CN101935996A - Method and device for automatically controlling water levels of multiple channel sections - Google Patents
Method and device for automatically controlling water levels of multiple channel sections Download PDFInfo
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Abstract
The invention relates to a method and a device for automatically controlling water levels of multiple channel sections. The device comprises a water delivery open channel and a plurality of gates, wherein a water-dividing opening is reserved at a place close to the upstream of each gate; a gate opening and closing mechanism of each gate is connected with a control unit of each gate; and the control units are connected through a network. The control unit comprises a gate-front water level sensor, a gate-rear water level sensor and a gate open degree sensor, wherein the gate-front water level, gate-rear water level and the gate open degree sensors are connected with a low pass filter; the low pass filter is connected with an A/D converter; the A/D converter is connected with a data acquisition unit; the data acquisition unit is connected with an industrial control computer; the industrial control computer is connected with a PLC; and the PLC is connected with the gate opening and closing mechanism. Due to the adoption of upper and lower stream data acquisition, gate and water flow control simultaneously, the method and the device avoid the influences of long time delay and coupling effect of the long-distance large-scale water delivery open channel and give full play to the advantages of the upstream control and the downstream control method in the water level regulation and water quantity regulation.
Description
Technical field
The present invention relates to a kind of many canals section water level automatic control method and device, it is a kind of method and apparatus of automatic control, being a kind of autocontrol method and device that is used for hydraulic facility, is a kind of water flow automatic control method and device that is applicable to the large-scale open channel water delivery engineering of long distance.
Background technology
Along with the development of economic society, the water resource imbalance between supply and demand becomes increasingly conspicuous, and the large-scale open channel water delivery engineering of long distance has been built in many areas.These channels are separated into a plurality of canal sections of polyphone mutually by multistage check gate usually, and each canal section utilizes the keying of gate to regulate water level and flow.For the benefit of channel bleeder along the line flow is stable, and the bleeder is built the upstream slightly of check gate usually in, keep water level before gates relatively stable be one of the main target of channel operation.In addition, also need the water yield of channel upstream and downstream is rationally regulated and control, ensure the safe and efficient of water delivery process.
Compare with the middle-size and small-size canal for water conveyance of tradition, the control procedure of the large-scale canal for water conveyance of long distance need be tackled many-sided problem.The one, big time lag problem.With south water to north center line trunk canal is example, kilometer surplus channel grows 1200, and flow velocity only is about 1 metre per second (m/s), flow to the canal end from head works and needs for two weeks approximately, supply and demand lags behind very serious.The 2nd, the rational and orderly regulation and control problem of the water yield.Because the conveyance power of water of feeder channel is successively decreased by the canal section, upstream and downstream may differ several times, thereby need avoid the upstream regulation and control that appreciable impact is caused in the downstream.The 3rd is the quick regulation and control problem of water level.The keying of gate, bleeder, external disturbance factors such as wind all can cause the fluctuation of channel water position, influence the stable of bleeder flow, and needing fast, the regulation and control water level ensures canal bank safety to setting value.The 4th is the reply problem of the intersegmental coupling of many canals.During a plurality of gate Attended Operation, their control action can mutual superposition, and influence makes total waterpower response characteristic become very complicated each other, easily causes water level fluctuation even persistent oscillation, and required operating gate increases greatly.
Traditional Artificial Control or mechanical assistance control are adopted in the operation of most middle-size and small-size channels control at present, and the big-and-middle-sized channel of part has used advanced PLC+ upper computer control system.The aperture of gate, switching sequence etc. mainly rely on administrative staff's personal experience usually by manual presetting in these systems, thereby whole automatization level is still lower.Also there is the part channel to adopt the gate autocontrol method, but the control law multiaspect of these gates is to single canal section or the exploitation of middle-size and small-size channel, less or fail to consider problems such as time lag, coupling, when being used for length, often show problems such as performance decline even control unstability apart from large channel.
Existing gate autocontrol method is divided into upstream control method and downstream control method two classes.The former is traditional control method, changes by artificial or sensor monitors water level before gates, adjusts gatage.Because water level monitoring point is near before the lock, time lag is very little, thereby control law is simple, and effect is fast.But the water quantity regulation of upstream control method can significantly impact the downstream, if bleeder, upstream excess is divided water, then water shortage will appear in the downstream, otherwise if water shortage is divided in the upstream, then water yield surplus in downstream need be abandoned water.The downstream control method is a class channel check method of back development, and it is to realize that supplying water as required is target.It controls the sensor of required information from the downstream, and the control action upstream direction is transmitted.But be subjected to the current lagging influence, its water level management speed is slower.Obviously, the upstream control method has superiority aspect water level management, but the characteristics of its water quantity regulation have determined that the large-scale water delivery open channel of long distance can not be fully by its control; The downstream control method has superiority aspect water quantity regulation, is applicable to the long distance water transfer open channel, but the slower defective of its water level management haves much room for improvement.
