A lightweight modular lifting device made of FRP and its control method

Abstract

This invention discloses a lightweight modular FRP lifting device and its control method. The lifting device includes an expandable lifting frame body assembled from several basic structural units. Each basic structural unit adopts a steel-FRP composite structure, with an inner layer of I-beams and an outer layer of FRP fiber-reinforced fabric. A multi-degree-of-freedom adjustment mechanism is installed at the bottom of each basic structural unit. This mechanism includes a linear module and a winch. The linear module is set and fixed along the length of the basic structural unit, and the winch is fixed below the slider of the linear module. The winch's wire rope is connected to the lifting point of the building module to be lifted. The control method uses center-of-gravity calculation and a PID algorithm for real-time feedback control. This invention effectively solves the problems of heavy weight, difficult balance adjustment, and low level of intelligence in traditional lifting devices, achieving automatic leveling and precise positioning of the lifted building module, significantly improving lifting efficiency and safety.

Description

Technical Field

[0001] This invention belongs to the field of construction equipment technology, and relates to an FRP lightweight modular hoisting device and its control method, specifically an FRP lightweight modular hoisting device and its control method that integrates IoT attitude sensing and multi-degree-of-freedom feedback correction. Background Technology

[0002] With the rapid development of prefabricated buildings, the demand for hoisting precast concrete components and large steel structure modules is increasing. These components are typically large in size and heavy in weight, and their center of gravity is often uncertain due to deviations in embedded parts or irregular shapes. Current hoisting operations mainly face the following technical challenges:

[0003] (1) Excessive self-weight of lifting equipment: Traditional lifting equipment is mostly made of pure steel structure. In order to meet the high load-bearing capacity requirements, its cross-sectional dimensions are large and its self-weight is high, which seriously occupies the effective lifting capacity of the crane.

[0004] (2) Poor versatility: Fixed-size lifting tools are difficult to adapt to prefabricated components of different specifications, resulting in the need to equip the construction site with lifting tools of various specifications, which leads to serious waste of resources.

[0005] (3) Difficult and dangerous balance adjustment: Traditional lifting equipment is mostly rigid or only has simple manual adjustment function. When the center of gravity of the component shifts and causes tilting, it is often necessary to manually adjust the position of the lifting point repeatedly or adjust it by hand hoist. The operation is cumbersome and inefficient, and there are great safety hazards in high-altitude operations.

[0006] (4) Lack of real-time perception and feedback: The existing hoisting process relies mainly on manual visual inspection and experience-based command, lacking digital monitoring of component posture, sling tension and precise position. Once uneven sling tension or sudden overturning occurs, there is no timely warning or automatic correction. Summary of the Invention

[0007] Purpose of the invention: The first purpose of this invention is to provide a versatile FRP lightweight modular hoisting device; the second purpose of this invention is to provide a control method for the FRP lightweight modular hoisting device to achieve automatic leveling of the building modules to be hoisted and ensure the safety of the hoisting process.

[0008] Technical solution: A FRP lightweight modular hoisting device of the present invention includes an expandable sling body assembled by a plurality of basic structural units. The basic structural unit adopts a "steel - FRP" composite structure, with an I - shaped steel beam on the inner layer, and an FRP fiber - reinforced cloth wrapped on the outer surface of the I - shaped steel beam; a multi - degree - of - freedom adjustment mechanism is provided at the bottom of each basic structural unit. The multi - degree - of - freedom adjustment mechanism includes a linear module and a winch. The linear module is arranged and fixed along the length direction of the basic structural unit, and the winch is fixed below the slider of the linear module. The steel wire rope of the winch is connected to the lifting point of the building module to be hoisted.

[0009] Furthermore, two adjacent basic structural units are spliced through end plates, high - strength bolts and node units. The node unit has a cross - connecting plate with holes.

