Gear-driven layered water intake equipment's flap gate driving system and control method thereof

Abstract

The present application relates to the technical field of water conservancy engineering intelligent equipment, especially to a tongue flap gate driving system of gear transmission type layered water taking equipment and a control method thereof; comprising: a stoplog frame, a tongue flap gate, a reversing gear set, a gear transmission reduction box, an arc gear and a driving motor; the method comprises: fuzzy adaptive PID control and motor speed synchronous control; the fuzzy adaptive PID control is to adjust the PID parameters in real time according to the error and error rate of the actual opening angle of the tongue flap gate and the specified opening angle, output the control signal to adjust the driving motor speed, realize the opening and closing operation of the tongue flap gate; the error analysis is carried out on the output speed of the driving motors on both sides, and the control signals of the two driving motors are compensated to improve the synchronous precision of the output speed of the driving motors on both sides. The gear transmission mode has constant transmission ratio, large power transmission range and high transmission efficiency, so that the structure of the whole transmission system is more compact, and the complexity and failure rate of the system are reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology for water conservancy projects, and in particular to a valve drive system and control method for a gear-driven stratified water intake device. Background Technology

[0002] In the field of water conservancy engineering, although the traditional vertical stacked beam gate stratified water intake scheme is simple in structure and low in cost, the lifting process is cumbersome, the scheduling process is inefficient, and it cannot guarantee water intake needs at any depth. Therefore, an efficient and stable drive method is crucial for stratified water intake operations in water conservancy projects. To meet the demands of modern water conservancy projects for intelligence, automation, and safety and reliability, it is necessary to design a novel and structurally reliable gear-driven stratified water intake equipment's valve gate drive system and its control method to improve equipment operating efficiency, reduce economic costs, and enhance equipment operating safety.

[0003] Prior art 1, Chinese Patent Application No. 202510910787.3, discloses a dual-mode drive control system and method for a stratified 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. Although this intelligent and adaptive control method greatly enhances the system's stability, flexibility, and accuracy compared to traditional control systems, significantly improving water resource management efficiency and the operational effectiveness of water conservancy projects, its power transmission and speed range are relatively small.

[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 gate. This includes constructing a three-dimensional geometric model of the tongue-shaped gate 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 gate based on the three-dimensional geometric model and setting boundary conditions; numerically solving the hydraulic characteristics of the tongue-shaped gate; performing post-processing analysis of the tongue-shaped gate based on the numerical 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 this method achieves high-precision simulation of the hydraulic characteristics of the tongue-shaped gate, significantly improves computational efficiency, supports intelligent control and multi-objective optimization, and significantly enhances engineering safety and economy, it cannot achieve synchronous control of the rotational speeds of the two drive motors.

[0005] Prior art three, Chinese patent application number 202510862685.9, discloses an automatic control method and system for a tiered water intake gate, relating to the field of water conservancy technology. The method uses time series data and machine learning to augment water temperature data at different depths, then tabulates all the data to form a standard database. Matching the water intake demand with the standard database yields the required valve gates. Finally, by calculating the operation time of each valve gate, accurate water intake and temperature control are achieved. While this method, compared to manual water intake based on prior experience, not only achieves the function of anticipating future water temperature but also compensates for missing longitudinal water temperature data through calculation, and features a standardized database for accurate data maintenance, the system suffers from high complexity and a high failure rate.

[0006] Currently, existing technologies 1, 2, and 3 suffer from limitations such as limited power and speed transmission range, inability to achieve synchronous control of the rotational speeds of the drive motors on both sides, and high system complexity and failure rate. To address these issues, this invention provides a tongue-shaped gate drive system and its control method for a gear-driven stratified water intake device. Summary of the Invention

[0007] The main objective of this invention is to provide a tongue-shaped gate drive system and its control method for a gear-driven stratified water intake device, in order to solve the problems of limited power and speed range, inability to achieve synchronous control of the rotational speeds of the drive motors on both sides, and high system complexity and failure rate in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A valve-driven system for a gear-driven stratified water intake device, comprising: The mechanical gear transmission module is used to drive the motor output speed to be reversed by the reversing gear set, reduced by the gear transmission reducer, and then transmitted to drive the tongue valve shaft by the arc gear. The tongue valve shaft drives the tongue valve to complete the opening and closing action according to the opening degree required for stratified water intake, so as to control the water inflow of different elevation water layers. The adaptive control module is used to input the opening angle error and error change rate of the flap gate into the fuzzy adaptive PID controller through the angle sensor. The proportional, integral and derivative parameters of the PID controller are adjusted by the fuzzy control algorithm. The adjusted PID controller generates a control signal and outputs it to the drive motor to stabilize the flap gate at the target opening degree required for stratified water intake, thereby realizing the regulation of water volume of the specified water layer. The synchronous control processing module is used to obtain the real-time rotation speed of the left and right drive motors from the speed sensor, calculate the speed difference between the left and right drive motors, and output a compensation signal to the drive motors on both sides based on the speed difference, so that the two ends of the tongue valve shaft rotate synchronously, enabling the stratified water intake equipment to operate stably under different water pressure conditions.

[0009] As a further improvement of the present invention, the mechanical gear transmission module is provided with a gear transmission reducer; the gear transmission reducer is located inside the tongue flap door shaft; a drive motor and a speed sensor are provided below the gear transmission reducer; the drive motor is fixed to a fixed support on the lower beam of the stacked beam frame, converting electrical energy into mechanical energy output; the gear transmission reducer is installed on the side end of the stacked beam frame.

[0010] As a further improvement of the present invention, the input pinion and the input bevel gear of the gear transmission reducer are connected by a shaft; the helical bevel gear of the gear transmission reducer is connected to the sun gear through an intermediate shaft; the sun gear meshes with the planet gears, the planet gears are connected to the planet carrier, the planet carrier is connected to the transmission gear, the transmission gear meshes with the arc gear, the arc gear is connected to the tongue valve shaft, and the tongue valve shaft is connected to the tongue valve.

[0011] As a further improvement of the present invention, the input end small bevel gear meshes with the output end small bevel gear for transmission, and the output end small bevel gear is mounted on the output shaft of the drive motor.

[0012] As a further improvement of the present invention, the input end pinion is mounted on the shaft of the input end small bevel gear; the first-stage reduction gear meshes with the input end pinion for transmission, the second-stage reduction pinion is mounted on the central shaft of the first-stage reduction gear; the second-stage reduction gear meshes with the second-stage reduction pinion for transmission, the second-stage reduction gear is mounted on the fixed shaft of the third-stage reduction bevel gear; the third-stage reduction bevel gear meshes with the helical bevel gear for transmission; the helical bevel gear is mounted on the intermediate shaft of the sun gear, which reduces the speed of the input end and transmits it to the intermediate shaft.

