electronic device of the present invention; Figure 9 This is a schematic diagram of the structure of one embodiment of the storage medium of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] The terms "first," "second," and "third" used in this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this invention are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the accompanying drawings). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] like Figure 1As shown, this embodiment provides an example of a dual sliding mold control system for a ball screw driven tiered water intake flap gate. In this embodiment, the dual sliding mold control system for the ball screw driven tiered water intake flap gate includes: a battery pack 1, a flap gate 2, a brake caliper 3, a brake motor 4, a stacked beam frame 5, a synchronization box 6, a motor 7, an electric cylinder 8, a push rod 9, a connecting rod 10, a crank 11, a door shaft 12, a ball nut 13, a ball screw 14, a reversing gear 15, and a reducer 16. Battery box 1 is installed at the bottom of stacked beam frame 5; door hinge 12 of tongue-shaped door 2 is keyed; brake caliper 3 is installed on the brake disc of door hinge 12; brake motor 4 is fixed at the top of stacked beam frame 5, and its lower end is connected to brake caliper 3; stacked beam frame 5 is installed inside the dam; synchronization box 6 is fixed at the top of stacked beam frame 5, and its lower end is connected to electric cylinder 8; motor 7 is installed at the lower end of synchronization box 6; the lower end of electric cylinder 8 is connected to the upper end of push rod 9; the other end of push rod 9 is hinged to one end of connecting rod 10; the other end of connecting rod 10 is hinged to one end of crank 11; crank 11 is fixed on door hinge 12; door hinge 12 is installed in the middle of stacked beam frame 5; brake caliper 3 and brake motor 4 form a brake to realize the braking of door hinge 12 of tongue-shaped door 2; Among them, such as Figure 2 As shown, the ball nut 13 is fitted with the ball screw 14; the ball screw 14 is fixed on the reversing gear 15; the reversing gear 15 is connected to the output shaft of the reducer 16; the input shaft of the reducer 16 is connected to the output shaft of the motor 7; the electric cylinder 8 contains the ball nut 13, the ball screw 14, the reversing gear 15, and the reducer 16, serving as the drive mechanism for the tongue-shaped door 2; the motor 7 acts as a power input unit, inputting power to the reducer 16; after the reducer 16 adjusts its speed, it outputs to the reversing gear 15, transmitting motion to the ball screw 14, which is connected to the ball nut 13; the ball screw 14 converts rotational motion into linear motion; the motion is transmitted to the push rod 9 through the ball nut 13; the push rod 9 drives the connecting rod 10, which in turn drives the crank 11 to rotate; when the motor 7 stops outputting torque, the brake caliper 3 brakes and locks the door shaft 12, preventing the tongue-shaped door 2 from rotating unexpectedly.

[0025] Preferably, in this embodiment, the battery box is installed at the bottom of the stacked beam frame; the flap door is installed in the middle of the stacked beam frame via a door hinge; the brake caliper is installed on the brake disc of the door hinge; the brake motor is fixed at the top of the stacked beam frame, and its lower end is connected to the brake caliper; the stacked beam frame is installed inside the dam; the synchronization box is fixed at the top of the stacked beam frame, and its lower end is connected to the electric cylinder; the motor is installed at the lower end of the synchronization box; the lower end of the electric cylinder is connected to the upper end of the push rod; the other end of the push rod is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to one end of the crank; the crank is fixed on the door hinge; the door hinge is installed in the middle of the stacked beam frame; the brake caliper and the brake motor form a brake to realize the braking of the door hinge of the flap door; the ball nut cooperates with the ball screw; the ball screw is fixed on The reversing gear is connected to the reducer output shaft; the reducer input shaft is connected to the motor output shaft; the motor output shaft is connected to the reducer input shaft; the reducer output shaft is connected to the reversing gear; the electric cylinder contains a ball nut, a ball screw, a reversing gear, and a reducer, serving as the drive mechanism for the flap door; the motor acts as the power input unit, inputting power to the reducer; after speed adjustment, the reducer outputs power to the reversing gear, transmitting motion to the ball screw, which in turn transmits the motion to the push rod via the ball nut; the ball screw is connected to the ball nut; the ball screw converts rotational motion into linear motion; the push rod drives the connecting rod, which in turn drives the crank to swing; the crank is connected to the power input unit, driving the flap door to open and close.

