A guy stress adjustable power transmission tower reinforcing device and intelligent regulation and control method

Abstract

The present application relates to a kind of transmission tower reinforcing device of stay stress adjustable and intelligent control method, device includes four telescopic type intelligent support frames of symmetrical arrangement in the middle lower part of transmission tower tower body, intelligent support frame is rotatably connected on tower body and can move along tower body up and down, telescopic rod is slidably connected on the upper portion of intelligent support frame, the end of telescopic rod away from intelligent support frame is also rotatably connected on tower body and can move along tower body up and down, the end of intelligent support frame away from tower body is rotatably connected with the roller shaft of stay lap joint, the middle portion of the lower side of intelligent support frame stay is fixedly installed with stay length adjuster for controlling stay winding and unwinding;Method is according to " optimization decision-making-decoupling compensation-adaptive execution " three-layer linkage architecture operation, form complete closed-loop control link;Solve the current transmission tower reinforcing device cannot be accurately, synchronously dynamically adjusted according to real-time working condition to the length and stress of each stay, it is difficult to realize the problem of optimization of reinforcing effect.

Description

Technical Field

[0001] This invention belongs to the field of transmission tower reinforcement technology, and relates to a transmission tower reinforcement device and intelligent control method with adjustable guy wire stress, particularly a retractable prestressed guy wire transmission tower reinforcement device and intelligent control method based on intelligent control. Background Technology

[0002] As a crucial infrastructure for power transmission, the safe and stable operation of transmission lines is of paramount importance. However, some existing transmission towers are still designed and constructed according to outdated specifications, resulting in insufficient safety margins. Furthermore, long-term service in the field has led to corrosion of components, degradation of material properties, and a continuous decline in structural load-bearing capacity, posing safety hazards. In addition, with the increasing demand for power grid expansion and upgrades, many existing transmission lines need to increase their transmission capacity without power outages or dismantling, placing higher demands on the load-bearing capacity of existing transmission towers.

[0003] In the field of transmission tower reinforcement, increasing the cross-section is a widely used method, typically achieved by covering existing members with angle steel or steel plates to enhance load-bearing capacity. However, this method requires drilling or welding into the original tower material, which can easily lead to stress concentration and weaken the original components' load-bearing capacity. Furthermore, the complex structure of the node areas makes reinforcement difficult to implement effectively, and weak points can easily shift to the nodes, limiting the overall reinforcement effect. In recent years, some research has begun to explore the use of guy wire reinforcement to strengthen transmission towers. However, existing guy wire reinforcement schemes often use fixed-length support structures, which cannot adaptively adjust according to the actual deformation of the tower. When the tower tilts under wind loads, the support angle deviates from the optimal position, and the stress direction of the guy wires deviates from the design conditions, severely weakening the reinforcement effect. Simultaneously, existing schemes rely mainly on manual experience or simple tilt angle feedback for stress control of the guy wires, failing to accurately and synchronously adjust the length and stress of each guy wire according to real-time operating conditions, making it difficult to optimize the reinforcement effect. Summary of the Invention

[0004] In view of this, in order to solve the problem that the current transmission tower reinforcement devices mainly rely on manual experience to regulate the stress of the guy wires, and cannot accurately and synchronously adjust the length and stress of each guy wire according to the real-time working conditions, thus making it difficult to achieve the optimal reinforcement effect, the present invention provides a transmission tower reinforcement device with adjustable guy wire stress and an intelligent control method.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A transmission tower reinforcement device with adjustable guy wire stress includes four telescopic intelligent support frames symmetrically arranged in the lower part of the transmission tower body. The intelligent support frames are rotatably connected to the tower body and can move up and down along the tower body. A telescopic rod is slidably connected to the upper part of the intelligent support frame. The end of the telescopic rod away from the intelligent support frame is also rotatably connected to the tower body and can move up and down along the tower body. A roller that overlaps with the guy wire is rotatably connected to the end of the intelligent support frame away from the tower body. The upper and lower ends of the guy wire are respectively fixed to the tower body and separated into upper and lower sides by the roller. A guy wire length adjuster for controlling the extension and retraction of the guy wire is fixedly installed in the middle of the guy wire on the lower side of the intelligent support frame.

[0007] The intelligent control method for the above-mentioned adjustable guy wire stress transmission tower reinforcement device includes the following steps:

[0008] S1. Data Acquisition: The intelligent controller acquires the detection data of the first inclinometer, the second inclinometer, the angle sensor, the first displacement sensor, the second displacement sensor, the third displacement sensor, the wireless electronic force meter, the strain sensor, and the wind speed and direction sensor in real time at a sampling frequency of 10Hz~100Hz.

[0009] S2. Cooperative Stress Optimization Allocation: Using the detection data collected in step S1 as input, the cooperative optimization objectives are to minimize the deviation between the tension of each guy wire and the optimal target tension, and to minimize the deviation between the stress of the main tower material and the target stress. The equality constraint is the balance of the sum of the horizontal components of wind load and tower gravity. The inequality constraints are the maximum allowable tension, minimum allowable tension of each guy wire, and the maximum allowable stress and minimum allowable stress of the main tower material. A dynamic weighting coefficient is introduced to adaptively adjust the load sharing ratio between the guy wires and the main tower material. The optimal target tension of each guy wire is then obtained by solving for this. (i=1,2,3,4) and the target stress of the main tower material And according to Hooke's Law, the optimal target tension of each tension line is determined. Converted to the target telescopic length ΔL of the corresponding pull cord adjuster i ;

[0010] S3, Multivariable Decoupling Control: The target extension / retraction length ΔL of the cable length adjuster corresponding to step S2 is... i As the input target value, calculate the actual tension T of each tension wire. actual With the corresponding optimal target tension deviation Each deviation The initial control input is obtained by inputting the corresponding PID controller built into the intelligent controller. Then the initial control quantity The compensated control quantity is obtained by performing calculations with the pre-calibrated decoupling matrix. Eliminate the mechanical coupling effect caused by the elastic deformation of the tower body through the four sets of guy wires;

[0011] S4. Fuzzy Adaptive PID Control: Based on the tension deviation e and its rate of change of each wire in step S3. As input, the proportional coefficient Kp and integral coefficient K of the PID control algorithm are tuned online using a fuzzy rule base. i Differential coefficient K d After defuzzification using the center of gravity method, the output signal is the drive control signal for the wire length adjuster, which drives the wire length adjuster to perform extension and retraction actions.