[0013] As a further improvement of the present invention, the sun gear is mounted on the intermediate shaft and meshes with the planet gears for transmission. The planet gears mesh with the ring gear for transmission, driving the planet carrier to rotate. The planet carrier drives the transmission gear to rotate. The transmission gear is mounted on the planetary carrier and meshes with the arc-shaped gear for transmission. The arc-shaped gear is mounted on the flap shaft of the flap door. The flap door and the flap shaft are connected by a flat key, thereby driving the flap door to open and close.

[0014] As a further improvement of the present invention, the stacked beam frame is connected to the tongue-shaped door through the tongue-shaped door shaft in the middle; the bottom of the stacked beam frame is provided with a lower beam; the top of the stacked beam frame is provided with an upper beam; the upper beam is provided with a positioning pin; lifting lugs are provided on both sides of the upper beam; the battery frame is located above the stacked beam frame.

[0015] As a further improvement of the present invention, the synchronization control processing module includes: The speed difference decomposition submodule is used by the synchronous control processing module to decompose the real-time speed difference between the left and right drive motors into static deviation components and dynamic fluctuation components. The static deviation component is used to characterize the continuous torque difference caused by the asymmetrical water pressure distribution at both ends of the flap gate shaft, and the dynamic fluctuation component is used to characterize the instantaneous speed disturbance caused by the water flow impact during the opening and closing of the flap gate. The synchronous control processing module maps the static deviation component to the torque compensation reference value at both ends of the flap gate shaft, and maps the dynamic fluctuation component to the angular acceleration compensation reference value at both ends of the flap gate shaft. The compensation amount generation submodule is used to match the torque compensation reference value with the water pressure load curve corresponding to the current opening angle of the flap gate to obtain the static torque compensation amount at both ends of the flap gate shaft; match the angular acceleration compensation reference value with the flap gate rotational inertia parameter to obtain the dynamic inertia compensation amount at both ends of the flap gate shaft; and superimpose the static torque compensation amount and the dynamic inertia compensation amount to form the comprehensive compensation amount on both sides of the flap gate shaft. The motor drive allocation submodule is used to decompose the comprehensive compensation amount into the speed correction values ​​of the left drive motor and the right drive motor; the speed correction value of the left drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the left drive motor; the speed correction value of the right drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the right drive motor; the left and right drive motors output speeds according to their respective final drive parameters, so that the two ends of the flap gate shaft maintain synchronous rotation under the water pressure conditions corresponding to the water layers at each elevation of the stratified water intake.

[0016] As a further improvement of the present invention, the compensation amount generation submodule includes: The load curve feature extraction unit is used to extract the left drive side reference torque value and the right drive side reference torque value corresponding to the current opening angle of the flap valve from the preset water pressure load curve; and output the difference between the left drive side reference torque value and the right drive side reference torque value as the reference torque offset value. The torque compensation direction determination unit is used to compare the polarity of the reference torque offset value and the static deviation component. If the polarities are the same, it is determined that the current static deviation is caused by the inherent asymmetry of the water pressure load. If the polarities are opposite, it is determined that the current static deviation is caused by the resistance difference of the transmission mechanism at both ends of the flap door shaft. The application direction of static torque compensation is output according to the determination result. The static torque value generation unit is used to select the reference torque value corresponding to the compensation direction from the reference torque value on the left drive side and the reference torque value on the right drive side as the compensation base, based on the static torque compensation direction; and multiply the compensation base by the water pressure load gradient value corresponding to the current opening angle of the flap door to obtain the static torque compensation amount at both ends of the flap door shaft.

[0017] To achieve the above objectives, the present invention also provides the following technical solution: A method for controlling the flap gate drive of a gear-driven stratified water intake device, applied to the flap gate drive of the gear-driven stratified water intake device, comprising the following steps: During the operation of the drive motor, the angle sensor monitors the opening angle of the flap door in real time and feeds back the opening angle error and error change rate of the flap door to the fuzzy adaptive PID controller; according to the fuzzy control algorithm, the proportional parameters, integral parameters and derivative parameters of the PID controller are adjusted. The controller generates a control signal based on the adjustment results; the controller outputs the control signal to the drive motor, and the drive motor completes the opening and closing of the flap door according to the control signal; the angle sensor monitors the opening angle data of the flap door in real time and feeds the opening angle back to the fuzzy adaptive PID to control the opening angle of the flap door in real time. The controller generates initial control data based on the specified opening angle of the flap door and drives the motor to run; the speed sensor acquires the real-time rotational speed of the left and right drive motors during the opening of the flap door, and calculates the speed difference between the left and right drive motors based on the real-time rotational speed; the speed difference signal is input to the synchronization control processing module, and the synchronization control processing module outputs a compensation signal.

[0018] 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 valve drive control method for the gear-driven stratified water intake equipment as described above.

[0019] 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 valve-driven control method for a gear-driven stratified water intake device as described above.

[0020] This invention employs a mechanical gear transmission method. Gear transmission offers a constant transmission ratio, a wide range of power and speed transmission, and high transmission efficiency, easily handling various working scenarios and ensuring the normal operation and performance stability of the equipment. A fuzzy adaptive PID control algorithm is used to control the opening angle of the flap door during opening and closing. Simultaneously, a synchronous control processing module synchronizes the rotational speeds of the drive motors on both sides. The gear transmission method utilizes a multi-stage gear transmission of spur gears, bevel gears, and planetary gears. This hybrid gear transmission leverages the self-locking property of gears, eliminating the need for a separate brake, making the entire transmission system more compact and reducing system complexity and failure rate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the tongue valve arrangement of the gear-driven stratified water intake equipment of the present invention. Figure 2 This is a three-dimensional schematic diagram of the reversing gear set structure of the present invention; Figure 3 This is a three-dimensional schematic diagram of the gear transmission part inside the gearbox of the present invention; Figure 4 This is a three-dimensional schematic diagram of the planetary gear reducer structure inside the gearbox of the present invention; Figure 5 This is a three-dimensional schematic diagram of the arc-shaped gear structure of the present invention; Figure 6 This is a schematic diagram of the working principle of the gear transmission structure of the present invention; Figure 7This is a flowchart of the steps of the tongue valve drive control method of the gear-driven stratified water intake equipment of the present invention; Figure 8 This is a block diagram of the fuzzy adaptive PID system control for the gear transmission structure of this invention; Figure 9 This is a control block diagram of the synchronous control system for the drive motor of the present invention; Figure 10 This is a schematic diagram of the structure of an embodiment of the electronic device of the present invention; Figure 11 This is a schematic diagram of the structure of one embodiment of the storage medium of the present invention. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] This embodiment provides an example of a tongue-shaped gate drive system for a gear-driven stratified water intake equipment. In this embodiment, the tongue-shaped gate drive system of the gear-driven stratified water intake equipment includes: a stacked beam frame 1, a brake 2, a tongue-shaped gate 3, a lower beam of the stacked beam frame 4, a drive motor 5, a gear transmission reduction gearbox 6, a tongue-shaped gate shaft 7, a battery frame 8, a lifting lug 9, a positioning pin 10, an upper beam of the stacked beam frame 11, an output shaft 12, an output end small bevel gear 13, an input end small bevel gear 14, a shaft 15, an input end small gear 16, a first-stage reduction large gear 17, a central shaft 18, a second-stage reduction small gear 19, a second-stage reduction large gear 20, a third-stage reduction bevel gear 21, a fixed shaft 22, a helical bevel gear 23, an intermediate shaft 24, a sun gear 25, planetary gears 26, a planet carrier 27, a gear ring 28, a transmission gear 29, an arc gear 30, a flat key 31, a speed sensor 32, and an angle sensor 33.