[0010] Furthermore, the FRP fiber - reinforced cloth includes an FRP cloth layer and a glass fiber cloth layer. The FRP cloth layer is tightly pasted and wrapped on the outer surface of the I - shaped steel beam through a high - performance structural adhesive, and the glass fiber cloth layer is wrapped outside the FRP cloth layer.

[0011] Furthermore, the expandable sling body is assembled into a "one" - shaped, "I" - shaped or "well" - shaped frame.

[0012] For the control method of the FRP lightweight modular hoisting device of the present invention, a main IoT attitude sensor is installed on the expandable sling body to collect three - dimensional attitude data of the expandable sling body in real time; a slave IoT attitude sensor is installed on the building module to be hoisted to collect three - dimensional attitude data of the building module to be hoisted in real time; each winch is equipped with a cable force sensor to monitor the steel wire rope tension data of the corresponding lifting point.

[0013] The control method includes a stage of lifting off the ground and a stage of lifting and transporting off the ground; the stage of lifting off the ground includes the following steps:

[0014] S1: In the initial stage of hoisting operation, the steel wire rope is pre - tensioned and the lifting is locked.

[0015] S2: Calculate the theoretical centroid coordinates of the building module to be hoisted ;

[0016] Establish a plane rectangular coordinate system with the geometric center of the expandable sling body as the origin to obtain the plane coordinate positions of the lifting points relative to the geometric center of the expandable sling body ; Calculate the theoretical centroid coordinates of the building module to be hoisted through the following formula :

[0017]

[0018]

[0019] in, For the first Data on the tensile strength of the wire rope at each suspension point;

[0020] S3: Calculate the theoretical barycenter coordinates With the geometric center of the expandable spreader body The offset of the center of gravity between Pre-set eccentricity threshold ,like If the center of gravity shift exceeds the limit, maintain the lifting and locking state, and calculate the values ​​at each lifting point. With respect to theoretical barycentric coordinates Euclidean distance between According to Euclidean distance Order from largest to smallest Sort the linear modules to generate an adjustment priority queue; if Once the center of gravity deviation is determined to be within a safe range, the lifting operation begins.

[0021] S4: Drive the linear module of the hoisting point furthest from the priority queue, causing the hoisting point to approach the center of gravity; the amount of movement of the linear module of this hoisting point is based on the center of gravity offset vector. Confirmed, among which The value equals , The value equals ;

[0022] S5: Read Steel wire rope tension data at each suspension point Return to step S2 until the condition is met. Release the lifting lock and enter the off-ground hoisting stage.

[0023] Further, in step S1, when When the wire rope is taut but the building module to be hoisted has not yet been completely lifted off the ground, the hoisting height is locked. This is the pre-tension threshold.

[0024] Furthermore, the off-ground hoisting stage includes the following steps:

[0025] S6: The crane lifts the building module to be hoisted off the ground. Based on data from the master and slave IoT attitude sensors, it calculates the real-time tilt angle of the building module relative to the horizontal plane, including the pitch angle. and roll angle Target pitch angle Target roll angle ;

[0026] S7: Calculate the current time. angular error and Preset a control threshold ;like and If the current posture is determined to be within a stable range, maintain the current rope length; otherwise, proceed to step S8.

[0027] S8: Run the incremental PID algorithm on both the pitch and roll axes to calculate the increment of the control quantity; taking the pitch axis as an example, the first... Control increment of each sampling period The calculation formula is:

[0028]

[0029] in, These are the preset proportional, integral, and derivative coefficients, respectively;

[0030] Similarly, the control increment of the roll axis is calculated. ;

[0031] S9: The The coordinates of each suspension point relative to the center of rotation Then the first General adjustment command for each winch It is composed of the linear superposition of pitch and roll components:

[0032]

[0033] S10: Based on the calculated The positive or negative value sends an action command to the corresponding winch: if The command instructs the winch at that lifting point to perform a "rope reeling" action; if The hoist at that point is instructed to perform the "rope release" action; steps S6 to S10 are repeated until the condition is met. and .