[0012] S5, Closed-loop feedback and safety monitoring: This controls the tension of the pull wire. 1. Stress of main material of tower body Real-time monitoring data of the tower inclination angle γ is fed back to step S2, forming an iterative optimization closed loop; when any guy wire tension Exceeding the preset safety range, stress in the main tower material If the tower tilt angle γ exceeds the preset safety range or exceeds the preset safety angle, an early warning will be triggered and a shutdown protection will be implemented.

[0013] The collaborative stress optimization allocation algorithm aims to minimize the deviation between the tension of each guy wire and the optimal target tension, as well as the deviation between the stress of the main tower material and the target stress. It uses the sum of the horizontal components of wind load and tower gravity as equality constraints, and the maximum and minimum allowable tension of each guy wire, and the maximum and minimum allowable stress of the main tower material as inequality constraints. A dynamic weighting coefficient is introduced: when the real-time stress of the main tower material approaches its maximum allowable stress, the load-sharing weight of the guy wires is increased; when the real-time tension of each guy wire approaches its maximum allowable tension, the load-sharing weight of the main tower material is increased. The algorithm employs gradient descent or particle swarm optimization to obtain the optimal target tension of each guy wire and the target stress of the main tower material. Subsequently, based on the optimal target tension of each guy wire, the elastic modulus and cross-sectional area of ​​the guy wire are combined to calculate the target extension length required by each guy wire length adjuster, which is used as the input target value of the multivariable decoupling control algorithm; at the same time, the target stress of the main tower material is used as the monitoring threshold of the strain sensor to determine in real time whether the stress state of the main material meets the safety requirements.

[0014] In the multivariable decoupling control algorithm, four sets of guy wires form a mechanically coupled system through the tower body. When tension is applied to any guy wire, the change in tension is transmitted to the anchor points of the other guy wires through the elastic deformation of the tower body, causing their tension to change passively. To eliminate the above coupling effect, the algorithm first obtains the deviation between the actual tension of each guy wire and the optimal target tension output by the cooperative force optimization allocation algorithm through a wireless electronic tension meter. Each deviation is input into the corresponding PID controller to obtain the initial control quantity. Then, each initial control quantity is multiplied with the pre-established decoupling matrix to obtain the compensated control quantity. The element in the i-th row and j-th column of the decoupling matrix represents the degree of influence of the unit tension change of the j-th guy wire on the tension of the i-th guy wire. Each coupling influence coefficient is obtained through structural mechanics model analysis or on-site in-situ testing calibration. After the compensated control quantity is output to each guy wire length adjuster, since the compensation components of the other channels have been pre-superimposed in each control quantity, each guy wire can synchronously cancel the coupling interference between them when performing tension adjustment, so that the actual tension of each guy wire independently approaches its own target value without repeated iterative correction.

[0015] The fuzzy adaptive PID control algorithm uses the deviation and rate of change between the actual tension value fed back by the wireless electronic tension meter and the optimal target tension value output by the cooperative force optimization allocation algorithm to tune the proportional, integral, and derivative control parameters online through the built-in fuzzy rule library, and outputs the drive control signal of each tension wire length adjuster at a control frequency of 1Hz to 10Hz to achieve high-precision tension closed-loop regulation.

[0016] The three control algorithms described above operate in tandem, forming a three-layer linkage control closed loop of "optimization-decoupling-adaptation," ensuring that the tension of the four sets of guy wires is independently and precisely controllable, and that the load distribution between each guy wire and the main tower structure is reasonable, achieving coordinated operation between the two. When the actual tension of any guy wire exceeds the preset safety range, or the actual stress of the main tower structure exceeds the preset safety range, or the tilt angle of the tower exceeds the preset safety angle, the intelligent controller issues a warning signal.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. The transmission tower reinforcement device based on adjustable guy wire stress disclosed in this invention, through the setting of a multi-degree-of-freedom support mechanism, allows the intelligent support frame to be adjusted collaboratively in three degrees of freedom: horizontal extension, vertical lifting, and vertical rotation. It adaptively adjusts the support angle, support length, and support point height according to the actual tilt state of the tower. Combined with real-time feedback from various inclinometers, angle sensors, and displacement sensors, it ensures that the support frame is in the optimal stress posture under any working condition, solving the problem of the guy wire stress direction deviating from the design condition due to tower deformation in fixed supports. The optimal support angle is calculated using a posture optimization algorithm to maximize the horizontal restoring moment of the guy wire on the tower, maximizing the guy wire reinforcement efficiency and significantly improving the wind resistance reinforcement effect compared to traditional horizontal support schemes. Meanwhile, through the intelligent controller's built-in collaborative stress optimization and distribution algorithm, combined with an information fusion system constructed from wireless electronic tension gauges, strain sensors, inclinometers, displacement sensors, and wind speed and direction sensors, the tension of the guy wires and the stress of the main tower material are monitored and controlled in real time. A collaborative stress optimization and distribution model for the guy wires and the main tower material is established, allowing both to reasonably share the external load according to their respective load-bearing capacities, fully utilize their load-bearing potential, avoid excessive stress on the guy wires or overloading of the main tower material, and achieve coordinated operation between the reinforced structure and the original tower structure. The length and stress of the four sets of guy wires are controlled in a collaborative closed-loop manner to achieve optimized distribution and precise application of pretension among the four sets of guy wires. While significantly improving the load-bearing performance, this avoids the stress concentration and limited reinforcement of nodal areas caused by opening and welding in traditional reinforcement methods, ensuring the safety and integrity of the tower structure.

