Electromagnetic type integral lifting construction device and control method thereof

Abstract

The invention discloses an electromagnetic type integral lifting construction device and a control method thereof, and the electromagnetic type integral lifting construction device comprises an electromagnetic lifter which is connected with a lifted structure through a steel strand; the electromagnetic lifter comprises an upper anchorage device, a lower anchorage device, an electromagnetic telescopic cylinder and a composite controller, the composite controller controls telescopic motion of the electromagnetic telescopic cylinder and magnetic poles of electromagnets in the upper anchorage device and the lower anchorage device according to instructions issued by the computer control system, and when the magnetic poles of the electromagnets are changed, the anchorage devices lock the steel strands or unlock the steel strands; in the lifting process, after the electromagnetic telescopic cylinder reaches the preset single-time elongation amount, the lower anchorage device is opened, the upper anchorage device is locked, the telescopic end moves downwards and retracts, and the lifted structure is kept static; after the telescopic end completely retracts, the upper anchorage device is opened, the lower anchorage device is locked, then the telescopic end extends upwards, and the lifted structure moves upwards; and the structure to be lifted is lifted step by step by repeating the steps. The device is small in occupied area, and full-automatic control of the lifting construction process can be achieved.

Description

Technical Field

[0001] The present invention relates to the overall lifting construction of steel structures, and particularly to an electromagnetic overall lifting construction device and its control method. Background Art

[0002] In the high-altitude installation of large-span steel structures, the overall lifting construction process has been widely adopted because of its high efficiency, less manual labor, and great savings in construction period and cost. However, the current process uses hydraulic technology, and the large-power oil pumps used occupy a large area and need to be pre-lifted to the top of the building in advance, which brings many inconveniences to the limited construction site. Summary of the Invention

[0003] Object of the Invention: The first object of the present invention is to provide an electromagnetic overall lifting construction device that can save space; the second object of the present invention is to provide a control method for the electromagnetic overall lifting construction device to realize full-automatic control of the overall lifting construction process.

[0004] Technical Solution: An electromagnetic overall lifting construction device of the present invention includes an electromagnetic lifter, and the electromagnetic lifter is connected to the structure to be lifted through a steel strand;

[0005] The electromagnetic lifter includes an upper anchor, a lower anchor, an electromagnetic telescopic cylinder, and a composite controller. The upper anchor and the electromagnetic telescopic cylinder are installed on the bottom plate, and the lower anchor is installed on the telescopic end of the electromagnetic telescopic cylinder;

[0006] The upper and lower anchors are similar in structure, including an anchor plate, an upper cover plate, and a lower cover plate. The upper and lower cover plates are installed on both sides of the anchor plate so as to move up and down synchronously; a conical anchor hole for the steel strand to pass through is provided on the anchor plate, and a wedge anchor is arranged in the anchor hole; a stepped hollow cylindrical sleeve capable of passing through the steel strand is provided at the bottom of the upper cover plate and the top of the lower cover plate; an electromagnet is installed on the anchor plate, and a permanent magnet is correspondingly installed on the upper cover plate;

[0007] When the electromagnet repels the permanent magnet, the upper and lower cover plates move upward, and the sleeve on the lower cover plate is inserted into the anchor hole so that the wedge anchor is pushed out and opened, releasing the locking of the steel strand; when the electromagnet attracts the permanent magnet, the upper and lower cover plates move downward, and the sleeve on the upper cover plate is inserted into the anchor hole to press the wedge anchor and lock the steel strand;

[0008] A displacement meter is installed below the lower anchor to measure the telescopic amount of the electromagnetic telescopic cylinder; the composite controller is used to control the telescopic movement of the electromagnetic telescopic cylinder and the magnetic poles of the electromagnets in the upper and lower anchors according to the instructions issued by the computer control system;

[0009] During the lifting process, when the displacement gauge monitors that the electromagnetic telescopic cylinder reaches the preset single elongation amount, the lower anchor is opened, the upper anchor is locked, the telescopic end moves downward and retracts, and the structure to be lifted remains stationary; when the displacement gauge monitors that the telescopic end is completely retracted, the upper anchor is opened, the lower anchor is locked, and then the telescopic end extends upward, and the structure to be lifted moves upward; and so on, the structure to be lifted is gradually lifted.

[0010] Furthermore, the electromagnetic lifter is installed on the support frame, and a pressure sensor is arranged at the bottom of the electromagnetic lifter for measuring the tension on the lower steel strand in real time.

[0011] Furthermore, the composite controller includes an AC to 36V DC power supply, a commutation relay, and a 485-wifi transceiver. The AC to 36V DC power supply converts the external AC power into 36V DC power. The displacement gauge and the pressure sensor are connected to the 485-wifi transceiver through the acquisition signal line. The 485-wifi transceiver and the commutation relay are connected to the AC to 36V DC power supply through the power supply line. The 485-wifi transceiver is connected to the commutation relay through the control signal line; the 485-wifi transceiver conducts data interaction with the computer control system; the commutation relay is connected with a first power line B, a second power line, and a third power line; the AC to 36V DC power supply is connected with a first power line A, providing DC power with a constant direction; the second power line and the third power line are respectively connected to the electromagnets of the upper and lower anchors; the first power line A and the first power line B are connected to the electromagnetic telescopic cylinder; the commutation relay can change the voltage directions of the first power line B, the second power line, and the third power line.

[0012] Furthermore, the electromagnetic telescopic cylinder further includes a cylinder body, which includes an outer shell, a magnetic coil, and a steel shell arranged in sequence from outside to inside. The outer shell and the steel shell are fixed on the bottom plate; the magnetic coil is connected to the first power line A. A copper half-shell A and a copper half-shell B are bonded in the steel shell through an epoxy resin insulating layer. The copper half-shells are semi-cylindrical shells, and the two copper half-shells are insulated from each other by an insulating partition. The two copper half-shells are respectively connected to the electrode wire A and the electrode wire B of the first power line B; the telescopic end is a round rod with a protrusion, and a moving coil is fixed to its lower part by an upper baffle and a lower baffle. The starting end and the ending end of the moving coil respectively extend out of the brush A and the brush B, and the two brushes are respectively in contact with the two copper half-shells, and can continuously receive the power supply of the first power line B during the telescopic movement.

[0013] Furthermore, the bottom of the displacement gauge is fixed on the bottom plate, and the extension rod of the displacement gauge extends upward and is connected to the anchor plate of the lower anchor; when the telescopic end moves, it drives the extension rod to expand and contract.