[0026] like Figure 1 As shown, the brake 2 is located above the stacked beam frame 1; the stacked beam frame 1 is connected to the tongue-shaped door 3 through the tongue-shaped door shaft 7 in the middle; the bottom of the stacked beam frame 1 is provided with a lower beam 4; the top of the stacked beam frame 1 is provided with an upper beam 11; the upper beam 11 is provided with a positioning pin 10; the upper beam 11 is provided with lifting lugs 9 on both sides; the battery box 8 is located in the upper part of the stacked beam frame 1; the gear transmission reduction box 6 is located inside the tongue-shaped door shaft 7; the gear transmission reduction box 6 is provided with a drive motor 5 and a speed sensor 32 below the gear transmission reduction box 6; the drive motor 5 is fixed to the fixed support on the lower beam 4 of the stacked beam frame, converting electrical energy into mechanical energy output; the gear transmission reduction box 6 is installed on the side end of the stacked beam frame 1. like Figure 2 As shown, the input small bevel gear 14 meshes with the output small bevel gear 13 for transmission, and the output small bevel gear 13 is mounted on the output shaft 12 of the drive motor 5; like Figure 3 As shown, the input pinion 16 is mounted on the shaft 15 of the input pinion 14; the first-stage reduction gear 17 meshes with the input pinion 16 for transmission; the second-stage reduction pinion 19 is mounted on the central shaft 18 of the first-stage reduction gear 17; the second-stage reduction gear 20 meshes with the second-stage reduction pinion 19 for transmission; the second-stage reduction gear 20 is mounted on the fixed shaft 22 of the third-stage reduction bevel gear 21; the third-stage reduction bevel gear 21 meshes with the helical bevel gear 23 for transmission; the helical bevel gear 23 is mounted on the intermediate shaft 24 of the sun gear 25, reducing the speed at the input end and transmitting it to the intermediate shaft 24; like Figure 4 As shown, the sun gear 25 is mounted on the intermediate shaft 24 and meshes with the planet gear 26 for transmission. The planet gear 26 meshes with the ring gear 28 for transmission, driving the planet carrier 27 to rotate. The planet carrier 27 drives the transmission gear 29 to rotate. like Figure 5As shown, the transmission gear 29 is mounted on the planetary carrier 27 and meshes with the arc gear 30 for transmission. The arc gear 30 is mounted on the tongue valve shaft 7 of the tongue valve 3. The tongue valve 3 and the tongue valve shaft 7 are connected by a flat key 31 to achieve the purpose of driving the tongue valve 3 to open and close. like Figure 6 As shown, the input pinion 16 of the gear transmission reducer 6 is connected to the input bevel gear 14 via shaft 15; the helical bevel gear 23 of the gear transmission reducer 6 is connected to the sun gear 25 via intermediate shaft 24; the sun gear 25 meshes with the planet gear 26, the planet gear 26 is connected to the planet carrier 27, the planet carrier 27 is connected to the transmission gear 29, the transmission gear 29 meshes with the arc gear 30, the arc gear 30 is connected to the tongue valve shaft 7, and the tongue valve shaft 7 is connected to the tongue valve 3.

[0027] Preferably, the gear transmission reducer 6 is installed on both sides of the stacked beam frame 1. The drive motor 5 inputs its output speed to the output end small bevel gear 13 through the output shaft 12 of the drive motor 5; the output end small bevel gear 13 inputs the output speed of the drive motor 5 to the input end small bevel gear 14. The input end small gear 16 rotates coaxially with the input end small bevel gear 14. The input end small gear 16 drives the first-stage reduction gear 17 to rotate. The second-stage reduction small gear 19 rotates coaxially with the first-stage reduction gear 17. The second-stage reduction small gear 19 drives the second-stage reduction gear 20 to rotate. The third-stage reduction bevel gear 21 and... The second-stage reduction gear 20 rotates coaxially, and the third-stage reduction bevel gear 21 drives the helical bevel gear 23 to rotate, transmitting power to the intermediate shaft 24. The sun gear 25 is connected to the helical bevel gear 23 through the intermediate shaft 24 and meshes with the planet gear 26, driving the planet gear 26. The planet gear 26 meshes with the gear ring 28 for transmission, and at the same time drives the planet carrier 27 to rotate. The planet carrier 27 drives the transmission gear 29 to rotate. The transmission gear 29 meshes with the arc gear 30 for transmission, and the arc gear 30 drives the tongue valve shaft 7 to rotate. The tongue valve shaft 7 is connected to the tongue valve 3 through the flat key 31 to open and close the tongue valve 3. When the drive motor 5 starts rotating, it drives the output small bevel gear 13 to rotate. The output small bevel gear 13 drives the input small bevel gear 14 to rotate. The input small bevel gear 14 drives the input shaft 15, which in turn drives the input small gear 16. The input small gear 16 drives the first-stage reduction gear 17, which in turn drives the intermediate shaft 18. The intermediate shaft 18 drives the second-stage reduction small gear 19, which in turn drives the second-stage reduction large gear 20. The second-stage reduction large gear 20 drives the fixed shaft 22, which in turn drives... 22 drives the three-stage reduction bevel gear 21, which in turn drives the helical bevel gear 23. The helical bevel gear 23 drives the intermediate shaft 24, which in turn drives the sun gear 25 to rotate. The sun gear 25 drives the planet gear 26. The gear ring 28 meshes with the planet gear 26 for transmission. The planet gear 26 drives the planet carrier 27 to rotate. The planet carrier 27 drives the transmission gear 29 to rotate. The transmission gear 29 meshes with the arc gear 30 for transmission. The arc gear 30 drives the tongue valve shaft 7 to rotate. The tongue valve shaft 7 is connected to the tongue valve 3 via the flat key 31, completing the opening and closing operation of the tongue valve 3.