[0034] Furthermore, one or more basic structural units are equipped with GPS positioning sensors; during the hoisting process, the data from the GPS positioning sensors is read in real time to obtain the absolute spatial coordinates of the hoisting device. This records the hoisting trajectory; at the same time, the real-time GPS coordinates are compared with the target installation position in the BIM model to determine the position deviation, thereby guiding the crane operator to accurately move the building module to be hoisted to the target position directly above it, assisting in the final placement.

[0035] Furthermore, if the wire rope tension data at any hoisting point suddenly changes or exceeds the safety threshold, the current hoisting status will be forcibly locked and an alarm will be triggered.

[0036] Furthermore, the IoT attitude sensor is converted into a wireless sensor and temporarily mounted on the building module to be hoisted using a strong magnetic base.

[0037] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0038] (1) Lightweight and high load-bearing capacity: The steel-FRP composite structure is adopted. The constraint and reinforcement effect of FRP fiber reinforcement cloth is used to improve the bending stiffness and yield strength of the I-beam. Under the premise of meeting the same load-bearing capacity requirements, the cross-sectional size of the lifting device can be reduced, thereby significantly reducing the self-weight of the lifting device and improving the effective operation capacity of the crane.

[0039] (2) High versatility: The lifting frame can be flexibly assembled according to the size of the prefabricated components.

[0040] (3) Active balancing: Automatic leveling and center of gravity compensation of the building modules to be hoisted are achieved through sensor monitoring and closed-loop control, which greatly improves hoisting efficiency.

[0041] (4) High safety: By using cable force sensors to monitor the tension of the wire rope at each lifting point in real time, it can promptly detect serious shifts in the center of gravity or single-point overload. Combined with the abnormal protection mechanism, it can effectively prevent the building module to be lifted from overturning or the wire rope from breaking. Attached Figure Description

[0042] Figure 1 This is a structural schematic diagram of an FRP lightweight modular hoisting device provided in an embodiment of the present invention;

[0043] Figure 2 This is a cross-sectional view of the basic structural unit in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the assembly of basic structural units and node units in an embodiment of the present invention;

[0045] Figure 4 This is a flowchart of a control method for an FRP lightweight modular hoisting device provided in an embodiment of the present invention. Detailed Implementation

[0046] The invention will now be further described with reference to the accompanying drawings.

[0047] Appendix Figures 1 to 4 The accompanying figure labels are as follows:

[0048] 1. Expandable lifting device body; 11. I-beam; 12. FRP fabric layer; 13. Fiberglass fabric layer; 14. End plate; 15. High-strength bolt; 16. Node unit; 2. Multi-degree-of-freedom adjustment mechanism; 31. Master IoT attitude sensor; 32. Slave IoT attitude sensor; 33. GPS positioning sensor; 34. Cable force sensor; 4. Building module to be lifted.

[0049] Example 1: As Figure 1 As shown, Embodiment 1 provides an FRP lightweight modular lifting device, including an expandable lifting body 1, a multi-degree-of-freedom adjustment mechanism 2, and a sensing and monitoring system.

[0050] The expandable spreader body 1 serves as the load-bearing frame of the lifting device, used for lifting building modules 4 across the reception area. The expandable spreader body 1 is assembled from several basic structural units (standard parts) and connected to the crane via slings. For example... Figure 2 As shown, the basic structural unit adopts a "steel-FRP" composite structure, with an inner layer of I-beam 11 made of Q355B low-alloy high-strength structural steel. The upper flange, lower flange, and web of the I-beam 11 are covered with FRP fiber-reinforced fabric.