[0014] Furthermore, the upper and lower cover plates are connected by bolts; the anchor plate of the upper anchor is fixed on the bottom plate by long bolts; the anchor plate of the lower anchor is fixed on the telescopic end by screws.

[0015] The control method of the electromagnetic integral lifting construction device described in the present invention, wherein the computer control system includes a safety controller, a structural response predictor, and a register; the control method includes:

[0016] (1) Collect the state information data of the structure to be lifted through a sensor cluster, which is composed of multi-point and different types of sensors installed on the structure to be lifted;

[0017] (2) Check the data completeness. If the data is complete, input it into the safety controller to judge the current structural safety; if the data is incomplete, use the virtual structural response generated by the structural response predictor at the previous moment in the register to complement it into complete data, and then input it into the safety controller;

[0018] (3) Through direct search and iterative methods, the safety controller generates virtual motion commands, the structural response predictor generates virtual structural responses, and then the safety controller conducts structural safety optimal control verification until the optimal solution stops iteration, and outputs control commands to the electromagnetic lifter.

[0019] Further, before construction, analyze the data of the structure to be lifted through computer simulation methods, and obtain the structural local safety state characteristic quantities X = {x 1 , x 2 , …, x n} fed back by multiple sensors. x n is the absolute value data array of the monitoring stress / yield stress ratio of the nth sensor. Calculate the Pearson correlation coefficient p i,j between the variables in X, and divide the structure to be lifted according to the Pearson correlation coefficient to form several subsystems;

[0020] In the safety controller, adopt an integrated data fusion method to comprehensively fuse the structural safety state information. First, extract the characteristic values x j of each sensor, and then use the weighted combination method to fuse the safety information of the subsystems to obtain the subsystem safety information characteristic quantity y i ∈[0,1] as the basis for judging the safety of the subsystem. Then, fuse the subsystem safety information characteristic quantities by taking the maximum value to finally obtain the overall structural safety characteristic information Y as the basis for judging the overall safety. The higher the values of y i and Y, the more dangerous the subsystem and the overall structure are. When the values reach and exceed 1, it indicates that the subsystem or the structure is damaged; use the overall structural safety characteristic information Y to realize the judgment of the safety of the structure to be lifted.

[0021] Furthermore, the structural response predictor combines the teacher model TN, the student model SN, and the expert gate system EG to form a gated memory incremental network GIM. The student model SN is composed of a feedforward neural network FNN and a long short-term memory neural network LSTM in series. The teacher model TN adopts an architecture in which the input layer, the CNN module, the Bi-LSTM module, the MHA module, the fully connected module, and the output layer are connected in series. The expert gate system EG includes a judgment module and an output module;

[0022] In the teacher model TN, the input layer and the output layer are used to temporarily store the input data IT and the output data OT. At time t, the output data is the safety information feature quantity of each subsystem at time t + 1, OT = {y 1,t+1 ,y 2,t+1 ,…,y n,t+1}. Through the second-level fusion, the overall structural safety information feature quantity Y t+1 at time t + 1 can be obtained, and the safety states of the overall structure and each subsystem are predicted respectively. The input information includes the safety information feature quantities of each subsystem from time t - d t to time t, the motion history of each traction point, the currently issued motion command, and the temperature change. d t is the length of reading historical data, and the dataset form of the input data IT is:

[0023]

[0024] where U m,t and T m,t are the deformation matrix and the environmental temperature value of the structure at time t respectively;

[0025] In the initial stage of construction, the student model SN is not fully trained. The motion command data group U m,t of the traction point at time t is first input into the teacher model TN for preliminary prediction to obtain the first-level prediction value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1} (1) of the safety state information feature quantity of each subsystem at time t + 1. Taking this as the input parameter and the true value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1} (R) of the safety state information feature quantity of each subsystem at time t + 1 as the training target, the student model SN is trained, and the output is the second-level prediction value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1} (2) ; During the training of the student model SN, the output module of the expert gate system EG, according to {y j,t-k} (1) and {y j,t-k} (R) perform a linear fit, and then calculate the final predicted value {y 1,t+1 , y 2,t+1 , …, y n,t+1} (P) ; when {y j,t+1} (2) meets the accuracy requirement, then use {y j,t+1} (2) as the predicted output value, that is, {y j,t+1} (P) = {y j,t+1} (2) , and use the subsequent data to continue training the student model SN; use the safety controller to fuse {y j,t+1} (P) into the overall structural safety state information feature quantity Y t+1 at time t + 1; when the {y j,t} input at time t is incomplete data, then use the predicted value {y j,t} (P) obtained by the surrogate model GIM at time t - 1 for completion, and then perform subsequent calculations.

[0026] Furthermore, during the construction process, the monitoring data at time t is converted into the safety information eigenvalue set {Y, y} (t) and updated to the register, replacing the virtual value {Y, y} (t) `, and input to the safety controller to perform structural safety judgment according to the constraint condition C:

[0027] C = {Y ≤ Y lim , y b ≤ y b,lim}

[0028] where Y lim is the limit value of the overall structural safety characteristic information, and y b,lim is the limit value of the brittle component, which is set in advance according to the characteristics of the lifted structure;

[0029] If it is not safe, issue a stop command to the electromagnetic lifter, conduct hidden danger investigation, and then perform human - machine interactive adjustment; if it is safe, generate a virtual motion stroke command U t+1 ` in the safety controller, and at the same time extract the information {Y, y} (t-dt) , …, {Y, y} (t) from the register and input to the structural response predictor; calculate the virtual safety information eigenvalue set {Y, y} (t+1)`Then, judge the safety of the virtual state of the structure. If it is not safe, continue to search and optimize until the safety requirements are met. Then, use the U that meets the conditions t+1 `as the formal motion command U t+1 to issue to the electromagnetic lifter for the next movement. At the same time, delete {Y, y} (t-dt) from the register and store it in {Y, y} (t+1) `; Control the overall lifting construction of the lifted structure according to this process.

[0030] Advantageous effects: Compared with the prior art, the present invention has the following remarkable advantages:

[0031] (1) The electromagnetic lifter has a rapid response and is easy to control;

[0032] (2) Directly use the construction power supply to provide power for the electromagnetic lifter, without large-scale oil pressure equipment, saving construction space;

[0033] (3) Use structural response prediction for active control, with high safety.

