CN116497772B

CN116497772B - Self-checking automatic control system and control method for steel dam gate based on support vector machine

Info

Publication number: CN116497772B
Application number: CN202310749392.0A
Authority: CN
Inventors: 张强; 张永林
Original assignee: Yangzhou Feilong Pneumatic Equipment Co ltd
Current assignee: Yangzhou Feilong Pneumatic Equipment Co ltd
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-09-08
Anticipated expiration: 2043-06-25
Also published as: CN116497772A

Abstract

The invention provides a self-checking automatic control system and a control method of a steel dam gate based on a support vector machine, which belong to the technical field of steel dam gates, and comprise a first connecting plate, wherein the top end of the first connecting plate is fixedly connected with a hydraulic generator, the top end of the first connecting plate is fixedly connected with two L-shaped connecting blocks, and the self-checking automatic control system is arranged in the first connecting plate; the information receiving unit can react the information detected by the automatic detection module to the feedback unit, then the feedback unit can automatically feed back the information to the automatic control module, and then the automatic control module is used for controlling and starting the parts, so that the environment condition of the water level of the water source can be automatically detected in real time through the self-detection automatic control system, and the automatic water level detection device is more stable, economical and environment-friendly when used.

Description

Self-checking automatic control system and control method for steel dam gate based on support vector machine

Technical Field

The invention belongs to the technical field of automatic control and regulation systems of steel dam gates, and particularly relates to a self-checking automatic control system and a control method of a steel dam gate based on a support vector machine.

Background

In the prior art, the steel dam gate is novel, attractive and practical, the gate can be lifted to store water when in operation, the gate can be laid down to flood, a certain opening angle can be properly adjusted to adjust the water level when in water blocking, and meanwhile, the gate top can overflow water, so that the landscape effect of the artificial waterfall is formed. The gate adopts steel, and the surface carries out hot spraying zinc anticorrosive treatment, sturdy and durable. The running piece adopts special composite material, and lubricating oil is not required to be added in the running process under water. The gate is opened and closed by hydraulic equipment, and the gate is fast and can be completed within a few minutes. The special locking device can effectively control the opening angle of the gate, and the water level can be adjusted at will.

Through searching, it is found that a device and a method for controlling synchronous operation of a steel dam gate are disclosed in Chinese patent with the issued publication number of CN109183730A, and the device for controlling synchronous operation of the steel dam gate is utilized to collect rotation angles of two side support arms in real time by utilizing an angle detector in the operation process of the steel dam gate and upload the rotation angles to a microcontroller, and the microcontroller analyzes and judges according to angle deviation of the two support arms, adjusts operation speeds of the two support arms and keeps synchronous operation of the steel dam gate. The invention adopts the inclination sensor to directly detect the rotation angle of the two support arms of the steel dam gate; the acquisition precision of the inclination angle sensor can reach 0.01 degree, and is far greater than the precision of detecting the stroke of the oil cylinder and converting the stroke into an operation angle. The inclination sensor provided by the invention can be used for directly detecting the rotation angles of the two support arms of the steel dam gate, and can be used for eliminating the synchronous deviation caused by inconsistent strokes of the two oil cylinders at the same angle due to installation errors.

According to the technical scheme, the rotation angle of the two support arms of the steel dam gate is directly detected through the inclination sensor, synchronous deviation caused by inconsistent strokes of the two oil cylinders at the same angle due to installation errors can be eliminated, but the device is insufficient, the opening and closing angle of the gate cannot be limited in real time, the gate is easy to incline due to stone collision when the gate is opened and closed and water is discharged, the environment condition of water level cannot be detected in real time, the device cannot clear water source impurities at the lower portion of the rear side of the gate, the rear side of the gate is easy to block, and the operation of a subsequent hydraulic generator is affected.

Disclosure of Invention

The invention aims to provide an intelligent steel dam gate self-checking automatic control system and a control method, which aim to solve the problems that in the prior art, the opening and closing angle of a gate cannot be limited in real time, the gate is easy to incline due to stone collision when opening and closing water, the environment condition of water level cannot be detected in real time, and water source impurities at the lower part of the rear side of the gate cannot be cleaned, so that the rear side of the gate is easy to be blocked, and the operation of a subsequent hydraulic generator is influenced; the invention further aims to add a support vector machine module into the system, judge whether the gate has abnormal conditions, such as the problem of gate blocking, through a prediction model, discover and take corresponding control measures in time, and improve the safety and reliability of the steel dam gate.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a steel dam gate self-checking automatic control system, comprising:

the hydraulic system comprises a first connecting plate, wherein the top end of the first connecting plate is fixedly connected with a hydraulic generator, the top end of the first connecting plate is fixedly connected with two L-shaped connecting blocks, and a self-checking automatic control system is arranged in the first connecting plate;

the steel dam gate body is arranged on the upper side of the first connecting plate;

the two connecting seats are respectively fixedly connected to the top ends of the two L-shaped connecting blocks;

the two first cylinders are respectively fixedly connected to the top ends of the two L-shaped connecting blocks; and

the connecting mechanism is arranged at the rear side of the steel dam gate body and is connected with the two connecting frames to limit;

the cleaning mechanism is arranged on the upper side of the first connecting plate and is connected with the first connecting plate to clean impurities.

As a preferred embodiment of the present invention, the connection mechanism includes:

the connecting frames are arranged, the two connecting frames are fixedly connected to the front ends of the steel dam gate bodies, sixth rotating rods are fixedly connected to the adjacent ends of the two connecting frames, and one ends of the two sixth rotating rods penetrate through the adjacent ends of the two connecting frames respectively and are fixedly connected to the distant ends of the two connecting frames;

The two concave installation seats are respectively fixedly connected to the front ends of the two steel dam gate bodies;

the two pulling sleeves are respectively and fixedly connected to the telescopic ends of the two connecting seats, and are respectively and rotatably connected to the circumferential surfaces of the two concave mounting seats;

the third rotating rod is rotatably connected to the close ends of the two connecting seats;

the limiting assembly is arranged between the two connecting seats, and the limiting assembly is connected with the third rotating rod to limit.

As a preferred embodiment of the present invention, the cleaning mechanism includes:

the two second storage boxes are respectively fixedly connected to two ends of the first connecting plate;

the arc-shaped groove is formed in the top end of the first connecting plate;

the first screen is fixedly connected to the top end of the first connecting plate;

the fifth rotating rod is rotationally connected to the close ends of the two arc-shaped grooves;

the spiral cleaning blade is fixedly connected to the circumferential surface of the fifth rotating rod;

The second screen cloth, second screen cloth fixed connection is in the top of first connecting plate.