[0051] To balance mechanical performance and durability, the FRP fiber-reinforced fabric employs a composite structure, with an inner FRP fabric layer 12 and an outer glass fiber fabric layer 13. The FRP fabric layer 12 is made of bidirectional woven ultra-high-strength carbon fiber cloth, laid tightly against the surface of the I-beam 11 and bonded securely using high-performance structural adhesive. Carbon fiber has a similar elastic modulus and coefficient of thermal expansion to the I-beam 11, effectively preventing interfacial delamination caused by temperature differences or incompatible stress deformation, while significantly improving the tensile strength and crack resistance of the cross-section. The glass fiber fabric layer 13 wraps around the FRP fabric layer 12, primarily serving a protective function. Utilizing the excellent corrosion resistance, insulation, and abrasion resistance of glass fiber, it protects the internal steel structure and FRP fabric layer 12 from environmental erosion (such as moisture and salt spray) and can withstand minor impacts during hoisting. Through the composite design of "carbon fiber reinforcement + glass fiber protection", the self-weight of the "steel-FRP" composite structure is reduced by about 35% to 40% compared with the lifting gear of pure steel welded box girder of the same strength, while meeting the same ultimate bearing capacity.

[0052] like Figure 3As shown, the basic structural units are spliced ​​together by end plates 14, high-strength bolts 15, and node units 16. Specifically, the basic structural units have holes at both ends, and the end plates 14 have pre-set standardized bolt hole positions. The node units 16 form a cross-shaped connecting plate by welding connecting plates to both sides of the web of the I-beam, and these cross-shaped connecting plates also have pre-set holes. During splicing, the two basic structural units are aligned with the node units 16 at 90° or 180°, and then the basic structural units and node units 16 are rigidly connected by high-strength bolts 15 passing through the end plates 14.

[0053] In practice, the expandable lifting frame 1 can flexibly adjust the number of basic structural units and the splicing combination method according to the size of the building module 4 to be lifted. For example, it can be assembled into a "I" shape, "I" shape, "well" shape and other lifting frame to realize the extension of the lifting frame in the plane to adapt to the lifting needs of building modules of different sizes.

[0054] Each basic structural unit is equipped with a multi-degree-of-freedom adjustment mechanism 2 at its lower flange. The multi-degree-of-freedom adjustment mechanism 2 includes a linear module and a winch, both existing equipment. The linear module has a stroke of ±400mm. The linear module is set and fixed along the length of the basic structural unit, and the winch is fixed below the slider of the linear module. The winch's wire rope is connected to the lifting point of the building module 4 to be lifted. The linear module can drive the winch to move in a straight line, thereby changing the sliding position of the lifting point relative to the expandable lifting device body 1 in the horizontal plane along the X or Y direction, and changing the horizontal position of the lifting point relative to the center of gravity of the building module 4 to be lifted. The winch can independently adjust the effective length (Z direction) of the wire rope at the lifting point with millimeter-level accuracy, achieving pitch and roll attitude correction of the building module 4 to be lifted.

[0055] The sensing and monitoring system includes a master IoT attitude sensor 31, a slave IoT attitude sensor 32, a GPS positioning sensor 33, and a cable force sensor 34.

[0056] Four main IoT attitude sensors 31 are configured and installed at the four corners of the expandable lifting device body 1 to collect the three-dimensional attitude data of the expandable lifting device body 1 in real time.

[0057] The IoT attitude sensor 32 is a wireless sensor that is temporarily installed at the four corners of the building module 4 to be hoisted via a strong magnetic base, and is used to collect the three-dimensional attitude data of the building module 4 to be hoisted in real time.

[0058] The GPS positioning sensor 33, employing an RTK-GPS module, is positioned at the center point of the upper flange of the basic structural unit. The GPS positioning sensor 33 can be deployed on one or more basic structural units. It is used to acquire the spatial coordinates of the FRP lightweight modular hoisting device in real time.

[0059] Each winch is equipped with a cable tension sensor 34. In this embodiment, the cable tension sensor 34 is a load cell integrated and installed at the guide wheel of the winch's rope outlet. The cable tension sensor 34 is used to monitor the wire rope tension data at the corresponding lifting point.

