CN113529667A - Automatic control method and system for integrated gate passing flow - Google Patents

Automatic control method and system for integrated gate passing flow Download PDF

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CN113529667A
CN113529667A CN202110844486.7A CN202110844486A CN113529667A CN 113529667 A CN113529667 A CN 113529667A CN 202110844486 A CN202110844486 A CN 202110844486A CN 113529667 A CN113529667 A CN 113529667A
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gate
water
flow
opening
water level
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CN113529667B (en
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张荣成
陈绍青
周彤
李海涛
欧阳炳濠
包国庆
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China Water Sunny Data Technology Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B13/00—Irrigation ditches, i.e. gravity flow, open channel water distribution systems
    • E02B13/02—Closures for irrigation conduits
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/16—Control of watering
    • A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Water Supply & Treatment (AREA)
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Abstract

The invention discloses an automatic control method and system for integrated gate passing flow, which comprises the steps of obtaining real-time water regime detection information of a gate; according to the real-time water regime detection information, a gate flow water level opening model under different flow states is established; predicting the future displacement volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate; according to the predicted value of the future displacement volume of the gate, the current operation mode of the gate is planned, and the effect of discharging the water with the expected volume in the expected time is achieved. According to the invention, the corresponding data acquisition equipment is arranged on the gate of the irrigation area, the water regime detection information is acquired in real time, and the function of discharging the expected volume water quantity in the expected time is realized by establishing a model and a design algorithm and controlling the gate opening change. Thereby achieving the control of automatically planning the gate flow. The accuracy of water supply is improved, water resource availability factor reduces intensity of labour, realizes the unmanned on duty of irrigated area, improves irrigation benefit, promotes agricultural development.

Description

Automatic control method and system for integrated gate passing flow
Technical Field
The invention relates to the technical field of integrated gate passing flow control, in particular to an integrated gate passing flow automatic control method and system.
Background
Agricultural production structures include planting, animal husbandry, forestry, fishery and subsidiary industry, wherein the planting industry is the main one. Agricultural irrigation is a very important link in the planting industry, the irrigation area of farmlands in China reaches 11.1 hundred million acres, and the first farmlands in the world exist, wherein the irrigation area of cultivated lands is 10.2 hundred million acres, and accounts for 50.3 percent of the total area of cultivated lands in China. According to the current water consumption statistics of China, half of the total water consumption of China every year is used for agricultural irrigation, but the demand can not be met. Due to wide irrigation area and remote areas, most of irrigation area gate control, information management and other works basically depend on manual control and recording of irrigation area management personnel, and management means is lagged behind, so that a large amount of irrigation water is wasted due to the fact that the irrigation water is not scientifically and accurately distributed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and in order to realize the aim, an integrated gate automatic control method and system for the gate-passing flow are adopted to solve the problems in the background technology.
An integrated gate brake-passing flow automatic control method specifically comprises the following steps:
acquiring real-time water regime detection information of a gate;
according to the real-time water regime detection information, a gate flow water level opening model under different flow states is established;
predicting the future displacement volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate;
according to the predicted value of the future displacement volume of the gate, the current operation mode of the gate is planned, and the effect of discharging the water with the expected volume in the expected time is achieved.
As a further aspect of the invention: the specific steps of establishing gate flow and water level opening models in different flow states according to the real-time water regime detection information comprise:
collecting data information of the water level before the gate, the water level after the gate, the gate opening and the gate opening flow of the integrated gate site;
and determining a functional relation between the gate opening and the gate flow according to the data information, and performing polynomial fitting by adopting a least square method to establish a gate flow water level opening model.