In sum, need the urgent technical problem that solves of those skilled in the art to be: how to overcome the time lag and the coupling influence of the large-scale canal for water conveyance of long distance, improve the speed of downstream control method middle water level regulation and control, effectively to eliminate the influence of external disturbances such as bleeder Fen Shui, wind fast, realize the preceding ordinary water level automation water delivery target of lock.
Summary of the invention
In order to overcome prior art problems, the present invention proposes a kind of many canals section water level automatic control method and device.Described method and apparatus overcomes the time lag and the coupling influence of channel, and the speed of quickening water level management is effectively eliminated the influence of all kinds of external disturbances fast, realizes the preceding ordinary water level automation water delivery target of lock.It is slow because of water level management speed to solve prior art, and the operating gate that water quantity regulation disturbs downstream channel operation to be caused is frequent, and waterpower is long transit time, problems such as operational management cost height.
The object of the present invention is achieved like this: a kind of many canals section water level automatic control device, comprise: one long apart from self-flow pattern water delivery open channel, described open channel is provided with a plurality of gates that open channel is separated, be provided with the bleeder near described each gate upstream, the gate open and close device of described each gate is connected with the control module of each gate, the control module of described each gate connects by the open channel data transmission network, described control module comprises: the water level before gates sensor of measuring the upper pond level of the gate that this control module controls, measure level sensor behind the lock of the level of tail water of the gate that this control module controls, measure the gatage sensor of this gatage, described water level before gates sensor, level sensor behind the lock, the gatage sensor is connected with low pass filter, described low pass filter is connected with A/D converter, described A/D converter is connected with data acquisition unit, described data acquisition unit is connected with industrial computer, described industrial computer is connected with PLC, described PLC is connected with gate open and close device, and industrial computer is connected with the open channel data transmission network.
A kind of many canals section method for controlling water level that uses said apparatus, the step of described method comprises:
The step of monitoring lower gate parameter: be used for water level and gatage behind the water level before gates, lock according to level sensor and gatage sensor monitors lower gate behind the water level before gates sensor of time step by lower gate, the lock;
Calculation deviation and deviation variation rate and the step of judging: calculate the deviation between water level before gates and control desired value, and the rate of change of deviation, judge then, do not get back to " step of monitoring lower gate parameter " if deviate and deviation variation rate exceed permissible value, enter next step if deviate and deviation variation rate exceed permissible value;
Calculate the step of feedback correction value: the upstream control feedback correction value and the downstream control feedback correction value that are used for calculating respectively water level before gates according to deviation and deviation variation rate;
Calculate the step of feedforward decoupling zero flow: be used for calculating feedforward decoupling zero flow according to upstream control feedback correction value and downstream control feedback correction value;
Calculate the step of the flow adjustment desired value of gate: the flow adjustment desired value that is used for calculating gate according to feedforward decoupling zero flow, upstream control feedback correction value and downstream control feedback correction value;
Calculate the step of the practical operation aperture of gate: be used for adjusting the practical operation aperture that desired value is calculated gate according to flow;
The step that gate is carried out: the headstock gear that is used for gate is carried out aperture adjustment action, and gets back to " step of monitoring lower gate parameter ".
The beneficial effect that the present invention produces is: owing to taked data acquisition, gate and the current control of upstream and downstream simultaneously, the large-scale water delivery open channel of long distance big time lag, coupled effect have been overcome, comprehensively brought into play upstream control and the downstream control method advantage aspect water level management and water quantity regulation respectively, can eliminate the influence of unknown disturbance quickly and efficiently on the one hand to water level before gates, the rational allocation water yield along the line on the other hand, minimizing is to the influence of downstream canal section, thereby improved emptying effectiveness and effect, ensured water delivery safety.This method adopts distributed control structure in addition, and parameter tuning is convenient, to calculate, communication system requires lowly, be convenient to practice.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of embodiments of the invention one described device;
Fig. 2 is embodiments of the invention one described control module structural representations;
Fig. 3 is embodiments of the invention one described control module principle schematic;
Fig. 4 is the embodiments of the invention two described device schematic diagrames that have control centre;
Fig. 5 is the schematic flow sheet of embodiments of the invention four described control methods.