As a preferred aspect of the present invention, the limiting assembly includes:

the third connecting plate is fixedly connected to the top end of one of the L-shaped connecting blocks;

the connecting hole is formed in one side end of the third connecting plate;

the second cylinder is fixedly connected to the circumferential inner wall of the third rotating rod;

the connecting rod is fixedly connected to one side end of one L-shaped connecting block;

the ratchet wheel is fixedly connected to the circumferential surface of the third rotating rod;

a ratchet slidably coupled to a circumferential surface of the connection rod;

the rotating sleeve is fixedly connected to one side end of the ratchet;

the fixed block is fixedly connected to one side end of one L-shaped connecting block;

the two springs are respectively fixedly connected to the close ends of the fixed block and the ratchet;

the connecting disc is rotationally connected to the circumferential surface of the rotating sleeve and fixedly connected to the telescopic end of the second cylinder;

the detection component is provided with two groups, the two groups of detection components are arranged between the two L-shaped connecting blocks, and the two groups of detection components are connected with the ratchet wheel for monitoring.

As a preferred embodiment of the present invention, the detecting unit includes:

the reaction plate is fixedly connected to one side end of the ratchet wheel;

the position sensor is fixedly connected to one side end of the third connecting plate.

As a preferable scheme of the invention, the top end of the steel dam gate body is fixedly connected with a first storage box, and the top end of the first storage box is fixedly connected with water level detection equipment.

As a preferable scheme of the invention, the water source flowmeter is fixedly connected to the adjacent ends of the two L-shaped connecting blocks, and a second rotating rod is rotatably connected to one side end of one second storage box.

As a preferable scheme of the invention, the front end of the steel dam gate body is provided with a communication hole, the front end of the steel dam gate body is fixedly connected with an electric valve, and the adjacent ends of the two L-shaped connecting blocks are fixedly connected with a second connecting plate.

As a preferable scheme of the invention, the self-checking automatic control system consists of an automatic detection module and an automatic control module

As a preferable scheme of the invention, the control method of the self-checking automatic control system of the steel dam gate comprises the following steps:

S1, when needs control the opening to the steel dam gate body, personnel use outside intelligent parallel controller to start two first cylinders earlier, only need to shrink two first cylinder control flexible ends, can two first cylinder self flexible ends can drive two pulling sleeve movements simultaneously during the shrink, then two pulling sleeve can drive two concave mount pads and remove backward simultaneously, two concave mount pads can drive two link in step, make two link synchronous movement, then two link can rotate in two link, make the angle of link self can produce the slope, can drive the steel dam gate body in step-by-step when two link move, make the angle change of steel dam gate body self draw forth the water source, can drive the clockwise synchronous rotation of third bull stick when two link rotate, the spare part operation in can drive spacing subassembly when rotating, when the flexible end of first cylinder stops shrink, the steel dam body self can stably stop certain inclination, two first connecting frames have, and make two link self have, and also can be close to the water-wheel assembly, the water source can be the water-wheel valve, the water source can be used for detecting the water-wheel valve, the water-wheel valve body is opened to two, the water source can be detected at two water-wheel assembly, the water-stop capacity can be used for the two water-wheel assembly, the water source can be reduced, the water-gate body is detected to the water source, the water-stop valve can be used for the two, the water-wheel assembly, the water-stop valve can be connected to the water-stop energy, and can be used for the water-stop, and the water-stop valve, the valve can be connected, and the water-stop, and can be used for the valve, and can.

S2, when the third rotating rod rotates clockwise, two ratchets with fixed surfaces can be driven to rotate, then the two ratchets can continuously and intermittently mesh with ratchets on the surfaces when rotating, the ratchets can slide on the circumferential surfaces of the connecting rods, the ratchets can collide with the two springs when being meshed, the two springs can shrink themselves, the ratchets can reset through the elasticity of the two springs, the ratchets can drive the rotating sleeve to rotate in the connecting disc when the ratchets are meshed to rotate in a small amplitude through the two springs, when limiting of the connecting rods is needed to be relieved, a person only needs to start the second cylinder by using the intelligent parallel controller, the telescopic end of the second cylinder can drive the connecting disc, then the connecting disc can drive the ratchets to move through the rotating sleeve, the ratchets can drive the two springs to expand when moving to one side until after the third rotating rod is reset, personnel start the second cylinder by using the external intelligent parallel controller, and the telescopic end of the second cylinder is reset.

And S3, a timing detection unit is contained in the automatic detection module, the timing detection unit can repeatedly detect whether offset exists in the position of the reaction plate within a specified time, the data storage unit is used for storing information data of detection and induction, the self-detection automatic control system is electrically connected with the position sensor, the reaction plate, the water level detection equipment, the second cylinder, the hydraulic generator, the first cylinder, the water source flowmeter and the electric valve, an intelligent parallel controller is arranged in the self-detection automatic control system and used for controlling start or start-stop of the position sensor, the reaction plate, the water level detection equipment, the second cylinder, the hydraulic generator, the first cylinder, the water source flowmeter and the electric valve, the information receiving unit can react information detected by the automatic detection module to the feedback unit, the feedback unit can automatically feed back the information to the automatic control module, and then the automatic control module is used for controlling start of parts.

Further, the automatic control module further comprises a support vector machine module, a prediction model of the state of the steel dam gate is built through training and learning based on the collected data, and whether the gate is abnormal or not can be judged according to a model prediction result; according to the judging result of the support vector machine module, the automatic control of the steel dam gate is realized, including the operations of opening, closing, adjusting and the like; the specific process is as follows:

the support vector machine module firstly needs to collect and prepare data sets for training, the data sets comprise gate data in a normal running state and gate data under various known abnormal conditions, including gate blocking and damage, and the data sets comprise characteristics related to the abnormal conditions, such as gate position, water level and water pressure;

feature extraction and selection, namely after a data set is prepared, the data is required to be subjected to feature extraction and selection;

marking data, namely marking corresponding states of each data sample after feature extraction and selection are completed, including normal states and various abnormal states, training a support vector machine model by using a marked data set, and building a prediction model by the model in the training process;

After training, the support vector machine module performs abnormality detection and prediction by inputting data acquired in real time, the model judges whether the gate is in an abnormal state or not according to the characteristics of the input data by the prediction model, and if the model predicts that the gate is in an abnormal state, the system performs corresponding processing;

when the support vector machine module judges that the gate has abnormal conditions, the system needs to take corresponding control measures, the specific measures can be determined according to the severity and the emergency of the abnormal conditions, and if the blocking of the gate is detected, the system can automatically send an instruction to stop the movement of the gate and inform related personnel to carry out maintenance or repair.

