An adaptive posture-adjusted stiffened beam hoisting system and method

Abstract

This invention relates to the field of hoisting control technology, specifically to an adaptive attitude adjustment stiffening girder hoisting system and method, including a wind disturbance trend identification module, an attitude deviation monitoring module, a hoisting point command linkage module, a dynamic adjustment feedback module, and an attitude adjustment confirmation module. In this invention, dynamic early warning of increasing wind disturbance is achieved by identifying the directional change trend of wind speed difference over a continuous period. Combined with the continuous trend of longitudinal displacement change of the hoisting points, the structural attitude deviation development signal is identified. Based on the response lag characteristic, the pitch angle setpoint is adjusted in linkage, and a control strategy with minimum amplitude and minimum period is executed to form a dynamic attitude correction response process. A hoisting point feedback closed loop is constructed by judging the consistency between the displacement difference and the direction of cable force change, achieving continuous correction and synchronous attitude adjustment during the hoisting process. This avoids attitude imbalance caused by lag response to disturbances, ensuring the stability, control accuracy, and feedback consistency of the stiffening girder hoisting structure during disturbances.

Description

Technical Field

[0001] This invention relates to the field of hoisting control technology, and in particular to a stiffening beam hoisting system and method with adaptive attitude adjustment. Background Technology

[0002] The field of hoisting control technology involves technologies related to the stable, precise, and safe hoisting of large components during construction or assembly. This includes attitude adjustment, displacement control, dynamic response regulation, lifting equipment connection structure design, and dynamic feedback and adjustment strategies during the hoisting process. It is widely used in the construction of large-scale components such as bridges, buildings, and energy facilities, emphasizing the stability of the structural system and the safety of operation during construction. In the construction of long-span bridges, it is particularly necessary to address the multiple challenges posed by wind-induced disturbances, changes in system stiffness, and nonlinear vibration responses. Among these, the traditional stiffened girder hoisting system refers to an assembly system in long-span bridge construction that uses cable-stayed cranes or floating cranes to hoist prefabricated steel box girders segment by segment to designated locations and complete temporary connections within a support or cable-stayed system. This mainly includes high-altitude transport of girder segments, attitude maintenance, hoisting path control, and multi-stage rigid connection transitions. Generally, rigid connection rigging is used in conjunction with manual observation and positioning. The angle and position of the beam segments are adjusted by manual commands, and lifting and lateral movement are carried out by mechanical lifting arms or pulley systems. Temporary articulation or rigid connection operations are completed at preset support points. Wind speed monitoring is used to determine the feasibility of lifting. Common problems include insufficient structural rigidity, wind-induced vibration interference, and low control accuracy and poor safety caused by structural frequency changes during construction.

[0003] In traditional stiffening girder hoisting processes, rigid connecting slings and manual observation are commonly used for attitude control and position adjustment. This lacks dynamic identification methods for the development trend of wind-induced disturbances, making it difficult to promptly identify attitude deviations caused by changes in wind speed. When dealing with increased wind disturbances or structural frequency changes during hoisting, the response is sluggish. Control commands rely heavily on manual judgment and unidirectional execution, resulting in a lack of real-time and adaptive structural attitude adjustments. Cable force adjustment and displacement control during hoisting are often in a passive response state, lacking an effective feedback adjustment mechanism, making it difficult to maintain a stable hoisting path. This leads to problems such as insufficient control accuracy, response imbalance, and reduced operational safety. Summary of the Invention

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide an adaptive attitude adjustment stiffening girder hoisting system and method. The technical solution is as follows: On the one hand, an adaptive attitude adjustment stiffening girder hoisting system is provided, the system comprising: The wind disturbance trend identification module obtains continuous periodic wind speed values ​​at the front and rear ends of the stiffening beam, constructs a periodic wind speed difference sequence, analyzes the directional change trend of the wind speed difference in the continuous period, determines whether there is a wind disturbance enhancement trend, and constructs a wind speed disturbance trend identification label. The attitude deviation monitoring module, in conjunction with the wind speed disturbance trend identification tag, collects the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, performs differential calculation with the double suspension point displacement value in the previous cycle, constructs the displacement change amplitude sequence in the current cycle, confirms whether there is a structural attitude deviation development trend, and generates a suspension point response lag judgment result. The lifting point command linkage module performs a downward adjustment operation on the current pitch angle setting value of the stiffening beam based on the lifting point response lag determination result, counts the pitch angle change value in the current cycle, and generates pitch angle correction action execution status data. The dynamic adjustment feedback module reads the pitch angle correction action execution status data and determines whether the current cable force change direction is consistent with the expansion trend of the longitudinal displacement difference between the two suspension points. If they are consistent, the module performs cable tightening or loosening operations according to the offset direction and constructs a suspension point cable force action feedback record. The attitude adjustment confirmation module analyzes the attitude response of the stiffening beam after the adjustment action is performed based on the feedback record of the cable force action at the lifting point, identifies whether the synchronous feedback response is completed before the disturbance trend is eliminated, and completes the adaptive attitude adjustment hoisting of the stiffening beam.

[0005] As a further aspect of the present invention, in the process of determining whether there is a trend of increasing wind disturbance, the number of positive difference cycles is counted, and the count value of the positive cycle of wind speed difference is compared with a set wind speed disturbance trend threshold. If it is greater than the set wind speed disturbance trend threshold, then the current cycle is marked as having a trend of increasing wind disturbance.

[0006] As a further aspect of the present invention, in the process of confirming whether there is a structural attitude deviation development trend, it is determined whether the current change amplitude shows a monotonically increasing trend in a continuous period, and the number of continuous increasing trend periods is compared with a set structural deviation judgment threshold. If it exceeds the set structural deviation judgment threshold, it is confirmed that there is a structural attitude deviation development trend.

[0007] As a further embodiment of the present invention, the wind speed disturbance trend identification label includes disturbance enhancement marking results, difference directionality information, and period count value; the suspension point response lag determination result includes attitude deviation trend signal, suspension point response sluggish confirmation result, and number of consecutive increase cycles; the pitch angle correction action execution status data includes pitch adjustment amplitude, adjustment duration period, and adjustment execution marking result; and the suspension point cable force action feedback record includes cable force change direction information, displacement difference correction amplitude, and suspension point action response status.