[0026] In summary, this embodiment employs a ball screw drive system in conjunction with a crank-connecting rod mechanism, making it suitable for placement within narrow, stacked beam door frames. The addition of a brake prevents accidental rotation of the flap door, enhancing safety. The use of cosine wave acceleration trajectory planning avoids rigid impacts during the flap door's opening and closing process, extending mechanical life. The symmetrically installed transmission system and cross-coupled synchronous control enable control of the flap door's opening angle, ensuring smooth operation.

[0027] Furthermore, the dual-sliding-mode control system for the ball screw-driven stratified water intake flap gate of the present invention includes: The dual sliding mode three-closed-loop control module is used to process the feedback between the desired motion trajectory and the actual position of the tongue valve to obtain the motor speed command, which in turn generates the output torque of the drive motor. The ball screw drive module is used to process the output torque of the drive motor to obtain the linear displacement of the push rod, and the linear displacement of the push rod forms the angular displacement of the tongue flap. The cross-coupled synchronization control module is used to obtain the angular displacement of the tongue flap door, process the left motor speed and the right motor speed to obtain the synchronization error, and form the speed compensation value from the synchronization error.

[0028] Preferably, in the dual-sliding mode control system of the ball screw-driven tiered water intake flap gate of this embodiment, the synergistic effect of the technical features of each module achieves the following technical effects: The dual-sliding mode three-closed-loop control module generates motor speed commands by comprehensively processing the desired motion trajectory and actual position feedback, and then converts them into the output torque of the drive motor; this improves the system's tracking accuracy of the desired trajectory, enhances its robustness against load disturbances and parameter fluctuations, and suppresses overshoot and oscillation, making the motor response more stable and rapid. The ball screw drive module converts the output torque of the drive motor into the linear displacement of the push rod, and further drives the flap gate to achieve angular displacement; this ensures efficient and accurate conversion of torque to displacement, reduces lag and backlash errors in the transmission process, and improves the accuracy and repeatability of the flap gate position control. The cross-coupling synchronization control module acquires the angular displacement of the tongue flap in real time and processes the speed of the motors on both sides to generate a synchronization error signal, which is then converted into a speed compensation value. This effectively reduces the synchronization deviation caused by mechanical asymmetry or uneven load when driven by two motors, ensuring the consistency of movement on both sides of the tongue flap, thereby avoiding jamming or uneven load and improving the overall coordination and structural stability of the movement.

[0029] In summary, this embodiment achieves high-precision trajectory tracking, strong anti-interference capability, and high-efficiency torque in the tongue flap gate driving system. Displacement conversion and synchronous coordinated control of dual motors ultimately ensure the reliability and control accuracy of the tongue valve operation of the stratified water intake equipment.

[0030] Furthermore, the dual-sliding-mode three-closed-loop control module includes: The speed command processing submodule is used to process the expected motion trajectory and the actual position feedback of the tongue flap gate to obtain the speed command through the outer adaptive robust sliding mode position loop, and the speed command forms the input of the middle sliding mode rotation speed loop; The speed command conversion submodule is used to process the speed command and the actual rotational speed feedback of the tongue valve through the middle sliding mode rotational speed loop to obtain the current command, which forms the input of the inner PI current loop. The drive voltage acquisition submodule is used to obtain the drive voltage by processing the current command and the actual motor current feedback through the inner PI current loop, and then to generate the motor speed command from the drive voltage.