Further, the support vector machine module internally executes an improved support vector machine algorithm, and the specific process of the algorithm is as follows:

assuming that two kernel functions K1 (x, y) and K2 (x, y) are provided, and the corresponding weights are w1 and w2 respectively, constructing a multi-kernel fusion classifier;

first, two kernel functions are linearly combined to obtain a fused kernel function K (x, y):

K(x,y)=w1*K1(x,y)+w2*K2(x,y)

and then constructing a classification decision function according to the fused kernel function:

f(x)=sign(Σ[α_i*y_i*K(x_i,x)]+b)

where α_i is the Lagrangian multiplier of the support vector, y_i is the corresponding class label, x_i is the corresponding support vector, and b is the bias term; k (x_i, x) is a classification decision kernel function;

The classifier based on the multi-core fusion technology is obtained through the formula deduction process, and the classifier can comprehensively utilize the characteristics of a plurality of kernel functions to carry out classification judgment;

let N training samples x_i, i=1, 2,..n; the corresponding class label y_i, with M kernel functions k_m (x, y), m=1, 2,..m;

first, a kernel matrix K is constructed, whose element k_ij represents the kernel function calculation result between the samples x_i and x_j, that is:

K_ij=[K_1(x_i,x_j),K_2(x_i,x_j),...,K_M(x_i,x_j)]

wherein k_1 (x_i, x_j), k_2 (x_i, x_j), k_m (x_i, x_j) is a kernel matrix term, a weight vector w= [ w_1, w_2, ], w_m ], wherein w_m represents the weight of the mth kernel function; according to the goals of the multi-core fusion technique, it is desirable to minimize the following objective function J (w):

Minimize J(w)=w^T*H*w

Subject to w^T*e=1

the weight w is greater than or equal to 0

Wherein w≡is the transpose of w, H is the positive semi-definite symmetrical version of the kernel matrix K, e is the full 1 vector;

solving the optimization problem by using an interior point method:

after solving for the optimal weight vector w, the following formula may be used to construct the multi-core fusion classifier f (x): f (x) =sign (Σ [ w_m ] k_m (x, x_i) ]+b), where b is the bias term and k_m (x, x_i) is the kernel matrix term.

Compared with the prior art, the invention has the beneficial effects that:

1. the impurity in the water source can be screened through the composition of the second screen mesh and the first screen mesh in the cleaning mechanism, so that the impurity can stay on the outer surfaces of the first screen mesh and the second screen mesh, the water source for screening the impurity can continue to flow through the holes of the first screen mesh and the second screen mesh, the fifth rotating rod can drive the spiral cleaning blades on the surface when rotating, then the spiral cleaning She Hui cleans the impurity attached to the outer surface of the second screen mesh, the impurity attached to the outer surface of the first screen mesh can drop to the outer surface of the second screen mesh because the first screen mesh is arc-shaped, the subsequent hydraulic generator is enabled to be more stable in operation, when limiting the steel dam gate body, the third rotating rod connected with the connecting frame is limited, the third rotating rod serves as the lower movable end for driving the two connecting frames to rotate, when the third rotating rod rotates reversely, the ratchet teeth limit the reaction plate, so that the third rotating rod connected with the two ratchet wheels stably stays in situ and is not easy to loosen, the two limiting rods are used for limiting the angle of the ratchet teeth during outward expansion, the excessive outward expansion of the two ratchet teeth is avoided, the third rotating rod is stably limited in situ, an upper part person only needs to control the starting and stopping of the two first cylinders through the intelligent parallel controller, the braking force carried by the two first cylinders can limit the two pulling sleeves, the concave mounting seat connected with the pulling sleeves can stabilize the two connecting frames to limit, the upper part and the lower part of the connecting frames are finally accurately limited, the self-checking automatic control system is electrically connected with the position sensor, the reaction plate, the water level detection equipment, the second cylinder, the hydraulic generator, the first cylinder, the water source flowmeter and the electric valve, and the intelligent parallel controller in the self-checking automatic control system is used for controlling the starting or starting and stopping of the position sensor, the reaction plate, the water level detection equipment, the second cylinder, the hydraulic generator, the first cylinder, the water source flowmeter and the electric valve, the information receiving unit can react the information detected by the automatic detection module to the feedback unit, then the feedback unit can automatically feed back the information to the automatic control module, and then the automatic control module is used for controlling and starting the parts, so that the environment condition of the water source water level can be automatically detected in real time through the self-checking automatic control system, and the self-checking automatic control system is more stable, economical and environment-friendly when in use.

2. The position sensor can detect whether the reaction plate has excessive offset rotation in real time, the position sensor can transmit information to the self-checking automatic control system at regular time, the two reaction plates are matched with the position sensor, the position sensor is in a ring shape, sufficient area can be provided for detection of a detection end of the position sensor, detected data can be fed back to the information receiving unit, and then the information receiving unit feeds back to the automatic control module, so that real-time intelligent control is realized.

3. The water source of screening away impurity can continue to flow through the hole that first screen cloth and second screen cloth self were carried, and the fifth bull stick self can drive the spiral clearance leaf on surface when rotating, then spiral clearance She Hui clear up the impurity that the surface of second screen cloth is attached, because first screen cloth self is the arcuation, the impurity that first screen cloth surface is attached can drop to the surface of second screen cloth.

4. By applying the support vector machine module, the automatic monitoring and automatic control of the steel dam gate are realized, the requirement of manual intervention is reduced, and the automation level of the system is improved. The improved support vector machine algorithm in the support vector machine module can rapidly and accurately analyze and predict the acquired data, so that the accuracy and response speed of the state detection of the steel dam gate are improved; the support vector machine module can judge whether the gate has abnormal conditions, such as gate blocking, damage and the like, timely discover and take corresponding control measures, improve the safety and reliability of the steel dam gate, provide accurate state prediction and abnormal judgment, provide scientific basis for the operation and maintenance of the steel dam gate, and reduce operation risks.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a first perspective side perspective view of the present invention;

FIG. 3 is a first perspective exploded perspective view of the present invention;

FIG. 4 is a second perspective exploded perspective view of the present invention;

FIG. 5 is a first perspective cutaway perspective view of the present invention;

FIG. 6 is a second perspective cutaway perspective of the present invention;

FIG. 7 is an enlarged view of a portion of the spacing assembly of FIG. 6 in accordance with the present invention;

FIG. 8 is a flow chart of the self-checking automatic control system of the present invention;

fig. 9 is a flow chart of an automatic module of the present invention.