[0034] In summary, the electromagnetic overall lifting construction device provided by the present invention is smaller in volume than the traditional hydraulic lifting device and can save space; the provided control method can realize the full-automatic control of the overall lifting construction process and ensure construction safety. Brief Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of the electromagnetic overall lifting construction device provided by an embodiment of the present invention;

[0036] Figure 2 is a schematic structural diagram of the electromagnetic lifter in an embodiment of the present invention;

[0037] Figure 3 is a schematic structural diagram of the composite controller in an embodiment of the present invention;

[0038] Figure 4 is a schematic structural diagram of the electromagnetic telescopic cylinder in an embodiment of the present invention;

[0039] Figure 5 is Figure 4 the 1-1 sectional view of

[0040] Figure 6 is Figure 4 the 2-2 sectional view of

[0041] Figure 7 is a schematic structural diagram of the upper anchor in an embodiment of the present invention;

[0042] Figure 8 is Figure 7 the 3-3 sectional view of

[0043] Figure 9 is Figure 8 Sectional view 4-4 in the lifting stage;

[0044] Figure 10 is Figure 8 Sectional view 4-4 in the reset stage;

[0045] Figure 11 is the schematic structural diagram of the lower anchor in the embodiment of the present invention;

[0046] Figure 12 is Figure 11 Sectional view 5-5 of;

[0047] Figure 13 is Figure 12 Sectional view 6-6 in the lifting stage;

[0048] Figure 14 is Figure 12 Sectional view 6-6 in the reset stage;

[0049] Figure 15 is Figure 2 Enlarged view of the partial A of;

[0050] Figure 16 is Figure 2 Enlarged view of the partial B of;

[0051] Figure 17 is the schematic diagram of the lifting state of the electromagnetic lifter in the embodiment of the present invention;

[0052] Figure 18 is the schematic diagram of the reset state of the electromagnetic lifter in the embodiment of the present invention;

[0053] Figure 19 is the computer control system architecture in the embodiment of the present invention;

[0054] Figure 20 is the schematic diagram of the subsystem division in the embodiment of the present invention;

[0055] Figure 21 is the schematic diagram of the process of the secondary comprehensive fusion method of the structural safety state information in the embodiment of the present invention;

[0056] Figure 22 is the proxy model architecture based on GIM in the embodiment of the present invention;

[0057] Figure 23 is the teacher model TN architecture in the embodiment of the present invention;

[0058] Figure 24 is the CNN module architecture in the embodiment of the present invention;

[0059] Figure 25It is the working flowchart of the MHA module and the fully connected module in the embodiments of the present invention;

[0060] Figure 26 It is the schematic diagram of the working process of the proxy model based on GIM in the embodiments of the present invention;

[0061] Figure 27 It is the schematic diagram of the working process of the computer control system in the embodiments of the present invention. Specific embodiments

[0062] The present invention will be further described below with reference to the accompanying drawings.

[0063] Appendix Figures 1 to 27 The reference numerals in the accompanying drawings are as follows:

[0064] 1, support frame; 2, pressure sensor; 3, bottom plate; 4, cylinder block; 401, outer shell; 402, magnetic coil; 403, steel shell; 404, epoxy resin insulation layer; 405, copper half shell A; 406, copper half shell B; 407, insulating partition; 5, telescopic end; 501, upper baffle; 502, lower baffle; 503, moving coil; 504, brush A; 505, brush B; 6, upper anchor; 601, upper anchor plate; 602, first upper cover plate; 603, first lower cover plate; 604, first upper sleeve; 605, first lower sleeve; 606, first permanent magnet; 607, first electromagnet; 608, first clip anchor; 7, lower anchor; 701, lower anchor plate; 702, second upper cover plate; 703, second lower cover plate; 704, second upper sleeve; 705, second lower sleeve; 706, second permanent magnet; 707, second electromagnet; 708, second clip anchor; 709, extension rod; 710, displacement gauge; 8, composite controller; 801, first acquisition signal line; 802, second acquisition signal line; 803, first power supply line A; 804, first power supply line B; 805, second power supply line; 806, third power supply line; 807, first power supply line; 808, second power supply line; 809, control signal line.

[0065] As Figure 1 shown, the embodiments of the present invention provide an electromagnetic integral lifting construction device, including an electromagnetic lifter, a sensor cluster, a computer control system, and steel strands.

[0066] The electromagnetic lifter is installed on the lifting frames at the tops of the two-side buildings. It is connected to the structure to be lifted by steel strands and can perform lifting operations. The sensor cluster consists of multi-point and different types of sensors installed on the structure to be lifted. During the construction process, the sensor cluster collects information such as strain, deformation, and acceleration of the structure to be lifted and transmits it to the computer control system through a wifi local area network. The computer control system analyzes the collected data, predicts the next dynamic response of the structure to be lifted, and then issues commands to each electromagnetic lifter through the wifi local area network to control its operation. The electromagnetic lifter feeds back information such as elongation and force to the computer control system through the wifi local area network.

[0067] The following is a specific introduction to the structure of the electromagnetic lifter.

[0068] As Figure 2 shown, the electromagnetic lifter includes an upper anchor 6, a lower anchor 7, an electromagnetic telescopic cylinder, and a composite controller 8. The electromagnetic telescopic cylinder includes a cylinder body 4 and a telescopic end 5.

[0069] A pressure sensor 2 is provided under the electromagnetic lifter to measure the tension of the steel strand below it in real time. It and the pressure sensor 2 are installed on the steel beam of the support frame 1. Since a large drawing force will be generated on the steel strand during the lifting process, the system can ensure the stability of the installation. A notch is pre-opened on the steel beam of the support frame 1 for the steel strand to pass through. The steel strand is clamped by the upper anchor 6 and the lower anchor 7. A displacement gauge 710 is connected between the lower anchor 7 and the bottom plate 3 to measure the telescopic amount of the electromagnetic telescopic cylinder in real time. The composite controller 8 powers the electromagnetic lifter and realizes the control of the electromagnetic lifter by the computer control system through wifi. The first acquisition signal line 801 is connected to the displacement gauge 710, the first power line A803 and the first power line B804 are connected to the cylinder body 4, the second power line 805 is connected to the first electromagnet 607 on the upper anchor 6, the third power line 806 is connected to the second electromagnet 707 on the lower anchor 7, and the second acquisition signal line 802 is connected to the pressure sensor 2.