[0031] Preferably, the combined use of the technical features of each submodule in the dual sliding mode three-closed-loop control module of this embodiment achieves the following technical effects: The speed command processing submodule processes the desired motion trajectory and actual position feedback through the outer adaptive robust sliding mode position loop, generates a speed command, and uses it as the input to the middle sliding mode speed loop; this enables the system to have adaptive compensation capability for model uncertainties and external disturbances at the position loop level, effectively suppressing position tracking errors and improving the accuracy and stability of trajectory tracking. The speed command conversion submodule processes the speed command and actual speed feedback using the middle sliding mode speed loop, outputs a current command, and uses it as the input to the inner PI current loop; this enhances the dynamic response performance of the speed loop, reduces speed fluctuations caused by load changes or mechanical parameter fluctuations, and ensures that the motor speed can quickly and accurately follow the command changes. The drive voltage acquisition submodule processes the current command and actual current feedback through the inner PI current loop, generates a drive voltage, and finally converts it into a motor speed command; this achieves precise closed-loop control of the current, effectively limits current overshoot, improves the system's current tracking capability and electromagnetic torque response speed, thereby ensuring the stability and controllability of the motor output torque.

[0032] In summary, the collaborative operation of the three-layer closed-loop structure in this embodiment achieves positional... rotational speed Multi-level precise control of current. The outer sliding mode position loop and the middle sliding mode speed loop together enhance the robustness and anti-interference capability of the system, while the inner PI current loop ensures the speed and stability of the current response. This control structure improves the position control accuracy of the flap gate while enhancing the system's adaptability to changes in internal parameters and external disturbances, giving the drive system high dynamic performance and strong robustness.

[0033] Furthermore, the speed command processing submodule includes: The motion deviation calculation unit is used to calculate the angular displacement deviation by feeding back the desired motion trajectory and the actual position of the tongue valve through the outer position loop. The angular displacement deviation is then used as the input to the sliding mode control law of the outer position loop. The desired motion trajectory refers to the ideal motion path of the flap gate angular displacement over time, generated by the control system based on the difference between the target flap gate angle in the water intake scheduling command and the current flap gate angle, using a cosine wave acceleration trajectory curve. This trajectory curve uses the maximum acceleration as the amplitude and achieves a smooth transition of acceleration in the initial and final segments of the opening and closing process, ensuring that the flap gate motion process is shock-free and without sudden changes. The desired motion trajectory, as the input signal of the outer position loop, participates in the calculation of motion deviation together with the actual position feedback of the flap gate, and serves as the target benchmark for trajectory tracking by the dual sliding mode three closed loop control module. The robust adjustment processing unit is used to process the angular displacement deviation through the outer position loop sliding mode control law to obtain the initial speed adjustment amount, and the initial speed adjustment amount forms the speed reference value; the speed reference value and the actual rotation speed of the tongue valve are fed back through the adaptive robust adjustment in the outer position loop to obtain the speed adjustment amount, and the speed adjustment amount forms the speed command. The limiting unit is used to limit the speed command in the outer position loop to obtain the limited speed command, which then forms the input of the middle speed loop.

[0034] Preferably, this embodiment sequentially completes deviation calculation, robust adjustment, and command limiting, forming a complete outer-layer position-velocity command generation link. While ensuring position tracking accuracy, sliding mode control and adaptive robust adjustment enhance the system's ability to suppress external disturbances and internal parameter changes. Furthermore, limiting ensures the physical feasibility of the command, thereby providing a stable, reliable speed command input that conforms to actuator constraints for the middle-layer speed loop.

[0035] Furthermore, the robust adjustment processing unit includes: The deviation decomposition subunit is used to decompose the deviation between the speed reference value and the actual rotational speed feedback of the flap gate into steady-state deviation and transient deviation. It determines whether the steady-state deviation exceeds the preset static zone threshold. If it does, it performs nonlinear accumulation on the steady-state deviation to obtain the amplitude compensation coefficient. If it does not exceed the threshold, it sets the amplitude compensation coefficient to zero. The differential operation subunit is used to perform differential operations on the transient deviation to obtain the error change rate, determine the gain mapping interval based on the ratio of the transient deviation to the error change rate, and read the corresponding transient correction coefficient from the preset nonlinear gain curve. The coefficient superposition subunit is used to superimpose the amplitude compensation coefficient and the transient correction coefficient to obtain the speed adjustment amount, and output the speed adjustment amount as the speed command.

