CN114397919A - Multi-gate combined dispatching control system and method for full-channel irrigation - Google Patents
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Abstract
The invention provides a multi-gate combined dispatching control system and method for full-channel irrigation, and belongs to the field of irrigation area information intelligent technology and water networking full-channel control. The system comprises a measurement and control integrated gate subsystem, a software and hardware system interaction interface and a full channel control subsystem; the measurement and control integrated gate subsystem comprises a plurality of measurement and control integrated gates; the measurement and control integrated gate subsystem sends the state data of each measurement and control integrated gate to the full-channel control subsystem through the soft and hard system interaction interface; and the full-channel control subsystem generates a control instruction of each measurement and control integrated gate according to the state data and sends the control instruction to the corresponding measurement and control integrated gate through the software and hardware system interaction interface. The method can be used for irrigation district full-channel intelligent control, and provides reliable guarantee for efficient management, accurate scheduling, intelligent control and effective utilization of water resources of irrigation district automatic irrigation equipment.
Description
Technical Field
The invention belongs to the field of information and intelligent technologies of irrigation areas and water networking full-channel control, and particularly provides a full-channel irrigation multi-gate combined dispatching control system and method.
Background
The method optimizes the water resource distribution process, improves the utilization efficiency of water resources, is an important target of water resource management in irrigation areas, and is also an important link of water networking digital water control. The traditional water resource management means is difficult to adapt to the technical means of the water resource supply and demand system, such as dynamics, relevance, predictability, uncertainty, informatization, digitization, internet of things and the like, and the technical support and guarantee are provided for establishing a real-time, accurate, dynamic, complete and intelligent water communication interconnection system, realizing measurement and control integration and intelligent control at the irrigation area level, realizing water networking digital water control and comprehensively improving the water resource management service capability.
The measurement and control integrated gate is automatic irrigation equipment integrating precise control and precise measurement, and is an important infrastructure in information and intelligent system construction of an irrigation area. The measurement and control integrated gate generally comprises functional modules such as gate control, channel water level flow monitoring, remote communication, equipment working condition monitoring and the like besides basic structures such as a gate body and the like. The remote communication module of the current measurement and control integrated gate can generally support various communication modes such as 4G, 5G, NB-IoT, optical fiber and the like. In any communication mode, the system can be integrated into a software and hardware system interactive interface or an irrigation management system through a corresponding protocol, so that the gate state data acquisition or the gate remote control is realized.
However, the current irrigation management system only supports single control of the measurement and control integrated gate, and does not consider the dynamic relevance among all gates of the whole channel. For example, to adjust the flow rate of a target gate, the opening of the gate needs to be adjusted, and a change in the opening of one gate affects the front and rear gate water levels of other gates around the gate, and the change in the water level further affects the flow rates of the other gates, resulting in deviation from the target.
Disclosure of Invention
The invention provides a system and a method for controlling combined dispatching of multiple gates in full-channel irrigation, aiming at overcoming the defects in the prior art. The combined control of the measurement and control integrated gate can be realized, the universality is strong, and the floor application is easy. The method can realize accurate irrigation for modern irrigation area management and provide technical support for achieving the aim of high-efficiency water utilization.
An embodiment of a first aspect of the present disclosure provides a full-channel irrigation multi-gate joint scheduling control system, including:
the system comprises a measurement and control integrated gate subsystem, a software and hardware system interaction interface and a full channel control subsystem; the measurement and control integrated gate subsystem comprises a plurality of measurement and control integrated gates; the measurement and control integrated gate subsystem sends the state data of each measurement and control integrated gate to the full-channel control subsystem through the soft and hard system interaction interface; and the full-channel control subsystem generates a control instruction of each measurement and control integrated gate according to the state data and sends the control instruction to the corresponding measurement and control integrated gate through the software and hardware system interaction interface.
In a specific embodiment of the present disclosure, the full channel control subsystem includes: the system comprises a water-demand target setting module, a state data receiving module, a state data analyzing module, a gating instruction generating module, a gating instruction sending module and a gating result recording module; the software and hardware system interaction interface comprises: the gate state data acquisition module and the gate remote control module are connected with the gate control module; every observes and controls integration gate in observing and controling integration gate subsystem includes: the device comprises a data acquisition module, a network communication module and a gate control module.