[0070] As Figure 3As shown, in the composite controller 8, the externally connected alternating current is converted into 36V direct current by an AC-to-36V DC power supply. The first power line A803 is connected to the AC-to-36V DC power supply to provide direct current with a constant direction for the cylinder block 4. The first power supply line 807 provides power for the 485-wifi transceiver, and the second power supply line 808 provides power for the commutation relay. The control signal line 809 is connected to the 485-wifi transceiver and the commutation relay, enabling the transmission of control commands between the two. The first acquisition signal line 801 and the second acquisition signal line 802 are connected to the 485-wifi transceiver, transmitting the 485-format information of the acquisition data of the displacement gauge 710 and the pressure sensor 2 to the 485-wifi transceiver, and converting it into a wifi signal through the 485-wifi transceiver and transmitting it to the computer control system. The first power line B804, the second power line 805, and the third power line 806 are connected to the commutation relay to obtain 36V DC power supply, but the power supply direction is variable. The commands issued by the computer control system can be transmitted to the 485-wifi transceiver through wifi, converted into the 485 format, and then issued to the commutation relay through the control signal line 809. The commutation relay maintains or changes the voltage direction of the first power line B804, the second power line 805, and the third power line 806, thereby realizing the control of the construction process.

[0071] As Figure 4 shown, the cylinder block 4 includes a housing 401, a magnetic coil 402, and a steel shell 403 arranged in sequence from outside to inside. The housing 401 and the steel shell 403 are welded and fixed to the bottom plate 3. In the steel shell 403, a copper half-shell A405 and a copper half-shell B406 are bonded through an epoxy resin insulating layer 404. As Figure 5 shown, the telescopic end 5 is a round rod with a protrusion, and a moving coil 503 is fixed to its lower part by an upper baffle 501 and a lower baffle 502.

[0072] The housing 401 is made of thin steel plate and serves a protective function. The magnetic coil 402 is connected to the first power line A803 and can generate a vertical magnetic field with stable intensity and direction. The steel shell 403 serves to internally support the magnetic coil 402, install the copper half-shells, and enhance the magnetic field.

[0073] As Figure 6As shown, the copper half-shell is a semi-cylindrical shell. The two copper half-shells are separated by two insulating partitions 407 made of polypropylene in the middle to achieve insulation between the two copper half-shells. The two copper half-shells are respectively connected to the electrode wire A and electrode wire B of the first power supply line B804. The starting end and the terminating end of the moving coil 503 respectively extend out of the brush A504 and the brush B505. The two brushes are respectively in contact with the two copper half-shells to ensure that the power supply of the first power supply line B804 can be continuously received during the telescopic movement process. When a current is generated in the moving coil 503, due to the interaction of electromagnetism, the moving coil 503 will drive the telescopic end 5 to move. The upper baffle 501 and the lower baffle 502 play a role in fixing the moving coil 503 on the telescopic end 5. When the commutation relay changes the voltage direction provided to the first power supply line B804, the "+" and "-" polarities of the electrode wire A and the electrode wire B will be reversed, the force direction of the moving coil 503 will be changed, and the moving direction of the telescopic end 5 will also become reverse.

[0074] As Figure 2 and Figure 7 shown, the upper anchor 6 is installed on the bottom plate 3 of the electromagnetic lifter by long bolts. The bottom plate 3 is made of steel. The upper anchor 6 includes an upper anchor plate 601, a first upper cover plate 602 and a first lower cover plate 603. As Figure 8 shown, the upper anchor plate 601 is a circular steel plate, on which there is a large hole for the long bolt to pass through. The first upper cover plate 602 and the first lower cover plate 603 are circular steel plates with the same size, and are respectively arranged on both sides of the upper anchor plate 601. The two are connected by small bolts and can move up and down synchronously. The upper anchor plate 601 is provided with small holes for the small bolts to pass through. In addition, the upper anchor plate 601 is also provided with a conical anchor hole, through which a steel strand passes and is plugged with a first wedge anchor 608. A first upper sleeve 604 is welded at the bottom of the first upper cover plate 602 corresponding to the position of the first wedge anchor 608, and a first lower sleeve 605 is welded at the top of the first lower cover plate 603 corresponding to the position of the first wedge anchor 608. A first electromagnet 607 is fixed at the center position of the top of the upper anchor plate 601 by screws, and a first permanent magnet 606 is fixed at the corresponding position on the top of the first upper cover plate 602 by screws.

[0075] As Figure 9 shown, the first upper sleeve 604 and the first lower sleeve 605 are stepped hollow cylindrical sleeves through which the steel strand can pass.

[0076] In the lifting stage, that is, when the telescopic end 5 extends out, the opening of the upper anchor 6 is achieved through the following steps:

[0077] (1) The computer control system issues a command to the commutation relay through the 485 - wifi transceiver to control the current direction of the second power line 805, so that the magnetic field directions of the first electromagnet 607 and the first permanent magnet 606 are opposite, and they repel each other. Then, the first upper cover plate 602 is driven upward by the first permanent magnet 606, and the first lower cover plate 603 moves upward synchronously.

[0078] (2) The first lower sleeve 605 is inserted into the anchor hole, and the first clip anchor 608 is extruded and loosened, and the steel strand inserted therein can be withdrawn.

[0079] In the reset stage, that is, when the telescopic end 5 retracts downward, as Figure 10 shown, the locking of the upper anchor 6 is achieved through the following steps:

[0080] (1) The computer control system issues a command to the commutation relay through the 485 - wifi transceiver to control the current direction of the second power line 805, so that the magnetic field directions of the first electromagnet 607 and the first permanent magnet 606 are the same, and they attract each other. Then, the first upper cover plate 602 is driven downward by the first permanent magnet 606, and the first lower cover plate 603 moves downward synchronously.

[0081] (2) The first upper sleeve 604 presses the first clip anchor 608 and presses it into the anchor hole, and the steel strand is locked by the first clip anchor 608 and cannot move.