[0019] 2. The intelligent control method for a transmission tower reinforcement device based on adjustable guy wire stress disclosed in this invention operates according to a three-layer linkage architecture of "optimization decision-making—decoupling compensation—adaptive execution," forming a complete closed-loop control link. The three-layer algorithm is connected in series: real-time sensor data is input to the first layer, which solves the optimization objective and outputs the target tension of each guy wire, converts it into extension length, and sends it to the second layer; the second layer combines actual tension feedback, calculates the deviation, and outputs the control quantity to the third layer after decoupling compensation; the third layer uses fuzzy PID to drive the extension controller to execute the extension, and the tension change after the action is fed back to the system by the sensor, forming the input for the next iteration. During the loop, the guy wire tension, main material stress, and tower tilt angle are monitored simultaneously to see if they exceed the limits, triggering an early warning protection, thereby realizing a complete closed loop from global decision-making to precise execution and then to feedback correction.

[0020] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1 This is a schematic diagram of the transmission tower reinforcement device with adjustable guy wire stress according to the present invention;

[0023] Figure 2 For based on Figure 1 Flowchart of a composite intelligent control method for power transmission tower reinforcement devices.

[0024] Reference numerals in the attached diagram: 1. Tower body; 2. Guy wire; 3. Second inclinometer; 4. Wireless electronic tension meter; 5. Telescopic rod; 6. Intelligent support frame; 7. Roller; 8. Guy wire length adjuster; 9. Second lifting seat; 10. Second hinge seat; 11. First inclinometer; 12. First lifting seat; 13. First hinge seat. Detailed Implementation

[0025] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0026] like Figure 1 The transmission tower reinforcement device with adjustable guy wire stress shown includes four sets of reinforcement structures symmetrically arranged in the circumferential direction at the transverse diaphragm position in the lower part of the tower body 1 of the transmission tower. Each set of reinforcement structures includes a multi-degree-of-freedom support mechanism, a guy wire 2, and an intelligent guy wire control mechanism.

[0027] The multi-degree-of-freedom support mechanism includes an intelligent support frame 6 connected to the tower body 1, and a support attitude adjustment mechanism for adjusting the spatial attitude of the intelligent support frame 6. The support attitude adjustment mechanism comprises two independent adjustment components, each including a vertical slide rail, a lifting seat, a vertical electric push rod, a hinge seat, and a rotary drive component. These are respectively located at the ends of the intelligent support frame 6 and the telescopic rod 5. A first vertical slide rail is fixed to the tower body 1. A first lifting seat 12 is slidably fitted within the first vertical slide rail and driven to rise and fall by the first vertical electric push rod. The end of the intelligent support frame 6 is rotatably connected to the first lifting seat 12 via a first hinge seat 13. A first rotary drive component is provided within the first hinge seat 13, which can drive the intelligent support frame 6 to rotate up and down around the hinge point to the target tilt angle. The intelligent support frame 6 is composed of multiple telescopic sleeves, with telescopic drive components between each sleeve section for extending and retracting the intelligent support frame 6 along its axial direction.

[0028] The upper part of the intelligent support frame 6 is slidably connected to a telescopic rod 5. One end of the telescopic rod 5 is rotatably connected to the tower body 1 via a second hinge seat 10. The second hinge seat 10 is fixed to a second lifting seat 9, which is slidably fitted into a second vertical slide rail on the tower body 1. Lifting is driven by a second vertical electric push rod. A second rotary drive component is provided inside the second hinge seat 10 to drive the telescopic rod 5 to rotate up and down. The lower end of the telescopic rod 5 is slidably fitted to the intelligent support frame 6. The intelligent support frame 6 includes two parallel telescopic support rods. Each support rod consists of an outer tube and an inner tube, with the inner tube fitted inside the outer tube and driven to extend and retract by a horizontal electric push rod. A track is provided above each support rod, and a roller is rotatably connected inside the track. The roller is rotatably connected to the end of the telescopic rod 5. Both the telescopic rod 5 and the intelligent support frame 6 are hinged to the tower body 1 via connectors.

[0029] The intelligent support frame 6 is rotatably connected to a roller 7 at the end furthest from the tower body 1, and the guy wire 2 is attached to the roller 7. One end of the guy wire 2 is fixedly connected to the upper part of the tower body 1, and the other end of the guy wire 2 is fixedly connected to the foot plate at the lower part of the tower body 1. The intelligent support frame 6 is equipped with a first inclinometer 11 and a first displacement sensor. The first lifting seat 12 is equipped with a third displacement sensor to detect the vertical position of the support point. The first hinge seat 13 is equipped with an angle sensor to detect the actual tilt angle between the intelligent support frame 6 and the horizontal plane.

[0030] The intelligent guy wire control mechanism includes a wireless electronic tension meter 4 fixedly installed on the upper middle part of guy wire 2, a guy wire length adjuster 8 fixedly installed on the lower middle part of guy wire 2, a second inclinometer 3 fixedly installed on one side of the upper part of tower body 1, a second displacement sensor fixed at guy wire length adjuster 8, a wind speed and direction sensor installed on the top of tower body 1, a strain sensor installed on the main material of tower body 1, and an intelligent controller. The wireless electronic tension meter 4 monitors the tension of the guy wire 2 in real time, the guy wire length adjuster 8 controls the extension and retraction of the guy wire, the second inclinometer 3 detects the tilt angle of the tower body 1, the second displacement sensor monitors the actual extension and retraction length of the guy wire 2 in real time, the wind speed and direction sensor collects environmental wind speed and direction data in real time, and the strain sensor monitors the stress change of the main material in real time. The intelligent controller is connected to the first inclinometer 11, the first displacement sensor, the third displacement sensor, the angle sensor, the strain sensor, the wireless electronic tension meter, the second inclinometer 3, the second displacement sensor, the wind speed and direction sensor, the extension drive, the rotation drive, the first vertical electric push rod, the second vertical electric push rod, and the guy wire length adjuster. The data from each sensor is collected by the intelligent controller. The intelligent controller controls the support posture adjustment mechanism and the guy wire length adjuster 8 according to the preset strategy to realize multi-degree-of-freedom intelligent control of the tower reinforcement.