In a specific embodiment of the present disclosure, the data acquisition module of the measurement and control integrated gate is configured to acquire state data of the measurement and control integrated gate and send the state data to the network communication module;
the network communication module is used for sending the state data received from the data acquisition module to the gate state data acquisition module, receiving a control instruction corresponding to the measurement and control integrated gate from the gate remote control module and sending the control instruction to the gate control module;
the gate control module is used for driving the gate mechanical equipment to execute the control command so as to achieve the gate opening degree set in the control command, and sending the execution result of the control command to the network communication module.
In a specific embodiment of the present disclosure, in the software and hardware system interaction interface, the gate state data acquisition module is configured to acquire state data of a corresponding gate from the network communication module of each measurement and control integrated gate, and send the state data to the state data receiving module;
the gate remote control module is used for receiving the control instruction of each measurement and control integrated gate from the gate control instruction sending module, sending the control instruction to the network communication module of the corresponding gate, and receiving the execution result of the control instruction from the network communication module.
In a specific embodiment of the present disclosure, in the full channel control subsystem, the water-demand target setting module is configured to set a gate control parameter and send the gate control parameter to the state data analysis module, where the gate control parameter includes: target water flow rate values of the measurement and control integrated gates and step length and step frequency of the gate opening are controlled;
the state data receiving module is used for acquiring and storing the state data of each measurement and control integrated gate from the gate state data acquiring module and then sending the state data to the state data analyzing module;
the state data analysis module is used for calculating the deviation between each measurement and control integrated gate flow value and the corresponding target water demand flow value according to the state data and then sending the calculation result to the gate control instruction generation module;
the gate control instruction generating module is used for generating control instructions of all the measurement and control integrated gates in batches according to the set deviation threshold values of all the gates by using the calculation results and then sending the control instructions to the gate control instruction sending module;
the gate control instruction sending module is used for sending the control instructions to the gate remote control module and the gate control result recording module in batches and obtaining the execution results of the control instructions from the gate remote control module;
and the gating result recording module is used for recording the control instruction and the execution result of the instruction.
In a specific embodiment of the present disclosure, the state data analysis module is further configured to obtain a state change trend of each measurement and control integrated gate according to a historical calculation result.
The embodiment of the second aspect of the present disclosure provides a full-channel irrigation multi-gate combined dispatching control method based on the above system, including:
1) a water-demand target setting module of the full-channel control subsystem sets target flow of each measurement and control integrated gate and sets step length and step frequency for controlling the opening of each gate;
2) the data acquisition module of each observing and controlling integration gate in the observing and controlling integration gate subsystem gathers the real-time status data of corresponding gate in real time, status data include: current flow and gate opening;
3) a gate state data acquisition module of the software and hardware system interaction interface acquires corresponding gate real-time state data from a data acquisition module of each measurement and control integrated gate in the measurement and control integrated subsystem according to a set step frequency, and transmits the state data to a state data receiving module of the full-channel control subsystem;
4) the state data receiving module sends the state data to a state data analysis module;
5) the state data analysis module calculates the updated opening degree of each gate according to the state data and sends the opening degree calculation result to the gate control instruction generation module; the specific method comprises the following steps:
if any gate satisfies (Xi + | D |) < Ki, increasing the gate opening Yi ═ Yi + S by a set step length;
if any gate meets (Xi- | D |) > Ki, reducing the gate opening Yi ═ Yi-S according to a set step length;
if any gate meets the condition that | Xi-Ki | is less than or equal to | D |, the opening degree of the gate is not updated;
s represents a step length, Xi represents the current flow of the ith gate, Ki represents the target flow of the ith gate, D represents a water demand target deviation threshold value, and Yi represents the opening degree of the ith gate;
6) the gate control instruction generation module generates control instructions corresponding to all gates in batches according to the opening calculation result;
7) the gate control instruction sending module sends the control instructions to a gate remote control module in the software and hardware system interaction interface in batches;
8) the gate remote control module distributes the control instruction to a network communication module of a corresponding measurement and control integrated gate in the measurement and control integrated gate subsystem;
9) the network communication module sends the corresponding gate control instruction to the gate control module, and the gate control module executes the control instruction of the corresponding gate;
10) a gating result recording module of the full-channel control subsystem records the control instruction and the instruction execution result;
if the instruction execution fails, executing the instruction again; and if the instruction is successfully executed, returning to the step 2) again until all the gates reach the target flow set in the step 1), and ending the control.