[0008] As a further aspect of the present invention, the wind disturbance trend identification module includes: The data stream receiving submodule acquires continuous periodic wind speed values ​​from the wind speed sensors at the front and rear ends of the stiffening beam, and performs synchronous classification processing on the front and rear wind speed data within the same period to construct periodic wind speed data pairs and generate periodic wind speed data sequences. The wind speed difference extraction submodule extracts the numerical difference between the front-end wind speed value and the back-end wind speed value in the corresponding period according to the periodic wind speed data sequence. Combining the difference data between the previous period and the current period, it determines whether the direction of the wind speed difference is consistent. It records the number of difference periods with a positive direction and generates a positive wind speed difference period count value. The disturbance trend identifier generation submodule compares the positive period count of the wind speed difference with the set wind speed disturbance trend threshold. If the positive period count of the wind speed difference is greater than the set wind speed disturbance trend threshold, a wind speed disturbance trend identifier label is generated.

[0009] As a further aspect of the present invention, the attitude offset monitoring module includes: The displacement data acquisition submodule obtains the longitudinal displacement value of the stiffening beam's two suspension points in the current cycle based on the wind speed disturbance trend identification label, and simultaneously extracts the displacement value of the two suspension points in the previous cycle. For the displacement values ​​of the same suspension point in two consecutive cycles, a point-by-point difference calculation operation is performed. The corresponding suspension point displacement value in the current cycle is subtracted from the corresponding displacement value in the previous cycle to construct the unit data of the relative change of the suspension point in the current cycle, forming the basic data of the displacement change of the two suspension points in the current cycle, and generating the cycle suspension point displacement difference pair. The amplitude sequence generation submodule, based on the periodic suspension point displacement difference pairs, arranges the absolute values ​​of the periodic suspension point displacement differences in chronological order to obtain an array of displacement change amplitude values ​​within the corresponding period. It reads the amplitude values ​​of adjacent periods and performs a period-by-period amplitude comparison operation. If the amplitude value of the later period is greater than that of the previous period, it is marked as an increasing period. The number of consecutive increasing marks is counted, and the corresponding period number is recorded to obtain the consecutive increasing period count value. The response lag determination submodule compares the continuously increasing period count value with the structural offset judgment threshold. If the continuously increasing period count value is greater than the structural offset judgment threshold, it is determined that the response of the lifting point displacement change has a continuous increasing trend, and a lag state mark is assigned, generating the lifting point response lag determination result.

[0010] As a further aspect of the present invention, the hoisting point command linkage module includes: The instruction reading submodule, based on the lifting point response lag determination result, filters the lifting point number determined to be in response lag within the current cycle and the corresponding cycle number, reads the action instruction parameters corresponding to the cycle, extracts the pitch angle setting value and indexes and classifies it according to the lifting point number, while filtering out the instruction data corresponding to the non-lag state, establishes a pitch angle setting instruction set linked with the lifting point state, and generates a linked pitch instruction sequence. The angle adjustment control submodule, based on the linked pitch command sequence and combined with the set minimum action amplitude threshold and minimum duration period threshold, performs a cycle-by-cycle adjustment operation on the set pitch angle. If the hysteresis state remains at 1 for two consecutive cycles and the current pitch angle is not adjusted or the adjustment amplitude is less than the minimum action amplitude threshold, a downward adjustment action is triggered. After adjustment, the pitch angle value is not less than the safe minimum pitch angle. The pitch angle change value in the current cycle is established to obtain the pitch angle change data. The action status generation submodule constructs an action status record array according to the pitch angle change data and the cycle number. It records whether the adjustment action is completed and the corresponding angle change amplitude in each cycle. The pitch angle adjustment action completion status is defined as a binary identifier. If the pitch angle change value is greater than or equal to the action amplitude threshold and the duration period meets the condition, the cycle action status is marked as 1; otherwise, it is marked as 0. The execution records of all adjustment cycles are summarized to generate pitch angle correction action execution status data.

[0011] As a further aspect of the present invention, the dynamic adjustment feedback module includes: The cable force data acquisition submodule reads the pitch angle correction action execution status data, collects the measured cable force value of the stiffening beam double lifting point in the current cycle, counts the cable force deviation value of each lifting point, compares the direction of the cable force deviation values ​​of the two lifting points, and marks the cable force deviation direction as consistent if the cable force deviation direction is consistent, and generates the lifting point cable force deviation direction identifier. The adjustment and judgment control submodule extracts the current cycle longitudinal displacement difference expansion trend direction information of the double suspension points based on the direction identifier of the cable force deviation of the suspension point, determines whether the direction of cable force change is consistent with the direction of displacement expansion, and if they are consistent, performs an adjustment invalidation judgment, determines the offset direction according to the sign of the displacement difference, selects to perform the suspension point cable tightening or loosening action according to the current offset direction, and records the cable force adjustment action command in real time to obtain the suspension point cable force adjustment command sequence. The adjustment feedback recording submodule collects longitudinal displacement data of the stiffening beam's double suspension points after each suspension point cable force adjustment according to the suspension point cable force adjustment command sequence, extracts the displacement difference before adjustment and performs a difference update operation, calculates the change in displacement difference before and after adjustment, and records the number of adjustments, action type and difference change results, sorts and stores them according to the period number, and generates a suspension point cable force action feedback record.

[0012] As a further aspect of the present invention, the attitude adjustment confirmation module includes: The response state analysis submodule extracts the cable force adjustment action and corresponding displacement difference change data in each cycle based on the cable force action feedback record of the suspension point, establishes a response record array bound to the suspension point number and cycle number, calculates the absolute value and directionality of the displacement difference change after adjustment, determines whether there is a trend of response amplitude convergence or direction change, and generates attitude response trend record. The feedback timeliness judgment submodule establishes a disturbance trend elimination cycle window based on the attitude response trend record and the wind speed disturbance trend label within each hanging point cycle. It detects whether the action response is completed before the disturbance trend label switches to an invalid state within each cycle, determines whether the adjustment occurs within the feedback effective window period, records the cycle number, and obtains the synchronous feedback completion indicator. The adaptive completion determination submodule extracts the response status Boolean values ​​of all lifting points in the current cycle based on the synchronous feedback completion identifier, and performs a Boolean value set logic judgment operation. If all lifting point identifiers are 1, it is determined that the corresponding cycle has determined a unified response, and the adaptive attitude adjustment lifting of the stiffening beam is completed.