[0036] Preferably, this embodiment constructs a composite robust control structure with quiet zone suppression, steady-state accumulation compensation, and dynamic adaptive gain adjustment by decomposition of deviation, steady-state nonlinear accumulation, transient gain mapping, and coefficient superposition. While ensuring the adjustment accuracy, it effectively balances the contradiction between steady-state control and dynamic response, enhances the adaptability and robustness of the system under different operating conditions, and provides a smoother and more adaptable feedforward control command for control.

[0037] Furthermore, the differential operation subunit includes: The magnitude representation processing component is used to determine the magnitude of transient deviation by amplitude range and obtain the magnitude of deviation identifier. The magnitude of deviation identifier is then used to form the range parameter for differential gain selection. The error change acquisition component is used to obtain the differential time constant by selecting the differential gain from the deviation level identifier and the transient deviation, and the integration time limit of the differential operation is formed from the differential time constant; the error change rate is obtained by differential operation from the differential time constant and the transient deviation, and the error change rate is formed from the index parameter for querying the transient correction coefficient; The coefficient query component is used to obtain the transient correction coefficient from the error change rate and transient deviation amount through the transient correction coefficient query, and the correction component of the coefficient superposition sub-unit is formed from the transient correction coefficient.

[0038] Preferably, this embodiment constructs a differential adjustment structure with sensitivity to deviation amplitude and adaptive dynamic characteristics by cascading the processes of deviation magnitude determination, adaptive differential gain selection, error change rate calculation, and nonlinear coefficient lookup. While improving the system's response speed to transient deviations, the parameter adaptive mechanism avoids the oscillation or insufficient response problems that may be caused by traditional fixed differential gain in a wide operating range, thereby optimizing the stability and accuracy of transient adjustment and providing a more reasonable dynamic correction component for the robust adjustment unit.

[0039] Furthermore, the error change acquisition component includes: The flip-representation sub-component is used to obtain the transient deviation amplitude decay rate and transient deviation polarity flip-representation by analyzing the deviation change trend of the deviation magnitude identifier and the transient deviation amplitude decay rate and transient deviation polarity flip-representation. The transient deviation amplitude decay rate and transient deviation polarity flip-representation form the matching conditions for the differential gain level decision. The first constant mapping sub-component is used to obtain the differential gain level index by the differential gain level decision after the transient deviation amplitude attenuation rate and transient deviation polarity reversal identifier are determined by the differential gain level, and the address offset of the differential time constant mapping is formed by the differential gain level index. The second constant mapping sub-component is used to map the differential gain level index to the differential time constant, and the differential time constant forms the integration time limit for differential operations.

[0040] Preferably, this embodiment constructs an adaptive differential parameter adjustment mechanism based on the dynamic characteristics of transient deviation through layer-by-layer processing of deviation trend analysis, gain level decision and time constant mapping; this enables the differential time constant to be dynamically adjusted according to the deviation amplitude decay rate and polarity reversal, and to adapt to a more reasonable differential intensity when the deviation decays rapidly or changes direction, thereby enhancing the system's ability to track transient processes while effectively suppressing overshoot or response lag caused by fixed differential parameters, and improving the accuracy and adaptability of error change rate calculation.

[0041] Furthermore, flipping the representation of child components includes: The weighting coefficient output subsystem is used to perform polarity coupling calculation and normalization of the transient deviation amplitude attenuation rate and transient deviation polarity reversal flag, and output the gain tendency weighting coefficient. The gear combination extraction subsystem is used to perform weight threshold segmentation in a preset differential gain gear mapping table according to the gain tendency weight coefficient, extract gear combinations that meet the weight conditions, and output a differential gain gear candidate set. The candidate set convenience subsystem is used to traverse each gear in the differential gain gear candidate set, perform amplitude matching verification with the current transient deviation, lock the gear that passes the verification as the final output, and obtain the differential gain gear index.