In the figure: 1. a first connection plate; 2. a steel dam gate body; 3. a concave mounting seat; 4. a hydro-generator; 5. an electric valve; 6. a first storage case; 7. a limit component; 701. a ratchet wheel; 702. a reaction plate; 703. a connecting disc; 704. rotating the sleeve; 705. a ratchet; 706. a fixed block; 707. a spring; 708. a connecting rod; 709. a second cylinder; 7010. a position sensor; 8. a cleaning mechanism; 801. an arc-shaped groove; 802. a fifth rotating lever; 803. a first screen; 804. spiral cleaning leaves; 805. a second rotating rod; 806. a second screen; 807. a second storage case; 9. a first cylinder; 10. a connecting frame; 11. pulling the sleeve; 12. a connecting seat; 13. an L-shaped connecting block; 14. a second connecting plate; 15. a water level detection device; 16. a third connecting plate; 17. a water source flow meter; 18. a third rotating rod; 19. a connection hole; 20. a sixth rotating rod; 21. and a limit rod.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

Referring to fig. 1-9, the present invention provides the following technical solutions:

a steel dam gate self-checking automatic control system, comprising:

the hydraulic system comprises a first connecting plate 1, wherein the top end of the first connecting plate 1 is fixedly connected with a hydraulic generator 4, the top end of the first connecting plate 1 is fixedly connected with two L-shaped connecting blocks 13, and a self-checking automatic control system is arranged in the first connecting plate 1;

the steel dam gate body 2 is arranged on the upper side of the first connecting plate 1;

the two connecting seats 12 are arranged, and the two connecting seats 12 are respectively and fixedly connected to the top ends of the two L-shaped connecting blocks 13;

the two first cylinders 9 are arranged, and the two first cylinders 9 are fixedly connected to the top ends of the two L-shaped connecting blocks 13 respectively; and

The connecting mechanism is arranged at the rear side of the steel dam gate body 2 and is connected with the two connecting frames 10 for limiting;

the cleaning mechanism 8, the upper side of first connecting plate 1 is located to cleaning mechanism 8, and cleaning mechanism 8 and first connecting plate 1 are connected in order to clear up impurity.

In the concrete embodiment of the invention, the first connecting plate 1 and the L-shaped connecting blocks 13 are cast by concrete steel bars, the two L-shaped connecting blocks 13 are arranged in the first connecting plate 1, the second connecting plate 14 is fixed at the adjacent ends of the two L-shaped connecting blocks 13 in a spot welding way, the two second connecting plates 14 are connected with external pipelines so as to be used for transmitting water sources, the two connecting frames 10 are stably rotated on the inner walls of the two connecting seats 12 through the two pulling sleeves 11, the two connecting seats 12 are concave and provided with the inner walls, the connecting seats 12 are fixed on the surface of the concrete steel bars in the L-shaped connecting blocks 13 in a welding way, the steel dam gate body 2 is square, the connecting frames 10 are detachably connected and fixed at the front end of the steel dam gate body 2 in a bolt type, the two connecting frames 10 can synchronously drive the connecting seats 12 to turn over when moving, the hydraulic generator 4 is fixed at the close ends of the two L-shaped connecting blocks 13 in a detachable connection mode, the hydraulic generator 4 can convert a water source from which the steel dam gate body 2 is opened, the two second storage boxes 807 are concave, the cleaned impurities can be stored through the shapes of the two second storage boxes 807, the two second storage boxes 807 are used for supporting the fifth rotating rod 802, the water level detection equipment 15 is used for detecting the height of the water source, data detected by the water level detection equipment 15 can be fed back to the information receiving unit in real time, the two connecting frames 10 in the connecting mechanism are triangular, the middle parts of the connecting frames 10 rotate in the two connecting seats 12, the two connecting frames 10 can be more stable when driving the steel dam gate body 2 through the shapes of the two connecting frames 10, the pulling sleeve 11 is matched with the concave mounting seat 3, the pulling sleeve 11 rotates on the outer surface of the concave mounting seat 3, the two sixth rotating rods 20 and the two concave mounting seats 3 are matched to enable the connecting frame 10 to be more stable when being driven to move, the second rotating rod 805 is connected with an output shaft of an external waterproof motor, one end of the second rotating rod 805 penetrates through one side end of one second storage box 807 and is fixed on the circumferential surface of the fifth rotating rod 802, the second rotating rod 805 rotates and simultaneously drives the fifth rotating rod 802 to synchronously rotate, two ends of the third rotating rod 18 respectively penetrate through the far ends of the two connecting seats 12 and fix the circumferential surfaces of the two sixth rotating rods 20, the two sixth rotating rods 20 synchronously drive the third rotating rod 18 to move and rotate when moving, a timing detection unit contained in the automatic detection module can prompt the automatic detection module to automatically control the water level detection device 15 and the position sensor 7010 to operate in a plurality of time periods, and then the information receiving unit for the operation of the water level detection device 15 and the position sensor 7010 can transmit the information to the feedback unit, and the feedback unit can transmit the information to the automatic receiving device to the external receiving device so that the water level detection device and the position sensor 7010 can not operate in the same state.

The connecting mechanism comprises:

the two connecting frames 10 are arranged, the two connecting frames 10 are fixedly connected to the front ends of the steel dam gate body 2, the adjacent ends of the two connecting frames 10 are fixedly connected with the sixth rotating rods 20, and one ends of the two sixth rotating rods 20 respectively penetrate through the adjacent ends of the two connecting frames 10 and are fixedly connected with the far ends of the two connecting frames 10;

the two concave installation seats 3 are arranged, and the two concave installation seats 3 are respectively and fixedly connected to the front ends of the two steel dam gate bodies 2;

the two pulling sleeves 11 are arranged, the two pulling sleeves 11 are respectively and fixedly connected to the telescopic ends of the two connecting seats 12, and the two pulling sleeves 11 are respectively and rotatably connected to the circumferential surfaces of the two concave mounting seats 3;

the third rotating rod 18, the third rotating rod 18 is rotatably connected to the adjacent ends of the two connecting seats 12;

the limiting assembly 7 is arranged between the two connecting seats 12, and the limiting assembly 7 is connected with the third rotating rod 18 to limit.