As a further aspect of the invention: the specific steps of collecting data information and fitting a polynomial include:
firstly, storing water in a reservoir in front of a gate to enable the water level in front of the gate to reach a preset height;
starting water discharge after the gate opening degree is preset, and measuring real-time pre-gate water level H, gate opening degree e and post-gate water level HtAnd the data Q of the gate opening flow rate, and continuously adjusting the gate opening degree [ 0-e ]max]To maintain the water level in front of the gate
Figure BDA0003179988330000021
Obtaining a plurality of groups of data;
judging the type of flow state data to be acquired after obtaining a plurality of groups of data, if free outflow data is acquired, keeping the water level behind the gate smooth, if submerged outflow data is acquired, closing a water outlet behind the gate, storing water to ensure that the water level behind the gate is larger than the water jump height, and acquiring data;
according to the type of flow state data, if the flow state is freely output, Q and
Figure BDA0003179988330000022
the obtained gate flow water level opening model is as follows:
Figure BDA0003179988330000023
if the flow state is submerged, Q and
Figure BDA0003179988330000024
to obtain the gateThe gate flow water level opening model is as follows:
Figure BDA0003179988330000025
wherein b is the width of the gate, mu (e, H) is the polynomial fitting result of the gate opening and the gate water level, f (H, H)t) Fitting a gate submerging outflow coefficient and a gate front-gate rear-gate water level ratio polynomial result;
and (4) trying to fit with different highest times according to the specific data point distribution situation to obtain the polynomial type with the best fitting degree.
As a further aspect of the invention: the specific steps of predicting the future displacement volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate and achieving the effect of discharging the water volume with the expected volume in the expected time comprise:
the method comprises the following steps: presetting a sampling period TsAnd an adjustable parameter tau, initializing the gate opening and the adjustable parameter to zero;
step two: collecting the current gate opening e of each sampling periodnow(k) Front water level H of gatenow(k) Water level h after gatet(k) Volume V to be drainedres(k) And the remaining time tres(k)；
If V is judgedres(k) Is less than or equal to 0 and enow(k)>0, the gate descends at a preset rated speed until enow(k) Ending when the value is 0;
if V is judgedres(k)>0, calculating the time t required by the current gate opening to reach zerodes(k) And estimated volume of water to be discharged Vclose(k) E.g. tres(k)>tdes(k) Then, the volume of water discharged from the current gate opening to the holding state is calculated as Vkeep(k)+Vclose(k) The sum of both VpredictAs the current predicted output value of the system;
step three: judging the running state of the gate, and if the actual residual water amount is reduced and the total predicted water discharge is more than tau and the gate does not reach the maximum opening, ascending the gate at a rated speed;
if the predicted water discharge minus the actual residual water discharge is greater than tau, or the estimated water discharge volume from the current opening to the closing of the gate is greater than the actual residual water discharge, and the current opening of the gate is greater than 0, the gate is lowered at a rated speed;
if the absolute value of the difference value between the actual residual water amount and the predicted water discharge amount is less than or equal to tau, or the gate reaches the limit position, keeping the gate at the current opening;
step four: and entering the next sampling period to acquire data, and circularly planning until the water with the expected volume is discharged.
A system including the automatic control method for the gate-passing flow of the integrated gate, which comprises the following steps:
the sensor module is used for acquiring data information of gate drainage flow, gate front and back water levels and gate opening;
the gate controller module is used for receiving the data information of the sensor module and outputting a control instruction;
and the actuator module is used for receiving the control instruction of the gate controller module and automatically controlling the gate.
As a further aspect of the invention: the sensor module comprises a flow sensor, a water level sensor and a motor encoder.
As a further aspect of the invention: the gate controller module comprises a serial port communication interface module, a pulse quantity input interface module, a wireless communication module for wireless communication and a control algorithm module.
As a further aspect of the invention: the actuator module includes a motor drive plate and a motor.
Compared with the prior art, the invention has the following technical effects:
by adopting the technical scheme, the sensor assembly is arranged on the integrated gate of the irrigation area to acquire water regime information such as water level, water quantity and the like detected in real time, and the acquired data is utilized to establish a model and design an algorithm to obtain an operation mode which can be automatically planned and adjusted so as to control the expected volume of water to be discharged within the expected time. Therefore, accurate and automatic control of the gate passing flow of the integrated gate measurement and control system is realized, water resources in the irrigation district are uniformly managed, water resource allocation is optimized, and the operation cost is reduced. The water distribution task is effectively and quickly executed, and water resources can be reasonably utilized; meanwhile, the problem that manual operation may occur is solved, the accuracy of water supply is improved, the labor intensity of workers is reduced while the use efficiency of water resources in the irrigation area is improved, the unattended operation and unattended operation of the irrigation area are realized, the irrigation benefit is improved, and the agricultural modernization development of the irrigation area is promoted.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic step diagram of an integrated gate automatic control method for gate-passing flow according to some embodiments disclosed in the present application;
FIG. 2 is a schematic view of an integrated gate lockage flow automatic control system according to some embodiments disclosed herein;
FIG. 3 is a schematic illustration of a plan for a mode of operation of an integrated gate from a current time to an end of operation according to some embodiments disclosed herein;
FIG. 4 is a system control flow block diagram of some embodiments disclosed herein;
FIG. 5 is a block flow diagram of control algorithm data processing according to some embodiments disclosed herein.