[0031] The method for strengthening multi-degree-of-freedom prestressed guyed transmission towers based on intelligent control, and based on the aforementioned transmission tower strengthening device, includes the following steps:

[0032] a. A multi-degree-of-freedom support mechanism is symmetrically arranged on all four sides at the lower horizontal diaphragm position of tower body 1;

[0033] b. Fix one end of the guy wire 2 to the upper part of the tower body 1, and ensure electrical safety clearance. The guy wire 2 is supported by hanging down on the roller. The lower part of the guy wire 2 is connected to the boot foot plate.

[0034] c. The actual tilt angle of the intelligent support frame 6 is detected in real time by the first inclinometer, the actual tilt angle between the intelligent support frame 6 and the horizontal plane is detected in real time by the angle sensor, the actual axial extension length of the intelligent support frame 6 is detected in real time by the first displacement sensor, the vertical position of the first lifting seat 12 is detected in real time by the third displacement sensor, and the stress change of the main material of the tower body 1 is monitored in real time by the strain sensor. The detection results are uploaded to the intelligent controller in real time.

[0035] d. The intelligent controller calculates the target tilt angle of the intelligent support frame 6 based on the detection results of the first inclinometer 11 and the angle sensor, combined with the built-in attitude optimization algorithm. At the same time, it calculates the target axial extension and retraction of the intelligent support frame 6 and the target vertical position of the first lifting seat 12 based on the target tilt angle. It controls the first rotary drive to drive the intelligent support frame 6 to rotate to the target tilt angle, controls the telescopic drive to drive the intelligent support frame 6 to extend and retract axially, controls the first vertical electric push rod to drive the first lifting seat to move along the first vertical slide rail to the target height, and controls the second rotary drive and the second vertical electric push rod to adjust the position of the second lifting seat according to the attitude requirements of the telescopic rod 5. This achieves coordinated adjustment of the intelligent support frame 6 in three degrees of freedom: horizontal extension and retraction, vertical lifting and retraction, and vertical rotation, so that the intelligent support frame 6 is always in the optimal force-bearing posture.

[0036] The attitude optimization algorithm is as follows: Based on the tilt angle and wind direction data of tower body 1, the main force direction of tower body 1 is determined. With the goal of maximizing the horizontal restoring torque generated by guy wire 2 on tower body 1, the optimal tilt angle of intelligent support frame 6 and its corresponding target axial extension and retraction amount and the target vertical position of the first lifting seat are calculated. Based on this, the intelligent controller controls the first rotary drive, telescopic drive and the first vertical electric push rod to adjust the intelligent support frame to the corresponding state. At the same time, it controls the second rotary drive and the second vertical electric push rod to adjust the attitude of the telescopic rod so that the force direction of guy wire 2 matches the direction to be restored of the tower body, thereby maximizing the utilization efficiency of the pretension of guy wire 2.

[0037] e. The tilt angle of tower body 1 is detected in real time by the second inclinometer, the ambient wind speed and direction data are collected in real time by the wind speed and direction sensor, the tension of the guy wire is monitored in real time by the wireless electronic tension meter, and the stress change of the main material of tower body 1 is monitored in real time by the strain sensor. The detection results are uploaded to the intelligent controller in real time.

[0038] f. The intelligent controller calculates the target tension and target extension length of each guy wire 2 based on the tilt angle of tower body 1, wind speed and direction data, the main material of tower body 1 and the current stress value of each guy wire 2, combined with the built-in stress optimization distribution algorithm.

[0039] The collaborative stress optimization allocation algorithm is as follows: Based on the tilt angle and wind direction data of tower body 1, the main stress direction of the tower body is determined, and the windward and leeward guy wires are identified; the collaborative optimization objective is to minimize the deviation between the tension of each guy wire 2 and the stress of the main material of tower body 1 and their target values. A collaborative stress optimization allocation model is established and solved to obtain the optimal target tension of each guy wire 2 and the target stress of the main material of tower body 1; then, based on the optimal target tension of guy wire 2 and its elastic modulus, cross-sectional area and current length, the target expansion length of each guy wire 2 is calculated, and the control strategy is adjusted according to the deviation between the target stress and the current stress of the main material of tower body 1 to ensure that the stress of the main material is always within a safe range.

[0040] g. The intelligent controller monitors the actual extension and retraction length of the guy wire 2 in real time through the second displacement sensor, monitors the actual tension of the guy wire in real time through the wireless electronic tension meter, and monitors the actual stress change of the main material of the tower body 1 in real time through the strain sensor, forming a closed-loop feedback control.

[0041] h. The intelligent controller controls each guy wire length adjuster 8 to apply pretension to the corresponding guy wire 2 according to the calculation results. At the same time, it adjusts the guy wire tension according to the actual stress state of the main material of the tower body 1 until the deviation between the actual tension and the target tension of each guy wire 2 and the deviation between the actual extension length and the target extension length are both less than the preset threshold, and the actual stress of the main material of the tower body 1 is within the preset safety range.

[0042] The flowchart of the composite intelligent control method based on the above-mentioned transmission tower reinforcement device is as follows: Figure 2 As shown, the transmission tower reinforcement device includes four sets of reinforcement structures symmetrically arranged circumferentially at the lower transverse diaphragm position of the transmission tower body. Each set of reinforcement structures includes a multi-degree-of-freedom support mechanism, guy wires, and an intelligent guy wire control mechanism. The composite intelligent control method includes the following steps:

[0043] S1. Data Acquisition: The intelligent controller acquires the detection data of the first inclinometer, the second inclinometer, the angle sensor, the first displacement sensor, the second displacement sensor, the third displacement sensor, the wireless electronic force meter, the strain sensor, and the wind speed and direction sensor in real time at a sampling frequency of 10Hz~100Hz.