[0042] Preferably, this embodiment constructs a differential gain level selection mechanism based on multi-feature fusion and dual verification through progressive processing of weight coefficient generation, threshold segmentation and screening, and amplitude matching verification; this enables the gain level index to simultaneously take into account the attenuation trend of the deviation, the polarity reversal state, and the instantaneous amplitude, thereby improving the matching accuracy of differential parameters and multi-dimensional features of the transient process, and enhancing the pertinence and stability of differential adjustment.

[0043] like Figure 3 As shown, this embodiment also provides a double sliding mode control method for a ball screw driven stratified water intake valve. In this embodiment, the double sliding mode control method for the ball screw driven stratified water intake valve is applied to the ball screw driven stratified water intake equipment in the above embodiment. The double sliding mode control method for the ball screw driven stratified water intake valve specifically includes the following steps: Step S1: Obtain the motion data of the rotating mechanism of the tongue valve and analyze it to obtain the functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment; analyze the functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment to obtain the angle of the tongue valve and the target angle. Step S2: The control system receives the water intake scheduling command, generates the desired motion trajectory using a cosine wave acceleration trajectory curve based on the current angle of the valve and the target angle; calculates the transfer function; and designs a dual sliding mode three-closed-loop controller based on the transfer function for correction, and performs trajectory tracking of the valve. Step S3: Real-time acquisition of the left and right motor speeds, calculation of synchronization error; processing of the error by the synchronization controller to generate speed compensation values; and superimposing positive and negative values ​​onto the speed commands of the left and right motors respectively.

[0044] Preferably, Figure 4 As shown, the motion analysis of the transmission mechanism of the tongue flap 2 in this embodiment is based on the crank. OA Turning point O Establish a coordinate system with the origin. ABConnecting rod 10; the electric cylinder 8 and push rod 9 are equivalent to a guide rod slider mechanism. B and B These represent the two extreme positions of push rod 9. The angular displacement of the tongue valve 2 of the stratified water intake equipment can be determined. With the linear displacement of push rod 9 Functional relationship:

[0045] In the formula, For rod OA The rotation angle; For rod OB The initial angle; For rod OA The initial angle; for OB Initial length; OA Let be the crank radius, and be the rod of constant length; AB The length of link 10 is a fixed-length rod; For the slider's edge BB Linear displacement in direction. Only One variable: the linear displacement of the pusher 9. It has a definite relationship with the angular displacement of the tongue flap.

[0046] The control system receives water intake scheduling commands and, based on the current angle of the valve 2 and the target angle, generates the desired motion trajectory using a cosine wave acceleration trajectory curve, ensuring the flexibility of the opening and closing process. The system transfer function is: The cosine wave acceleration curve is as follows:

[0047] In the formula: A=a max This is the maximum acceleration;