[0013] On the other hand, an adaptive attitude adjustment stiffening girder hoisting method, which is based on the aforementioned adaptive attitude adjustment stiffening girder hoisting system, includes the following steps: S1: Obtain continuous periodic wind speed values ​​at the front and rear ends of the stiffening beam, construct a periodic wind speed difference sequence, analyze the directional change trend of the wind speed difference in the continuous period, determine whether there is a trend of wind disturbance enhancement, and construct a wind speed disturbance trend label. S2: Combining the wind speed disturbance trend label, collect the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, and perform differential calculation with the double suspension point displacement value in the previous cycle to construct the displacement change amplitude sequence in the current cycle, confirm whether there is a structural attitude shift development trend, and generate suspension point response lag judgment result. S3: Based on the lifting point response lag determination result, perform a downward adjustment operation on the current pitch angle setting value of the stiffening beam, count the pitch angle change value in the current cycle, and generate pitch angle correction action execution status data; S4: Read the execution status data of the pitch angle correction action, determine whether the current direction of cable force change is consistent with the direction of the expansion trend of the longitudinal displacement difference between the two suspension points, and if they are consistent, perform cable tightening or loosening operation according to the offset direction to construct a suspension point cable force action feedback record. S5: Based on the feedback record of the cable force action at the lifting point, analyze the attitude response of the stiffening beam after the adjustment action is executed, identify whether the synchronous feedback response is completed before the disturbance trend is eliminated, and complete the adaptive attitude adjustment and lifting of the stiffening beam.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: By identifying the directional change trend of wind speed difference in a continuous cycle, dynamic early warning of wind disturbance enhancement can be achieved. Combined with the continuous trend of longitudinal displacement change of the lifting point, the structural attitude deviation development signal is identified. Based on the response lag characteristics, the pitch angle setpoint is adjusted in linkage and the minimum amplitude and minimum cycle control strategy is executed to form a dynamic attitude correction response process. By judging the consistency of displacement difference and cable force change direction, a lifting point feedback closed loop is constructed to achieve continuous correction and attitude synchronization adjustment during the lifting process. This effectively avoids attitude imbalance caused by disturbance lag response and ensures the stability, control accuracy and feedback consistency of the stiffening beam lifting structure during disturbance. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an adaptive attitude adjustment stiffening beam hoisting system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the system framework of the present invention; Figure 3 This is a flowchart of the wind disturbance trend identification module of the present invention; Figure 4 This is a flowchart of the attitude offset monitoring module of the present invention; Figure 5 This is a flowchart of the lifting point command linkage module of the present invention; Figure 6 This is a flowchart of the dynamic adjustment feedback module of the present invention; Figure 7 This is a flowchart of the attitude adjustment confirmation module of the present invention; Figure 8 This is a flowchart of an adaptive attitude adjustment stiffening beam hoisting method provided in an embodiment of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0018] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0019] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0020] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] This invention provides an adaptive attitude adjustment stiffening girder hoisting system, such as... Figure 1-2 The diagram shown illustrates an adaptive attitude adjustment stiffening girder hoisting system. The system includes: The wind disturbance trend identification module obtains continuous periodic wind speed values ​​from wind speed sensors at the front and rear ends of the stiffening beam, calculates the difference between the front and rear wind speed values ​​in each period, constructs the wind speed difference sequence for the current period, analyzes the directional change trend of the wind speed difference in continuous periods, counts the number of positive difference periods, compares the positive difference period count with a set wind speed disturbance trend threshold, and if it is greater than the set wind speed disturbance trend threshold, it marks that there is a wind disturbance enhancement trend in the current period and constructs a wind speed disturbance trend identification label. The attitude deviation monitoring module, combined with the wind speed disturbance trend label, collects the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, and performs differential calculation with the double suspension point displacement value of the previous cycle to construct the displacement change amplitude sequence in the current cycle. It determines whether the current change amplitude shows a monotonically increasing trend in the continuous cycle, and compares the number of continuous increasing trend cycles with the set structural deviation judgment threshold. If it exceeds the set structural deviation judgment threshold, it confirms that there is a structural attitude deviation development trend and generates the suspension point response lag judgment result. The lifting point command linkage module reads the action command of the pitch control unit based on the lifting point response lag judgment result, performs a downward adjustment operation on the current pitch angle setting value of the stiffening beam, sets the minimum action amplitude and minimum duration period during the adjustment process, counts the pitch angle change value within the current period, and generates pitch angle correction action execution status data. The dynamic adjustment feedback module reads the pitch angle correction action execution status data, collects the stiffening beam double suspension point cable force value in the current cycle, and compares the difference with the initially set cable force benchmark value to determine whether the current cable force change direction is consistent with the longitudinal displacement difference expansion trend direction of the double suspension points. If they are consistent, it is determined that the cable force adjustment action has not met the attitude correction response requirements. Based on the offset direction, the cable tightening or loosening operation is performed, and the displacement difference change result after each adjustment is recorded to construct the suspension point cable force action feedback record. The attitude adjustment confirmation module analyzes the attitude response of the stiffening beam after the adjustment action is executed based on the feedback record of the lifting point cable force action. It identifies whether the synchronous feedback response is completed before the disturbance trend is eliminated. If the feedback action is shown to have been completed as set, the adaptive attitude adjustment of the stiffening beam is completed.

[0023] The wind speed disturbance trend label includes disturbance enhancement marking results, difference directionality information, and cycle count value. The suspension point response lag judgment results include attitude deviation trend signal, suspension point response sluggishness confirmation result, and number of consecutive increase cycles. The pitch angle correction action execution status data includes pitch adjustment amplitude, adjustment duration cycle, and adjustment execution marking results. The suspension point cable force action feedback record includes cable force change direction information, displacement difference correction amplitude, and suspension point action response status.

[0024] Specifically, such as Figure 2 , 3 As shown, the wind disturbance trend identification module includes: The data stream receiving submodule acquires continuous periodic wind speed values ​​from the wind speed sensors at the front and rear ends of the stiffening beam, and performs synchronous classification processing on the front and rear wind speed data within the same period to construct periodic wind speed data pairs and generate periodic wind speed data sequences. Wind speed sensors are installed at the front and rear ends of the bridge stiffening girder, and monitoring is performed according to a unified sampling period. Within each period, the wind speed values ​​at the front and rear ends are recorded. The two sets of data within the same period are aligned by timestamps to form a one-to-one corresponding data unit. For example, in period one, the front sensor records a wind speed of 6.2 m / s, and the rear sensor records 5.7 m / s; in period two, the front sensor records 6.5 m / s, and the rear sensor records 5.9 m / s, and so on. Data is collected and arranged for multiple consecutive periods to form a periodic data sequence with a clear time order. During this process, outliers need to be removed. Outlier detection is based on a wind speed difference exceeding 2.5 m / s between adjacent periods from the same sensor. If the difference exceeds this range, the data for that period is discarded and re-collected. Through these steps, a continuous and time-consistent periodic wind speed data sequence can be obtained. This sequence serves as the basic input for subsequent difference calculations, ultimately yielding the periodic wind speed data sequence. Table 1 shows the continuous periodic wind speed data collection table.