[0082] As Figure 2 and Figure 11 shown, the lower anchor 7 is installed on the telescopic end 5 by screws. The lower anchor 7 includes a lower anchor plate 701, a second upper cover plate 702, and a second lower cover plate 703. As Figure 12 shown, the lower anchor plate 701 is a circular steel plate, and the second electromagnet 707 and the lower anchor plate 701 are installed on the telescopic end 5 together by screws. The second upper cover plate 702 and the second lower cover plate 703 are circular steel plates with the same size, and are respectively arranged on both sides of the lower anchor plate 701. They are connected by small bolts and can move up and down synchronously. Small holes for the small bolts to pass through are provided on the lower anchor plate 701. In addition, a conical anchor hole is provided on the upper anchor plate 601, through which the steel strand passes and is plugged with a second clip anchor 708. A second upper sleeve 704 is welded at the bottom of the second upper cover plate 702 corresponding to the position of the second clip anchor 708, and a second lower sleeve 705 is welded at the top of the second lower cover plate 703 corresponding to the position of the second clip anchor 708. A second permanent magnet 706 is fixed at the top of the second upper cover plate 702 corresponding to the position of the second electromagnet 707 by screws.

[0083] As Figure 13 shown, the second upper sleeve 704 and the second lower sleeve 705 are stepped hollow cylindrical sleeves through which the steel strand can pass.

[0084] During the lifting stage, i.e., the stage when the telescopic end 5 extends, the locking of the lower anchor 7 is achieved through the following steps:

[0085] (1) The computer control system sends a command to the commutation relay through the 485-wifi transceiver to control the current direction of the third power line 806, so that the magnetic field directions of the second electromagnet 707 and the second permanent magnet 706 are the same and attract each other. Then, the second upper cover plate 702 is driven downward by the second permanent magnet 706, and the second lower cover plate 703 moves downward synchronously.

[0086] (2) The second upper sleeve 704 presses the second clip anchor 708 and presses it into the anchor hole. The steel strand is locked by the second clip anchor 708 and moves upward with the telescopic end 5 together with the lower anchor plate 701.

[0087] During the reset stage, i.e., the stage when the telescopic end 5 retracts downward, as Figure 14 shown, the opening of the lower anchor 7 is achieved through the following steps:

[0088] (1) The computer control system sends a command to the commutation relay through the 485-wifi transceiver to control the current direction of the third power line 806, so that the magnetic field directions of the second electromagnet 707 and the second permanent magnet 706 are opposite and repel each other. Then, the second upper cover plate 702 is driven upward by the second permanent magnet 706, and the second lower cover plate 703 moves upward synchronously.

[0089] (2) The second lower sleeve 705 is inserted into the anchor hole, and the second clip anchor 708 is extruded and loosened. The steel strand inserted therein can be withdrawn and does not move downward with the telescopic end 5 and the lower anchor plate 701.

[0090] As Figure 15 and Figure 16 shown, the extension rod 709 of the displacement gauge 710 passes through the lower anchor plate 701 and is fixed by a nut. The bottom of the displacement gauge 710 is fixed to the bottom plate 3 by bolts. When the telescopic end 5 moves, it drives the extension rod 709 to expand and contract. Furthermore, the displacement gauge 710 can monitor the displacement of the telescopic end 5 in real time.

[0091] As Figure 17 shown, during the lifting process, the computer control system issues a command to the composite controller 8 through wifi, so that the upper anchor 6 opens and the lower anchor 7 locks, and then the telescopic end 5 extends upward. The steel strand moves upward together with the telescopic end 5, and the structure is lifted.

[0092] During the lifting process, the displacement gauge 710 and the pressure sensor 2 transmit the collected electromagnetic lifter status information to the computer control system in real time through the composite controller 8. When the displacement gauge 710 monitors that the electromagnetic telescopic cylinder reaches the preset single elongation amount, as Figure 18As shown in the figure, the computer control system issues commands to the composite controller 8 via wifi, causing the lower anchor 7 to open, the upper anchor 6 to lock, and then the telescopic end 5 to move downward and retract. At this time, the steel strand is locked and stationary by the upper anchor 6 and can be withdrawn from the opened lower anchor 7 without moving downward with the telescopic end 5, while the lifted structure also remains stationary. When the displacement gauge 710 detects that the telescopic end 5 has completely retracted, the lifting motion starts again. During the entire construction process, the electromagnetic lifter performs a cycle of lifting - reset, and the lifted structure also undergoes a step - by - step cumulative lifting of lifting - stationary.

[0093] As Figure 19 shown, the embodiment of the present invention also provides a control method for the electromagnetic integral lifting construction device described in the embodiment of the present invention. The computer control system includes a safety controller, a structural response predictor, and a register; the control method realizes safety control during the lifting construction process, including the following steps:

[0094] (1) Collect the state information data of the lifted structure through the sensor cluster;

[0095] (2) Check the data completeness. If it is complete data, input it into the safety controller to judge the current structural safety; if it is incomplete data, use the virtual structural response generated by the structural response predictor at the previous moment in the register to complement it to complete data, and then input it into the safety controller;

[0096] (3) Through direct search and iterative methods, the safety controller generates virtual motion commands, the structural response predictor generates virtual structural responses, and then the safety controller conducts structural safety optimal control verification until the optimal solution is obtained to stop iteration, and outputs control commands to the electromagnetic lifter.

[0097] Before construction, perform data analysis on the lifted structure through computer simulation methods, convert the monitored strain into the monitored stress / yield stress ratio, perform time - frequency domain transformation on the acceleration signal, etc., to obtain the structural local safety state characteristic quantities X = {x 1 , x 2 , …, x n} feedback from multiple sensors, and calculate the Pearson correlation coefficient p i,j between the variables in X:

[0098]

[0099] where x i , x j , x n are the absolute value data arrays of the monitored stress / yield stress ratio of the i - th, j - th, and n - th sensors respectively, cov(·) is the covariance, σ i and σ j are xi and x j variance of

[0100] p i,j ∈ [0.8, 1], x i and x j have strong correlation; p i,j ∈ [0.5, 0.8), x i and x j have medium correlation; p i,j ∈ (0.1, 0.5], x i and x j have weak correlation; p i,j ≤ 0.1, x i and x j have no correlation.

[0101] Furthermore, the correlation coefficient matrix of X can be obtained as follows:

[0102]

[0103] According to the Pearson correlation coefficient, the lifted structure is divided into several subsystems, and then the data levels are divided as Figure 20 shown, where x ki is the characteristic quantity in each subsystem k after reordering.

[0104] In the safety controller, the comprehensive data fusion method as Figure 21 shown is used to comprehensively fuse the structural safety status information. First, the importance of the information at the locations of each sensor is analyzed. As shown in Table 1, a scoring evaluation is carried out based on the damage severity and location vulnerability determined by mechanical analysis:

[0105] Table 1 Importance Scoring Table for Sensor Locations

[0106] Severity of damage H Vulnerability of location Q Severe 10 Easy 10 General 5 General 5 Less severe 1 Not easy 1

[0107] where H and Q are the scored quantities after analysis.