In this embodiment: four sixth bull stick 20 rotate respectively at the inner wall of two connecting seat 12 both sides, four sixth bull stick 20 self are used for supporting two link 10, when the flexible end shrink of first cylinder 9 self drives pulling sleeve 11, pulling sleeve 11 can drive concave mount pad 3 removal simultaneously, then two concave mount pads 3 can drive two link 10 respectively and upwards be one side slope, then two link 10 can drive sixth bull stick 20 and rotate, make link 10 self can drive third bull stick 18 then third bull stick 18 can drive the spare part operation in the spacing subassembly 7, can steadily carry out spacing to third bull stick 18 through spare part in the spacing subassembly 7.

The cleaning mechanism 8 includes:

the second storage boxes 807 are provided, and the two second storage boxes 807 are fixedly connected to the two ends of the first connecting plate 1 respectively;

the arc-shaped groove 801 is formed in the top end of the first connecting plate 1;

a first screen 803, the first screen 803 being fixedly attached to the top end of the first connecting plate 1;

a fifth rotating lever 802, the fifth rotating lever 802 being rotatably connected to the adjacent ends of the two arc grooves 801;

a spiral cleaning blade 804, the spiral cleaning blade 804 being fixedly connected to the circumferential surface of the fifth rotating lever 802;

and a second screen 806, the second screen 806 being fixedly connected to the top end of the first connecting plate 1.

In this embodiment: the second receiver 807 in clearance mechanism 8 is arranged in accomodating impurity, the arc groove 801 is the semicircle form and sets up on the top of first connecting plate 1, second screen cloth 806 and first screen cloth 803 integrated into one piece, second screen cloth 806 and first screen cloth 803 are arranged in sieving away the impurity in the water source, make impurity can stay at the surface of first screen cloth 803 and second screen cloth 806, the water source of sieving away impurity can continue to flow through the hole that first screen cloth 803 and second screen cloth 806 self were carried, the spiral clearance leaf 804 of fifth bull stick 802 self can drive the surface when rotating, then spiral clearance leaf 804 can clear up the impurity that the surface of second screen cloth 806 is attached, because first screen cloth 803 self is the arc form, the impurity that first screen cloth 803 surface is attached can drop to the surface of second screen cloth 806.

The spacing assembly 7 comprises:

the third connecting plate 16, the third connecting plate 16 is fixedly connected to the top end of one of the L-shaped connecting blocks 13;

the connecting hole 19 is formed in one side end of the third connecting plate 16;

a second cylinder 709, the second cylinder 709 being fixedly connected to the circumferential inner wall of the third rotary rod 18;

the connecting rod 708, the connecting rod 708 is fixedly connected to one side end of one L-shaped connecting block 13;

a ratchet wheel 701, the ratchet wheel 701 being fixedly connected to the circumferential surface of the third rotating lever 18;

a ratchet 705, the ratchet 705 being slidably coupled to a circumferential surface of the connecting rod 708;

a rotating sleeve 704, wherein the rotating sleeve 704 is fixedly connected to one side end of the ratchet 705;

the fixed block 706, the fixed block 706 is fixedly connected to one side end of one L-shaped connecting block 13;

the springs 707, the springs 707 are two, the two springs 707 are fixedly connected to the close ends of the fixed block 706 and the ratchet 705 respectively;

a connection pad 703, the connection pad 703 being rotatably connected to the circumferential surface of the rotation sleeve 704, the connection pad 703 being fixedly connected to the telescopic end of the second cylinder 709;

the detection parts are provided with two groups, the two groups of detection parts are arranged between the two L-shaped connecting blocks 13, and the two groups of detection parts are connected with the ratchet 701 for monitoring.

In this embodiment: the ratchet wheels 701 in the limiting assemblies 7 intermittently engage with the ratchet teeth 705 on the surface when rotating, the ratchet teeth 705 extrude the two springs 707 when intermittently engaging, the two springs 707 shrink when extruding, each time when the teeth of the ratchet wheels 701 rotate and have gaps, the elasticity of the two springs 707 drives the ratchet teeth 705 to reset, when the ratchet teeth 705 reversely rotate, the reaction plate 702 is limited, so that the third rotating rod 18 connected with the two ratchet wheels 701 stably stays in place and is not easy to loosen, meanwhile, the two limiting rods 21 are used for limiting the angle of the two ratchet wheels 705 when expanding outwards, the two ratchet teeth 705 are prevented from excessively expanding outwards, the two groups of detection assemblies are respectively distributed at the far ends of the two third connecting plates 16, the limiting assemblies 7 are arranged at the two groups, the two groups of limiting assemblies 7 are respectively distributed between the two third connecting plates 16, and the two groups of limiting assemblies 7 are used for stably limiting the left and right parts of the third rotating rod 18.

The detection component includes:

the reaction plate 702, the reaction plate 702 is fixedly connected to one side end of the ratchet 701;

the position sensor 7010, the position sensor 7010 is fixedly connected to one side end of the third connecting plate 16.

In this embodiment: the position sensor 7010 can detect whether the reaction plate 702 has excessive offset rotation in real time, the position sensor 7010 can transmit information to the self-checking automatic control system at regular time, the two reaction plates 702 are matched with the position sensor 7010, and the position sensor 7010 is in a ring shape, so that a sufficient area can be provided for detection of a detection end of the position sensor 7010.

The top fixedly connected with first receiver 6 of steel dam gate body 2, the top fixedly connected with water level detection equipment 15 of first receiver 6.

In this embodiment: the top at steel dam gate body 2 is fixed to first receiver 6 adoption welded mode, and first receiver 6 self is used for supporting the water level check out test set 15 at top, and the rear end at steel dam gate body 2 is fixed to the detection end of water level check out test set 15, and water level check out test set 15 is used for carrying out automated inspection water level to the water source that steel dam gate body 2 blockked.

The water source flowmeter 17 is fixedly connected to the adjacent ends of the two L-shaped connecting blocks 13, and a second rotating rod 805 is rotatably connected to one side end of one second storage box 807.