[0025] Table 1 shows the synchronous acquisition results of wind speeds at the front and rear ends over three consecutive cycles, which are used to support subsequent calculations.

[0026] The wind speed difference extraction submodule is based on the periodic wind speed data sequence. It extracts the numerical difference between the front-end wind speed value and the back-end wind speed value in the corresponding period in a periodic order. Combining the difference data between the previous period and the current period, it determines whether the direction of the wind speed difference is consistent. It records the number of difference periods with a positive direction and generates a positive period count value of wind speed difference. After obtaining the periodic wind speed data sequence, a wind speed difference calculation operation is performed for each period. The wind speed value at the front end of the same period is subtracted from the wind speed value at the back end to obtain the wind speed difference for a single period. For example, in period one, the wind speed difference is 6.2 minus 5.7, which is 0.5 m / s; in period two, it is 6.5 minus 5.9, which is 0.6 m / s; and in period three, it is 6.8 minus 6.0, which is 0.8 m / s. Then, the direction of the wind speed difference between adjacent periods is judged according to the periodic order. A difference greater than 0 is defined as positive, and a difference less than or equal to 0 is defined as negative. This is marked period by period. In the example data, the differences of the three periods are all positive, so the number of positive periods is accumulated to 3. During the execution process, only the direction is judged and counted, and no other data items are introduced. Finally, a count quantification result that can be directly used for trend determination is formed, which is the positive period count value of the wind speed difference.

[0027] The disturbance trend label generation submodule compares the positive cycle count of the wind speed difference with the set wind speed disturbance trend threshold. If the positive cycle count of the wind speed difference is greater than the set wind speed disturbance trend threshold, a wind speed disturbance trend label is generated. Based on the obtained positive cycle count of wind speed difference, a preset wind speed disturbance trend threshold is introduced for comparison. The threshold is set with reference to the continuous enhancement judgment requirements in engineering monitoring. The number of consecutive positive cycles is not less than 3 as the threshold condition. This threshold is determined after statistical verification of no less than 30 sets of historical monitoring samples. In the current case, the positive cycle count is 3. It is compared with the wind speed disturbance trend threshold of 3. When the count is greater than or equal to the threshold, the label generation operation is triggered. The state corresponding to the cycle is marked as having a wind disturbance enhancement trend, and the corresponding label data is output. The label is represented in binary form, 1 indicates existence, and 0 indicates non-existence. Finally, the wind speed disturbance trend label is obtained.

[0028] Specifically, such as Figure 2 , 4 As shown, the attitude offset monitoring module includes: The displacement data acquisition submodule obtains the longitudinal displacement value of the stiffening beam's two suspension points in the current cycle based on the wind speed disturbance trend label, and simultaneously extracts the displacement value of the two suspension points in the previous cycle. For the displacement values ​​of the same suspension point in two consecutive cycles, it performs a point-by-point difference calculation operation, subtracts the corresponding suspension point displacement value in the current cycle from the corresponding displacement value in the previous cycle, constructs the unit data of the relative change of the suspension point in the current cycle, forms the basic data of the displacement change of the two suspension points in the current cycle, and generates the cycle suspension point displacement difference pair. To obtain the longitudinal displacement value of the stiffening girder's two lifting points in the current cycle, and to perform differential calculation with the displacement value of the two lifting points in the previous cycle, first, the current displacement data recorded by the lifting point position sensor within cycle t is extracted according to the timestamp, denoted as the current displacement of point A being 58.3mm and the current displacement of point B being 60.1mm. Then, the data from cycle t is synchronously retrieved. The historical displacement data of points A and B in Figure 1 are 57.4 mm and 59.7 mm, respectively. The displacement values ​​of the corresponding points are calculated one by one, that is, the displacement of point A in the current period is subtracted from the displacement of point A in the previous period, resulting in a displacement difference of 0.9 mm. The displacement difference of point B is 0.4 mm. The displacement change data pairs within this period are constructed. During the process, jump values ​​need to be removed. The judgment criteria are that points with a difference of more than 5 mm between consecutive periods are invalidated and not included in the subsequent analysis. All valid data are used to form a period difference sequence. The obtained difference results will be directly used as the input for subsequent trend analysis. The sorted data is shown in Table 2.

[0029] Table 2. Collection Table of Lifting Point Displacement Difference

[0030] As shown in Table 2, the displacement difference pairs of the lifting points in the current cycle and the previous cycle have been obtained. After preliminary sorting, they are used to judge the subsequent amplitude change trend and generate periodic lifting point displacement difference pairs.

[0031] The amplitude sequence generation submodule is based on the periodic suspension point displacement difference pairs. It arranges the absolute values ​​of the periodic suspension point displacement differences in chronological order to obtain an array of displacement change amplitude values ​​within the corresponding period. It reads the amplitude values ​​of adjacent periods and performs a period-by-period amplitude comparison operation. If the amplitude value of the later period is greater than that of the previous period, it is marked as an increasing period. The number of consecutive increasing marks is counted and the corresponding period number is recorded to obtain the consecutive increasing period count value. Based on the periodic suspension point displacement difference pairs, the absolute values ​​of the corresponding differences between points A and B are organized in chronological order to construct a sequence of displacement change amplitude values ​​for the current period. Assuming that the displacement differences of suspension point A for three consecutive periods are 0.7mm, 1.0mm, and 1.3mm respectively, their absolute values ​​are taken and continuity is judged. Taking the current period relative to the previous period as the benchmark, it is judged whether the amplitude value shows an increasing relationship. If the current period is greater than the previous period and the difference is positive for three consecutive periods, it is marked as an increasing trend period. In the example, the amplitudes of the three periods are 0.7, 1.0, and 1.3mm respectively, which meet the monotonically increasing characteristic. Therefore, the corresponding increasing period number is 3. During the recording process, the period that does not meet the increasing relationship will interrupt the continuous counting and restart. All increasing states are stored by a flag bit method, and finally the number of periods with a continuous increasing trend is accumulated. This number serves as the input basis for structural stability analysis to obtain the continuous increasing period count value.