[0048] In the formula, s For the Laplace operator, The equivalent rotational inertia of the gate. The damping coefficient for door rotation is... This is the equivalent gravity coefficient. The equivalent torque gain for the crank-tongue valve gate. The equivalent linear mass of a ball screw. Equivalent viscous damping of ball screws, The electric drive resistor of the motor, Motor torque coefficient, Back electromotive force constant, Based on the equivalent geometric gain of the connecting rod-crank mechanism and its transfer function, a dual sliding mode three-loop controller is designed to correct the system and achieve high-precision trajectory tracking of the stratified water intake valve 2. The dual sliding mode three-loop control uses PI control in the inner current loop, sliding mode control (SMC) in the middle speed loop, and adaptive robust sliding mode control (AR-SMC) in the outer position loop. The control law is designed using the dual sliding mode control method. The outer position loop sliding mode control law tracks the given position. The outer adaptive robust position controller generates a speed command and transmits it to the sliding speed controller. The sliding speed controller outputs a current command, which is transmitted to the PI current controller. This current command is then converted into a power signal and fed to the permanent magnet synchronous motor (PMSM), ultimately driving the stratified water intake valve 2. Simultaneously, the PMSM 7 feeds back a current signal from a current sensor to the PI controller to form a current loop, a speed signal to the SMC speed controller to form a speed loop, and a position signal from the stratified water intake valve 2 to the AR-SMC position controller to form a position loop. From the inside out, the loops are current, speed, and position, forming a nested three-loop feedback. Because the span of the tongue-shaped door 2 is large, asynchronous driving on both sides can cause the door to twist or even jam. This invention employs cross-coupling synchronous control. The rotational speeds of the left and right motors 7 are collected in real time, and the synchronization error is calculated. To reduce the error After processing by the synchronization controller, a speed compensation value is generated. The positive and negative values ​​are respectively superimposed on the speed commands of the left and right motors 7 (i.e., the faster side decelerates, and the slower side accelerates), thereby achieving dynamic real-time synchronous correction. When motor 7 reaches its driving position, its speed drops to 0. At this time, the control system issues a command to lock the door hinge 12 with brake caliper 3, and then motor 7 is de-energized. At this time, relying on the locking and holding capability of the brake to resist water pressure, zero-energy standby is achieved (see appendix for details). Figure 5 Appendix Figure 6 and appendix Figure 7 ).

[0049] In summary, this embodiment establishes a precise functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod, achieving angle analysis and target setting. It also employs cosine wave acceleration trajectory planning combined with a dual sliding mode three-loop controller, significantly improving motion stability, trajectory tracking accuracy, and system anti-interference capability. Simultaneously, by real-time acquisition of dual motor speeds, calculation of synchronization errors, and dynamic compensation, it effectively coordinates the operation of the left and right motors, eliminating the risks of off-center loading and jamming. Ultimately, this optimizes the stratified water intake equipment in terms of precise positioning, smooth operation, and synchronous coordination, providing a reliable technical path for similar multi-drive collaborative control systems. Based on kinematic modeling, an analytical relationship between the angular displacement of the tongue valve and the linear displacement of the push rod is established, enabling precise angle analysis and target setting. Cosine wave acceleration trajectory curves are used to plan the motion path, combined with a dual sliding mode three-loop controller for trajectory tracking control, enhancing system response speed and anti-disturbance capability. Real-time acquisition of dual motor speeds, calculation of synchronization errors, and the introduction of a dynamic compensation mechanism achieve synchronous coordinated control of the left and right motors, ensuring the stability and reliability of system operation and comprehensively improving the control accuracy and coordination performance of the stratified water intake equipment.

[0050] like Figure 8 As shown, this embodiment provides an example of an electronic device, which includes a processor and a memory coupled to the processor.

[0051] The memory stores program instructions for implementing the double sliding mode control method of the ball screw driven stratified water intake flap gate of any of the above embodiments.

[0052] The processor is used to execute program instructions stored in memory for dual sliding mode control of the ball screw driven stratified water intake flap gate.

[0053] The processor can also be called a CPU (Central Processing Unit). A processor may be an integrated circuit chip with signal processing capabilities. A processor can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor.

[0054] Furthermore, Figure 9This is a schematic diagram of the structure of a storage medium according to an embodiment of this application. The storage medium of this embodiment stores program instructions capable of implementing all the above-described methods. These program instructions can be stored in the storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0055] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0056] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units. The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

[0057] The specific embodiments of the invention have been described in detail above, but these are merely examples, and the invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications or substitutions to the invention are also within the scope of this invention. Therefore, all equivalent transformations, modifications, and improvements made without departing from the spirit and principles of this invention should be included within the scope of this invention.