In this embodiment: the two water source flow meters 17 are used for detecting the flow of water sources, the two second storage boxes 807 are used for spirally cleaning impurities on the outer surfaces of the blades 804, and the second storage boxes 807 are connected with the output end of an external waterproof motor, so that the second rotating rod 805 can drive the fifth rotating rod 802 to rotate when rotating.

The front end of the steel dam gate body 2 is provided with a communication hole, the front end of the steel dam gate body 2 is fixedly connected with an electric valve 5, and the adjacent ends of the two L-shaped connecting blocks 13 are fixedly connected with a second connecting plate 14.

In this embodiment: the valve block phase-match of intercommunicating pore and motorised valve 5 self is used for circulating the water source in the intercommunicating pore, and second connecting plate 14 is used for being connected with outside reposition of redundant personnel water source pipeline for preliminary reposition of redundant personnel with the water source, and second connecting plate 14 self has three connecting hole, is used for installing the pipeline that needs reposition of redundant personnel in the connecting hole.

The self-checking automatic control system consists of an automatic detection module and an automatic control module.

In this embodiment: the automatic detection module is used for automatically detecting the surrounding environment and the operation information of the parts, and the automatic control module is used for controlling the starting or starting and stopping of the parts.

The working principle and the using flow of the invention are as follows: when the device is used for controlling and opening the steel dam gate body 2, an external intelligent parallel controller is used for starting the two first air cylinders 9, the two first air cylinders 9 control the telescopic ends to shrink, the telescopic ends of the two first air cylinders 9 can simultaneously drive the two pulling sleeves 11 to move during shrinkage, then the two pulling sleeves 11 can simultaneously drive the two concave installation seats 3 to move backwards, the two concave installation seats 3 synchronously drive the two connecting frames 10 to synchronously move the two connecting frames 10, then the two connecting frames 10 can rotate in the two connecting seats 12 to enable the angle of the connecting frames 10 to incline, the two connecting frames 10 synchronously drive the steel dam gate body 2 to overturn during movement, the angle change of the steel dam gate body 2 generates opening and closing to lead out a closed water source, the water generator 4 can convert the water source discharged by the steel dam gate body 2 into electric energy, thereby generating electric energy, when the two connecting frames 10 rotate, the third rotating rod 18 can be driven to rotate clockwise synchronously, when the third rotating rod 18 rotates, the parts in the limiting component 7 can be driven to rotate, when the third rotating rod 18 rotates, the two ratchets 701 with fixed surfaces can be driven to rotate, then the two ratchets 701 continuously and intermittently mesh with the ratchets 705 on the surfaces when rotating, the ratchets 705 can slide on the circumferential surface of the connecting rod 708, the ratchets 705 can collide with the two springs 707 when meshing, the two springs 707 can shrink themselves, the ratchets 705 can be reset through the elasticity of the two springs 707, the ratchets 705 can drive the rotating sleeve 704 to rotate in the connecting disc 703 when meshing through the small rotation of the two springs 707, when the third rotating rod 18 rotates reversely, the ratchets 705 can limit the reaction plate 702, the third rotating rod 18 connected with the two ratchets 701 is stably kept in place and is not easy to loosen, the two limiting rods 21 are used for limiting the angle of the ratchet 705 during outward expansion, the excessive outward expansion of the two ratchets 705 is avoided, the third rotating rod 18 is stably limited in place, when the limitation of the connecting rod 708 needs to be released, a person only needs to start the second cylinder 709 by using the intelligent parallel controller, the telescopic end of the second cylinder 709 can drive the connecting disc 703, then the connecting disc 703 can drive the ratchet 705 to move through the rotating sleeve 704, the ratchet 705 can drive the two springs 707 to expand when moving to one side, until the third rotating rod 18 is completely reset, the person starts the second cylinder 709 by using the external intelligent parallel controller, the telescopic end of the second cylinder 709 is reset, the automatic detection module comprises a timing detection unit, the timing detection unit repeatedly detects whether the position of the reaction plate is offset or not within a specified time, the data storage unit is used for storing information data of detection and induction, the self-checking automatic control system is electrically connected with the position sensor 7010, the reaction plate 702, the water level detection device 15, the second cylinder 709, the hydraulic generator 4, the first cylinder 9, the water source flowmeter 17 and the electric valve 5, the intelligent parallel controller in the self-checking automatic control system is used for controlling the starting or starting and stopping of the position sensor 7010, the reaction plate 702, the water level detection device 15, the second cylinder 709, the hydraulic generator 4, the first cylinder 9, the water source flowmeter 17 and the electric valve 5, the information detected by the automatic detection module is reflected to the feedback unit, the feedback unit automatically feeds back the information to the automatic control module, and then the automatic control module controls the starting of components, therefore, the self-checking automatic control system can automatically check the environmental condition of the water level of the water source in real time.

The automatic control module further comprises a support vector machine module, a prediction model of the state of the steel dam gate is established through training and learning based on the collected data, and whether the gate is abnormal or not can be judged according to a model prediction result; according to the judging result of the support vector machine module, the automatic control of the steel dam gate is realized, including the operations of opening, closing, adjusting and the like; the specific process is as follows:

the support vector machine module firstly needs to collect and prepare data sets for training, wherein the data sets comprise gate data in a normal running state and gate data under various known abnormal conditions, including gate blocking, damage and the like, and the data sets comprise characteristics related to the abnormal conditions, such as gate position, water level and water pressure;

After training, the support vector machine module performs abnormality detection and prediction by inputting data acquired in real time, the model judges whether the gate is in an abnormal state or not according to the characteristics of the input data by the prediction model, and if the model predicts that the gate has abnormal conditions, such as blockage or damage, the system performs corresponding processing;

The support vector machine module internally executes an improved support vector machine algorithm, and the specific process of the algorithm is as follows:

K(x,y)=w1*K1(x,y)+w2*K2(x,y)

f(x)=sign(Σ[α_i*y_i*K(x_i,x)]+b)

where α_i is the Lagrangian multiplier of the support vector, y_i is the corresponding class label, x_i is the corresponding support vector, and b is the bias term;

assume that there are N training samples x_i (i=1, 2,., N) and corresponding class labels y_i, while there are M kernel functions k_m (x, y) (m=1, 2,., M);

K_ij=[K_1(x_i,x_j),K_2(x_i,x_j),...,K_M(x_i,x_j)]

introducing a weight vector w= [ w_1, w_2, ], w_m ], wherein w_m represents the weight of the mth kernel function; according to the goals of the multi-core fusion technique, it is desirable to minimize the following objective function J (w):