[0032] The response lag determination submodule compares the continuously increasing period count value with the structural offset judgment threshold. If the continuously increasing period count value is greater than the structural offset judgment threshold, it is determined that the response of the lifting point displacement change has a continuous increasing trend, and a lag state mark is assigned, generating the lifting point response lag determination result. Based on the continuously increasing period count, the structural offset judgment threshold is called. This threshold is set with reference to the results of previous structural vibration monitoring. Through sample statistical analysis, the incremental period threshold for abnormal structural posture is set to 2 periods. If the number of incremental periods reaches or exceeds 2 within a certain period, it can be considered that the current structural offset state has a continuous trend. Combined with the previously obtained continuously increasing period count of 3, the numerical comparison with the offset judgment threshold of 2 satisfies the trigger condition, thereby generating a structural anomaly marker. The corresponding period number and lifting point number of the structure are recorded, and the response state of the corresponding lifting point under this period is recorded as a lag state. This state value adopts a Boolean definition. If it is judged to be lag, it is marked as 1, otherwise it is 0. Finally, the judgment result is output for the assessment of structural dynamic stability and the generation of the lifting point response lag judgment result.

[0033] Specifically, such as Figure 2 , 5 As shown, the hoisting point command linkage module includes: The instruction reading submodule filters the lifting point number and corresponding cycle number that are judged to be in response lag in the current cycle based on the lifting point response lag judgment result, reads the action instruction parameters corresponding to the cycle, extracts the pitch angle setting value and indexes and classifies it according to the lifting point number, while filtering out the instruction data corresponding to non-lag states, establishing a pitch angle setting instruction set linked with the lifting point state, and generating a linked pitch instruction sequence. Based on the lag judgment result of the lifting point response, the lifting point number with a judgment result of 1 in the current cycle and its corresponding cycle number are selected. The cycle number is set as T1 and the lifting point number is set as A1. The system performs a conditional trigger operation based on the judgment value of 1. The control instruction set corresponding to cycle T1 is read from the action instruction buffer of the control system pitch control unit. This instruction set contains multiple lifting point control parameters, including key control quantities such as pitch angle set value, action direction, and action status position. The lifting point number index operation is performed on the extracted control parameter set to extract the pitch angle set value corresponding to number A1. For example, the current pitch set value is 9.0 degrees. At the same time, the corresponding instruction of the lifting point with normal response (i.e., lag judgment of 0) is removed according to the current cycle status to ensure that the instruction data set only contains the data of the linkage triggering lifting point, forming a periodic lifting point response action trigger instruction set. This data is used for subsequent adjustment module calls. The record format includes cycle number, lifting point number, and current pitch set angle. The data structure is shown in Table 3.

[0034] Table 3. Linkage Lifting Point Pitch Command Data Table

[0035] As shown in Table 3, only the command data corresponding to the suspension point A1 with a hysteresis determination of 1 is extracted as the pitch control command source, and finally a linkage pitch command sequence is generated.

[0036] The angle adjustment control submodule is based on the linkage pitch command sequence, combined with the set minimum action amplitude threshold and minimum duration period threshold, to perform a cycle-by-cycle adjustment operation on the set pitch angle. If the hysteresis state remains at 1 for two consecutive cycles and the current pitch angle is not adjusted or the adjustment amplitude is less than the minimum action amplitude threshold, a downward adjustment action is triggered. After adjustment, the pitch angle value is not less than the safe minimum pitch angle, and the pitch angle change value in the current cycle is established to obtain the pitch angle change data. Based on the linked pitch command sequence, the current pitch angle setting value in the table is first called. The corresponding hoisting point setting angle value is then retrieved as the current angle input. Taking hoisting point number A1 as an example, its current angle is 9.0 degrees. It is then determined whether the adjustment trigger condition is met. The system defines the minimum action amplitude threshold as 2.0 degrees and the minimum duration threshold as 2 cycles. That is, if the lag state remains at 1 for two consecutive cycles and the current action angle adjustment does not reach the minimum action amplitude threshold of 2.0 degrees, the adjustment action is triggered. If the current cycle is the second consecutive lag, and the previous cycle did not adjust and the angle did not decrease, the trigger condition is met, and the system performs a downward adjustment operation. The angle after the adjustment amplitude is 2.0 degrees is 7.0 degrees. Before performing the adjustment action, it is necessary to determine whether the adjusted angle is less than the system's set safe minimum pitch angle of 5.0 degrees. If it is less than this value, the adjustment is stopped. In the current example, the adjusted angle is 7.0 degrees, which meets the safety condition. Therefore, the pitch angle change value is recorded as 2.0 degrees for subsequent action status judgment and processing, and finally the pitch angle change data is obtained.

[0037] The action status generation submodule constructs an action status record array according to the pitch angle change data and the cycle number. It records whether the adjustment action is completed in each cycle and the corresponding angle change amplitude. The pitch angle adjustment action completion status is defined as a binary identifier. If the pitch angle change value is greater than or equal to the action amplitude threshold and the duration period meets the condition, the cycle action status is marked as 1; otherwise, it is marked as 0. The execution records of all adjustment cycles are summarized to generate pitch angle correction action execution status data. Combining the pitch angle change data generated in the previous stage, a data structure bound to the cycle number is constructed. The lifting point A1 corresponding to cycle T1 and its pitch angle change value of 2.0 degrees are used as input to determine whether the state update rules are met. The system sets the judgment condition as follows: the pitch angle change value is not less than the action amplitude threshold of 2.0 degrees, and the lag state lasts for more than two cycles. If both conditions are met, the adjustment state of that cycle is marked as 1, indicating that the action has been completed. In the current example, the lifting point A1 has been in a lag state for two consecutive cycles, and the pitch angle change is 2.0 degrees, which meets the conditions. Therefore, the action state corresponding to cycle T1 is marked as 1. If either condition is not met, it is marked as 0. The action state of all lifting points in each cycle is recorded through a state array to form an adjustment record set with the structure {cycle number, lifting point number, action completion state}. This is used to dynamically correct the feedback process and pitch control iteration input, and finally generate pitch angle correction action execution state data.

[0038] Specifically, such as Figure 2 , 6 As shown, the dynamic adjustment feedback module includes: The cable force data acquisition submodule reads the pitch angle correction action execution status data, collects the measured cable force value of the stiffening beam at the two lifting points in the current cycle, counts the cable force deviation value of each lifting point, compares the direction of the cable force deviation values ​​of the two lifting points, and marks the cable force deviation direction as consistent if the cable force deviation direction is consistent, and generates the lifting point cable force deviation direction identifier. After reading the pitch angle correction action execution status data, the measured values ​​of the cable force sensors at stiffening beam lifting points A and B within the current cycle are collected and recorded as follows: the current cable force at point A is 143.2 kN, and the current cable force at point B is 148.7 kN. The corresponding cable force reference values ​​are called: 140.0 kN for point A and 145.0 kN for point B. The cable force deviation value is calculated as the measured value minus the reference value. The deviation calculated for point A is +3.2 kN, and for point B it is +3.7 kN. A direction consistency judgment operation is performed, using the deviation sign as the judgment basis. If both are positive, it indicates that the current cable force at both lifting points is on an upward trend, and the direction is determined to be consistent, and the direction identifier is assigned a value of 1. If either is negative, the direction identifier is assigned a value of 0. The entire data structure is recorded in array form and bound to the cycle number and lifting point number for sorting and storage, forming the cable force deviation direction data of the two lifting points. The specific values ​​are shown in Table 4.