[0028] Preferably, this embodiment achieves structural integration and space optimization. The drive motor 5 is fixed on the fixed support of the lower beam 4 of the stacked beam frame, the gear transmission reduction box 6 is installed on the side of the stacked beam frame 1, the battery frame 8 is located inside the upper part of the stacked beam frame 1, and the brake 2 is located above the stacked beam frame 1. This allows the power, transmission, energy storage and braking modules to form a compact integrated arrangement within the space defined by the stacked beam frame 1, the tongue valve 3, the upper beam 11 of the stacked beam frame, and the lower beam 4 of the stacked beam frame, avoiding mutual interference between components and providing a stable power source for the opening and closing of the tongue valve 3. The multi-stage reduction and high torque output are achieved through a multi-stage reduction mechanism. The output shaft 12 of the drive motor 5 drives the output small bevel gear 13, which meshes with the input small bevel gear 14. The input small gear 16 rotates coaxially with the input small bevel gear 14 via shaft 15 and meshes with the first-stage reduction gear 17. The second-stage reduction small gear 19 rotates coaxially with the first-stage reduction gear 17 via central shaft 18 and meshes with the second-stage reduction gear 20. The third-stage reduction bevel gear 21 rotates coaxially with the second-stage reduction gear 20 via fixed shaft 22 and meshes with the helical bevel gear 23. This four-stage bevel gear-parallel shaft composite reduction structure gradually converts the high speed and low torque output of the drive motor 5 into low speed and high torque, ensuring that the driving force ultimately transmitted to the flap door shaft 7 is sufficient to overcome water pressure and frictional resistance, thus enabling reliable opening and closing of the flap door 3. For precise transmission and smooth motion, the helical bevel gear 23 is connected to the sun gear 25 via the intermediate shaft 24. The sun gear 25 meshes with the planet gears 26, which in turn mesh with the ring gear 28, driving the planet carrier 27 to rotate. The planet carrier 27 then drives the transmission gear 29 to rotate. This planetary gear system is connected in series with the front-end multi-stage reduction structure to further attenuate speed fluctuations and impact loads, making the rotational motion transmitted to the transmission gear 29 more uniform. This ensures that the angular velocity change of the flap door 3 is gradual during opening and closing, preventing door vibration or seal failure. For precise opening and closing angle control, the transmission gear 29 meshes with the arc gear 30, which is mounted on the flap door shaft 7 of the flap door 3. The flap door 3 and the flap door shaft 7 are connected by a flat key 31. The tooth profile of the arc gear 30 is matched with the rotation angle range of the tongue valve 3, so that the transmission stroke and the opening and closing angle form a certain transmission ratio. With the help of the speed sensor 32 and the angle sensor 33, the speed of the drive motor 5 and the angular displacement of the tongue valve shaft 7 can be monitored in real time, providing feedback to the control system and realizing the precise adjustment of the opening angle of the tongue valve 3 and the accurate positioning of the closing position.For system safety and operational reliability, the brake 2 is located above the stacked beam frame 1. When the flap gate 3 completes its opening and closing or needs to maintain a certain opening degree, it can lock the drive motor 5 or the output shaft 12 to prevent accidental action caused by water flow impact or gravity. The positioning pin 10 is set on the upper beam 11 of the stacked beam frame, and the lifting lug 9 is set on both sides of the upper beam 11 of the stacked beam frame, so that the stacked beam frame 1 is accurately aligned and fixed during installation and hoisting, ensuring the overall stability of underwater working conditions. The gear transmission reducer 6 has a multi-stage closed transmission structure inside, which reduces the influence of the external environment on gear meshing and improves durability under harsh conditions such as muddy water flow. The modularity and ease of maintenance of the power transmission path begin from the output shaft 12 of the drive motor 5, passing through the output small bevel gear 13, the input small bevel gear 14, shaft 15, the input small gear 16, the first-stage reduction gear 17, the central shaft 18, the second-stage reduction small gear 19, the second-stage reduction large gear 20, the fixed shaft 22, the third-stage reduction bevel gear 21, the helical bevel gear 23, the intermediate shaft 24, the sun gear 25, the planetary gears 26, the planet carrier 27, the transmission gear 29, the arc gear 30, and finally to the flap door shaft 7 and the flap door 3, forming a segmented modular mechanical transmission chain. Each shaft and gear is functionally divided into an independent reduction stage or transmission unit, facilitating partial disassembly, inspection, and replacement, and reducing maintenance difficulty. Energy adaptability and on-site operation capability: The battery frame 8 is located above the stacked beam frame 1, which can provide an independent power supply for the drive motor 5, ensuring power input in water intake environments where there is no external power supply or power lines are difficult to lay; This feature, combined with the system's low speed and high efficiency transmission characteristics, enables the stratified water intake equipment to have self-sustaining operation capability in field or temporary water intake scenarios.

[0029] Furthermore, the tongue-valve drive system of the gear-driven stratified water intake equipment of the present invention includes: The mechanical gear transmission module is used to drive the motor output speed to be reversed by the reversing gear set, reduced by the gear transmission reducer, and then transmitted to drive the tongue valve shaft by the arc gear. The tongue valve shaft drives the tongue valve to complete the opening and closing action according to the opening degree required for stratified water intake, so as to control the water inflow of different elevation water layers. The adaptive control module is used to input the opening angle error and error change rate of the flap gate into the fuzzy adaptive PID controller through the angle sensor. The proportional, integral and derivative parameters of the PID controller are adjusted by the fuzzy control algorithm. The adjusted PID controller generates a control signal and outputs it to the drive motor to stabilize the flap gate at the target opening degree required for stratified water intake, thereby realizing the regulation of water volume of the specified water layer. The synchronous control processing module is used to obtain the real-time rotation speed of the left and right drive motors from the speed sensor, calculate the speed difference between the left and right drive motors, and output a compensation signal to the drive motors on both sides based on the speed difference, so that the two ends of the tongue valve shaft rotate synchronously, enabling the stratified water intake equipment to operate stably under different water pressure conditions.

[0030] Furthermore, the synchronization control processing module specifically includes: The speed difference decomposition submodule is used by the synchronous control processing module to decompose the real-time speed difference between the left and right drive motors into static deviation components and dynamic fluctuation components. The static deviation component is used to characterize the continuous torque difference caused by the asymmetrical water pressure distribution at both ends of the flap gate shaft, and the dynamic fluctuation component is used to characterize the instantaneous speed disturbance caused by the water flow impact during the opening and closing of the flap gate. The synchronous control processing module maps the static deviation component to the torque compensation reference value at both ends of the flap gate shaft, and maps the dynamic fluctuation component to the angular acceleration compensation reference value at both ends of the flap gate shaft. The compensation amount generation submodule is used to match the torque compensation reference value with the water pressure load curve corresponding to the current opening angle of the flap gate to obtain the static torque compensation amount at both ends of the flap gate shaft; match the angular acceleration compensation reference value with the flap gate rotational inertia parameter to obtain the dynamic inertia compensation amount at both ends of the flap gate shaft; and superimpose the static torque compensation amount and the dynamic inertia compensation amount to form the comprehensive compensation amount on both sides of the flap gate shaft. The compensation amount generation submodule takes the angular acceleration compensation reference value output by the speed difference decomposition submodule as the dynamic disturbance input, and simultaneously obtains the body rotational inertia parameters of the flap gate and the additional rotational inertia parameters generated by the flap gate due to the attached water at the current opening angle. The body rotational inertia parameters and the additional rotational inertia parameters are superimposed to form the comprehensive rotational inertia value of the flap gate under the current working condition. Then, the angular acceleration compensation reference value is multiplied by the comprehensive rotational inertia value to obtain the total dynamic torque compensation. Subsequently, according to the inertia distribution ratio of the transmission mechanisms at both ends of the flap gate shaft, the total dynamic torque compensation is decomposed into the dynamic inertia compensation amount at the left end of the flap gate shaft and the dynamic inertia compensation amount at the right end of the flap gate shaft, and output to the motor drive distribution submodule respectively. The motor drive allocation submodule is used to decompose the comprehensive compensation amount into the speed correction values ​​of the left drive motor and the right drive motor; the speed correction value of the left drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the left drive motor; the speed correction value of the right drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the right drive motor; the left and right drive motors output speeds according to their respective final drive parameters, so that the two ends of the tongue valve shaft maintain synchronous rotation under the water pressure conditions corresponding to the water layers at each elevation of the stratified water intake.