[0044] S2. Cooperative Stress Optimization Allocation: Using the detection data collected in step S1 as input, the cooperative optimization objectives are to minimize the deviation between the tension of each guy wire 2 and the optimal target tension, and to minimize the deviation between the stress of the main material of tower body 1 and the target stress. The equality constraint is the balance between the sum of the horizontal components of wind load and the gravity of tower body 1. The inequality constraints are the maximum allowable tension, minimum allowable tensile force of each guy wire 2, and the maximum allowable stress and minimum allowable stress of the main material of tower body 1. A dynamic weighting coefficient is introduced to adaptively adjust the load sharing ratio between guy wire 2 and the main material of tower body 1. The optimal target tension of each guy wire 2 is then obtained. (i=1,2,3,4) and the target stress of the main material of tower body 1 And according to Hooke's Law, the optimal target tension of each tension line 2 is determined. Converted to the target telescopic length ΔL of the corresponding pull cord length adjuster 8 i ;

[0045] Specifically, let the real-time tensions of the four sets of guy wires be T1, T2, T3, and T4, the real-time stress of the main tower material be σ, and the optimization variable be the optimal target tension of each guy wire. (i=1,2,3,4) and the target stress of the main material of tower body 1 Then the objective function for collaborative optimization is:

[0046] (1)

[0047] Where α and β are normalized weighting coefficients, T i max and σ max These represent the maximum allowable tension of guy wire 2 and the maximum allowable stress of the main material of tower body 1, respectively, to eliminate dimensional differences. The algorithm introduces dynamic weighting coefficients: when the real-time stress of the main material of tower body 1 approaches its maximum allowable stress, the load-sharing weight of guy wire 2 is increased; when the real-time tension of each guy wire 2 approaches its maximum allowable tension, the load-sharing weight of the main material of tower body 1 is increased. The weighting coefficients are dynamically adjusted according to the following formula:

[0048] (2)

[0049] (3)

[0050] Where α0 and β0 are the initial weights, and k α k β For dynamic adjustment coefficients, σ safe and T safe These are the safety thresholds for the main material stress of tower body 1 and the tension of guy wire 2, respectively. For the real-time stress of the main material of tower body 1, For real-time tension of the pull line, To distribute the load weight of the guy wire, The load distribution weight is assigned to the main material of Tower 1. When a certain index approaches its upper limit, the corresponding weight automatically increases, forcing the optimization algorithm to transfer more load to another load-bearing path. The equality constraints (force balance equations) are:

[0051] (4)

[0052] Where θ i Let be the angle between the i-th draw line 2 and the horizontal plane. Let F be the azimuth angle of the i-th guy wire 2 in the horizontal plane. wind Let G be the horizontal component of the wind load, G be the weight of tower 1, and γ be the tilt angle of tower 1. The inequality constraints are:

[0053] (5)

[0054] The optimization problem with the above inequality constraints is solved using the particle swarm optimization algorithm. Its iterative formula is:

[0055] (6)

[0056] (7)

[0057] Where ω is the inertia weight, Let be the velocity of the i-th particle in the d-th dimension. Let p be the position of the i-th particle in the d-th dimension, c1 and c2 be learning factors, r1 and r2 be random numbers in the interval [0,1], and p be the position of the i-th particle in the d-th dimension. id For the optimal position of an individual, p gd This represents the globally optimal position. The optimal target tension for each guy wire is then determined. and the target stress of the main material of the tower body Then, based on the optimal target tension of each guy wire 2, and combined with the elastic modulus and cross-sectional area of ​​the guy wire 2, the target extension length required by each guy wire length adjuster 8 is calculated. According to Hooke's Law, the relationship between the tension and elongation of the guy wire 2 is as follows:

[0058] (8)

[0059] Where E i Let A be the elastic modulus of the wire 2. i Let L be the cross-sectional area of ​​the string. i Let ΔL be the effective length of the guy wire 2. i This is the target extension length that the guy wire length adjuster 8 needs to perform. This target extension length serves as the input target value for the multivariable decoupling control algorithm in step S3, while also incorporating the target stress of the main tower material. The monitoring threshold of the strain sensor is used to determine in real time whether the stress state of the main material meets the safety requirements.

[0060] S3, Multivariable Decoupling Control: The target extension length ΔL corresponding to the pull wire length adjuster 8 in step S2 is... i As the input target value, calculate the actual tension T of each tension wire 2. actual With the corresponding optimal target tension deviation Each deviation The initial control input is obtained by inputting the corresponding PID controller built into the intelligent controller. Then the initial control quantity The compensated control quantity is obtained by performing calculations with the pre-calibrated decoupling matrix. Eliminate the mechanical coupling effect caused by the elastic deformation of the four sets of guy wires 2 through the tower body 1;

[0061] Specifically, the four sets of guy wires 2 form a mechanical coupling system through the tower body 1. When tension is applied to any guy wire 2, the change in tension is transmitted to the anchor points of the remaining guy wires 2 through the elastic deformation of the tower body 1, causing their tension to change passively. To eliminate the above coupling effect, the algorithm first obtains the actual tension T of each guy wire 2 through a wireless electronic force meter 4. i actual The optimal target tension output by the cooperative force optimization allocation algorithm deviation Each deviation is input into the corresponding PID controller to obtain the initial control quantity. Let the tension deviation vector of the four sets of tension lines 2 be e = [e 1 ,e 2 ,e 3 ,e 4 ]T, where:

[0062] (9)

[0063] The initial control output of each PID controller is:

[0064] (10)

[0065] Where K p K i K d The decoupling matrix C is a 4×4 diagonal gain matrix. Subsequently, each initial control input is multiplied by the pre-established decoupling matrix to obtain the compensated control input.