In the figure: 1. a sensor module; 11. a flow sensor; 12. a water level sensor; 13. a motor encoder; 2. a gate controller module; 21. a serial communication interface module; 22. the pulse quantity input interface module; 23. a wireless communication module; 24. a control algorithm module; 3. an actuator module; 31. a motor drive plate; 32. an electric motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, an integrated gate automatic control method for gate-passing flow includes the following specific steps:
s1, acquiring real-time water regime detection information of the gate;
specifically, the integrated gate is provided with a sensor for setting the related water level, the gate opening and the gate opening flow to acquire related data.
S2, establishing gate flow water level opening models in different flow states according to real-time water regime detection information, and the concrete steps comprise:
collecting data information of the water level before the gate, the water level after the gate, the gate opening and the gate opening flow of the integrated gate site;
in the specific implementation mode, for the rectangular flat gate with the sill being the wide top weir, the gate hole outflow is divided into two flow states: free outflow and submerged outflow.
When freely flowing out, satisfy
Figure BDA0003179988330000051
Wherein the relative opening degree of mu and the gate
Figure BDA0003179988330000052
In an inversely proportional relationship.
When the effluent is submerged, satisfy
Figure BDA0003179988330000053
Wherein sigmaSRatio of mu to water level before and after gate
Figure BDA0003179988330000054
In an inverse proportional relationship.
In order to obtain an effective flow coefficient, determining a functional relation between the gate opening and the gate flow according to the data information, and performing polynomial fitting by adopting a least square method to establish a gate flow water level opening model.
The method comprises the following specific steps:
firstly, storing water in a reservoir in front of a gate to enable the water level in front of the gate to reach a preset height;
starting water discharge after the gate opening degree is preset, and measuring real-time pre-gate water level H, gate opening degree e and post-gate water level HtAnd the data Q of the gate opening flow rate, and continuously adjusting the gate opening degree [ 0-e ]max]To maintain the water level in front of the gate
Figure BDA0003179988330000055
Obtaining a plurality of groups of data;
judging the type of flow state data to be acquired after obtaining a plurality of groups of data, if free outflow data is acquired, keeping the water level behind the gate smooth, if submerged outflow data is acquired, closing a water outlet behind the gate, storing water to ensure that the water level behind the gate is larger than the water jump height, and acquiring data;
according to the type of flow state data, if the flow state is freely output, Q and
Figure BDA0003179988330000056
the obtained gate flow water level opening model is as follows:
Figure BDA0003179988330000057
if the flow state is submerged, Q and
Figure BDA0003179988330000058
the obtained gate flow water level opening model is as follows:
Figure BDA0003179988330000059
wherein b is the width of the gate, mu (e, H) is the polynomial fitting result of the gate opening and the gate water level, f (H, H)t) Fitting a gate submerging outflow coefficient and a gate front-gate rear-gate water level ratio polynomial result;
and (4) trying to fit with different highest times according to the specific data point distribution condition to obtain a polynomial type with the optimized fitting degree.
Acquiring real-time water regime detection information of a gate;
according to the real-time water regime detection information, a gate flow water level opening model under different flow states is established;
s3, predicting the future displacement volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate;
and S4, planning the current operation mode of the gate according to the predicted value of the future water discharge volume of the gate, and achieving the effect of discharging the water with the expected volume in the expected time.
In a specific real-time mode, taking free outflow as an example, after fitting the flow coefficient in the above steps, the obtained gate flow water level opening model is:
Figure BDA0003179988330000061
the relation between the drainage volume and the flow is obtained as follows:
Figure BDA0003179988330000062
the relationship between the gate opening and the gate running speed is as follows:
Figure BDA0003179988330000063
wherein the gate operating rate satisfies the constraint: v e { -vr,0,vrAnd the states of the gate are respectively represented by three operation states including ascending at a rated speed, keeping the current opening degree and descending at the rated speed.