[0031] Preferably, the synchronization control processing module in this embodiment integrates three sub-modules: speed difference decomposition, compensation amount generation, and motor drive allocation. This achieves high-precision synchronous control of the drive motors at both ends of the flap door shaft under complex water pressure conditions. The speed difference decomposition sub-module distinguishes the real-time speed difference into static deviation components and dynamic fluctuation components, corresponding to the continuous torque difference caused by asymmetrical water pressure distribution and the instantaneous speed disturbance caused by water flow impact changes, respectively, thereby accurately identifying the sources of speed deviations of different natures. The compensation amount generation sub-module generates a static torque compensation amount based on the static deviation component and the water pressure load curve, and generates a dynamic inertia compensation amount based on the dynamic fluctuation component and the moment of inertia parameter. The two are superimposed to form a comprehensive compensation amount, achieving targeted compensation for water pressure load and inertial disturbance. The motor drive allocation sub-module decomposes the comprehensive compensation amount into speed correction values ​​for the left and right motors, and superimposes them with the fuzzy adaptive PID control signal to generate the final drive parameters, enabling the left and right motors to output adaptive speeds according to their respective operating conditions. This ensures that both ends of the flap gate shaft maintain synchronous rotation under asymmetrical water pressure conditions corresponding to different water levels in the stratified water intake, effectively suppressing shaft torsional deformation and mechanism wear caused by uneven water pressure distribution or water flow impact fluctuations, and improving the motion stability, control accuracy and system reliability of the flap gate opening and closing process.

[0032] Furthermore, the compensation amount generation submodule includes: The load curve feature extraction unit is used to extract the left drive side reference torque value and the right drive side reference torque value corresponding to the current opening angle of the flap valve from the preset water pressure load curve; and output the difference between the left drive side reference torque value and the right drive side reference torque value as the reference torque offset value. The torque compensation direction determination unit is used to compare the polarity of the reference torque offset value and the static deviation component. If the polarities are the same, it is determined that the current static deviation is caused by the inherent asymmetry of the water pressure load. If the polarities are opposite, it is determined that the current static deviation is caused by the resistance difference of the transmission mechanism at both ends of the flap door shaft. The application direction of static torque compensation is output according to the determination result. The static torque value generation unit is used to select the reference torque value corresponding to the compensation direction from the reference torque value on the left drive side and the reference torque value on the right drive side as the compensation base, based on the static torque compensation direction; and multiply the compensation base by the water pressure load gradient value corresponding to the current opening angle of the flap door to obtain the static torque compensation amount at both ends of the flap door shaft.

[0033] Preferably, the compensation amount generation submodule in this embodiment integrates three units: load curve feature extraction, torque compensation direction determination, and static torque value generation. This enables precise generation and directional application of static torque compensation at both ends of the flap door shaft. The load curve feature extraction unit extracts the reference torque values ​​on the left and right drive sides based on the current opening angle and calculates the reference torque offset value, providing a data basis for compensation based on the water pressure load distribution. The torque compensation direction determination unit compares the polarity of the reference torque offset value with the static deviation component to distinguish whether the static deviation originates from inherent asymmetry in the water pressure load or differences in transmission mechanism resistance, thereby determining the direction of compensation application. The static torque value generation unit selects the corresponding reference torque value as the compensation base based on the compensation direction and calculates the static torque compensation amount by combining it with the water pressure load gradient value at the current opening angle. The combination of these technical features enables the system to accurately identify the physical causes of static deviation and dynamically generate a static torque compensation amount that matches the current operating condition based on the water pressure load curve. This effectively offsets the continuous torque deviation caused by asymmetry in water pressure distribution or differences in transmission resistance, improving the torque balance and synchronization stability of the flap door shaft during steady-state operation.

[0034] Furthermore, the load curve feature extraction unit includes: The opening angle segmentation positioning subunit is used to divide the entire stroke angle of the flap gate into several load characteristic segments according to the water pressure jump points corresponding to different water layers during the opening and closing stroke of the flap gate. The boundary points of the load characteristic segments correspond to the interfaces of the water layers at different elevations in the stratified water intake. The current opening angle of the flap gate is compared with the boundary points of each load characteristic segment to determine the load characteristic segment to which the current opening angle belongs, and the current load characteristic segment identifier is output. The water pressure load characteristic decoupling subunit is used to retrieve the left drive side water pressure distribution characteristic coefficient and the right drive side water pressure distribution characteristic coefficient corresponding to the load characteristic segment from the preset water pressure load curve according to the current load characteristic segment identifier. The water pressure distribution characteristic coefficient includes the slope value of water pressure changing with angle within the load characteristic segment and the water pressure reference value of the starting angle of the load characteristic segment; the current opening angle is substituted into the left drive side water pressure distribution characteristic coefficient to obtain the current water pressure load value of the left drive side, and the current opening angle is substituted into the right drive side water pressure distribution characteristic coefficient to obtain the current water pressure load value of the right drive side, and the current water pressure load values ​​of the left drive side and the right drive side are output; The water pressure load characteristic decoupling subunit retrieves the water pressure distribution characteristic coefficient of the left drive side corresponding to the current load characteristic segment based on the current load characteristic segment identifier. This coefficient is composed of the water pressure reference value at the starting angle of the load characteristic segment and the slope value of the water pressure changing with the angle within the load characteristic segment. The difference between the current opening angle of the flap valve and the starting angle of the load characteristic segment is multiplied by the slope value, and then the product is added to the water pressure reference value at the starting angle of the load characteristic segment to obtain the current water pressure load value of the left drive side. The current water pressure load value of the right drive side is calculated independently based on the starting angle water pressure reference value and the slope value in the water pressure distribution characteristic coefficient of the right drive side using the same method. The current water pressure load values ​​of the left drive side and the right drive side are output to the reference torque synthesis subunit respectively. The reference torque synthesis subunit is used to couple the current water pressure load value on the left drive side with the transmission ratio coefficient at the left end of the flap gate shaft to obtain the reference torque value on the left drive side; the reference torque synthesis module couples the current water pressure load value on the right drive side with the transmission ratio coefficient at the right end of the flap gate shaft to obtain the reference torque value on the right drive side; and outputs the difference between the reference torque value on the left drive side and the reference torque value on the right drive side as the reference torque offset value.