[0108] Taking the weighting coefficient γ ki of the i-th sensor in subsystem k as an example:

[0109]

[0110] Then

[0111]

[0112] where H i and Q i are the scored quantities corresponding to this sensor, It is the sum of the products of all components H and Q within the subsystem.

[0113] The weighted combination method is used for the fusion of subsystem safety information:

[0114]

[0115] The safety information feature quantity y of the k-th subsystem is obtained k ∈[0,1] is used as the basis for judging the safety of the subsystem, and then the safety information feature quantities of each subsystem are fused by taking the maximum value:

[0116] Y = max{y 1 , y 2 ,..., y k ,...}

[0117] Finally, the overall structural safety characteristic information Y is obtained as the basis for judging the overall safety, where the higher the values of y i and Y, the more dangerous the subsystem and the overall structure. When the value reaches and exceeds 1, it indicates that the subsystem or the structure is damaged. The safety of the lifted structure is judged by using the overall structural safety characteristic information Y.

[0118] The purpose of the structural response predictor is to establish the prediction of the movement of the electromagnetic lifter and the structural response. As Figure 22 shown, its structure combines the teacher model TN, the student model SN, and the expert gate system EG to form the gate memory incremental network GIM. Among them, the student model SN is composed of a feedforward neural network FNN and a long short-term memory neural network LSTM in series, and the expert gate system EG includes a judgment module and an output module.

[0119] As Figure 23 shown, the teacher model TN adopts an architecture in which the input layer, the CNN module, the Bi-LSTM module, the MHA module, the fully connected module, and the output layer are connected in series in turn.

[0120] In the teacher model TN, the input layer and the output layer are used to temporarily store the input data IT and the output data OT. At time t, the output data is the safety information feature quantities of each subsystem at time t + 1, OT = {y 1,t+1 , y 2,t+1 , …, y n,t+1}. Through the second-level fusion, the overall structural safety information feature quantity Y at time t + 1 can be obtained t+1 , and the safety states of the overall structure and the subsystem are predicted respectively. The input information includes the safety information feature quantities of each subsystem from time t - d t to time t, the movement history of each traction point, the current movement command issued, and the temperature change, d tFor the length of the historical data to be read, the dataset form of the input data IT is as follows:

[0121]

[0122] Where U m,t and T m,t are respectively the deformation matrix of the structure and the ambient temperature value at time t.

[0123] The CNN module is a multi-layer convolutional network, and its internal architecture is as shown in Figure 24 . It contains multiple convolutional layers and corresponding pooling layers. The CNN module uses the methods of local connection and weight sharing, and locally perceives data in the way of a sliding window, so as to effectively extract complex local features from the input data IT. In the convolutional layer, a convolutional kernel is used to extract effective non-linear local features of the data, and the number of parameters required in the training process is reduced by weight sharing between neurons and convolutional kernels, and the training efficiency is improved. The pooling layer generates more important feature information by non-linearly activating the compressed extracted features, which can reduce overfitting and improve the data extraction efficiency. The parameters controlling the CNN module are the number of convolutional layers n c , the width and length of the convolutional layer, and the convolutional coefficient w c , where the width and length of the convolutional layer are consistent with the dimensions of the input data IT, that is, n + 2 and d t +1, and n is the number of subsystems.

[0124] To learn the correlation features of the safety information feature quantities of each subsystem in the front and back information in the time dimension, a Bi-LSTM module is used to perform bidirectional cyclic training on the data after convolution-pooling of the CNN module. Through the activation and feedback of the bidirectional hidden layer in the process of bidirectional data transmission, the internal connection between the current moment and the past and future moment data is fully explored, and then an accurate prediction of the data change at the future moment is made.

[0125] The multi-head attention mechanism MHA is used to fully explore the correlation mechanism of each component inside the input data IT, and then the information is decoupled through the fully connected module to synthesize the output data. For a set of input data X = {x 1 , x 2 ,..., x n}, within one attention head, three coefficient matrices W Q , W K and W V are multiplied by it to obtain three input matrices Q = {q 1 , q 2 ,..., q n}, K = {k 1 , k 2 ,..., k n}, V = {v1 , v 2 ,..., v n}. As Figure 25 shown, q 1 is multiplied by the K matrix to obtain the eigenmatrix α 1 of x 1 ={α 1,1 , α 1,2 ,..., α 1,n}}, and α 1 is input into the softmax layer to calculate the attention weight matrix Z 1 of x 1 ={z 1,1 , z 1,2 ,..., z 1,n}}, where z 1,i ∈[0,1]. Multiply z 1,i by V and then sum to obtain the corresponding output l 1 . Similarly, calculate the outputs corresponding to other terms to obtain the output matrix L (1) ={l 1 , l 2 ,..., l n}}. Concatenate the outputs obtained by m attention heads to form the output sequence L = {L (1) , L (2) ,..., L (m)}}, and then input it into the fully connected module. The fully connected module is a three-layer FNN, and L is synthesized into the output data OT = Y.

[0126] As Figure 26 shown, in the initial stage of construction, the student model SN is not fully trained. The traction point motion command data set U m,t at time t is first input into the teacher model TN for preliminary prediction to obtain the first-level predicted values {y 1,t+1 , y 2,t+1 ,…, y n,t+1} (1) of the subsystem safety state information feature quantity at time t+1. Using these as input parameters and the true values {y 1,t+1 , y 2,t+1 ,…, y n,t+1} (R) of the subsystem safety state information feature quantity at time t+1 as the training target, the student model SN is trained, and the output is the second-level predicted values {y 1,t+1 , y 2,t+1 ,…, y n,t+1} (2) . During the training of the student model SN, the output module of the expert system EG is based on {y j,t-k} in the historical data(1) and {y j,t-k} (R) perform a linear fit, and then calculate the final predicted values of the characteristic quantities of the output subsystem safety state information {y 1,t+1 , y 2,t+1 , …, y n,t+1} (P) . When {y j,t+1} (2) meets the accuracy requirements, then use {y j,t+1} (2) as the predicted output value, that is, {y j,t+1} (P) = {y j,t+1} (2) , and use the subsequent data to continue training the student model SN. Use the safety controller to fuse {y j,t+1} (P) into the characteristic quantity Y of the overall structural safety state information at time t + 1 t+1 . When the {y j,t} input at time t is incomplete data, then use the predicted value {y j,t} (P) obtained by the surrogate model GIM at time t - 1 for complementation, and then perform subsequent calculations.