The output of the controller is the running speed of the gate by adopting a rolling optimization mode, and the discharge water amount is indirectly controlled by controlling the opening change of the gate.
Considering that the running speed of the gate is slow, the running time of the whole system is long, and certain time delay exists in switching among the three running states, so that the sampling time T of the controllersShould not be set too short, the transition from the displacement volume V (k) at the current sampling instant to the displacement volume V (k +1) at the next sampling instant is as follows:
Figure BDA0003179988330000064
since the control target has a constraint of an expected running time, a trajectory of the gate from the current moment to the end of running needs to be planned in each sampling period to ensure that the gate meets the time constraint condition.
Calculating the time required for descending the gate from the current opening degree to the opening degree of zero at the rated speed
Figure BDA0003179988330000071
And let the gate be at tkeep＝tres-tdesKeeping the current gate opening in time interval, and calculating the gate according to t from the current timenow～tkeepTime period of (2) volume of water discharged and start ofkeep～texpThe corresponding gate discharge volume is lowered at a rated rate, the sum V of the twopredictAs the current predicted output value of the system. FIG. 3 is a schematic diagram illustrating a method for controller increment planning over a predicted duration.
Known model
Figure BDA0003179988330000072
The maximum opening degree of the gate is emaxThe width of the gate is b, and the rated running speed v of the gaterTo prevent the system from weir flow, the water level in front of the gate needs to be maintained
Figure BDA0003179988330000073
Meanwhile, an adjustable parameter tau is set to represent the volume deviation E ═ V in the running process of the gateres-VpredictTolerance of i, i.e. when E>And tau, the running state switching of the ascending and descending of the gate can be carried out, otherwise, the current opening degree is kept. Increasing the value of τ reduces the error caused by switching the gate state too frequently.
The specific design steps of the control algorithm comprise:
as shown in fig. 4 and fig. 5, a control flow and a data processing flow of the integrated gate automatic control system for the gate-passing flow are respectively shown.
S41, presetting a sampling period TsAnd an adjustable parameter tau, initializing the gate opening and the adjustable parameter to zero;
s42, collecting the current gate opening e of each sampling periodnow(k) Front water level H of gatenow(k) Water level h after gatet(k) Volume V to be drainedres(k) And the remaining time tres(k)；
In particular, wherein enow(k)，Hnow(k) It can be obtained from a sensor or sensors,
Figure BDA0003179988330000074
the flow rate of the gate is calculated after being accumulated. t is tres(k)＝texp-tpast(k)。
If V is judgedres(k) Is less than or equal to 0 and enow(k)>0, the gate descends at a preset rated speed until enow(k) Ending when the value is 0;
if V is judgedres(k)>0, calculating the time t required by the current gate opening to reach zerodes(k) And estimated volume of water to be discharged Vclose(k) E.g. tres(k)>tdes(k) Then, the volume of water discharged from the current gate opening to the holding state is calculated as Vkeep(k)+Vclose(k) The sum of both VpredictAs the current predicted output value of the system.
S43, judging the running state of the gate, and if the actual residual water amount is reduced and the predicted water discharge amount is larger than tau and the gate does not reach the maximum opening, ascending the gate at a rated speed;
if the predicted water discharge minus the actual residual water discharge is greater than tau, or the estimated water discharge volume from the current opening to the closing of the gate is greater than the actual residual water discharge, and the current opening of the gate is greater than 0, the gate is lowered at a rated speed;
if the absolute value of the difference value between the actual residual water amount and the predicted water discharge amount is less than or equal to tau, or the gate reaches the limit position, keeping the gate at the current opening;
and S44, entering the next sampling period to acquire data, and circularly planning until the water with the expected volume is discharged.
As shown in fig. 2, a system including the automatic control method for the passing gate flow of the integrated gate as described above includes:
the sensor module 1 is used for acquiring data information of gate drainage flow, gate front and back water levels and gate opening;
the gate controller module 2 is used for receiving the data information of the sensor module 1 and outputting a control instruction;
and the actuator module is used for receiving the control instruction of the gate controller module 2 and automatically controlling the gate.
In some specific embodiments, the sensor module 1 includes a flow sensor 11, a water level sensor 12, and a motor encoder 13.