In a specific embodiment of the present disclosure, the method further comprises:
and if the opening calculation results indicate that all the gate openings are not updated, the gate control instruction generation module does not generate a control instruction until at least one gate updates the corresponding opening calculation result and then generates a corresponding control instruction.
The characteristics and the beneficial effects of the disclosure are as follows:
1. the system can help channel irrigation management units to realize all measurement and control integrated gates of the joint regulation and joint control whole channel, and achieves the purposes of accurate irrigation and efficient water utilization and water saving.
2. According to the system and the method, the monitoring and abnormal early warning of the operation of the gate can be realized by acquiring and analyzing the state data of the all-channel measurement and control integrated gate.
3. The method is applied to canal management, so that a large amount of manual operations on site are not needed, and the human resource cost of a management unit can be greatly reduced.
4. The method is independent of specific gate manufacturers, communication protocols and channel characteristics, and is a universal application mode easy to fall to the ground.
Drawings
Fig. 1 is a schematic diagram of an overall architecture of a combined dispatching control system for multiple gates of full-channel irrigation according to an embodiment of the disclosure.
Fig. 2 is a schematic diagram illustrating specific module components of a combined dispatching control system for multiple gates of full-channel irrigation according to an embodiment of the disclosure.
Fig. 3 is an overall flowchart of a combined dispatching control method for multiple gates of full-channel irrigation according to an embodiment of the disclosure.
Fig. 4 is an architecture diagram of an information data interaction flow of a combined scheduling control method for multiple gates of full-channel irrigation in an embodiment of the present disclosure.
Detailed Description
The embodiment of the disclosure provides a system and a method for controlling joint dispatching of multiple gates in full-channel irrigation, and the disclosure is further described in detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the present disclosure provides a full-channel irrigation multi-gate combined dispatching control system, the overall architecture of which is shown in fig. 1, and the system includes: the system comprises a measurement and control integrated gate subsystem, a software and hardware system interaction interface and a full channel control subsystem, wherein the measurement and control integrated gate subsystem comprises a plurality of measurement and control integrated gates; and the full-channel control subsystem is respectively connected with each measurement and control integrated gate in the measurement and control integrated gate subsystem through a software and hardware system interaction interface. Each measurement and control integrated gate in the measurement and control integrated gate subsystem transmits state data to the full-channel control subsystem through the software and hardware system interaction interface; and the full-channel control subsystem generates a control instruction according to the state data and sends the control instruction to a corresponding measurement and control integrated gate in the measurement and control integrated gate subsystem through the software and hardware system interaction interface.
Further, the specific module composition of the whole-channel irrigation multi-gate combined dispatching control system is as shown in fig. 2, a single measurement and control integrated gate is taken as an example in the measurement and control integrated gate subsystem, and each measurement and control integrated gate comprises: the device comprises a data acquisition module, a network communication module and a gate control module. The software and hardware system interaction interface comprises: the gate state data acquisition module and the gate remote control module. The full channel control subsystem comprises: the system comprises a water-demand target setting module, a state data receiving module, a state data analyzing module, a gating instruction generating module, a gating instruction sending module and a gating result recording module.
Further, the functions of all modules in the full-channel irrigation multi-gate combined dispatching control system are realized as follows:
1) in the measurement and control integrated gate subsystem, a data acquisition module of each measurement and control integrated gate is used for acquiring state data of the measurement and control integrated gate and sending the state data to the network communication module, wherein the state data comprise: water level before/after the gate, current flow, gate opening.
The network communication module is used for sending the state data of the measurement and control integrated gate received by the data acquisition module to the gate state data acquisition module of the software and hardware system interaction interface, receiving a control instruction corresponding to the measurement and control integrated gate from the gate remote control module of the software and hardware system interaction interface, and sending the control instruction to the gate control module.
The gate control module is used for driving gate mechanical equipment to execute the control instruction of the measurement and control integrated gate so as to reach the gate opening set in the instruction, and the instruction execution result is sent to the network communication module.
2) In the software and hardware system interaction interface, the gate state data acquisition module is used for acquiring state data of all gates from the network communication modules of the measurement and control integrated gates, including the front/back water level of the gate, the current flow and the gate opening, and sending the state data to the state data receiving module of the full-channel control subsystem.
The gate remote control module is used for receiving the control instruction of each measurement and control integrated gate from the gate control instruction sending module of the full-channel control subsystem, sending the control instruction to the network communication module of the corresponding gate, and receiving an instruction execution result from the network communication module.