[0060] Example 2: Figure 4 As shown, Embodiment 2 provides a control method for the FRP lightweight modular hoisting device described in Embodiment 1, including the following steps:

[0061] (a) Lifting off the ground stage

[0062] S1: In the initial stage of hoisting operations, the wire rope is pre-tensioned and locked for lifting.

[0063] The crane slowly lifts, and data is collected in real time. Steel wire rope tension data at each suspension point Pre-set the pre-tension threshold (For example, set to 30%~50% of the total weight of the building module 4 to be hoisted), when At this time, it indicates that the wire rope is already taut but the building module 4 to be hoisted has not yet completely left the ground, and the hoisting height is locked.

[0064] S2: Calculate the theoretical center-of-gravity coordinates of the building module 4 to be hoisted. .

[0065] Establish the origin with the geometric center of the expandable spreader body 1. Obtain the Cartesian coordinate system in the plane. The planar coordinate position of each lifting point relative to the geometric center of the expandable lifting device body 1 The coordinates of the suspension point are determined based on the initial position and the servo motor encoder data of the linear module.

[0066] Based on the principle of static moment balance, that is, the sum of the moments of the tension forces at each lifting point about the center of gravity is zero, the theoretical center of gravity coordinates of the building module 4 to be lifted are calculated using the following formula. :

[0067]

[0068]

[0069] S3: Calculate the theoretical barycenter coordinates Geometric center of expandable spreader body 1 The offset of the center of gravity between Pre-set eccentricity threshold (For example, set to 50mm), if If the center of gravity shift exceeds the limit, maintain the lifting and locking state, and calculate the values ​​at each lifting point. With respect to theoretical barycentric coordinates Euclidean distance between According to Euclidean distance Order from largest to smallest The linear modules are sorted (the suspension point farther from the center of gravity usually has a lighter load and the largest lever arm, so its adjustment priority is higher), generating an adjustment priority queue. If If the center of gravity deviation is determined to be within a safe range, proceed to step S6.

[0070] Center of gravity offset That is, the theoretical centroid coordinates Geometric center of expandable spreader body 1 Euclidean distance between them:

[0071]

[0072]

[0073] S4: Drive the linear module of the hoisting point furthest from the priority queue, causing the hoisting point to approach the center of gravity. The movement of the linear module of this hoisting point is based on the center of gravity offset vector. Confirmed, among which The value equals , The value equals .

[0074] S5: Read Steel wire rope tension data at each suspension point Return to step S2 until the condition is met. Release the lifting lock and proceed to step S6.

[0075] (ii) Lifting and hoisting stage

[0076] S6: The crane lifts the building module 4 to be hoisted off the ground. A Kalman filter algorithm is used to fuse the data from the master and slave IoT attitude sensors, eliminating high-frequency vibration noise. The real-time tilt angle of the building module 4 relative to the horizontal plane is calculated, including the pitch angle. and roll angle The target attitude value is set to zero degrees horizontally, i.e., the target pitch angle. Target roll angle .

[0077] S7: Calculate the current time. angular error and To prevent mechanical vibration caused by frequent actuator movements due to minute sensor fluctuations, a preset control threshold is established. (For example, set to) ).like and If the current posture is determined to be within a stable range, maintain the current rope length; otherwise, proceed to step S8.

[0078] S8: Run the incremental PID algorithm on both the pitch and roll axes to calculate the increment of the control input. Taking the pitch axis as an example, the first... Control increment of each sampling period The calculation formula is:

[0079]

[0080] in, These are the preset proportional, integral, and differential coefficients, respectively.

[0081] Similarly, the control increment of the roll axis is calculated. The physical meaning of this control increment corresponds to the vertical speed compensation component or stroke compensation component of the winch.