Minimize J(w)=w^T*H*w

Subject to w^T*e=1

the weight w is greater than or equal to 0

solving the optimization problem by using an interior point method:

after solving for the optimal weight vector w, the following formula may be used to construct the multi-core fusion classifier f (x): f (x) =sign (Σ [ w_m ] k_m (x, x_i) ]+b, where b is the bias term.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a steel dam gate self-checking autonomous system which characterized in that includes:

the hydraulic system comprises a first connecting plate (1), wherein the top end of the first connecting plate (1) is fixedly connected with a hydraulic generator (4), the top end of the first connecting plate (1) is fixedly connected with two L-shaped connecting blocks (13), and a self-checking automatic control system is arranged in the first connecting plate (1);

the steel dam gate body (2), the steel dam gate body (2) is arranged on the upper side of the first connecting plate (1);

the connecting seats (12) are arranged, the two connecting seats (12) are respectively and fixedly connected to the top ends of the two L-shaped connecting blocks (13);

the two first cylinders (9) are arranged, and the two first cylinders (9) are respectively and fixedly connected to the top ends of the two L-shaped connecting blocks (13); and

the connecting mechanism is arranged at the rear side of the steel dam gate body (2), and is connected with the two connecting frames (10) to limit;

the cleaning mechanism (8) is arranged on the upper side of the first connecting plate (1), and the cleaning mechanism (8) is connected with the first connecting plate (1) to clean impurities;

the connecting mechanism comprises:

the connecting frames (10), the connecting frames (10) are provided with two, the two connecting frames (10) are fixedly connected to the front ends of the steel dam gate body (2), the adjacent ends of the two connecting frames (10) are fixedly connected with sixth rotating rods (20), and one ends of the two sixth rotating rods (20) respectively penetrate through the adjacent ends of the two connecting frames (10) and are fixedly connected with the opposite ends of the two connecting frames (10);

The two concave installation seats (3) are arranged, and the two concave installation seats (3) are respectively and fixedly connected to the front ends of the two steel dam gate bodies (2);

the two pulling sleeves (11) are arranged, the two pulling sleeves (11) are respectively and fixedly connected to the telescopic ends of the two connecting seats (12), and the two pulling sleeves (11) are respectively and rotatably connected to the circumferential surfaces of the two concave mounting seats (3);

the third rotating rod (18) is rotatably connected to the adjacent ends of the two connecting seats (12);

the limiting assembly (7) is arranged between the two connecting seats (12), and the limiting assembly (7) is connected with the third rotating rod (18) to limit;

the limit assembly (7) comprises:

the third connecting plate (16), the said third connecting plate (16) is fixedly connected to the top of one of the L-shaped connecting blocks (13);

the connecting hole (19) is formed in one side end of the third connecting plate (16);

a second cylinder (709), the second cylinder (709) being fixedly connected to the circumferential inner wall of the third rotating rod (18);

the connecting rod (708) is fixedly connected to one side end of one L-shaped connecting block (13);

a ratchet wheel (701), the ratchet wheel (701) being fixedly connected to a circumferential surface of the third rotating lever (18);

A ratchet (705), said ratchet (705) being slidingly connected to the circumferential surface of the connecting rod (708);

a rotating sleeve (704), wherein the rotating sleeve (704) is fixedly connected to one side end of a ratchet (705);

the fixing block (706), the fixing block (706) is fixedly connected to one side end of one L-shaped connecting block (13);

the springs (707) are arranged, and the two springs (707) are fixedly connected to the close ends of the fixed block (706) and the ratchet (705) respectively;

a connection disc (703), the connection disc (703) being rotatably connected to a circumferential surface of the rotating sleeve (704), the connection disc (703) being fixedly connected to a telescopic end of the second cylinder (709);

the detection component is provided with two groups, the two groups of detection components are arranged between the two L-shaped connecting blocks (13), and the two groups of detection components are connected with the ratchet wheel (701) for monitoring.

2. The self-checking automatic control system of steel dam gate according to claim 1, wherein: the cleaning mechanism (8) comprises:

the two second storage boxes (807) are arranged, and the two second storage boxes (807) are fixedly connected to the two ends of the first connecting plate (1) respectively;

the arc-shaped groove (801) is formed in the top end of the first connecting plate (1);

A first screen (803), the first screen (803) being fixedly connected to the top end of the first connecting plate (1);

a fifth rotating lever (802), the fifth rotating lever (802) being rotatably connected to the adjacent ends of the two arc-shaped grooves (801);

a spiral cleaning blade (804), wherein the spiral cleaning blade (804) is fixedly connected to the circumferential surface of the fifth rotating rod (802);

and the second screen (806), the second screen (806) is fixedly connected to the top end of the first connecting plate (1).

3. The self-checking automatic control system of steel dam gate according to claim 1, wherein: the detection means includes:

a reaction plate (702), wherein the reaction plate (702) is fixedly connected to one side end of the ratchet wheel (701);

and a position sensor (7010), wherein the position sensor (7010) is fixedly connected to one side end of the third connecting plate (16).

4. A steel dam gate self-checking autonomous system according to claim 3, wherein: the top end of the steel dam gate body (2) is fixedly connected with a first storage box (6), and the top end of the first storage box (6) is fixedly connected with water level detection equipment (15); the two L-shaped connecting blocks (13) are fixedly connected with a water source flowmeter (17) at the close ends, and one side end of one second storage box (807) is rotatably connected with a second rotating rod (805).

5. The self-checking and self-controlling system for steel dam gates according to claim 4, wherein: the front end of the steel dam gate body (2) is provided with a communication hole, the front end of the steel dam gate body (2) is fixedly connected with an electric valve (5), and the adjacent ends of the two L-shaped connecting blocks (13) are fixedly connected with a second connecting plate (14); the self-checking automatic control system consists of an automatic detection module and an automatic control module.