3) In the full-channel control subsystem, the water demand target setting module is used for setting a target water demand flow value of each measurement and control integrated gate, setting a single change length (step length) and an adjacent two-time change time interval (step frequency) of the gate opening degree required to be controlled when the target water demand flow value is reached, and sending the set target water demand flow value, step length and step frequency to the state data analysis module to serve as a full-channel control target.
The state data receiving module comprises a plurality of database tables, the state data receiving module is used for acquiring state data of each measurement and control integrated gate from a gate state data acquisition module in the software and hardware system interaction interface and sending the state data to the state data analysis module, and meanwhile, the state data receiving module stores the state data to the corresponding database tables.
The state data analysis module is used for calculating the deviation between the flow value of each measurement and control integrated gate and the corresponding target water demand flow value according to the current state data of each measurement and control integrated gate, and sending the calculation result to the gate control instruction generation module, and the module can further analyze the state change trend of each measurement and control integrated gate according to the historical calculation result for monitoring.
And the gate control instruction generating module is used for generating next round of control instructions of the measurement and control integrated gates in batches according to the set deviation threshold values of the gates by utilizing the received deviation between the measurement and control integrated gates and the corresponding target water flow demand value, and then sending the next round of control instructions to the gate control instruction sending module.
The gate control instruction sending module is used for sending the gate control instructions to the gate remote control module of the software and hardware system interaction interface in batches, and meanwhile, the gate remote control module also sends the gate control instructions to the gate control result recording module for storage.
The gate control result recording module is used for recording all transmitted gate control instructions and recording instruction execution results acquired by the gate instruction transmitting module from the gate remote control module of the software and hardware system interaction interface, so that analysis, tracing and auditing are facilitated.
The embodiment of the present disclosure further provides a full-channel irrigation multi-gate combined scheduling control method based on the system, an overall flow is shown in fig. 3, a data interaction architecture is shown in fig. 4, and the method includes the following steps:
1) and a water-demand target setting module of the full-channel control subsystem sets target flow of each measurement and control integrated gate and sets step length and step frequency of opening control of each gate.
In a specific embodiment of the present disclosure, the measurement and control integrated gate subsystem includes 5 gates, and the target flow rate of water required by each gate is set in the target setting module: [0.5,1.0,1.5,2.0,1.5]Unit m of3And s. Let step length S be 10mm and step frequency H be 10 min. Setting a water demand target deviation threshold: d is +/-0.05 m3/s，|D|＝0.05。
2) The data acquisition module of each observing and controlling integration gate in the observing and controlling integration gate subsystem gathers the real-time status data of corresponding gate in real time, status data include: water level before/after the gate, current flow, gate opening.
3) The gate state data acquisition module of the software and hardware system interaction interface continuously acquires real-time state data of each measurement and control integrated gate in the measurement and control integrated subsystem from the data acquisition module of each measurement and control integrated gate in the measurement and control integrated subsystem according to a set step frequency (in a specific embodiment of the present disclosure, H is 10min), and sends the state data to the state data receiving module of the full-channel control subsystem.
In one specific embodiment of the present disclosure, there are 5 gates, and the current flow of each gate is set as follows: [0.8,0.5,1.5,0.5,2.0]Unit m of3And/s, the current gate opening degree is respectively as follows: [600,450,700,500,850]In mm.
4) And the state data receiving module of the full-channel control subsystem sends the state data acquired through the software and hardware system interaction interface to the state data analysis module.
5) And the state data analysis module of the full-channel control subsystem analyzes the flow deviation of each gate, calculates the updated opening degree of each gate and sends the calculation result to the gate control instruction generation module.
And judging whether each gate reaches the corresponding water demand target (namely the target flow of each gate in the whole channel) according to a set water demand target deviation threshold D (namely when the deviation between the real-time measurement value of any gate and the corresponding target value is less than the threshold, the target is considered to be reached). The current flow Xi of each gate is compared with the corresponding target flow Ki. And if the current flow of any gate is lacked, calculating the current flow of the gate according to the current water level and the gate opening of the gate.
If the current flow of any gate is smaller than the corresponding target flow, namely (Xi + | D |) < Ki, the gate opening Yi is increased to Yi + S according to the set step length.