[0039] Table 4 Data Table for Determining Cable Tension Deviation Direction

[0040] As shown in Table 4, the direction of cable force deviation in the current cycle has been determined and the deviation direction information has been recorded, and finally the cable force deviation direction indicator at the lifting point is generated.

[0041] The adjustment judgment and control submodule extracts the current cycle longitudinal displacement difference expansion trend information of the two suspension points based on the direction of the cable force deviation of the suspension point. It judges whether the direction of cable force change is consistent with the direction of displacement expansion. If they are consistent, it performs an adjustment invalidation judgment. It judges the offset direction based on the sign of the displacement difference, selects to perform the suspension point cable tightening or loosening action based on the current offset direction, and records the cable force adjustment action command in real time to obtain the suspension point cable force adjustment command sequence. Based on the direction indicator of the cable force deviation at the suspension point, the system calls the direction value of the longitudinal displacement difference expansion trend of the two suspension points processed in the previous module. Assuming the displacement difference between point A and point B is +7.8mm, indicating that point A is in a sinking trend, if the cable force deviation directions are both positive (meaning the cable forces are both in an upward trend), it is determined that the current cable force adjustment has failed to correct the structural attitude direction. The system therefore determines that the cable force adjustment is invalid and needs to identify the offset direction before executing the correction action. Since point A is sinking, the system determines that a tightening operation (increasing tension) needs to be performed on point A, while a loosening operation (decreasing tension) needs to be performed on point B. The operation method is recorded and a control instruction set is generated. The operation set structure includes the suspension point number, operation direction (tightening / loosening), and adjustment range. Assuming the initial adjustment range is 2.0kN, the tension at point A is increased to 145.2kN, and the tension at point B is decreased to 146.7kN. The instructions are written into the system execution module, ultimately obtaining the suspension point cable force adjustment instruction sequence.

[0042] The adjustment feedback record submodule collects longitudinal displacement data of the stiffening beam double suspension points after each suspension point cable force adjustment according to the suspension point cable force adjustment command sequence, extracts the displacement difference before adjustment and performs difference update operation, calculates the change in displacement difference before and after adjustment, and records the number of adjustments, action type and difference change results, sorts and stores them according to the period number, and generates suspension point cable force action feedback record. According to the sequence of lifting point cable tension adjustment commands, the lifting point tension adjustment action is executed. After the adjustment is completed, the displacement data of lifting points A and B after cycle T1 are re-acquired. Assuming that the displacement of point A after adjustment is 12.3mm and the displacement of point B is 3.9mm, the displacement difference is recalculated to be 8.4mm. Compared with 7.8mm before adjustment, the difference increases by 0.6mm, and the recorded trend is upward. The current cycle number, the displacement difference before and after adjustment, the adjustment action (tightening / loosening the cable) and the change in difference are recorded and stored in a structured manner as a feedback dataset. At the same time, the action execution timestamp and tension adjustment amplitude are recorded. All the above parameters form a feedback result matrix. The data structure is shown in Table 5.

[0043] Table 5 Feedback Record of Cable Tension Adjustment at Lifting Points

[0044] As shown in Table 5, the operation of collecting and archiving the displacement difference changes after the cable force adjustment in this cycle has been completed, and the final cable force action feedback record of the lifting point is generated.

[0045] Specifically, such as Figure 2 , 7 As shown, the attitude adjustment confirmation module includes: The response state analysis submodule extracts the cable force adjustment action and corresponding displacement difference change data in each cycle based on the cable force action feedback record of the lifting point, establishes a response record array bound to the lifting point number and cycle number, calculates the absolute value and directionality of the displacement difference change after adjustment, determines whether there is a trend of response amplitude convergence or direction change, and generates attitude response trend record. Based on the cable force action feedback records, the cable force adjustment action type, lifting point number, and corresponding longitudinal displacement difference change are extracted from the feedback data for each cycle. A two-dimensional data matrix is ​​established according to the cycle number. The absolute values ​​of the displacement difference between lifting points A and B before and after the cable force adjustment in each cycle are compared to determine whether the displacement difference shows a decreasing trend or a directional reversal. When performing the directional judgment operation, the sign of the difference is used as the benchmark. If the absolute value of the difference after adjustment is less than that of the previous cycle or changes from positive to negative or vice versa, it is determined that an attitude response has occurred. Suppose that the difference before adjustment in cycle T1 is +7.8mm and after adjustment is +5.3mm. A decrease in value is recorded as a convergence trend. If the difference is -1.2mm after adjustment in cycle T2, it is recorded as a directional change trend. The response trends of each cycle are classified into three states: "convergence", "directional change" or "no change" through cycle statistics. Each state is assigned a quantitative response level weight value, where "convergence" is recorded as 1, "directional change" as 2, and "no change" as 0. After performing cycle summation calculation, the average value is taken according to the number of cycles to obtain the trend index value. For example, if the response levels of the three cycles T1 to T3 are 1, 2, and 0, the average value is 1.0. Finally, it is output as the attitude change response trend index to generate the attitude response trend record.

[0046] The feedback timeliness judgment submodule establishes a disturbance trend elimination cycle window based on the attitude response trend record and the wind speed disturbance trend label within each hanging point cycle. It detects whether the action response is completed before the disturbance trend label switches to an invalid state within each cycle, judges whether the adjustment occurs within the feedback effective window period, records the cycle number, and obtains the synchronous feedback completion indicator. Read the attitude response trend record, extract the disturbance trend elimination flag value corresponding to each cycle from the disturbance status label of the suspension point, and set T1 and T2 as the disturbance existence state and T3 as the disturbance elimination state in the cycle T1~T3. Construct an effective window for cycle feedback, and set the window range to the last cycle before the first disturbance elimination. Read whether each suspension point completes the cable force adjustment action and the corresponding response level value in the feedback record within the window. If a suspension point produces a "convergence" or "turning" level response within the window period, mark the feedback completion status as 1, otherwise as 0. Calculate the ratio of the number of completed feedback responses in all cycles to the total number of disturbance cycles. Assume that both T1 and T2 complete the response, and the ratio is 2 / 2, i.e., 100%, then the cycle flag is assigned a value of 1. If the ratio is less than 100%, it is 0. Finally, record the corresponding synchronous feedback status for each cycle to obtain the synchronous feedback completion flag.