[0035] The reference torque synthesis subunit multiplies the current water pressure load value on the left drive side with the transmission ratio coefficient at the left end of the flap gate shaft to obtain the reference torque value on the left drive side, and multiplies the current water pressure load value on the right drive side with the transmission ratio coefficient at the right end of the flap gate shaft to obtain the reference torque value on the right drive side.

[0036] Preferably, the load curve feature extraction unit in this embodiment integrates three sub-units: opening angle segmented positioning, water pressure load feature decoupling, and reference torque synthesis, to achieve accurate torque benchmark extraction based on stratified water intake conditions. The opening angle segmented positioning sub-unit divides the entire stroke of the flap gate into load feature segments corresponding to the elevation water layer based on the water pressure jump point, ensuring strict matching between angle positioning and hydrological conditions. The water pressure load feature decoupling sub-unit extracts the water pressure distribution feature coefficients of the left and right drive sides based on the current load feature segment identifier and calculates the accurate water pressure load value at the current opening angle. The reference torque synthesis sub-unit couples the water pressure load value with the transmission ratio coefficient to generate reference torque values ​​for the left and right drive sides and calculates their difference as the reference torque offset value. This enables the system to adapt to discontinuous water pressure changes at different elevation water layers during stratified water intake, accurately reflecting the inherent torque offset caused by differences in water pressure distribution at both ends of the flap gate shaft. It provides reference data closely related to real-time hydrological conditions and mechanical transmission parameters for subsequent static torque compensation, enhancing the adaptability of synchronous control to complex water pressure environments.

[0037] Furthermore, the angle segmentation positioning subunit is activated, including: The water layer interface mapping component is used to obtain the interface elevation data of each elevation water layer of the stratified water intake equipment, and to spatially map the elevation data of each interface with the full stroke angle range of the tongue valve to obtain the opening angle value of the tongue valve corresponding to each interface, thus forming a water layer boundary angle sequence. Angle interval segmentation component is used to divide the entire stroke angle range of the tongue valve into several continuous angle intervals, with each angle interval corresponding to a water layer at a specific elevation. It generates a corresponding load feature segment number for each angle interval and outputs the correspondence between the load feature segment number and the angle interval boundary. The load feature segment binding component is used to bind each load feature segment number to the corresponding angle interval boundary, and use the load feature segment number as the calling identifier of the current opening angle in the subsequent water pressure load feature decoupling process; it receives the current opening angle of the tongue valve, compares the current opening angle with the angle interval boundary of each load feature segment, and outputs the load feature segment number to which the current opening angle belongs.

[0038] Preferably, the segmented positioning subunit for opening angle in this embodiment achieves a precise correlation mapping between the opening angle of the flap gate and the stratified water layers through the synergistic action of three components: water layer interface mapping, angle interval segmentation, and load feature segment binding. The water layer interface mapping component converts the interface elevation of each water layer into the corresponding flap gate opening angle, forming a sequence of water layer boundary angles to ensure that the angle division strictly corresponds to the hydrological structure. The angle interval segmentation component uses this sequence as the dividing point to divide the entire stroke angle into continuous intervals, each interval corresponding to a water layer, and assigns a unique load feature segment number. The load feature segment binding component binds the number to the interval boundary, quickly determining the load feature segment number to which the current angle belongs by comparing the current opening angle with the interval boundary. This enables the system to dynamically segment the flap gate stroke according to the hydrological stratification structure, discretizing continuous angle changes into feature segments matching hydrological conditions, providing accurate segmentation identifiers for subsequent decoupling of water pressure load features, thereby ensuring the consistency between water pressure load calculation and actual water layer distribution, and improving the reliability and accuracy of torque benchmark extraction under stratified water intake conditions.

[0039] Furthermore, the water layer interface mapping component includes: The elevation-angle benchmark construction sub-component is used to acquire the interface elevation data of each elevation water layer, as well as the elevation data of the bottom edge of the flap valve when it is in the fully closed position and the elevation data of the bottom edge of the flap valve when it is in the fully open position. The elevation data of each interface, the bottom edge elevation data of the fully closed position, and the bottom edge elevation data of the fully open position are placed in the same elevation coordinate system. The bottom edge elevation of the fully closed position is used as the reference benchmark for the zero point of the angle, and the bottom edge elevation of the fully open position is used as the reference benchmark for the end point of the angle, thus constructing a linear benchmark relationship between elevation and angle. The non-uniform mapping correction sub-component is used to obtain the water pressure value corresponding to each elevation water layer of the stratified water intake equipment, determine the elastic deformation coefficient of the tongue valve caused by water pressure in different opening intervals based on the water pressure value of each water layer, and superimpose the elastic deformation coefficient onto the corresponding elevation interval in the linear reference relationship to form a non-uniform mapping relationship between elevation and angle. The boundary angle output sub-component is used to sequentially substitute the elevation data of each boundary into the non-uniform mapping relationship to obtain the opening angle value of the flap gate corresponding to each boundary; and arranges the opening angle values ​​of the flap gate corresponding to each boundary into a water layer boundary angle sequence output according to the order of elevation from low to high or from high to low.

[0040] Preferably, the water layer interface mapping component in this embodiment integrates three sub-components: elevation-angle benchmark construction, non-uniform mapping correction, and boundary angle output, to achieve a precise non-linear mapping from hydrological elevation to the opening angle of the flap. The elevation-angle benchmark construction sub-component uses the bottom edge elevation of the flap at both fully closed and fully open positions as the reference benchmark for the zero and end points of the angle, establishing an initial linear correspondence between elevation and angle. The non-uniform mapping correction sub-component introduces the elastic deformation coefficient corresponding to the water pressure value of each elevation layer, performing piecewise correction on the linear relationship to form a non-uniform elevation-angle mapping relationship that reflects the actual deformation of the flap under water pressure. The boundary angle output sub-component substitutes the elevation of each interface into this non-uniform mapping relationship, calculates the corresponding opening angle value, and outputs an ordered sequence of water layer boundary angles. This enables the system to overcome the errors caused by simple linear mapping under stratified water pressure changes. It incorporates the elastic deformation of the tongue valve caused by water pressure into the angle mapping process, ensuring that the generated water layer boundary angle sequence not only reflects the geometric elevation relationship but also truly reflects the actual valve position under water pressure load. This provides a boundary benchmark with complete physical meaning and matching working conditions for subsequent angle segmentation, improving the engineering accuracy of load characteristic segment division.