The specific embodiment
Embodiment one:
Present embodiment is a kind of many canals section water level automatic control device, as shown in Figure 1.Present embodiment comprises: one long apart from self-flow pattern water delivery open channel 1, described open channel is provided with a plurality of gates 3 that open channel is separated, be provided with bleeder 2 near described each gate upstream, the gate open and close device 209 of described each gate is connected 101 with the control module of each gate, the control module of described each gate connects by the open channel data transmission network, described control module comprises, as shown in Figure 2: the water level before gates sensor 201 of measuring the upper pond level of the gate that this control module controls, measure level sensor 203 behind the lock of the level of tail water of the gate that this control module controls, measure the gatage sensor 202 of this gatage, described water level before gates sensor, level sensor behind the lock, the gatage sensor is connected with low pass filter 204, described low pass filter is connected with A/D converter 205, described A/D converter is connected with data acquisition unit 206, described data acquisition unit is connected with industrial computer 207, described industrial computer is connected with PLC208, described PLC is connected with gate open and close device 209, and industrial computer is connected with the open channel data transmission network.
The control of present embodiment is a kind of water supply open channel that utilizes gravity that water is flowed to low water stage naturally by high water level to liking a water supply open channel.Open channel is divided into multistage by a plurality of gates.Open channel is branch water or moisturizing with the purpose that gate is divided into multistage, promptly, portion of water in the open channel is gone out his usefulness by in this section open channel, setting up the bleeder, or from other places supplementing water to open channel.The bleeder is arranged near the upstream of gate usually.The mechanism for opening/closing of each gate in the open channel can be the common gate by motor drives leading screw transmission upper and lower displacement action, also can be other forms of gate.Each gate all has the control module of oneself.For example one section open channel has ten gates, then is equipped with ten control modules, and ten control modules link together by network, carry out mutual data communication.Each control module all is furnished with level sensor behind water level before gates sensor, the lock, gatage sensor.The open channel data transmission network links together each control module.Data transmission network can be provided with control centre, and whole network is carried out the total monitoring and the processing of data and each unit carried out the management of host computer.Also can not have control centre, the data interchange is carried out in the conduct of each control module equality network node one by one mutually.In the absence of control centre, a control module can receive the data of the control module of upstream and downstream, carries out the control of oneself, even can receive more upstream and the more data of downstream control module as requested, carry out the control of oneself, reach best control effect.
The control procedure of each canal section is identical, has the control module of same structure, and as shown in Figure 1, therefore, present embodiment serves as the control object with one section channel of the centre that gate in centre of whole channel is controlled, and the control procedure of control device is described.Head works canal section and canal end canal section can be regarded as the special circumstances of interlude and consider.Present embodiment i canal section is represented a canal section, its control module 101 comprises upstream flowrate FEEDBACK CONTROL subelement 102, downstream flow FEEDBACK CONTROL subelement 103, feedforward decoupling zero control subelement 104 and gate flow-control subelement 105, and concrete formation as shown in Figure 3.
The deviation that act as the feedback compensation target water level that upstream flowrate FEEDBACK CONTROL subelement 102 plays is brought into play the advantage of downstream control method simultaneously, and water quantity regulation demand upstream direction is transmitted.This control subelement be input as gate G
I+1Water level before gates Y
Ui109, be output as gate G
iFlow feedback adjusting value △ QG1
i112.If water level before gates Y
Ui109 with the setting value YT
iThe speed that 106 deviation or deviation change exceeds setting range, then by the FEEDBACK CONTROL rule regulating gate G that sets
iLock flow △ QG1
i112.This control subelement also comprises water level deviation dead band DB
1_ E
I-1107 and water level deviation variation rate dead band DB
1_ EC
I-1108, FEEDBACK CONTROL factor of proportionality K
P1i110, integral coefficient KI
1i111.