In one specific embodiment of the present disclosure, the step length S is set to 10mm, and D is set to ± 0.05m3If l D | > is 0.05, the opening degree of the 2 nd gate needs to be increased, and after the opening degree is increased, Y2 is 450+10 is 460; the opening degree of the 4 th gate needs to be increased, and after the opening degree is increased, Y4 is 500+10 is 510.
If the current flow rate of any gate is larger than the corresponding target flow rate, namely (Xi- | D |) > Ki is satisfied, the gate opening Yi is reduced to Yi-S according to the set step length.
In one specific embodiment of the present disclosure, the opening of the 1 st gate needs to be decreased, and Y1 is 600-10 is 590; the opening degree of the 5 th gate needs to be reduced, and Y5 is reduced to 850-10 to 840.
If the deviation between the current flow rate of any gate and the corresponding target flow rate is less than or equal to a set deviation threshold value, namely | Xi-Ki | ≦ | D |, the opening degree of the gate is kept unchanged, in the embodiment, the updated opening degree is set to-1, namely, an impossible opening degree value is set to represent that the opening degree is unchanged, and the instruction is skipped to be executed.
In one specific embodiment of the present disclosure, the 3 rd gate opening remains unchanged, and Y3 is-1.
And if the deviation between the current flow of all the gates and the corresponding target flow is less than or equal to the set deviation threshold value, the opening degrees of all the gates are not updated.
6) And a gate control instruction generation module of the full-channel control subsystem generates control instructions corresponding to all gates in batches according to the opening calculation result.
If the calculation result in the step 5) is that the opening degrees of all the gates are not updated, the gate control instruction generation module does not generate the control instruction until the flow of at least one gate deviates from the target, and the opening degree is updated and the corresponding control instruction is generated.
In a specific embodiment of the present disclosure, the gate control instruction generation module generates each gate instruction in batch as follows: [590,460-1,510,840 ], i.e., the 1 st opening degree decreases, the 2 nd increases, the 3 rd does not change, the 4 th increases, and the 5 th decreases.
7) And a gate control instruction sending module of the full-channel control subsystem sends the control instructions to a gate remote control module in the software and hardware system interaction interface in batches.
8) And the gate remote control module of the software and hardware system interaction interface distributes the control instruction to the network communication module of the corresponding measurement and control integrated gate in the measurement and control integrated gate subsystem.
9) And the network communication module of the measurement and control integrated gate sends the control instruction to the gate control module, and the gate control module executes the corresponding gate control instruction.
10) And a gating result recording module of the full-channel control subsystem records all sent control instructions and instruction execution results so as to facilitate analysis, tracing and auditing. If the control instruction fails to execute, trying again; and after the control command is successfully executed, the state (including the opening and the flow rate) of the gates is changed, and then the step 2) is returned again until all the gates reach the target flow rate set in the step 1), and the control is finished.
Claims (8)
1. A multi-gate combined dispatching control system for full-channel irrigation is characterized by comprising:
the system comprises a measurement and control integrated gate subsystem, a software and hardware system interaction interface and a full channel control subsystem; the measurement and control integrated gate subsystem comprises a plurality of measurement and control integrated gates; the measurement and control integrated gate subsystem sends the state data of each measurement and control integrated gate to the full-channel control subsystem through the soft and hard system interaction interface; and the full-channel control subsystem generates a control instruction of each measurement and control integrated gate according to the state data and sends the control instruction to the corresponding measurement and control integrated gate through the software and hardware system interaction interface.
2. The full channel irrigation multi-gate joint dispatch control system of claim 1, wherein the full channel control subsystem comprises: the system comprises a water-demand target setting module, a state data receiving module, a state data analyzing module, a gating instruction generating module, a gating instruction sending module and a gating result recording module; the software and hardware system interaction interface comprises: the gate state data acquisition module and the gate remote control module are connected with the gate control module; every observes and controls integration gate in observing and controling integration gate subsystem includes: the device comprises a data acquisition module, a network communication module and a gate control module.
3. The full channel irrigation multi-gate joint dispatch control system of claim 2,
the data acquisition module of the measurement and control integrated gate is used for acquiring state data of the measurement and control integrated gate and sending the state data to the network communication module;
the network communication module is used for sending the state data received from the data acquisition module to the gate state data acquisition module, receiving a control instruction corresponding to the measurement and control integrated gate from the gate remote control module and sending the control instruction to the gate control module;
the gate control module is used for driving the gate mechanical equipment to execute the control command so as to achieve the gate opening degree set in the control command, and sending the execution result of the control command to the network communication module.