[0127] As Figure 27 shown, during the construction process, the monitoring data at time t is converted into the safety information eigenvalue set {Y, y} (t) and updated to the register, replacing the virtual values {Y, y} (t) `, and input to the safety controller to perform structural safety judgment according to the constraint condition C:

[0128] C = {Y ≤ Y lim , y b ≤ y b,lim}

[0129] where Y lim is the limit value of the overall structural safety characteristic information, and y b,lim is the limit value of the brittle component, which is set in advance according to the characteristics of the lifted structure.

[0130] If it is not safe, issue a stop command to the electromagnetic lifter, conduct hidden danger investigation, and then perform man - machine interactive adjustment; if it is safe, generate a virtual motion stroke command U t+1 ` in the safety controller, and at the same time extract the information {Y, y} (t-dt) , …, {Y, y} (t) from the register and input to the structural response predictor; after calculation by the surrogate model GIM, obtain the virtual safety information eigenvalue set {Y, y} (t+1)`Then, judge the safety of the virtual state of the structure. If it is not safe, continue to search and optimize until the safety requirements are met. Then, use the U t+1 ` that meets the conditions as the formal motion command U t+1 and issue it to the electromagnetic lifter for the next movement. At the same time, delete {Y,y} (t-dt) from the register and store it in {Y,y} (t+1) `. Control the overall lifting construction of the lifted structure according to this process.

Claims

1. An electromagnetic integral lifting construction device, characterized in that: It includes an electromagnetic lifter, which is connected to the lifted structure through a steel strand; The electromagnetic lifter comprises an upper anchor (6), a lower anchor (7), an electromagnetic telescopic cylinder and a composite controller (8); the upper anchor (6) and the electromagnetic telescopic cylinder are mounted on a base plate (3); and the lower anchor (7) is mounted on a telescopic end (5) of the electromagnetic telescopic cylinder. The upper and lower anchors have similar structures, including an anchor plate, an upper cover plate and a lower cover plate, and the upper and lower cover plates can be installed on both sides of the anchor plate so as to move up and down synchronously; a conical anchor hole for the steel strand to pass through is provided on the anchor plate, and a clip anchor is provided in the anchor hole; a stepped hollow cylindrical sleeve capable of passing through the steel strand is provided at the bottom of the upper cover plate and the top of the lower cover plate; an electromagnet is installed on the anchor plate, and a permanent magnet is correspondingly installed on the upper cover plate; When the electromagnet and the permanent magnet repel each other, the upper and lower covers move upward, and the sleeve on the lower cover is inserted into the anchor hole so that the clip anchor is squeezed open, releasing the lock on the steel strand; when the electromagnet and the permanent magnet attract each other, the upper and lower covers move downward, and the sleeve on the upper cover is inserted into the anchor hole to press the clip anchor and lock the steel strand; A displacement meter (710) is installed below the lower anchor (7) to measure the extension and contraction amount of the electromagnetic telescopic cylinder; the composite controller (8) is used to control the extension and contraction movement of the electromagnetic telescopic cylinder and the magnetic poles of the electromagnets in the upper and lower anchors according to the instructions issued by the computer control system; During the lifting process, when the displacement meter (710) monitors that the electromagnetic telescopic cylinder reaches a preset single extension, the lower anchor (7) is opened, the upper anchor (6) is locked, the telescopic end (5) moves downward and retracts, and the lifted structure remains stationary; when the displacement meter (710) monitors that the telescopic end (5) is completely retracted, the upper anchor (7) is opened, the lower anchor (6) is locked, and then the telescopic end (5) extends upward, and the lifted structure moves upward; This process repeats itself and the structure being lifted is gradually lifted.

2. The electromagnetic integral lifting construction device according to claim 1 is characterized in that: The electromagnetic lifter is installed on a support frame (1), and a pressure sensor (2) is arranged at the bottom of the electromagnetic lifter for measuring the tension exerted on the steel strand below in real time.

3. The electromagnetic integral lifting construction device according to claim 2 is characterized in that: The composite controller (8) includes an AC to 36V DC power supply, a reversing relay and a 485-wifi transceiver. The AC to 36V DC power supply converts external AC power into 36V DC power. The displacement meter (710) and the pressure sensor (2) are connected to the 485-wifi transceiver via a signal acquisition line. The 485-wifi transceiver and the reversing relay are connected to the AC to 36V DC power supply via a power supply line. The 485-wifi transceiver and the reversing relay are connected via a control signal line (809). The 485-wifi transceiver exchanges data with the computer control system. The reversing relay is connected to a first power line B (804), a second power line (805) and a third power line (806); the AC to 36V DC power supply is connected to the first power line A (803) to provide direct current with a constant direction; the second power line (805) and the third power line (806) are respectively connected to the electromagnets of the upper and lower anchors; the first power line A (803) and the first power line B (804) are connected to the electromagnetic telescopic cylinder; the reversing relay can change the voltage direction of the first power line B (804), the second power line (805) and the third power line (806).

4. The electromagnetic integral lifting construction device according to claim 3 is characterized in that: The electromagnetic telescopic cylinder also includes a cylinder body (4), the cylinder body (4) including an outer shell (401), a magnetic coil (402) and a steel shell (403) which are arranged in sequence from the outside to the inside, the outer shell (401) and the steel shell (403) are fixed on the bottom plate (3); the magnetic coil (402) is connected to a first power line A (803), a copper half shell A (405) and a copper half shell B (406) are bonded to the steel shell (403) through an epoxy resin insulating interlayer (404), the copper half shell is a semi-cylindrical shell, and an insulating layer is formed between the two copper half shells. The partition (407) is separated to achieve insulation, and the two copper half shells are respectively connected to the electrode line A and the electrode line B of the first power line B (804); the telescopic end (5) is a round rod with a protrusion, and the lower part of the rod is fixed with a moving coil (503) by an upper baffle (501) and a lower baffle (502), and the starting end and the ending end of the moving coil (503) extend out of the brush A (504) and the brush B (505) respectively, and the two brushes are respectively in contact with the two copper half shells, and can continuously receive power from the first power line B (804) during the telescopic movement.