[0066] (11)

[0067] in This represents the degree of influence of a unit tension change in the j-th guy wire on the tension of the i-th guy wire, with the diagonal element c. ii=1, and the off-diagonal elements are coupling influence coefficients. The complete form of the decoupling matrix is:

[0068] (12)

[0069] Each coupling influence coefficient was obtained through structural mechanics model analysis or in-situ testing and calibration. The in-situ calibration method involved installing strain sensors and tension gauges on the tower body, applying known tension increments to each guy wire, recording the tension response of the remaining guy wires, and determining c through regression analysis. ij The specific value. The final control quantity after decoupling compensation is:

[0070] (13)

[0071] Expanding formula (13), the compensated control quantity for the i-th draw wire is:

[0072] (14)

[0073] The physical meaning of formula (14) is: the final control quantity of the i-th pull wire is equal to its own PID output minus the pre-compensation quantity of the coupling effect of other channels, so that each pull wire can synchronously cancel the coupling interference between them when performing tension adjustment, without the need for repeated iteration correction. The control quantity after compensation has been superimposed with the coupling compensation component of the other channels, so that each pull wire 2 can synchronously cancel the mutual entanglement when adjusting, and can independently approach the target value without repeated iteration.

[0074] S4. Fuzzy Adaptive PID Control: Based on the tension deviation e and its rate of change of each tension wire 2 in step S3. As input, the proportional coefficient Kp and integral coefficient K of the PID control algorithm are tuned online using a fuzzy rule base. i Differential coefficient K d After the fuzzy processing by the center of gravity method, the drive control signal of the pull wire length adjuster 8 is output, which drives the pull wire length adjuster 8 to perform the extension and retraction action.

[0075] Specifically, the fuzzy adaptive PID control algorithm uses the deviation e and its rate of change between the actual tension value fed back by the wireless electronic force gauge 4 and the optimal target tension value output by the cooperative force optimization allocation algorithm. The proportional coefficient Kp and integral coefficient K of the PID control algorithm are tuned online using a built-in fuzzy rule base. i Differential coefficient K d Define the deviation e and its rate of change. The universe of discourse is divided into five fuzzy subsets: NB (negative large), NS (negative small), ZO (zero), PS (positive small), and PB (positive large). A triangular membership function is used.

[0076] (15)

[0077] The membership functions for other fuzzy sets follow the same pattern. The precise variable value input (in this application, tension deviation e) For the negative boundary value of the universe of discourse, the tuning principle of the fuzzy rule base is: when the deviation is large positive and the rate of change of the deviation is small negative, increase the proportional coefficient Kp and moderately adjust the integral coefficient K. i Increase the differential coefficient K d When both the deviation and the rate of change of deviation are close to zero, all parameters remain moderate; when the deviation is large and the rate of change of deviation is small, the proportional coefficient Kp is increased and the integral coefficient K is adjusted moderately. i Increase the differential coefficient K d This process continues, resulting in a total of 25 fuzzy control rules. Each rule takes the following form: when the tension deviation e is within a positive fuzzy subset, and the tension deviation change rate... When in a negative small fuzzy subset, Kp increases, K i Moderate, K d Increase. The weighted average method (centroid method) is used to resolve the fuzziness:

[0078] (16)

[0079] (17)

[0080] (18)

[0081] Where m is the number of activated rules. For the first The activation degree of each rule (take the minimum value of the input membership degree). , , For the first The recommended parameter values ​​are as follows. The final PID control input is:

[0082] (19)

[0083] After digital-to-analog conversion, the control quantity is output at a control frequency of 1Hz to 10Hz as the drive signal for the length regulator (such as PWM duty cycle or analog voltage), which drives the motor to perform precise extension and retraction actions, thereby achieving high-precision tension closed-loop regulation.

[0084] S5, Closed-loop feedback and safety monitoring: Maintain tension of the pull wire 2. 1. Stress of main material of tower body Real-time monitoring data of the tower inclination angle γ is fed back to step S2, forming an iterative optimization closed loop; when any guy wire 2 tension Exceeding the preset safety range, stress of the main material of the tower body. If the tower tilt angle γ exceeds the preset safety range or exceeds the preset safety angle, an early warning will be triggered and a shutdown protection will be implemented.

[0085] Specifically, the three control algorithms mentioned above operate in concert to form a three-layer linkage control closed loop of "optimization-decoupling-adaptation": the first layer (cooperative force optimization and allocation) takes real-time sensor data as input, solves the constraint optimization problem, and outputs the optimal target tension of each tension line. and target stress of main material And convert it into the target extension length ΔLi of the length adjuster through formula (8); the second layer (multivariable decoupling control) takes the deviation vector e as input, and calculates the decoupling compensation through formulas (10) to (14), and outputs the compensated control quantity u. i Eliminate coupling interference between the four sets of pull wires; the third layer (fuzzy adaptive PID control) uses the deviation e and its rate of change. As input, the drive control signal is output through fuzzy inference and PID calculation using formulas (15) to (19). This drives the tension adjustment mechanism 8 to complete precise movements. Simultaneously, the sensor provides real-time feedback on the actual tension T. actual Together with the stress σ of the main material of tower body 1, a closed-loop control is formed to ensure that the tension of the four sets of guy wires 2 is independently and precisely controllable, and that the load distribution between each guy wire 2 and the main material of tower body 1 is reasonable, achieving coordinated operation between the two. Furthermore, in each cycle of the closed-loop control, the intelligent controller synchronously monitors the following safety conditions:

[0086] (20)