4. The full channel irrigation multi-gate joint dispatch control system of claim 2,
in the software and hardware system interaction interface, the gate state data acquisition module is used for acquiring state data of a corresponding gate from the network communication module of each measurement and control integrated gate and sending the state data to the state data receiving module;
the gate remote control module is used for receiving the control instruction of each measurement and control integrated gate from the gate control instruction sending module, sending the control instruction to the network communication module of the corresponding gate, and receiving the execution result of the control instruction from the network communication module.
5. The full channel irrigation multi-gate joint dispatch control system of claim 2,
in the full channel control subsystem, the water-demand target setting module is used for setting gate control parameters and sending the gate control parameters to the state data analysis module, wherein the gate control parameters comprise: target water flow rate values of the measurement and control integrated gates and step length and step frequency of the gate opening are controlled;
the state data receiving module is used for acquiring and storing the state data of each measurement and control integrated gate from the gate state data acquiring module and then sending the state data to the state data analyzing module;
the state data analysis module is used for calculating the deviation between each measurement and control integrated gate flow value and the corresponding target water demand flow value according to the state data and then sending the calculation result to the gate control instruction generation module;
the gate control instruction generating module is used for generating control instructions of all the measurement and control integrated gates in batches according to the set deviation threshold values of all the gates by using the calculation results and then sending the control instructions to the gate control instruction sending module;
the gate control instruction sending module is used for sending the control instructions to the gate remote control module and the gate control result recording module in batches and obtaining the execution results of the control instructions from the gate remote control module;
and the gating result recording module is used for recording the control instruction and the execution result of the instruction.
6. The system of claim 5, wherein the status data analysis module is further configured to obtain a status change trend of each measurement and control integrated gate according to a historical calculation result.
7. A full channel irrigation multi-gate combined dispatching control method based on the system of any one of claims 2-6, characterized by comprising the following steps:
1) a water-demand target setting module of the full-channel control subsystem sets target flow of each measurement and control integrated gate and sets step length and step frequency for controlling the opening of each gate;
2) the data acquisition module of each observing and controlling integration gate in the observing and controlling integration gate subsystem gathers the real-time status data of corresponding gate in real time, status data include: current flow and gate opening;
3) a gate state data acquisition module of the software and hardware system interaction interface acquires corresponding gate real-time state data from a data acquisition module of each measurement and control integrated gate in the measurement and control integrated subsystem according to a set step frequency, and transmits the state data to a state data receiving module of the full-channel control subsystem;
4) the state data receiving module sends the state data to a state data analysis module;
5) the state data analysis module calculates the updated opening degree of each gate according to the state data and sends the opening degree calculation result to the gate control instruction generation module; the specific method comprises the following steps:
if any gate satisfies (Xi + | D |) < Ki, increasing the gate opening Yi ═ Yi + S by a set step length;
if any gate meets (Xi- | D |) > Ki, reducing the gate opening Yi ═ Yi-S according to a set step length;
if any gate meets the condition that | Xi-Ki | is less than or equal to | D |, the opening degree of the gate is not updated;
s represents a step length, Xi represents the current flow of the ith gate, Ki represents the target flow of the ith gate, D represents a water demand target deviation threshold value, and Yi represents the opening degree of the ith gate;
6) the gate control instruction generation module generates control instructions corresponding to all gates in batches according to the opening calculation result;
7) the gate control instruction sending module sends the control instructions to a gate remote control module in the software and hardware system interaction interface in batches;
8) the gate remote control module distributes the control instruction to a network communication module of a corresponding measurement and control integrated gate in the measurement and control integrated gate subsystem;
9) the network communication module sends the corresponding gate control instruction to the gate control module, and the gate control module executes the control instruction of the corresponding gate;
10) a gating result recording module of the full-channel control subsystem records the control instruction and the instruction execution result;
if the instruction execution fails, executing the instruction again; and if the instruction is successfully executed, returning to the step 2) again until all the gates reach the target flow set in the step 1), and ending the control.
8. The method of claim 7, further comprising:
and if the opening calculation results indicate that all the gate openings are not updated, the gate control instruction generation module does not generate a control instruction until at least one gate updates the corresponding opening calculation result and then generates a corresponding control instruction.
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