In some specific embodiments, the gate controller module 2 includes a serial communication interface module 21, a pulse amount input interface module 22, a wireless communication module 23 for wireless communication and receiving instructions from a telemetry center, and a control algorithm module 24. The control algorithm module 24 is used for processing the acquired sensor data and the control command issued by the telemetry center and generating the control command
In particular embodiments, the actuator module 3 includes a motor drive plate 31 and a motor 32. Specifically, the motor driving board 31 opens or closes the motor 32 provided at the gate according to the power on/off control signal output by the gate controller module 2, thereby completing the automatic control of the rising and falling actions of the gate.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which should be construed as being within the scope of the invention.

Claims (8)

1. The automatic control method for the brake-passing flow of the integrated gate is characterized by comprising the following specific steps of:
acquiring real-time water regime detection information of a gate;
according to the real-time water regime detection information, a gate flow water level opening model under different flow states is established;
predicting the future displacement volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate;
according to the predicted value of the future displacement volume of the gate, the current operation mode of the gate is planned, and the effect of discharging the water with the expected volume in the expected time is achieved.
2. The automatic control method for the gate-passing flow of the integrated gate according to claim 1, wherein the specific steps of establishing gate flow water level opening models in different flow states according to the real-time water regime detection information comprise:
collecting data information of the water level before the gate, the water level after the gate, the gate opening and the gate opening flow of the integrated gate site;
and determining a functional relation between the gate opening and the gate flow according to the data information, and performing polynomial fitting by adopting a least square method to establish a gate flow water level opening model.
3. The automatic control method for the gate-passing flow of the integrated gate according to claim 2, wherein the specific steps of collecting data information and fitting a polynomial comprise:
firstly, storing water in a reservoir in front of a gate to enable the water level in front of the gate to reach a preset height;
starting water discharge after the gate opening degree is preset, and measuring real-time pre-gate water level H, gate opening degree e and post-gate water level HtAnd the data Q of the gate opening flow rate, and continuously adjusting the gate opening degree [ 0-e ]max]To maintain the water level in front of the gate
Figure FDA0003179988320000011
Obtaining a plurality of groups of data;
judging the type of flow state data to be acquired after obtaining a plurality of groups of data, if free outflow data is acquired, keeping the water level behind the gate smooth, if submerged outflow data is acquired, closing a water outlet behind the gate, storing water to ensure that the water level behind the gate is larger than the water jump height, and acquiring data;
according to the type of flow state data, if the flow state is freely output, Q and
Figure FDA0003179988320000012
the obtained gate flow water level opening model is as follows:
Figure FDA0003179988320000013
if the flow state is submerged, Q and
Figure FDA0003179988320000021
the obtained gate flow water level opening model is as follows:
Figure FDA0003179988320000022
wherein b is the width of the gate, mu (e, H) is the polynomial fitting result of the gate opening and the gate water level, f (H, H)t) Fitting a gate submerging outflow coefficient and a gate front-gate rear-gate water level ratio polynomial result;
and (4) trying to fit with different highest times according to the specific data point distribution situation to obtain the polynomial type with the best fitting degree.
4. The method for automatically controlling the gate-passing flow of the integrated gate according to claim 3, wherein the concrete steps of predicting the future water discharge volume of the gate according to the gate flow water level opening model and the planning of the future operation state of the gate and achieving the effect of discharging the water with the expected volume in the expected time comprise:
the method comprises the following steps: presetting a sampling period TsAnd an adjustable parameter tau, initializing the gate opening and the adjustable parameter to zero；
Step two: collecting the current gate opening e of each sampling periodnow(k) Front water level H of gatenow(k) Water level h after gatet(k) Volume V to be drainedres(k) And the remaining time tres(k)；
If V is judgedres(k) Is less than or equal to 0 and enow(k)>0, the gate descends at a preset rated speed until enow(k) Ending when the value is 0;
if V is judgedres(k)>0, calculating the time t required by the current gate opening to reach zerodes(k) And estimated volume of water to be discharged Vclose(k) E.g. tres(k)>tdes(k) Then, the volume of water discharged from the current gate opening to the holding state is calculated as Vkeep(k)+Vclose(k) The sum of both VpredictAs the current predicted output value of the system;
step three: judging the running state of the gate, and if the actual residual water amount is reduced and the total predicted water discharge is more than tau and the gate does not reach the maximum opening, ascending the gate at a rated speed;
if the predicted water discharge minus the actual residual water discharge is greater than tau, or the estimated water discharge volume from the current opening to the closing of the gate is greater than the actual residual water discharge, and the current opening of the gate is greater than 0, the gate is lowered at a rated speed;
if the absolute value of the difference value between the actual residual water amount and the predicted water discharge amount is less than or equal to tau, or the gate reaches the limit position, keeping the gate at the current opening;
step four: and entering the next sampling period to acquire data, and circularly planning until the water with the expected volume is discharged.