Claims

1. A dual-sliding mode control system for a ball screw driven tiered water intake flap gate, characterized in that, The dual-sliding control system of the ball screw driven stratified water intake flap gate includes: The dual sliding mode three-closed-loop control module is used to process the feedback between the desired motion trajectory and the actual position of the tongue valve to obtain the motor speed command, which in turn generates the output torque of the drive motor. The ball screw drive module is used to process the output torque of the drive motor to obtain the linear displacement of the push rod, and the linear displacement of the push rod forms the angular displacement of the tongue flap. The cross-coupled synchronization control module is used to obtain the angular displacement of the tongue flap door, process the left motor speed and the right motor speed to obtain the synchronization error, and form the speed compensation value from the synchronization error.

2. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 1, characterized in that, The ball screw drive module includes a stacked beam frame installed inside the dam; a synchronization box is fixed on the top of the stacked beam frame, and its lower end is connected to the electric cylinder; the electric cylinder contains a ball nut, a ball screw, a reversing gear, and a reducer, serving as the drive mechanism for the flap door; The ball nut mates with the ball screw; the ball screw is fixed on the reversing gear; the reversing gear is connected to the reducer output shaft; the reducer input shaft is connected to the motor output shaft; the motor acts as a power input unit, inputting power to the reducer; after the reducer adjusts its speed, it outputs to the reversing gear, transmitting motion to the ball screw, which is connected to the ball nut; the ball screw converts rotational motion into linear motion; the motion is transmitted to the push rod through the ball nut; the push rod drives the connecting rod, which in turn drives the crank to rotate; when the motor stops outputting torque, the brake caliper brakes and locks the door shaft.

3. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 2, characterized in that, The battery box is installed at the bottom of the stacked beam frame; the door hinge of the flap door is keyed; the brake caliper is installed on the brake disc of the door hinge; the brake motor is fixed at the top of the stacked beam frame, and its lower end is connected to the brake caliper; the motor is installed at the lower end of the synchronizing box; the lower end of the electric cylinder is connected to the upper end of the push rod; the other end of the push rod is hinged to one end of the connecting rod; the other end of the connecting rod is hinged to one end of the crank; the crank is fixed on the door hinge; the door hinge is installed in the middle of the stacked beam frame; the brake caliper and the brake motor form a brake to brake the door hinge of the flap door.

4. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 1, characterized in that, The dual sliding mode three-closed-loop control module includes: The speed command processing submodule is used to process the expected motion trajectory and the actual position feedback of the tongue flap gate to obtain the speed command through the outer adaptive robust sliding mode position loop, and the speed command forms the input of the middle sliding mode rotation speed loop; The speed command conversion submodule is used to process the speed command and the actual rotational speed feedback of the tongue valve through the middle sliding mode rotational speed loop to obtain the current command, which forms the input of the inner PI current loop. The drive voltage acquisition submodule is used to obtain the drive voltage by processing the current command and the actual motor current feedback through the inner PI current loop, and then to generate the motor speed command from the drive voltage.

5. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 4, characterized in that, The speed command processing submodule includes: The motion deviation calculation unit is used to calculate the angular displacement deviation by feeding back the desired motion trajectory and the actual position of the tongue valve through the outer position loop. The angular displacement deviation is then used as the input to the sliding mode control law of the outer position loop. The robust adjustment processing unit is used to process the angular displacement deviation through the outer position loop sliding mode control law to obtain the initial speed adjustment amount, and the initial speed adjustment amount forms the speed reference value; the speed reference value and the actual rotation speed of the tongue valve are fed back through the adaptive robust adjustment in the outer position loop to obtain the speed adjustment amount, and the speed adjustment amount forms the speed command. The limiting unit is used to limit the speed command in the outer position loop to obtain the limited speed command, which then forms the input of the middle speed loop.

6. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 5, characterized in that, The robust adjustment processing unit includes: The deviation decomposition subunit is used to decompose the deviation between the speed reference value and the actual rotational speed feedback of the flap gate into steady-state deviation and transient deviation. It determines whether the steady-state deviation exceeds the preset static zone threshold. If it does, it performs nonlinear accumulation on the steady-state deviation to obtain the amplitude compensation coefficient. If it does not exceed the threshold, it sets the amplitude compensation coefficient to zero. The differential operation subunit is used to perform differential operations on the transient deviation to obtain the error change rate, determine the gain mapping interval based on the ratio of the transient deviation to the error change rate, and read the corresponding transient correction coefficient from the preset nonlinear gain curve. The coefficient superposition subunit is used to superimpose the amplitude compensation coefficient and the transient correction coefficient to obtain the speed adjustment amount, and output the speed adjustment amount as the speed command.

7. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 6, characterized in that, The differential operation subunit includes: The magnitude representation processing component is used to determine the magnitude of transient deviation by amplitude range and obtain the magnitude of deviation identifier. The magnitude of deviation identifier is then used to form the range parameter for differential gain selection. The error change acquisition component is used to obtain the differential time constant by selecting the differential gain from the deviation level identifier and the transient deviation, and the integration time limit of the differential operation is formed from the differential time constant; the error change rate is obtained by differential operation from the differential time constant and the transient deviation, and the error change rate is formed from the index parameter for querying the transient correction coefficient; The coefficient query component is used to obtain the transient correction coefficient from the error change rate and transient deviation amount through the transient correction coefficient query, and the correction component of the coefficient superposition sub-unit is formed from the transient correction coefficient.

8. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 7, characterized in that, The error change acquisition component includes: The flip-representation sub-component is used to obtain the transient deviation amplitude decay rate and transient deviation polarity flip-representation by analyzing the deviation change trend of the deviation magnitude identifier and the transient deviation amplitude decay rate and transient deviation polarity flip-representation. The transient deviation amplitude decay rate and transient deviation polarity flip-representation form the matching conditions for the differential gain level decision. The first constant mapping sub-component is used to obtain the differential gain level index by the differential gain level decision after the transient deviation amplitude attenuation rate and transient deviation polarity reversal identifier are determined by the differential gain level, and the address offset of the differential time constant mapping is formed by the differential gain level index. The second constant mapping sub-component is used to map the differential gain level index to the differential time constant, and the differential time constant forms the integration time limit for differential operations.

9. The double sliding mold control system for the ball screw driven tiered water intake flap gate according to claim 1, characterized in that, Flipping the child components indicates that they include: The weighting coefficient output subsystem is used to perform polarity coupling calculation and normalization of the transient deviation amplitude attenuation rate and transient deviation polarity reversal flag, and output the gain tendency weighting coefficient. The gear combination extraction subsystem is used to perform weight threshold segmentation in a preset differential gain gear mapping table according to the gain tendency weight coefficient, extract gear combinations that meet the weight conditions, and output a differential gain gear candidate set. The candidate set convenience subsystem is used to traverse each gear in the differential gain gear candidate set, perform amplitude matching verification with the current transient deviation, lock the gear that passes the verification as the final output, and obtain the differential gain gear index.

10. A double sliding mode control method for a ball screw driven stratified water intake flap gate, applied to the double sliding mode control system of the ball screw driven stratified water intake flap gate as described in any one of claims 1 to 9, characterized in that, The double sliding mode control method for the ball screw driven stratified water intake flap gate includes the following steps: The motion data of the rotating mechanism of the tongue valve is acquired and analyzed to obtain the functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment. The functional relationship between the angular displacement of the tongue valve and the linear displacement of the push rod of the stratified water intake equipment is analyzed to obtain the angle of the tongue valve and the target angle. The control system receives water intake scheduling instructions, generates the desired motion trajectory using a cosine wave acceleration trajectory curve based on the current angle of the valve and the target angle, calculates the transfer function, and designs a dual sliding mode three-closed-loop controller based on the transfer function for correction and trajectory tracking of the valve. The speeds of the left and right motors are collected in real time, and the synchronization error is calculated. After the error is processed by the synchronization controller, a speed compensation value is generated. This value is then added to the speed commands of the left and right motors, respectively, with positive and negative values.

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