Hydropower station stoplog gate groove entering interference judgment method based on contact interference algorithm

• Main Authors: FANG ZIFAN, BAO TANGWEI, DONG YUANFA, XIA JIANHUA, WANG JIANLONG, NING SHAOQING, ZHOU YI, TAN DAWEN, ZHOU YU, ZHANG LIMING, HOU CHUNYAO
• Format: Patent
• Language: Chinese; English
• Published: 23.02.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; PHYSICS

A contact interference algorithm-based hydropower station stoplog gate groove entering interference judgment method comprises the following steps of: establishing a mathematical model, and defining a stoplog gate as an impactor and a gate groove as a defensive body; establishing an inertial reference system O (x, y, z), an impactor reference system O1 (x1, y1, z1) and a defender reference system O2 (x2, y2, z2); a gyroscope is installed at an O1 point on a grabbing beam, a homogeneous transformation matrix from an impactor reference system to an inertial reference system is obtained through motion data of a cart, a trolley and a hoisting mechanism and a swing angle measured by the gyroscope, and then coordinates of an interference point on a stoplog door under the inertial reference system are obtained. And obtaining the coordinate of the fixed point on the gate slot under the inertial reference system according to the position relation of the defender reference system relative to the inertial reference syste