The deviation that act as the feedback compensation target water level that downstream flow FEEDBACK CONTROL subelement 103 plays is brought into play the advantage of upstream control method simultaneously, proofreaies and correct the water level before gates deviation fast from updrift side, accelerates the speed of water level management.This control subelement be input as gate G
iWater level before gates Y
Ui-1116, be output as gate G
iFlow feedback adjusting value △ QG2
i119.If water level before gates Y
Ui-1116 with the setting value YT
I-1The speed that 113 deviation or deviation change exceeds setting range, then by the FEEDBACK CONTROL rule regulating gate G that sets
iLock flow △ QG2
i119.This control subelement also comprises water level deviation dead band DB
2_ E
I-1114 and water level deviation variation rate dead band DB
2_ EC
I-1115, FEEDBACK CONTROL factor of proportionality K
P1i117, integral coefficient K
I1i118.。
Upstream flowrate FEEDBACK CONTROL rule and downstream flow FEEDBACK CONTROL rule all adopt the increment control mode, the influence when reducing the gate misoperation.The gatage that the output of control adopts gate flow rather than conventional method to adopt can make the concrete pattern of control system and gate be separated, and has improved applicability of the present invention, and the flow control mode that is adopted also can play the effect of downstream direction decoupling zero.
The effect of feedforward decoupling zero control subelement 104 is the water quantity regulation action upstream direction transmission with the downstream, coordinates the control action of gate along the line, has played the effect of feedforward decoupling zero, reduces the influence of time lag simultaneously.The input of this control subelement 104 has three, is respectively the output △ QG1 of subelement 102
i112, the output △ QG2 of subelement 103
i119, and the output △ QGT of the feedforward decoupling zero of i+1 canal section control subelement 104
I+1Output has two, is gate G
iFlow adjust desired value △ QGT
i122.This control subelement has also comprised upstream and downstream control action weight coefficient θ 123 and feedforward decoupling zero flow is adjusted weight coefficient KD
i120 and feedforward decoupling zero flow adjusted value △ Q_KD
i121.
If i canal section has been head works canal section, the decoupling zero that then feedovers control subelement 104 does not have the output △ QGT that leads to updrift side
i122; If i canal section has been canal end canal section, the input △ QGT that the decoupling zero that then feedovers control subelement 104 does not have from downstream direction
I+1
The effect of gate flow-control subelement 105 is the gate flow is adjusted the practical operation aperture that desired value is converted to gate.The input of this control subelement has four, is respectively the output △ QGT of subelement 104
i122, gate G
iWater level before gates Y
Ui-1124, water level Y behind the lock
Di-1126 and gatage GA0
i125.Output has one, is gate G
iPractical operation aperture GAT
i129.This control subelement also comprises the lock flow QG0 of gate
i127, gate G
iThe lock flow QGT that should be adjusted to
i128.
Embodiment two:
Present embodiment is to implement one improvement, is the refinement of embodiment one about the open channel data transmission network.The described open channel data transmission network of present embodiment is connected with control centre, as shown in Figure 4.
Present embodiment is the network that has control centre, control centre is a host computer, all control modules are as the slave computer of control centre, control centre can carry out overall data process and control to the whole piece channel, in case but control centre goes wrong, to influence the water supply of whole piece channel, so more safety setting of these system's needs and redundant system, the appearance of any mistake prevented.
Embodiment three:
Present embodiment is the improvement of the foregoing description, is the refinement of the foregoing description about control module.The described control module of present embodiment also comprises: the upstream flowrate FEEDBACK CONTROL subelement that is connected with the upstream control module, described upstream flowrate FEEDBACK CONTROL subelement is connected with feedforward decoupling zero control subelement, and described feedforward decoupling zero control subelement is connected with downstream flow FEEDBACK CONTROL subelement, gate flow-control subelement.
Embodiment four:
Use many canals section method for controlling water level of the described device of the foregoing description, the flow process of described method as shown in Figure 5.Present embodiment is to be example explanation control method with one section channel equally, this section channel called after i canal section pool
i, pool
iThe upstream be pool
I-1The canal section, pool
iThe downstream be pool
I+1The canal section.Pool
I-1The upstream gate be G
I-1Pool
I-1Lower gate, pool just
iThe upstream gate be G
iPool
iLower gate, pool just
I+1The upstream gate be G
I+1G
iWater level before gates be Y
Ui-1, G
iLock after water level be Y
Di-1G
I+1Water level before gates be Y
Ui, G
I+1Lock after water level be Y
Di(as shown in Figure 1) step of the described method of present embodiment comprises:
The first step: the step of monitoring lower gate parameter: be used for water level and gatage behind the water level before gates, lock according to level sensor and gatage sensor monitors lower gate behind the water level before gates sensor of time step by lower gate, the lock.Whether time step needs frequent control to determine with reference to whole channel, and its value must be less than each canal section waterpower minimum value of lag time.The channel of operation condition complexity needs little time step to satisfy frequent demand for control.By sensor monitors canal section i downstream gate G
I+1Water level before gates Y
Ui, water level Y behind the lock
DiWith gatage GA0
I-1, i=1 ~ N, N are the canal hop count.The signal of telecommunication of each sensor acquisition is imported Industrial Personal Computer (IPC) and is handled after LPF, A/D are converted to data signal.Upstream and downstream canal section is relative, and lower gate herein belongs to the upstream gate to its downstream canal Duan Eryan.The keying of each gate is simultaneously according to upstream information and downstream information in the present embodiment, thereby embodied the comprehensively monitoring to upstream and downstream.