[0082] S9: Because the hoisting equipment includes A number of winches are located in different positions, and the axial adjustment calculated by PID control needs to be mapped to each specific lifting point. Given the... The coordinates of each suspension point relative to the center of rotation Then the first General adjustment command for each winch It is composed of the linear superposition of pitch and roll components:

[0083]

[0084] The farther the suspension point is from the axis of rotation, the greater the adjustment stroke is obtained, thus ensuring the coordinated movement of the overall rigid plane.

[0085] S10: Based on the calculated The positive or negative value sends an action command to the corresponding winch: if The command instructs the winch at that lifting point to perform a "rope reeling" action; if The system instructs the winch at that lifting point to perform a "rope unwinding" action. Simultaneously, a limit check is performed on the output command: if the cumulative stroke of a winch reaches its mechanical limit or a single speed command exceeds the safety threshold, the output is immediately clamped and an alarm is triggered to prevent overwinding or stalling. Steps S6 to S10 are executed repeatedly until the conditions are met. and .

[0086] During the hoisting process in steps S1 to S10, data from the GPS positioning sensor 33 is read in real time to obtain the absolute spatial coordinates of the hoisting device. This allows for recording of the hoisting trajectory, facilitating subsequent construction review. Simultaneously, real-time GPS coordinates can be compared with the target installation location in the BIM model to determine positional deviations, guiding the crane operator to precisely move the building module 4 to be hoisted directly above the target location, thus assisting in the final placement.

[0087] In addition, if the wire rope tension data at any hoisting point suddenly changes or exceeds the safety threshold (e.g., a sudden drop to zero indicates a broken rope, a sudden surge indicates a snag), the current hoisting status will be forcibly locked and an alarm will be triggered, awaiting manual intervention.

Claims

1. A lightweight modular FRP hoisting device, characterized in that, It includes an expandable sling body (1) composed of several basic structural units spliced together. The basic structural units adopt a "steel - FRP" composite structure, with an I - shaped steel beam (11) on the inner layer, and the outer surface of the I - shaped steel beam (11) is coated with FRP fiber - reinforced cloth; a multi - degree - of - freedom adjustment mechanism (2) is arranged at the bottom of each basic structural unit. The multi - degree - of - freedom adjustment mechanism (2) includes a linear module and a winch. The linear module is arranged and fixed along the length direction of the basic structural unit, and the winch is fixed below the slider of the linear module. The steel wire rope of the winch is connected to the lifting point of the to - be - lifted building module (4).

2. The FRP lightweight modular hoisting device according to claim 1, characterized in that, Two adjacent basic structural units are spliced through an end plate (14), high - strength bolts (15) and a node unit (16). The node unit (16) has a cross - connecting plate with holes.

3. The FRP lightweight modular hoisting device according to claim 1, characterized in that, The FRP fiber - reinforced cloth includes an FRP cloth layer (12) and a glass fiber cloth layer (13). The FRP cloth layer (12) is tightly pasted and wrapped on the outer surface of the I - shaped steel beam (11) through a high - performance structural adhesive, and the glass fiber cloth layer (13) is wrapped outside the FRP cloth layer (12).

4. The FRP lightweight modular hoisting device according to claim 1, characterized in that, The expandable sling body (1) is assembled into a "one" - shaped, "work" - shaped or "well" - shaped frame.