[0041] like Figure 7 As shown, this embodiment also provides an embodiment of a valve gate drive control method for a gear-driven stratified water intake device. In this embodiment, the valve gate drive control method for a gear-driven stratified water intake device is applied to the valve gate drive system of the gear-driven stratified water intake device as described in the above embodiment. The valve gate drive control method for the gear-driven stratified water intake device specifically includes the following steps: Step S1: During the operation of the drive motor, the angle sensor monitors the opening angle of the flap door in real time and feeds back the opening angle error and error change rate of the flap door to the fuzzy adaptive PID; according to the fuzzy control algorithm, the proportional parameters, integral parameters and derivative parameters of the PID controller are adjusted. Step S2: Generate a control signal based on the adjustment result; the controller outputs the control signal to the drive motor, and the drive motor completes the opening and closing of the flap door according to the control signal; the angle sensor monitors the opening angle data of the flap door in real time, and feeds the opening angle back to the fuzzy adaptive PID to control the opening angle of the flap door in real time. Step S3: The controller generates initial control data according to the specified opening angle of the flap door and drives the motor to run; the speed sensor acquires the real-time rotational speed of the left and right drive motors during the opening of the flap door, and calculates the speed difference between the left and right drive motors based on the real-time rotational speed; the speed difference signal is input to the synchronization control processing module, and the synchronization control processing module outputs a compensation signal.

[0042] Preferably, in this embodiment, during the operation of the drive motor 5, the angle sensor 33 monitors the opening angle of the tongue valve 3 in real time, and calculates the opening angle error e and the error change rate e of the tongue valve 3. c Feedback is given to the fuzzy adaptive PID controller, and the proportional parameter K of the PID controller is adjusted according to the fuzzy control algorithm. p Integral parameter K i Differential parameter K d Adjustment is performed to generate a control signal. The controller outputs a control signal to the drive motor 5, causing the output shaft 12 of the drive motor 5 to rotate, which in turn drives the output small bevel gear 13 to rotate. The output small bevel gear 13 drives the input small bevel gear 14, which in turn drives the input shaft 15. The input shaft 15 then drives the input small gear 16, which in turn drives the first-stage reduction gear 17. The first-stage reduction gear 17 drives the intermediate shaft 18, which in turn drives the second-stage reduction small gear 19. The second-stage reduction small gear 19 then drives the second-stage reduction large gear 20, which in turn drives the fixed shaft 22. 22 drives a three-stage reduction bevel gear 21, which in turn drives a helical bevel gear 23. The helical bevel gear 23 drives an intermediate shaft 24, which in turn drives a sun gear 25. The sun gear 25 drives planet gears 26. A gear ring 28 meshes with planet gears 26, which in turn drives a planet carrier 27. The planet carrier 27 drives a transmission gear 29, which in turn meshes with an arc gear 30. The arc gear 30 drives a flap door shaft 7, which is connected to the flap door 3 via a key 31, thus completing the opening and closing operation of the flap door 3. An angle sensor 33 monitors the opening angle of the flap door 3 in real time, recording the opening angle error e and the error change rate e. c Feedback is given to the fuzzy adaptive PID controller, and based on the fuzzy control algorithm, the proportional parameter K of the controller is... p Integral parameter K i Differential parameter K dThe controller adjusts in real time, generates control signals, and controls the opening angle of the flap gate 3. Simultaneously, the controller generates initial control data based on the specified opening angle of the flap gate 3, driving the motor 5. The speed sensor 32 acquires the real-time rotational speeds of the left and right drive motors 5 during the opening process of the flap gate 3, and calculates the speed difference between the left and right drive motors 5 based on the real-time rotational speeds. The speed difference signal is input to the synchronization control processing module, which outputs a compensation signal to achieve synchronous control of the rotational speeds of the left and right drive motors (see appendix for details). Figure 8 and appendix Figure 9 ).

[0043] The transfer function of a gear transmission describes the dynamic relationship between the input (motor speed) and the output (valve angle). Its open-loop transfer function is as follows:

[0044] in, These are motor gain parameters. It is the output torque of the drive motor, K p It is a proportional parameter, K i It is the integration parameter, K d It is a differential parameter. It is the rotational inertia of the drive motor. It is the moment of inertia of the gear reducer. It is the moment of inertia of the curved gear. It is the moment of inertia of the lingual valve pivot axis and the lingual valve. It is the friction damping coefficient. It is the water flow damping coefficient.

[0045] Given a specified opening angle for the flap gate, the drive motor runs, and the output shaft of the drive motor rotates, controlling the output small bevel gear to rotate. The output small bevel gear drives the input small bevel gear, and through the transmission of the gear transmission reducer, planetary gears, and arc gears, the power is transmitted to the flap gate shaft, thereby driving the flap gate to rotate.

[0046] An angle sensor monitors the opening angle of the flap valve in real time, and records the flap valve opening angle error e and the error change rate e. c Feedback is given to the fuzzy adaptive PID controller, and based on the fuzzy control algorithm, the proportional parameter K of the controller is... p Integral parameter K i Differential parameter K d Real-time adjustments are made to generate control signals. When the actual opening angle of the flap door is greater than the specified angle and the error increases, the speed of the drive motor should be reduced; when the actual opening angle of the flap door is close to the specified angle and the error remains unchanged, the speed of the drive motor should be maintained; when the actual opening angle of the flap door is less than the specified angle and the error increases, the speed of the drive motor should be increased.

[0047] The speed difference between the two drive motors is adjusted by a compensation signal, and the difference value is... Compensation signal ;in, It is the gain coefficient of the controller.

[0048] The controller generates initial control data based on the specified opening angle of the flap door and drives the motor to run; the speed sensor acquires the real-time rotational speed of the left and right drive motors during the opening of the flap door, and calculates the speed difference between the left and right drive motors based on the real-time rotational speed; the speed difference signal is input to the synchronization control processing module, and the synchronization control processing module outputs a compensation signal to control the left and right drive motors to rotate synchronously.

[0049] In summary, this embodiment employs a mechanical gear transmission method. Gear transmission offers a constant transmission ratio, a wide range of power and speed transmission, and high transmission efficiency, easily handling various working scenarios and ensuring the normal operation and performance stability of the equipment. A fuzzy adaptive PID control algorithm is used to control the opening angle of the flap door during opening and closing. Simultaneously, a synchronous control processing module is used to synchronously control the speeds of the drive motors on both sides. The gear transmission method utilizes a multi-stage gear transmission of spur gears, bevel gears, and planetary gears. This hybrid gear transmission leverages the self-locking property of gears, eliminating the need for a separate brake, making the entire transmission system more compact and reducing system complexity and failure rate.

[0050] like Figure 10 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 tongue valve drive control method of the gear-driven stratified water intake equipment of any of the above embodiments.

[0052] The processor is used to execute program instructions stored in memory to control the valve drive of the gear-driven stratified water intake equipment.

[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 11This 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 valve drive system for a gear-driven stratified water intake device, characterized in that, The tongue-valve drive system of the gear-driven stratified water intake equipment includes: The mechanical gear transmission module is used to drive the motor output speed to be reversed by the reversing gear set, reduced by the gear transmission reducer, and then transmitted to drive the tongue valve shaft by the arc gear. The tongue valve shaft drives the tongue valve to complete the opening and closing action according to the opening degree required for stratified water intake, so as to control the water inflow of different elevation water layers. The adaptive control module is used to input the opening angle error and error change rate of the flap gate into the fuzzy adaptive PID controller through the angle sensor. The proportional, integral and derivative parameters of the PID controller are adjusted by the fuzzy control algorithm. The adjusted PID controller generates a control signal and outputs it to the drive motor to stabilize the flap gate at the target opening degree required for stratified water intake, thereby realizing the regulation of water volume of the specified water layer. The synchronous control processing module is used to obtain the real-time rotation speed of the left and right drive motors from the speed sensor, calculate the speed difference between the left and right drive motors, and output a compensation signal to the drive motors on both sides based on the speed difference, so that the two ends of the tongue valve shaft rotate synchronously, enabling the stratified water intake equipment to operate stably under different water pressure conditions.

2. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 1, characterized in that, The mechanical gear transmission module is equipped with a gear transmission reducer; the gear transmission reducer is located inside the tongue flap door shaft; a drive motor and a speed sensor are located below the gear transmission reducer; the drive motor is fixed to a fixed support on the lower beam of the stacked beam frame, converting electrical energy into mechanical energy output; the gear transmission reducer is installed on the side end of the stacked beam frame.

3. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 2, characterized in that, The input pinion and input bevel gear of the gear reducer are connected by a shaft; the helical bevel gear of the gear reducer is connected to the sun gear through an intermediate shaft; the sun gear meshes with the planet gears, the planet gears are connected to the planet carrier, the planet carrier is connected to the transmission gear, the transmission gear meshes with the arc gear, the arc gear is connected to the tongue valve shaft, and the tongue valve shaft is connected to the tongue valve.

4. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 3, characterized in that, The input small bevel gear meshes with the output small bevel gear, and the output small bevel gear is mounted on the output shaft of the drive motor.

5. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 3, characterized in that, The input pinion is mounted on the shaft of the input small bevel gear; the first-stage reduction gear meshes with the input pinion for transmission; the second-stage reduction pinion is mounted on the central shaft of the first-stage reduction gear; the second-stage reduction gear meshes with the second-stage reduction pinion for transmission; the second-stage reduction gear is mounted on the fixed shaft of the third-stage reduction bevel gear; the third-stage reduction bevel gear meshes with the helical bevel gear for transmission; the helical bevel gear is mounted on the intermediate shaft of the sun gear, reducing the speed at the input end and transmitting it to the intermediate shaft.

6. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 3, characterized in that, The sun gear is mounted on the intermediate shaft and meshes with the planet gears for transmission. The planet gears mesh with the ring gear for transmission, which drives the planet carrier to rotate. The planet carrier then drives the transmission gear to rotate. The transmission gear is mounted on the planetary carrier and meshes with the arc gear for transmission. The arc gear is mounted on the tongue valve shaft of the tongue valve door. The tongue valve door and the tongue valve shaft are connected by a flat key to drive the opening and closing of the tongue valve door.

7. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 2, characterized in that, The stacked beam frame is connected to the tongue-shaped door in the middle via a tongue-shaped door hinge; the bottom of the stacked beam frame is equipped with a lower beam; the top of the stacked beam frame is equipped with an upper beam; the upper beam is equipped with a positioning pin; lifting lugs are provided on both sides of the upper beam; the battery frame is located above inside the stacked beam frame.

8. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 1, characterized in that, The synchronization control processing module includes: The speed difference decomposition submodule is used by the synchronous control processing module to decompose the real-time speed difference between the left and right drive motors into static deviation components and dynamic fluctuation components. The static deviation component is used to characterize the continuous torque difference caused by the asymmetrical water pressure distribution at both ends of the flap gate shaft, and the dynamic fluctuation component is used to characterize the instantaneous speed disturbance caused by the water flow impact during the opening and closing of the flap gate. The synchronous control processing module maps the static deviation component to the torque compensation reference value at both ends of the flap gate shaft, and maps the dynamic fluctuation component to the angular acceleration compensation reference value at both ends of the flap gate shaft. The compensation amount generation submodule is used to match the torque compensation reference value with the water pressure load curve corresponding to the current opening angle of the flap gate to obtain the static torque compensation amount at both ends of the flap gate shaft; match the angular acceleration compensation reference value with the flap gate rotational inertia parameter to obtain the dynamic inertia compensation amount at both ends of the flap gate shaft; and superimpose the static torque compensation amount and the dynamic inertia compensation amount to form the comprehensive compensation amount on both sides of the flap gate shaft. The motor drive allocation submodule is used to decompose the comprehensive compensation amount into the speed correction values ​​of the left drive motor and the right drive motor; the speed correction value of the left drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the left drive motor; the speed correction value of the right drive motor is superimposed with the control signal output by the fuzzy adaptive PID to form the final drive parameters of the right drive motor; the left and right drive motors output speeds according to their respective final drive parameters, so that the two ends of the tongue valve shaft maintain synchronous rotation under the water pressure conditions corresponding to the water layers at each elevation of the stratified water intake.

9. The tongue-valve drive system of the gear-driven stratified water intake equipment according to claim 8, characterized in that, The compensation amount generation submodule includes: The load curve feature extraction unit is used to extract the left drive side reference torque value and the right drive side reference torque value corresponding to the current opening angle of the flap valve from the preset water pressure load curve; and output the difference between the left drive side reference torque value and the right drive side reference torque value as the reference torque offset value. The torque compensation direction determination unit is used to compare the polarity of the reference torque offset value and the static deviation component. If the polarities are the same, it is determined that the current static deviation is caused by the inherent asymmetry of the water pressure load. If the polarities are opposite, it is determined that the current static deviation is caused by the resistance difference of the transmission mechanism at both ends of the flap door shaft. The application direction of static torque compensation is output according to the determination result. The static torque value generation unit is used to select the reference torque value corresponding to the compensation direction from the reference torque value on the left drive side and the reference torque value on the right drive side as the compensation base, based on the static torque compensation direction; and multiply the compensation base by the water pressure load gradient value corresponding to the current opening angle of the flap door to obtain the static torque compensation amount at both ends of the flap door shaft.

10. A method for controlling the flap gate drive of a gear-driven stratified water intake device, applied to the flap gate drive of the gear-driven stratified water intake device as described in any one of claims 1 to 9, characterized in that, The method for driving and controlling the tongue valve of the gear-driven stratified water intake equipment includes the following steps: During the operation of the drive motor, the angle sensor monitors the opening angle of the flap door in real time and feeds back the opening angle error and error change rate of the flap door to the fuzzy adaptive PID controller; according to the fuzzy control algorithm, the proportional parameters, integral parameters and derivative parameters of the PID controller are adjusted. The controller generates a control signal based on the adjustment results; the controller outputs the control signal to the drive motor, and the drive motor completes the opening and closing of the flap door according to the control signal; the angle sensor monitors the opening angle data of the flap door in real time and feeds the opening angle back to the fuzzy adaptive PID to control the opening angle of the flap door in real time. The controller generates initial control data based on the specified opening angle of the flap door and drives the motor to run; the speed sensor acquires the real-time rotational speed of the left and right drive motors during the opening of the flap door, and calculates the speed difference between the left and right drive motors based on the real-time rotational speed; the speed difference signal is input to the synchronization control processing module, and the synchronization control processing module outputs a compensation signal.

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