Second step: calculation deviation and deviation variation rate and the step of judging: calculate the deviation between water level before gates and control desired value, and the rate of change of deviation, the rate of change of deviation is that current time water level before gates deviation and last moment water level before gates deviation are subtracted each other the value of back divided by time step.Do not get back to " step of monitoring lower gate parameter " if deviate and deviation variation rate exceed permissible value, enter next step if deviate and deviation variation rate exceed permissible value.Calculate water level before gates Y
UiWith control desired value YT
iBetween deviation E
i, and E
iRate of change EC
iIf E
iAbsolute value surpass to set dead band DB
1_ E
i, or EC
iThe dead band DB that surpass to set of absolute value
1_ EC
i, judgement need be to water level before gates Y
UiCarry out feedback compensation, carry out next step.The dead band of setting is a span, and each value in the span is above-mentioned permissible value, does not operate at this scope inner gate, thereby can reduce the frequency of gate control, reduces running cost, but the corresponding reduction of the sensitivity of system responses.The size in dead band needs to determine according to the height of channel check response demand.
The 3rd step: the step of calculating feedback correction value: the upstream control feedback correction value and the downstream control feedback correction value that are used for calculating respectively water level before gates according to deviation and deviation variation rate.
Calculate water level before gates Y respectively
UiUpstream control feedback correction value △ QG1
iWith downstream control feedback correction value △ QG2
i
Press increment type PIF FEEDBACK CONTROL rule and calculate upstream control feedback correction value △ QG1
i, that is:
△QG1
i＝K
P1i×EC
fi+K
I1i×E
fi
E
fi=KF
i×E
f1t+(1-KF
i)×E
i
This formula is a recurrence formula, E in the formula
F1tBe E
FiIn the long value of a last time step.KF
iBe filter constant, K
P1iBe factor of proportionality, K
I1iBe integral coefficient, adjust by the relay method in the classical cybernetics.
Press increment type PIF FEEDBACK CONTROL rule and calculate downstream control feedback correction value △ QG2
i, that is:
△QG2
i＝K
P2i×EC
fi+K
I2i×E
fi
K in the formula
P2iBe factor of proportionality, K
I2iBe integral coefficient, adjust by the relay method in the classical cybernetics.
The 4th step: the step of calculating feedforward decoupling zero flow: be used for calculating feedforward decoupling zero flow according to upstream control feedback correction value and downstream control feedback correction value.
Calculate feedforward decoupling zero flow △ QGT
i, that is:
△QGT
i＝KD
i×△Q_KD
i?+θ×△QG1
i?+(1-θ)?×△QG2
i
θ is for adjusting the weight coefficient of downstream control and upstream control action amount in the formula.The analysis showed that, only need a small amount of upstream control action can improve the control effect, θ value term of reference 0 ~ 0.3.If i canal Duan Weimo canal section, then △ Q_KD
i=0.KD
iTheoretical span be 0 ~ 1, according to theory analysis and physical experiments result, along with this value increases, the waterpower transient process of whole channel is accelerated, but the fluctuation of stage-discharge aggravation, so KD
iSuggestion value 0.5 ~ 0.8.
Then with △ QGT
iValue is composed and is given △ Q_KD
I-1, that is:
△Q_KD
i-1=△QGT
i
△ Q_KD
I-1It is the feedforward decoupling zero flow adjusted value of i-1 canal section.For first canal section, △ Q_KD
I-1=0.
The 5th step: the flow that calculates gate is adjusted the step of desired value: be used for adjusting desired value according to the flow of feedforward decoupling zero flow rate calculation gate.
Calculate gate G
iFlow adjust desired value QGT
iThis calculating is applicable to various gates, comprises bulkhgead gate, Segment gate etc., and different gates are got different gate discharge coefficients in gate overcurrent relational expression.