5. A control method for an FRP lightweight modular hoisting device according to any one of claims 1 to 4, characterized in that, A main IoT attitude sensor (31) is installed on the expandable sling body (1) for real - time acquisition of the three - dimensional attitude data of the expandable sling body (1); a slave IoT attitude sensor (32) is installed on the to - be - lifted building module (4) for real - time acquisition of the three - dimensional attitude data of the to - be - lifted building module (4); each winch is equipped with a cable force sensor (34) for monitoring the steel wire rope tension data of the corresponding lifting point. The described control method includes a stage of lifting off the ground and a stage of lifting and transporting after lifting off the ground; the stage of lifting off the ground includes the following steps: S1: At the initial stage of the hoisting operation, the steel wire rope is pre - tensioned and the lifting is locked. S2: Solve for the theoretical centroid coordinates of the building module (4) to be hoisted. ; Establish the origin with the geometric center of the expandable lifting device body (1) as the origin. Using a Cartesian coordinate system, obtain The planar coordinate position of each lifting point relative to the geometric center of the expandable lifting device body (1) ; The theoretical center of gravity coordinates of the building module (4) to be hoisted are calculated using the following formula. : in, For the first Data on the tensile strength of the wire rope at each suspension point; S3: Calculate the theoretical barycenter coordinates Geometric center of the expandable spreader body (1) The offset of the center of gravity between Pre-set eccentricity threshold ,like If the center of gravity shift exceeds the limit, maintain the lifting and locking state, and calculate the values ​​at each lifting point. With respect to theoretical barycentric coordinates Euclidean distance between According to Euclidean distance Order from largest to smallest Sort the linear modules to generate an adjustment priority queue; if Once the center of gravity deviation is determined to be within a safe range, the lifting operation begins. S4: Drive the linear module of the hoisting point furthest from the priority queue, causing the hoisting point to approach the center of gravity; the amount of movement of the linear module of this hoisting point is based on the center of gravity offset vector. Confirmed, among which The value equals , The value equals ; S5: Read Steel wire rope tension data at each suspension point Return to step S2 until the condition is met. Release the lifting lock and enter the off-ground hoisting stage.

6. The control method for the FRP lightweight modular hoisting device according to claim 5, characterized in that, In step S1, when When the wire rope is taut but the building module (4) to be hoisted has not yet been completely lifted off the ground, the hoisting height is locked. This is the pre-tension threshold.

7. The control method for the FRP lightweight modular hoisting device according to claim 5, characterized in that, The stage of lifting and transporting after lifting off the ground includes the following steps: S6: The crane lifts the building module (4) to be hoisted off the ground. Based on the data from the master and slave IoT attitude sensors, it calculates the real-time tilt angle of the building module (4) relative to the horizontal plane, including the pitch angle. and roll angle Target pitch angle Target roll angle ; S7: Calculate the current time. angular error and Preset a control threshold ;like and If the current posture is determined to be within a stable range, maintain the current rope length; otherwise, proceed to step S8. S8: Respectively perform an incremental PID algorithm on the pitch axis and the roll axis to calculate the increment of the control quantity. Taking the pitch axis as an example, the first Control increment of each sampling period The calculation formula is: in, These are the preset proportional, integral, and derivative coefficients, respectively; Similarly, the control increment of the roll axis is calculated. ; S9: The The coordinates of each suspension point relative to the center of rotation Then the first General adjustment command for each winch It is composed of the linear superposition of pitch and roll components: S10: Based on the calculated The positive or negative value is used to send an action command to the corresponding winch: if The command instructs the winch at that lifting point to perform a "rope reeling" action; if The hoist at that point is instructed to perform the "rope release" action; steps S6 to S10 are repeated until the condition is met. and .

8. The control method for the FRP lightweight modular hoisting device according to claim 7, characterized in that, One or more basic structural units are equipped with GPS positioning sensors (33); during the hoisting process, the data from the GPS positioning sensors (33) are read in real time to obtain the absolute spatial coordinates of the hoisting device. This records the hoisting trajectory; at the same time, the real-time GPS coordinates are compared with the target installation position in the BIM model to determine the position deviation, thereby guiding the crane operator to accurately move the building module (4) to be hoisted to the target position directly above it, and assisting in the final placement.

9. The control method for the FRP lightweight modular hoisting device according to claim 7, characterized in that, When the steel wire rope tension data of any lifting point mutates or exceeds the safety threshold, the current lifting state is forcibly locked and an alarm is given.

10. The control method for the FRP lightweight modular hoisting device according to claim 5, characterized in that, The slave IoT attitude sensor (32) is a wireless sensor and is temporarily installed on the to - be - lifted building module (4) through a strong magnetic suction base.

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