[0087] When any of the above conditions are triggered, the intelligent controller immediately issues a warning signal and automatically executes safety protection actions (such as stopping adjustment and issuing an alarm). In specific applications, this composite intelligent control algorithm preferably uses a field-programmable gate array or digital signal processor as the hardware carrier to achieve parallel high-speed computation, ensuring that the three-layer algorithm completes all calculations and outputs control quantities within the sampling period, meeting real-time control requirements. Simultaneously, the effectiveness of decoupling control can be verified through comparative experiments: under step wind loads, when decoupling control is enabled, the tension of each guy wire independently approaches the target value with an overshoot of no more than 5%, while without decoupling control, the tension of each guy wire exhibits continuous oscillation and the adjustment time is extended by more than two times, thus verifying the correctness of the decoupling matrix and the engineering practicality of the three-layer algorithm.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A transmission tower reinforcement device with adjustable guy wire stress, characterized in that, The system includes four telescopic intelligent support frames (6) symmetrically arranged in the lower part of the tower body (1) of the power transmission tower. The intelligent support frames (6) are rotatably connected to the tower body (1) and can move up and down along the tower body (1). A telescopic rod (5) is slidably connected to the upper part of the intelligent support frame (6). The end of the telescopic rod (5) away from the intelligent support frame (6) is also rotatably connected to the tower body (1) and can move up and down along the tower body (1). A roller (7) that overlaps with the guy wire (2) is rotatably connected to the end of the intelligent support frame (6) away from the tower body (1). The upper and lower ends of the guy wire (2) are respectively fixed to the tower body (1) and separated into upper and lower sides by the roller (7). A guy wire length adjuster (8) for controlling the extension and retraction of the guy wire (2) is fixedly installed in the middle of the guy wire (2) on the lower side of the intelligent support frame (6).

2. The transmission tower reinforcement device with adjustable guy wire stress as described in claim 1, characterized in that, The tower body (1) is fixedly installed with a first vertical slide rail and a second vertical slide rail from bottom to top. A first vertical electric push rod is fixedly installed inside the first vertical slide rail. A first lifting seat (12) that slides relative to the first vertical slide rail is fixedly installed at the free end of the first vertical electric push rod. The end of the intelligent support frame (6) is rotatably connected to the first lifting seat (12) through a first hinge seat (13). A first rotary drive component is provided inside the first hinge seat (13) to drive the intelligent support frame (6) to rotate up and down around the hinge point to the target tilt angle. A second vertical electric push rod is fixedly installed inside the second vertical slide rail. A second lifting seat (9) that slides relative to the second vertical slide rail is fixedly installed at the free end of the second vertical electric push rod. The end of the telescopic rod (5) is rotatably connected to the second lifting seat (9) through a second hinge seat (10). A second rotary drive component is provided inside the second hinge seat (10) to drive the telescopic rod (5) to rotate up and down around the hinge point.

3. The transmission tower reinforcement device with adjustable guy wire stress as described in claim 1, characterized in that, The intelligent support frame (6) is composed of multiple telescopic sleeves, and each sleeve is provided with a telescopic drive component to drive the intelligent support frame (6) to extend and retract along its axial direction.

4. The transmission tower reinforcement device with adjustable guy wire stress as described in claim 2, characterized in that, The intelligent support frame (6) is equipped with a first inclinometer (11) and a first displacement sensor. The first lifting seat (12) is equipped with a third displacement sensor. The first hinge seat (13) is equipped with an angle sensor. The middle of the guy wire (2) on the upper side of the intelligent support frame (6) is fixedly installed with a wireless electronic tension meter (4) for real-time monitoring of the tension of the guy wire (2). The guy wire length adjuster (8) on the lower side of the intelligent support frame (6) is fixedly installed with a second displacement sensor for real-time monitoring of the actual extension length of the guy wire (2). The upper side of the tower body (1) is fixedly installed with a second inclinometer (3) for detecting the tilt angle of the tower body (1). The top of the tower body (1) is fixedly installed with a wind speed and wind direction sensor for real-time acquisition of environmental wind speed and wind direction data. The main material of the tower body (1) is fixedly installed with a strain sensor for real-time monitoring of the stress change of the main material and an intelligent controller for collecting data from various sensors. The intelligent controller controls the guy wire length adjuster (8) according to a preset strategy to realize multi-degree-of-freedom intelligent control of the tower body reinforcement.

5. The transmission tower reinforcement device with adjustable guy wire stress as described in claim 4, characterized in that, The intelligent controller includes a data acquisition module, a data processing module, a control decision module, and an execution drive module. The data acquisition module is used to collect detection data from the first inclinometer (11), the first displacement sensor, the third displacement sensor, the angle sensor, the wireless electronic tension meter (4), the second inclinometer (3), the second displacement sensor, and the wind speed and direction sensor. The data processing module is used to convert and process the collected data. The control decision module has a built-in intelligent control algorithm, which is used to calculate the target length and target stress of each pull line (2) based on the processed data and generate control commands. The execution drive module is used to drive the telescopic drive, the first rotary drive, the second rotary drive, the first vertical electric push rod, the second vertical electric push rod, and the pull line length adjuster (8) to perform corresponding telescopic or rotational actions according to the control commands.