At first according to water level before gates Y
Ui-1, water level Y behind the lock
Di-1With gatage GA
0i, calculate the current lock flow QG0 of this gate by gate overflowing hydraulics formula
i, that is:
During lock hole free discharge:
During lock hole submerge discharging flow:
C in the formula
dBe the gate discharge coefficient, e is gate G
iAperture, b is every hole clear span, n is the gate hole count, YT
iBe gate G
iFloor elevation.
QG0 then
iWith △ QGT
iAddition draws gate G
iThe lock flow that should be adjusted to, that is:
QGT
i=QG0
i+△QGT
i。
The 6th step: the step of calculating the practical operation aperture of gate: be used for adjusting the practical operation aperture that desired value is calculated gate according to flow.
Calculate gate G
iPractical operation aperture GAT
i
According to water level before gates Y
Ui-1, water level Y behind the lock
Di-1With gate flow target value QGT
i, press gate overflowing hydraulics formula, calculate gate G by Newton iteration method
iPractical operation aperture GAT
i, that is:
During lock hole free discharge: GAT
i=f
-1(Y
Ui-1, QGT
i, C
d, e)
During lock hole submerge discharging flow: GAT
i=f
-1(Y
Ui-1, Y
Di-1, QGT
i, C
d, e)
The 7th step: the step that gate is carried out: the headstock gear that is used for gate is carried out aperture adjustment action, and gets back to " step of monitoring lower gate parameter ".
By gate G
iHeadstock gear carry out aperture adjustment action, continue the monitoring water level before gates simultaneously, if E
iAbsolute value still surpass to set dead band DB
1_ E
i, or EC
iThe dead band DB that surpass to set of absolute value
1_ EC
i, repeat seven steps of the first step to the.
It should be noted that at last, below only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to the preferred arrangement scheme, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention (such as form control procedure of control module etc.), and not break away from the spirit and scope of technical solution of the present invention.
Claims (4)
1. the water level automatic control device of canal section more than a kind, comprise: one long apart from self-flow pattern water delivery open channel, described open channel is provided with a plurality of gates that open channel is separated, be provided with the bleeder near described each gate upstream, the gate open and close device of described each gate is connected with the control module of each gate, it is characterized in that, the control module of described each gate connects by the open channel data transmission network, described control module comprises: the water level before gates sensor of measuring the upper pond level of the gate that this control module controls, measure level sensor behind the lock of the level of tail water of the gate that this control module controls, measure the gatage sensor of this gatage, described water level before gates sensor, level sensor behind the lock, the gatage sensor is connected with low pass filter, described low pass filter is connected with A/D converter, described A/D converter is connected with data acquisition unit, described data acquisition unit is connected with industrial computer, described industrial computer is connected with PLC, described PLC is connected with gate open and close device, and industrial computer is connected with the open channel data transmission network.
2. device according to claim 1 is characterized in that, described open channel data transmission network is connected with control centre.
3. device according to claim 2, it is characterized in that, described each control module also comprises: the upstream flowrate FEEDBACK CONTROL subelement that is connected with the upstream control module, described upstream flowrate FEEDBACK CONTROL subelement is connected with feedforward decoupling zero control subelement, and described feedforward decoupling zero control subelement is connected with downstream flow FEEDBACK CONTROL subelement, gate flow-control subelement.
4. many canals section method for controlling water level that uses the described device of claim 1 is characterized in that the step of described method comprises:
The step of monitoring lower gate parameter: be used for water level and gatage behind the water level before gates, lock according to level sensor and gatage sensor monitors lower gate behind the water level before gates sensor of time step by lower gate, the lock;
Calculation deviation and deviation variation rate and the step of judging: calculate the deviation between water level before gates and control desired value, and the rate of change of deviation, do not get back to " step of monitoring lower gate parameter " if deviate and deviation variation rate exceed permissible value, enter next step if deviate and deviation variation rate exceed permissible value;
Calculate the step of feedback correction value: the upstream control feedback correction value and the downstream control feedback correction value that are used for calculating respectively water level before gates according to deviation and deviation variation rate;
Calculate the step of feedforward decoupling zero flow: be used for calculating feedforward decoupling zero flow according to upstream control feedback correction value and downstream control feedback correction value;
The flow that calculates gate is adjusted the step of desired value: be used for adjusting desired value according to the flow of feedforward decoupling zero flow rate calculation gate;
Calculate the step of the practical operation aperture of gate: be used for adjusting the practical operation aperture that desired value is calculated gate according to flow;
The step that gate is carried out: the headstock gear that is used for gate is carried out aperture adjustment action, and gets back to " step of monitoring lower gate parameter ".