6. A control method of a steel dam gate self-checking automatic control system, which is applied to the steel dam gate self-checking automatic control system according to any one of claims 1-5, and is characterized by comprising the following steps:

s1, when the steel dam gate body (2) needs to be controlled to be opened, a person starts the two first air cylinders (9) by using an external intelligent parallel controller, only the telescopic ends of the two first air cylinders (9) are required to be controlled to be contracted, the telescopic ends of the two first air cylinders (9) can drive the two pulling sleeves (11) to move simultaneously when contracting, then the two pulling sleeves (11) can drive the two concave mounting seats (3) to move backwards simultaneously, the two concave mounting seats (3) can drive the two connecting frames (10) synchronously, the two connecting frames (10) can move synchronously, then the two connecting frames (10) can rotate in the two connecting seats (12), the angle of the connecting frames (10) can incline, the steel dam gate body (2) can be synchronously driven to overturn when the two connecting frames (10) move, the angle change of the steel dam gate body (2) can lead out a water source, the third rotating rod (18) can be driven to rotate clockwise synchronously when the two connecting frames (10) rotate, the third rotating rod (18) can drive parts in the limiting component (7) to operate when rotating, when the telescopic end of the first cylinder (9) stops contracting, the steel dam gate body (2) can stably stay at a certain inclination angle, the two first cylinders (9) have braking force, the parts in the limiting component (7) can also stably limit the third rotating rod (18) themselves, the third rotating rod (18) is prevented from rotating, the angle of the two connecting frames (10) is reduced, the opening and closing water discharge amount of the steel dam gate body (2) is affected, the water source discharged by the steel dam gate body (2) is converted into electric energy by the hydraulic generator (4), so that electric energy resources are generated, the two water source flow meters (17) are arranged at the close ends of the two L-shaped connecting blocks (13), and the detection ends of the two water source flow meters (17) can detect the flow of the water source;

S2, when the third rotating rod (18) rotates clockwise, two ratchets (701) with fixed surfaces are driven to rotate, then the two ratchets (701) continuously and intermittently engage with ratchets (705) on the surfaces when rotating, the ratchets (705) slide on the circumferential surfaces of the connecting rods (708), the ratchets (705) collide with the two springs (707) when engaging, the two springs (707) shrink themselves, the ratchets (705) are reset through the elasticity of the two springs (707), the ratchets (705) can drive the rotating sleeve (704) to rotate in the connecting rods (703) when engaging through the small-amplitude rotation of the two springs (707), when the limit of the connecting rods (708) is needed to be relieved, a person only needs to start the second cylinder (709) by using the intelligent parallel controller, the telescopic end of the second cylinder (709) can drive the connecting rods (703), then the connecting rods (703) can drive the ratchets (705) to move through the rotating sleeve (707) to expand, the two springs (707) can drive the two springs (707) to move to one side until the third cylinder (18) is reset, and the second cylinder (709) is reset to the telescopic end of the second cylinder (709) after the second cylinder (709) is reset, and the second cylinder (709) is completely reset;

and S3, a timing detection unit is contained in the automatic detection module, the timing detection unit can repeatedly detect whether offset exists in the position of the reaction plate within a specified time, the data storage unit is used for storing information data of detection and induction, the self-checking automatic control system and the position sensor (7010), the reaction plate (702), the water level detection device (15), the second cylinder (709), the hydraulic generator (4), the first cylinder (9), the water source flowmeter (17) and the electric valve (5) are electrically connected, and the self-checking automatic control system is provided with an intelligent parallel controller which is used for controlling the starting or starting and stopping of the position sensor (7010), the reaction plate (702), the water level detection device (15), the second cylinder (709), the hydraulic generator (4), the first cylinder (9), the water source flowmeter (17) and the electric valve (5), the information receiving unit can react information detected by the automatic detection module to the feedback unit, the feedback unit can automatically feed the information back to the automatic control module, and then the automatic control starting of the parts through the automatic control module.

7. The control method of the self-checking automatic control system of the steel dam gate according to claim 6, wherein the automatic control module further comprises a support vector machine module, wherein a prediction model of the state of the steel dam gate is established through training and learning based on the collected data, and whether the gate is abnormal or not can be judged according to the prediction result of the model; according to the judging result of the support vector machine module, the automatic control of the steel dam gate is realized, including the operations of opening, closing, adjusting and the like; the specific process is as follows:

data acquisition and preparation: the support vector machine module firstly needs to collect and prepare data sets for training, wherein the data sets comprise gate data in a normal running state and gate data under various known abnormal conditions, including gate blocking and damage, and the data sets comprise characteristics related to the abnormal conditions, such as gate position, water level and water pressure;

feature extraction and selection: after the data set is ready, the data needs to be subjected to feature extraction and selection;

data labeling and training: after feature extraction and selection are completed, marking data, marking corresponding states of each data sample, including normal states and various abnormal states, training a support vector machine model by using a marked data set, and in the training process, learning the relationship between the normal states and the abnormal states by the model and establishing a prediction model;

Abnormality detection and prediction: after training is completed, the support vector machine module performs abnormality detection and prediction by inputting data acquired in real time, the model judges whether the gate is in an abnormal state or not according to the characteristics of the input data by the prediction model, and if the model predicts that the gate is in an abnormal condition, the system performs corresponding processing;

the control measures are adopted: when the support vector machine module judges that the gate has abnormal conditions, the system needs to take corresponding control measures, the specific measures are determined according to the severity and the emergency of the abnormal conditions, and if the blocking of the gate is detected, the system automatically sends an instruction to stop the movement of the gate and inform related personnel to carry out maintenance or repair.

8. The control method of the self-checking automatic control system of the steel dam gate according to claim 7, wherein the support vector machine module internally executes an improved support vector machine algorithm, and the specific process of the algorithm is as follows:

K(x，y)＝w1*K1(x，y)+w2*K2(x，y)

f(x)＝sign(∑[α_i*y_i*K(x_i，x)]+b)

let N training samples x_i, i=1, 2, …, N; the corresponding class label y_i, with M kernel functions k_m (x, y), m=1, 2,..m;

K_ij＝[K_1(x_i，x_j)，K_2(x_i，x_j)，...，K_M(x_i，x_j)]

wherein k_1 (x_i, x_j), k_2 (x_i, x_j), k_m (x_i, x_j) is a kernel matrix term, introducing a weight vector w= [ w_1, w_2, …, w_m ], wherein w_m represents the weight of the mth kernel function; according to the goals of the multi-core fusion technique, it is desirable to minimize the following objective function J (w):

Minimize J(w)＝w^T*H*w

Subject to w^T*e＝1

the weight w is greater than or equal to 0

solving the optimization problem by using an interior point method:

after solving for the optimal weight vector w, the following formula is used to construct a multi-core fusion classifier f (x): f (x) =sign (Σ [ w_m ] k_m (x, x_i) ]+b), where b is the bias term and k_m (x, x_i) is the kernel matrix term.