6. The intelligent control method for the transmission tower reinforcement device with adjustable guy wire stress as described in claim 5, characterized in that, Includes the following steps: S1. Data acquisition: The intelligent controller acquires the detection data of the first inclinometer (11), the second inclinometer (3), the angle sensor, the first displacement sensor, the second displacement sensor, the third displacement sensor, the wireless electronic tension meter, the strain sensor and the wind speed and direction sensor in real time at a sampling frequency of 10Hz~100Hz. S2. Cooperative stress optimization allocation: Taking the detection data collected in step S1 as input, the cooperative optimization objectives are to minimize the deviation between the tension force of each guy wire (2) and the optimal target tension force, and to minimize the deviation between the stress of the main material of the tower body (1) and the target stress. The equation constraint is the balance between the sum of the horizontal components of the wind load and the gravity of the tower body (1). The inequality constraints are the maximum allowable tension force and minimum allowable tension of each guy wire (2), and the maximum allowable stress and minimum allowable stress of the main material of the tower body. A dynamic weighting coefficient is introduced to adaptively adjust the load sharing ratio between the guy wire (2) and the main material of the tower body (1). The optimal target tension force of each guy wire (2) is obtained by solving the equation. (i=1,2,3,4) and the target stress of the main material of the tower body (1) And according to Hooke's Law, the optimal target tension of each tension line (2) is determined. Converted to the target telescopic length ΔL of the corresponding pull cord adjuster (8) i ; S3, Multivariable Decoupling Control: The target extension length ΔL of the pull wire length adjuster (8) corresponding to step S2 is set to... i As the input target value, calculate the actual tension T of each tension wire (2). actual With the corresponding optimal target tension deviation Each deviation The initial control input is obtained by inputting the corresponding PID controller built into the intelligent controller. Then the initial control quantity The compensated control quantity is obtained by performing calculations with the pre-calibrated decoupling matrix. Eliminate the mechanical coupling effect formed by the elastic deformation of the four sets of guy wires (2) through the tower body (1); S4. Fuzzy Adaptive PID Control: Based on the tension deviation e and its rate of change of each tension line (2) in step S3. As input, the proportional coefficient Kp and integral coefficient K of the PID control algorithm are tuned online using a fuzzy rule base. i Differential coefficient K d After the center of gravity method is used to defuzzify, the drive control signal of the pull wire length adjuster (8) is output, which drives the pull wire length adjuster (8) to perform the extension and retraction action. S5. Closed-loop feedback and safety monitoring: The tension of the pull wire (2) , Tower body (1) Main material stress The real-time monitoring data of the tower inclination angle γ is fed back to step S2 to form an iterative optimization closed loop; when any guy wire (2) tension Exceeding the preset safety range, the main material stress of the tower body (1) If the tower tilt angle γ exceeds the preset safety range or exceeds the preset safety angle, an early warning will be triggered and a shutdown protection will be implemented.

7. The intelligent control method as described in claim 6, characterized in that, In step S2, the optimal target tension of each tension line (2) Target stress of the main material of the tower body (1) The objective function for collaborative optimization is: Where α and β are normalized weighting coefficients, T i max and σ max These are the maximum allowable tension of the guy wire and the maximum allowable stress of the main tower material, respectively, and the weighting coefficients are dynamically adjusted according to the following formula: Where α0 and β0 are the initial weights, and k α k β For dynamic adjustment coefficients, σ safe and T safe These are the safety thresholds for the main stress of the tower body and the tension of the guy wires, respectively. For the real-time stress of the main tower material, For real-time tension of the pull line, To distribute the load weight of the guy wire, The load-sharing weight of the main tower structure is given; the equality constraint conditions are: Where θ i Let be the angle between the i-th string and the horizontal plane. Let F be the azimuth angle of the i-th guy wire in the horizontal plane. wind Let G be the horizontal component of the wind load, G be the weight of the tower, and γ be the angle of inclination of the tower; the inequality constraint conditions are: The optimization problem with the aforementioned inequality constraints is solved using the particle swarm optimization algorithm; the optimal target tension for each tension line is obtained. and the target stress of the main material of the tower body Then, based on the optimal target tension of each guy wire, and combined with the elastic modulus and cross-sectional area of ​​the guy wire, the target extension length required by each guy wire length adjuster (8) is calculated; according to Hooke's law, the relationship between the tension and elongation of the guy wire (2) is as follows: Where E i Let A be the modulus of elasticity of the wire. i Let L be the cross-sectional area of ​​the wire. i ΔL is the effective length of the guy wire. i This refers to the target extension length that the cable length adjuster needs to perform.

8. The intelligent control method as described in claim 7, characterized in that, In step S3, the tension deviation vector of the four sets of tension lines (2) is e = [e 1 ,e 2 ,e 3 ,e 4 ]T, where: The initial control output of each PID controller is: Where K p K i K d The decoupling matrix C is a 4×4 diagonal gain matrix. The compensated control quantity is obtained by performing matrix multiplication between each initial control quantity and the pre-established decoupling matrix. The decoupling matrix C is a 4×4 square matrix, and its elements are defined as follows: in This represents the degree of influence of a unit tension change in the j-th guy wire on the tension of the i-th guy wire, with the diagonal element c. ii =1, off-diagonal elements are coupling influence coefficients; the final control quantity after decoupling compensation is: Expanding the formula for the final control quantity after decoupling compensation, the control quantity of the i-th pull wire after compensation is: The final control quantity of the i-th cable is equal to its own PID output minus the pre-compensation quantity of the coupling effect of other channels, so that each cable can synchronously cancel the coupling interference between them when performing tension adjustment, without the need for repeated iterative correction.

9. The intelligent control method as described in claim 8, characterized in that, The complete form of the decoupling matrix in step S3 is: Each coupling influence coefficient was obtained through structural mechanics model analysis or in-situ testing and calibration. The in-situ calibration method was as follows: strain sensors and tension gauges were installed on the tower body, a known tension increment was applied to each guy wire, the tension response of the remaining guy wires was recorded, and the coefficients were determined through regression analysis. The specific value.

10. The intelligent control method as described in claim 9, characterized in that, In step S4, based on the tension deviation e and its rate of change... The universe of discourse is divided into five fuzzy subsets: NB (negative large), NS (negative small), ZO (zero), PS (positive small), and PB (positive large). Triangular membership functions for the five fuzzy subsets are constructed. Based on the tuning principle of the fuzzy rule base, according to e and Online adjustment of fuzzy levels Kp, K i K d The parameters, after being defuzzified using the centroid method, output the PID control quantity: The control quantity, after being converted from digital to analog, is output as the drive signal for the length adjuster at a control frequency of 1Hz to 10Hz.

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