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102322045A (en) * | 2011-07-08 | 2012-01-18 | 江河机电装备工程有限公司 | Water-saving ecological sluice in irrigation area |
| CN102635095A (en) * | 2011-02-14 | 2012-08-15 | 张新潮 | Remote control water metering gate |
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| CN104929092A (en) * | 2015-06-14 | 2015-09-23 | 傅兴琴 | Improved draining system and method for open trench |
| CN105780717A (en) * | 2016-03-24 | 2016-07-20 | 华北水利水电大学 | Hydraulic model for sandy channel diversion gate |
| CN105804015A (en) * | 2016-03-24 | 2016-07-27 | 华北水利水电大学 | Sand-rich channel diversion gate with water measurement device |
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| CN106223257A (en) * | 2016-07-25 | 2016-12-14 | 中国水利水电科学研究院 | A kind of long distance open channel accident section upstream emergency response gate group control method |
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| CN106842928A (en) * | 2017-02-13 | 2017-06-13 | 中国水利水电科学研究院 | The valve closing optimal control method of long range big flow water-carriage system transient process |
| CN107223544A (en) * | 2017-05-18 | 2017-10-03 | 中苏科技股份有限公司 | A kind of irrigation control system and control method of irrigation based on open channel |
| CN108303896A (en) * | 2018-02-28 | 2018-07-20 | 武汉理工大学 | Ditch shutter intelligent control method and device |
| CN108385597A (en) * | 2018-02-06 | 2018-08-10 | 武汉大学 | A kind of series connection controlling channel pattern based on the ponds Duo Qu storage capacity balance |
| CN108385599A (en) * | 2018-04-08 | 2018-08-10 | 武汉大学 | It is a kind of to couple water-head as the water delivery open channel canal system method of operation of controlled volume |
| CN108519783A (en) * | 2018-03-30 | 2018-09-11 | 武汉大学 | The preceding control point of lock based on canal pond storage capacity balance becomes target water level control system and pattern |
| CN108560505A (en) * | 2018-03-13 | 2018-09-21 | 安徽科汇云达智能科技有限公司 | A kind of dedicated gate automatic lifting equipment of water conservancy and hydropower |
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| CN102635095A (en) * | 2011-02-14 | 2012-08-15 | 张新潮 | Remote control water metering gate |
| CN102322045A (en) * | 2011-07-08 | 2012-01-18 | 江河机电装备工程有限公司 | Water-saving ecological sluice in irrigation area |
| CN103046522A (en) * | 2013-01-04 | 2013-04-17 | 王小军 | Multi-stage-waterlock single-stage navigation lock |
| CN103197696A (en) * | 2013-04-08 | 2013-07-10 | 武汉大学 | Control method of preventing stern door of river model from fast perturbation |
| CN103197696B (en) * | 2013-04-08 | 2015-05-13 | 武汉大学 | Control method of preventing stern door of river model from fast perturbation |
| CN103475698A (en) * | 2013-08-27 | 2013-12-25 | 肖振清 | Multi-channel water conservancy system and control method |
| CN103475698B (en) * | 2013-08-27 | 2016-05-18 | 肖振清 | A kind of many canals section water conservancy system and control method |
| CN103744443B (en) * | 2014-01-21 | 2016-09-21 | 中国水利水电科学研究院 | A kind of large-scale open channel water level automatic control method dynamically regulated based on storage capacity |
| CN103744443A (en) * | 2014-01-21 | 2014-04-23 | 中国水利水电科学研究院 | Large-scale open channel water level automatic control method based on storage capacity dynamic regulation |
| CN104264630A (en) * | 2014-09-02 | 2015-01-07 | 中国水利水电科学研究院 | Method for controlling large-scale water delivery open channel gate based on superposition wave absorbing principle |
| CN104929092A (en) * | 2015-06-14 | 2015-09-23 | 傅兴琴 | Improved draining system and method for open trench |
| CN105804015A (en) * | 2016-03-24 | 2016-07-27 | 华北水利水电大学 | Sand-rich channel diversion gate with water measurement device |
| CN105780717A (en) * | 2016-03-24 | 2016-07-20 | 华北水利水电大学 | Hydraulic model for sandy channel diversion gate |
| CN105804015B (en) * | 2016-03-24 | 2018-01-26 | 华北水利水电大学 | A kind of gate flow measuring device for sandy channel |
| CN105780717B (en) * | 2016-03-24 | 2018-03-06 | 华北水利水电大学 | A kind of gate flow measuring method for sandy channel |