5. The electromagnetic integral lifting construction device according to claim 1 is characterized in that: The bottom of the displacement meter (710) is fixed on the bottom plate (3), and the extension rod (709) of the displacement meter (710) extends upward and is connected to the anchor plate of the lower anchor (7); when the telescopic end (5) moves, the extension rod (709) is driven to extend and retract.

6. The electromagnetic integral lifting construction device according to claim 1, characterized in that: The upper and lower cover plates are connected by bolts; the anchor plate of the upper anchor (6) is fixed to the bottom plate (3) by long bolts; and the anchor plate of the lower anchor (7) is fixed to the telescopic end (5) by screws.

7. A control method for the electromagnetic integral lifting construction device according to claim 1, characterized in that: The computer control system includes a safety controller, a structural response predictor and a register; the control method includes: (1) Collecting state information data of the lifted structure through a sensor cluster, which consists of sensors of different types installed at multiple points on the lifted structure; (2) Checking the data completeness. If the data is complete, input it into the safety controller to determine the safety of the current structure. If the data is incomplete, use the virtual structural response generated by the structural response predictor in the register at the previous moment to complete it into complete data, and then input it into the safety controller. (3) Through direct retrieval and iteration methods, the safety controller generates virtual motion commands, the structural response predictor generates virtual structural responses, and the safety controller performs structural safety optimal control inspection until the optimal solution stops iterating and outputs control commands to the electromagnetic lifter.

8. The control method of the electromagnetic integral lifting construction device according to claim 7 is characterized in that: Before construction, the data of the lifted structure is analyzed by computer simulation method to obtain the local safety state characteristic quantity X={x1,x2,…,x n }, x n is the absolute value data array of the monitored stress / yield stress ratio of the nth sensor, and the Pearson correlation coefficient p between the variables in X is calculated. i,j And the promoted structure is divided according to the Pearson correlation coefficient to form several subsystems; In the safety controller, the comprehensive data fusion method is used to comprehensively fuse the structural safety status information. First, the characteristic value x of each sensor is extracted. j , and then use the weighted combination method to fuse the subsystem safety information to obtain the subsystem safety information characteristic y i ∈[0,1] as the basis for judging the safety of the subsystem, and then fuse the safety information characteristics of each subsystem by taking the maximum value, and finally obtain the overall safety characteristic information Y of the structure as the basis for judging the overall safety, where y i The higher the values ​​of and Y are, the more dangerous the subsystem and the structure as a whole are. When the values ​​reach and exceed 1, it indicates that the subsystem or structure is damaged. The overall structural safety feature information Y is used to determine the safety of the enhanced structure.

9. The control method of the electromagnetic integral lifting construction device according to claim 8, characterized in that: The structural response predictor combines the teacher model TN, the student model SN and the expert gate system EG to form a gate memory incremental network GIM, where the student model SN is composed of a feedforward neural network FNN and a long short-term memory neural network LSTM in series, the teacher model TN adopts an architecture in which the input layer, CNN module, Bi-LSTM module, MHA module, fully connected module and output layer are connected in series in sequence, and the expert gate system EG includes a judgment module and an output module; In the teacher model TN, the input layer and the output layer are used to temporarily store the input data IT and the output data OT; at time t, the output data is the safety information feature quantity of each subsystem at time t+1 OT={y 1,t+1 ,y 2,t+1 ,…,y n,t+1 }, after the second-level fusion, the structural overall safety information feature quantity Y at time t+1 can be obtained t+1 , respectively predict the safety status of the structure as a whole and the subsystem; the input information includes td t The safety information characteristic quantities of each subsystem at time t, the motion history of each traction point, the current motion command issued, and the temperature change, d t To read the length of historical data, the data set that constitutes the input data IT is in the form of: Among them U m,t and T m,t are the deformation matrix and ambient temperature value of the structure at time t respectively; In the early stage of construction, the student model SN is not fully trained, and the traction point motion command data set U at time t is m,t First, input it into the teacher model TN for preliminary prediction, and obtain the first-level prediction value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1 } (1) , taking it as the input parameter, and taking the real value of the characteristic quantity of the subsystem safety status information at time t+1 {y 1,t+1 ,y 2,t+1 ,…,y n,t+1 } (R) As the training target, the student model SN is trained and the output is the secondary prediction value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1 } (2) During the training of the student model SN, the output module of the expert gate system EG is based on {y j,t-k } (1) and {y j,t-k } (R) Perform linear fitting to calculate the final predicted value {y 1,t+1 ,y 2,t+1 ,…,y n,t+1 } (P) ; When {y j,t+1 } (2) After the accuracy requirement is met, {y j,t+1 } (2) As the predicted output value, that is, {y j,t+1 } (P) ={y j,t+1 } (2) , and use the subsequent data to continue training the student model SN; use the safety controller to j,t+1 } (P) Fusion becomes the overall security status information feature Y of the structure at time t+1 t+1 ; When {y j,t } is incomplete data, the predicted value {y j,t } (P) Perform completion and then perform subsequent calculations.

10. The control method of the electromagnetic integral lifting construction device according to claim 9, characterized in that: During the construction process, the monitoring data at time t is converted into a safety information feature value set {Y, y} (t) Update to register, replace dummy value {Y,y} (t) `, and input to the safety controller to make structural safety judgment according to constraint condition C: C={Y≤Y lim ,y b ≤y b,lim } Among them, Y lim is the overall safety characteristic information limit of the structure, y b,lim It is the limit value of the brittle component, which is set in advance according to the characteristics of the structure being lifted; If it is unsafe, a stop command is issued to the electromagnetic lifter, and hidden dangers are checked and human-machine interactive adjustments are made; if it is safe, a virtual motion stroke command U is generated in the safety controller. t+1 `, while extracting information {Y,y} from the register (t-dt) ,…,{Y,y} (t) Input to the structural response predictor; the virtual safety information feature value set {Y, y} at time t+1 is calculated by the proxy model GIM (t+1) `Then judge the safety of the virtual state of the structure. If it is not safe, continue to search and optimize until the safety requirements are met, and then the U that meets the conditions will be t+1 `As an official movement order U t+1 Send it to the electromagnetic lifter for the next movement, and at the same time {Y,y} (t-dt) Delete from register and store in {Y,y} (t+1) `; According to this process, the overall lifting construction of the lifted structure is controlled.

Images