5. A system comprising the automatic control method of the gate-passing flow of the integrated gate according to any one of claims 1 to 4, characterized by comprising:
the sensor module (1) is used for acquiring data information of gate drainage flow, gate front and back water levels and gate opening;
the gate controller module (2) is used for receiving the data information of the sensor module and outputting a control instruction;
and the actuator module (3) is used for receiving the control instruction of the gate controller module and automatically controlling the gate.
6. The system for automatically controlling the gate-passing flow of the integrated gate according to claim 5, wherein the sensor module comprises a flow sensor (11), a water level sensor (12) and a motor encoder (13).
7. The system for automatically controlling the gate-passing flow of the integrated gate according to claim 5, wherein the gate controller module comprises a serial port communication interface module (21), a pulse quantity input interface module (22), a wireless communication module (23) for wireless communication, and a control algorithm module (24).
8. The system for automatically controlling the gate-passing flow of the integrated gate according to claim 5, wherein the actuator module comprises a motor driving plate (31) and a motor (32).
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CN114397920A (en) * 2021-12-07 2022-04-26 河海大学 Saline-alkali land rainwater irrigation and drainage ecological intelligent management and control method, device and system
CN115951723A (en) * 2022-12-26 2023-04-11 浙江南自建设集团有限公司 Method and device for controlling brake pump, computer equipment and storage medium
CN116360330A (en) * 2023-06-01 2023-06-30 珠江水利委员会珠江水利科学研究院 Open channel flow measurement method and system based on multichannel ultrasonic array
CN117093024A (en) * 2023-10-20 2023-11-21 甘肃建投交通建设有限公司 Water level monitoring system and regulation and control method for regulating and storing water tank
CN118131825A (en) * 2024-05-06 2024-06-04 河北工程大学 Water level control method and device for throttle valve
CN118396182A (en) * 2024-05-22 2024-07-26 深圳市辰锋建设工程有限公司 Drainage efficiency intelligent regulation and control method and system based on drainage flow monitoring data
CN118430104A (en) * 2024-04-22 2024-08-02 广东安快智能科技有限公司 Channel gate servo control method, device and storage medium

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CN114397920A (en) * 2021-12-07 2022-04-26 河海大学 Saline-alkali land rainwater irrigation and drainage ecological intelligent management and control method, device and system
CN114397920B (en) * 2021-12-07 2023-12-08 河海大学 Intelligent management and control method, device and system for rainwater irrigation and drainage ecology of saline-alkali soil
CN115951723A (en) * 2022-12-26 2023-04-11 浙江南自建设集团有限公司 Method and device for controlling brake pump, computer equipment and storage medium
CN115951723B (en) * 2022-12-26 2023-08-29 浙江南自建设集团有限公司 Gate pump control method and device, computer equipment and storage medium
CN116360330A (en) * 2023-06-01 2023-06-30 珠江水利委员会珠江水利科学研究院 Open channel flow measurement method and system based on multichannel ultrasonic array
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CN117093024B (en) * 2023-10-20 2024-01-09 甘肃建投交通建设有限公司 Water level monitoring system and regulation and control method for regulating and storing water tank
CN118430104A (en) * 2024-04-22 2024-08-02 广东安快智能科技有限公司 Channel gate servo control method, device and storage medium
CN118131825A (en) * 2024-05-06 2024-06-04 河北工程大学 Water level control method and device for throttle valve
CN118396182A (en) * 2024-05-22 2024-07-26 深圳市辰锋建设工程有限公司 Drainage efficiency intelligent regulation and control method and system based on drainage flow monitoring data

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