| CN105892505A (en) * | 2016-04-19 | 2016-08-24 | 武汉圣禹排水系统有限公司 | Flow control gate apparatus |
| CN106223257B (en) * | 2016-07-25 | 2018-04-17 | 中国水利水电科学研究院 | A kind of long distance open channel accident section upstream emergency response gate group control method |
| CN106223257A (en) * | 2016-07-25 | 2016-12-14 | 中国水利水电科学研究院 | A kind of long distance open channel accident section upstream emergency response gate group control method |
| CN106842928A (en) * | 2017-02-13 | 2017-06-13 | 中国水利水电科学研究院 | The valve closing optimal control method of long range big flow water-carriage system transient process |
| CN106842928B (en) * | 2017-02-13 | 2018-05-11 | 中国水利水电科学研究院 | The valve of long range big flow water-carriage system transient process closes optimal control method |
| CN106647289B (en) * | 2017-03-06 | 2019-09-10 | 武汉大学 | The feed forward control method of gate delay opening and closing time is dispatched in open channel water delivery |
| CN106647289A (en) * | 2017-03-06 | 2017-05-10 | 武汉大学 | Feedforward control method for opening and closing time of open channel water dispatching gate |
| CN107223544A (en) * | 2017-05-18 | 2017-10-03 | 中苏科技股份有限公司 | A kind of irrigation control system and control method of irrigation based on open channel |
| CN108385597A (en) * | 2018-02-06 | 2018-08-10 | 武汉大学 | A kind of series connection controlling channel pattern based on the ponds Duo Qu storage capacity balance |
| CN108303896A (en) * | 2018-02-28 | 2018-07-20 | 武汉理工大学 | Ditch shutter intelligent control method and device |
| CN108560505A (en) * | 2018-03-13 | 2018-09-21 | 安徽科汇云达智能科技有限公司 | A kind of dedicated gate automatic lifting equipment of water conservancy and hydropower |
| CN108519783B (en) * | 2018-03-30 | 2020-10-16 | 武汉大学 | Pre-gate control point variable target water level control system and method based on channel pool storage balance |
| CN108519783A (en) * | 2018-03-30 | 2018-09-11 | 武汉大学 | The preceding control point of lock based on canal pond storage capacity balance becomes target water level control system and pattern |
| CN108385599B (en) * | 2018-04-08 | 2020-02-11 | 武汉大学 | Open canal system operation method for water delivery with coupling water level difference as controlled quantity |
| CN108385599A (en) * | 2018-04-08 | 2018-08-10 | 武汉大学 | It is a kind of to couple water-head as the water delivery open channel canal system method of operation of controlled volume |
| CN110146123A (en) * | 2018-06-13 | 2019-08-20 | 宁波大学 | A kind of open channel water delivery monitoring system based on multi-information fusion |
| CN110146123B (en) * | 2018-06-13 | 2021-04-06 | 宁波大学 | Open channel water delivery monitoring method based on multi-information fusion |
| CN109189110B (en) * | 2018-09-29 | 2019-06-28 | 中国水利水电科学研究院 | A kind of canal pond regulation method in series connection canal pond in import and export flow imbalance situation |
| CN109189110A (en) * | 2018-09-29 | 2019-01-11 | 中国水利水电科学研究院 | A kind of canal pond regulation method in series connection canal pond in import and export flow imbalance situation |
| CN110158545A (en) * | 2019-06-19 | 2019-08-23 | 唐山现代工控技术有限公司 | A method of guaranteeing that channel divides water |
| CN111474965A (en) * | 2020-04-02 | 2020-07-31 | 中国水利水电科学研究院 | Fuzzy neural network-based method for predicting and controlling water level of series water delivery channel |
| CN112114595A (en) * | 2020-08-14 | 2020-12-22 | 黄河水利委员会黄河水利科学研究院 | Method for processing water diversion disturbance of constant flow region in channel control |
| CN113550273A (en) * | 2021-09-03 | 2021-10-26 | 北京奥特美克科技股份有限公司 | Gate opening control method and device and electronic equipment |
| CN114415742A (en) * | 2021-12-13 | 2022-04-29 | 中国电建集团华东勘测设计研究院有限公司 | Automatic regulating and controlling device and method for stabilizing water level of regulating tank at front end of long open channel |
| CN114415742B (en) * | 2021-12-13 | 2024-04-02 | 中国电建集团华东勘测设计研究院有限公司 | Automatic regulation and control device and method for stabilizing water level of regulating tank at front end of long open channel |
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