[0047] The adaptive completion judgment submodule extracts the response status Boolean values ​​of all lifting points in the current cycle based on the synchronous feedback completion flag, and performs Boolean value set logic judgment operation. If all lifting point flags are 1, it is determined that the corresponding cycle has determined a unified response, and the adaptive attitude adjustment lifting of the stiffening beam is completed. Based on the synchronous feedback completion flag, extract the Boolean value array of all lifting points in the current lifting cycle, and perform a set logic judgment operation to determine whether all lifting points have completed the response action in this cycle. If any lifting point's Boolean value is 0, the overall status of this cycle is determined to be incomplete; if all are 1, it is set to the completed state. In cycle T3, if the feedback completion flags of lifting points A and B are both 1, then execute the status record writing operation bound to the cycle number. The status field includes data items such as cycle number, whether it is completed (Boolean value), the average value of the current cycle displacement difference change, and the average value of the cable force adjustment amplitude. These data are stored in a table and updated to the control module execution queue, thereby completing the stiffening beam adaptive attitude adjustment lifting.

[0048] Please see Figure 8 The adaptive attitude adjustment stiffening girder hoisting method is based on the aforementioned adaptive attitude adjustment stiffening girder hoisting system and includes the following steps: S1: Obtain continuous periodic wind speed values ​​at the front and rear ends of the stiffening beam, construct a periodic wind speed difference sequence, analyze the directional change trend of the wind speed difference in the continuous period, determine whether there is a trend of wind disturbance enhancement, and construct a wind speed disturbance trend label. S2: Combine the wind speed disturbance trend label, collect the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, and perform differential calculation with the double suspension point displacement value in the previous cycle to construct the displacement change amplitude sequence in the current cycle, confirm whether there is a structural attitude deviation development trend, and generate the suspension point response lag judgment result. S3: Based on the result of the lifting point response lag, perform a downward adjustment operation on the current pitch angle setting value of the stiffening beam, count the pitch angle change value in the current cycle, and generate pitch angle correction action execution status data; S4: Read the execution status data of the pitch angle correction action, determine whether the current direction of cable force change is consistent with the direction of the expansion trend of the longitudinal displacement difference between the two suspension points, and if they are consistent, perform cable tightening or loosening operation according to the offset direction to build a suspension point cable force action feedback record. S5: Based on the feedback record of the lifting point cable force action, analyze the attitude response of the stiffening beam after the adjustment action is executed, identify whether the synchronous feedback response is completed before the disturbance trend is eliminated, and complete the adaptive attitude adjustment of the stiffening beam for lifting.

[0049] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A stiffening girder hoisting system with adaptive attitude adjustment, characterized in that, include: The wind disturbance trend identification module obtains continuous periodic wind speed values ​​at the front and rear ends of the stiffening beam, constructs a periodic wind speed difference sequence, analyzes the directional change trend of the wind speed difference in the continuous period, determines whether there is a wind disturbance enhancement trend, and constructs a wind speed disturbance trend identification label. The attitude deviation monitoring module, in conjunction with the wind speed disturbance trend identification tag, collects the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, performs differential calculation with the double suspension point displacement value in the previous cycle, constructs the displacement change amplitude sequence in the current cycle, confirms whether there is a structural attitude deviation development trend, and generates a suspension point response lag judgment result. The lifting point command linkage module performs a downward adjustment operation on the current pitch angle setting value of the stiffening beam based on the lifting point response lag determination result, counts the pitch angle change value in the current cycle, and generates pitch angle correction action execution status data. The dynamic adjustment feedback module reads the pitch angle correction action execution status data and determines whether the current cable force change direction is consistent with the expansion trend of the longitudinal displacement difference between the two suspension points. If they are consistent, the module performs cable tightening or loosening operations according to the offset direction and constructs a suspension point cable force action feedback record. The attitude adjustment confirmation module analyzes the attitude response of the stiffening beam after the adjustment action is performed based on the feedback record of the cable force action at the lifting point, identifies whether the synchronous feedback response is completed before the disturbance trend is eliminated, and completes the adaptive attitude adjustment hoisting of the stiffening beam.

2. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that: In the process of determining whether there is a trend of increasing wind disturbance, the number of positive difference cycles is counted, and the count of positive wind speed difference cycles is compared with a set wind speed disturbance trend threshold. If it is greater than the set wind speed disturbance trend threshold, the current cycle is marked as having a trend of increasing wind disturbance.

3. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that: In the process of confirming whether there is a structural attitude deviation trend, it is determined whether the current change amplitude shows a monotonically increasing trend in a continuous period, and the number of continuous increasing trend periods is compared with the set structural deviation judgment threshold. If it exceeds the set structural deviation judgment threshold, it is confirmed that there is a structural attitude deviation trend.

4. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that: The wind speed disturbance trend label includes disturbance enhancement marking results, difference directionality information, and period count value. The suspension point response lag judgment result includes attitude deviation trend signal, suspension point response sluggishness confirmation result, and number of consecutive increase cycles. The pitch angle correction action execution status data includes pitch adjustment amplitude, adjustment duration period, and adjustment execution marking result. The suspension point cable force action feedback record includes cable force change direction information, displacement difference correction amplitude, and suspension point action response status.

5. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that, The wind disturbance trend identification module includes: The data stream receiving submodule acquires continuous periodic wind speed values ​​from the wind speed sensors at the front and rear ends of the stiffening beam, and performs synchronous classification processing on the front and rear wind speed data within the same period to construct periodic wind speed data pairs and generate periodic wind speed data sequences. The wind speed difference extraction submodule extracts the numerical difference between the front-end wind speed value and the back-end wind speed value in the corresponding period according to the periodic wind speed data sequence. Combining the difference data between the previous period and the current period, it determines whether the direction of the wind speed difference is consistent. It records the number of difference periods with a positive direction and generates a positive wind speed difference period count value. The disturbance trend identifier generation submodule compares the positive period count of the wind speed difference with the set wind speed disturbance trend threshold. If the positive period count of the wind speed difference is greater than the set wind speed disturbance trend threshold, a wind speed disturbance trend identifier label is generated.

6. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that, The attitude deviation monitoring module includes: The displacement data acquisition submodule obtains the longitudinal displacement value of the stiffening beam's two suspension points in the current cycle based on the wind speed disturbance trend identification label, and simultaneously extracts the displacement value of the two suspension points in the previous cycle. For the displacement values ​​of the same suspension point in two consecutive cycles, a point-by-point difference calculation operation is performed. The corresponding suspension point displacement value in the current cycle is subtracted from the corresponding displacement value in the previous cycle to construct the unit data of the relative change of the suspension point in the current cycle, forming the basic data of the displacement change of the two suspension points in the current cycle, and generating the cycle suspension point displacement difference pair. The amplitude sequence generation submodule, based on the periodic suspension point displacement difference pairs, arranges the absolute values ​​of the periodic suspension point displacement differences in chronological order to obtain an array of displacement change amplitude values ​​within the corresponding period. It reads the amplitude values ​​of adjacent periods and performs a period-by-period amplitude comparison operation. If the amplitude value of the later period is greater than that of the previous period, it is marked as an increasing period. The number of consecutive increasing marks is counted, and the corresponding period number is recorded to obtain the consecutive increasing period count value. The response lag determination submodule compares the continuously increasing period count value with the structural offset judgment threshold. If the continuously increasing period count value is greater than the structural offset judgment threshold, it is determined that the response of the lifting point displacement change has a continuous increasing trend, and a lag state mark is assigned, generating the lifting point response lag determination result.

7. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that, The hoisting point command linkage module includes: The instruction reading submodule, based on the lifting point response lag determination result, filters the lifting point number determined to be in response lag within the current cycle and the corresponding cycle number, reads the action instruction parameters corresponding to the cycle, extracts the pitch angle setting value and indexes and classifies it according to the lifting point number, while filtering out the instruction data corresponding to the non-lag state, establishes a pitch angle setting instruction set linked with the lifting point state, and generates a linked pitch instruction sequence. The angle adjustment control submodule, based on the linked pitch command sequence and combined with the set minimum action amplitude threshold and minimum duration period threshold, performs a cycle-by-cycle adjustment operation on the set pitch angle. If the hysteresis state remains at 1 for two consecutive cycles and the current pitch angle is not adjusted or the adjustment amplitude is less than the minimum action amplitude threshold, a downward adjustment action is triggered. After adjustment, the pitch angle value is not less than the safe minimum pitch angle. The pitch angle change value in the current cycle is established to obtain the pitch angle change data. The action status generation submodule constructs an action status record array according to the pitch angle change data and the cycle number. It records whether the adjustment action is completed and the corresponding angle change amplitude in each cycle. The pitch angle adjustment action completion status is defined as a binary identifier. If the pitch angle change value is greater than or equal to the action amplitude threshold and the duration period meets the condition, the cycle action status is marked as 1; otherwise, it is marked as 0. The execution records of all adjustment cycles are summarized to generate pitch angle correction action execution status data.

8. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that, The dynamic adjustment feedback module includes: The cable force data acquisition submodule reads the pitch angle correction action execution status data, collects the measured cable force value of the stiffening beam double lifting point in the current cycle, counts the cable force deviation value of each lifting point, compares the direction of the cable force deviation values ​​of the two lifting points, and marks the cable force deviation direction as consistent if the cable force deviation direction is consistent, and generates the lifting point cable force deviation direction identifier. The adjustment and judgment control submodule extracts the current cycle longitudinal displacement difference expansion trend direction information of the double suspension points based on the direction identifier of the cable force deviation of the suspension point, determines whether the direction of cable force change is consistent with the direction of displacement expansion, and if they are consistent, performs an adjustment invalidation judgment, determines the offset direction according to the sign of the displacement difference, selects to perform the suspension point cable tightening or loosening action according to the current offset direction, and records the cable force adjustment action command in real time to obtain the suspension point cable force adjustment command sequence. The adjustment feedback recording submodule collects longitudinal displacement data of the stiffening beam's double suspension points after each suspension point cable force adjustment according to the suspension point cable force adjustment command sequence, extracts the displacement difference before adjustment and performs a difference update operation, calculates the change in displacement difference before and after adjustment, and records the number of adjustments, action type and difference change results, sorts and stores them according to the period number, and generates a suspension point cable force action feedback record.

9. The adaptive attitude adjustment stiffening beam hoisting system according to claim 1, characterized in that, The attitude adjustment confirmation module includes: The response state analysis submodule extracts the cable force adjustment action and corresponding displacement difference change data in each cycle based on the cable force action feedback record of the suspension point, establishes a response record array bound to the suspension point number and cycle number, calculates the absolute value and directionality of the displacement difference change after adjustment, determines whether there is a trend of response amplitude convergence or direction change, and generates attitude response trend record. The feedback timeliness judgment submodule establishes a disturbance trend elimination cycle window based on the attitude response trend record and the wind speed disturbance trend label within each hanging point cycle. It detects whether the action response is completed before the disturbance trend label switches to an invalid state within each cycle, determines whether the adjustment occurs within the feedback effective window period, records the cycle number, and obtains the synchronous feedback completion indicator. The adaptive completion determination submodule extracts the response status Boolean values ​​of all lifting points in the current cycle based on the synchronous feedback completion identifier, and performs a Boolean value set logic judgment operation. If all lifting point identifiers are 1, it is determined that the corresponding cycle has determined a unified response, and the adaptive attitude adjustment lifting of the stiffening beam is completed.

10. A method for hoisting a stiffened beam with adaptive attitude adjustment, characterized in that, The adaptive attitude adjustment stiffening girder hoisting system according to any one of claims 1-9 is executed by comprising the following steps: S1: Obtain continuous periodic wind speed values ​​at the front and rear ends of the stiffening beam, construct a periodic wind speed difference sequence, analyze the directional change trend of the wind speed difference in the continuous period, determine whether there is a trend of wind disturbance enhancement, and construct a wind speed disturbance trend label. S2: Combining the wind speed disturbance trend label, collect the longitudinal displacement value of the stiffening beam double suspension point in the current cycle, and perform differential calculation with the double suspension point displacement value in the previous cycle to construct the displacement change amplitude sequence in the current cycle, confirm whether there is a structural attitude shift development trend, and generate suspension point response lag judgment result. S3: Based on the lifting point response lag determination result, perform a downward adjustment operation on the current pitch angle setting value of the stiffening beam, count the pitch angle change value in the current cycle, and generate pitch angle correction action execution status data; S4: Read the execution status data of the pitch angle correction action, determine whether the current direction of cable force change is consistent with the direction of the expansion trend of the longitudinal displacement difference between the two suspension points, and if they are consistent, perform cable tightening or loosening operation according to the offset direction to construct a suspension point cable force action feedback record. S5: Based on the feedback record of the cable force action at the lifting point, analyze the attitude response of the stiffening beam after the adjustment action is executed, identify whether the synchronous feedback response is completed before the disturbance trend is eliminated, and complete the adaptive attitude adjustment and lifting of the stiffening beam.

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