Intelligent control system and method for bridge horizontal rotation angular velocity based on pull-rope displacement meter

Abstract

The present invention discloses an intelligent control system and method for the horizontal rotation angular velocity of a bridge based on a pull-rope displacement meter, comprising: a lower turntable; an upper turntable with a ball joint, a traction rope wound on the upper turntable; the pull-rope displacement meter is fixed on the lower turntable through a fixed bracket, the free end of the pull rope is fixed on the upper turntable, and the positions of the pull-rope displacement meter and the pull rope are on the same horizontal line; a pull-rope displacement meter monitoring module, which is connected to the pull-rope displacement meter and is used to collect the rotation displacement L of the upper turntable measured by the pull-rope displacement meter and convert it into a rotation angle, a rotation angular velocity, and a rotation angular acceleration; a tensioning jack, which is installed on the upper turntable and is used to tension the traction rope wound on the upper turntable, thereby driving the rotating bridge to rotate; a tensioning jack control system, which is connected to the tensioning jack; and a central control integrated system, which is connected to the pull-rope displacement meter monitoring module and the tensioning jack control system. The present invention can timely, accurately and efficiently transmit bridge rotation data.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of bridge horizontal rotation construction, and more specifically, to an intelligent control system and method for bridge horizontal rotation angular velocity based on a pull-rope displacement meter. Background Art

[0002] In the construction of bridge horizontal rotation, the angular velocity of the rotating body is the key control parameter for achieving smooth and efficient rotation. It is directly related to the stability and safety of the rotating body structure. If it is not controlled, the structural stress is easy to exceed the limit, and the excessive rotation speed may cause the rotating body to become unstable and overturn, resulting in an engineering accident. Traditional manual monitoring methods mostly use total stations or levels to observe the stable state before and after a certain stage of the rotation, and calculate the rotation speed angular velocity of the stage by the change value of the measuring point. This test method has problems such as discontinuous data and long measurement time. It is impossible to give accurate guidance to the operation of the rotating body, and the professional level of the tester will also affect the authenticity of the data. The test accuracy is insufficient and the error is large. For new wireless sensors such as GPS, during the test process, data transmission is easily affected by electromagnetic fields (during the rotation, drones and other equipment are often used for shooting), vibration shock, signal coverage effective area, etc., and the measured data needs to be transformed into polar coordinates or a large amount of data or image processing is performed using inverse trigonometric functions, which is time-consuming and labor-intensive. In addition, the economic cost of the sensor is high. At the rotation site, test data needs to be transmitted in a timely, accurate and efficient manner. To address the above issues, a simple, efficient, economical, practical and intelligent bridge rotation intelligent control system that can measure angular velocity has become an urgent need. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent control system for the angular velocity of bridge rotation based on a cable displacement meter, which can transmit bridge rotation data in a timely, accurate and efficient manner.

[0004] In order to achieve these purposes and other advantages according to the present invention, a bridge horizontal rotation angular velocity intelligent control system based on a cable displacement meter is provided, comprising:

[0005] A lower turntable, the top surface of which is provided with a ball joint receiving groove;

[0006] An upper turntable with a ball joint, wherein the ball joint of the upper turntable is rotatably arranged in a ball joint receiving groove, and a traction rope is wound around the upper turntable;

[0007] A pull-wire displacement meter is fixed on the lower rotating disk, the pull wire of the pull-wire displacement meter is wound on the upper rotating disk in an orderly manner, the free end of the pull wire is fixed on the upper rotating disk, and the pull-wire displacement meter and the pull wire are located on the same horizontal line;

[0008] The cable displacement meter monitoring module is connected to the cable displacement meter to collect the upper turntable rotation displacement L measured by the cable displacement meter and convert it into the angular velocity ω of the turntable. i , angular acceleration of rotation α i ;

[0009] A tensioning jack, which is installed on the upper turntable and is used to tension the traction rope wound around the upper turntable, thereby driving the rotating bridge to rotate;

[0010] A tensioning jack control system connected to the tensioning jack;

[0011] The central control integrated system is connected to the cable displacement meter monitoring module and the tension jack control system to receive the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , the tension data of the traction cable, and according to the angular velocity ω i , angular acceleration α i , control the tensioning jack control system.

[0012] Preferably, the bottom of the lower turntable has a lower turntable base; the pull-rope displacement meter is fixed to the lower turntable base through a fixing bracket; and the tensioning jack is installed on the lower turntable base through a jack base.

[0013] Preferably, the intelligent control system further comprises:

[0014] The data acquisition and transmission module is connected with the cable displacement meter monitoring module and the tensioning jack control system, and is used to send data acquisition instructions to the cable displacement meter monitoring module and the tensioning jack control system.

[0015] Preferably, the central control integrated system comprises:

[0016] A data receiving module connected to the data acquisition and transmission module;

[0017] The data analysis and control module is connected to the data receiving module and the tension jack control system to analyze the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , Analyze the tensioning force data of the traction cable, and issue control instructions to the tensioning jack control system based on the analysis results;

[0018] The display module is connected to the data analysis and control module and is used to display the current rotation posture of the bridge.

[0019] Preferably, a shaft rod is provided at the center of the top surface of the lower turntable, a through hole is provided at the center of the upper turntable, the upper turntable is penetrated on the shaft rod, and the diameter of the through hole is larger than the diameter of the shaft rod.

[0020] Preferably, there are two groups of tensioning jacks, which are respectively located on the left and right sides of the upper turntable; the traction rope is composed of two strands, and the two strands of traction rope are wound around the upper turntable, and the two groups of tensioning jacks are arranged so that the tensioning directions of the two strands of traction rope are parallel and opposite.

[0021] Preferably, a protection jack is provided between the lower turntable base and the upper turntable.

[0022] The present invention also provides a method for controlling the horizontal rotation of a bridge using an intelligent control system, comprising the following steps:

[0023] Step 1: Obtain the displacement-time curve Lt through the pull-rope displacement meter and the pull-rope displacement meter monitoring module, and obtain the rotation angular velocity ω i and the angular acceleration α i ;

[0024] Step 2: Startup phase, if θ i If the bridge overcomes the static friction and starts to rotate, it will enter the stage of accelerated rotation; θ i The bridge structure has rotated to a certain angle;

[0025] Step 3: Acceleration and rotation stage: the central control integrated system is set with an angular acceleration allowable value [ω] and an angular velocity allowable value [α]. If the angular acceleration α i <[α],angular velocity ω i <[ω], the central control integrated system sends a command to the tensioning jack control device to continue to accelerate or maintain acceleration, otherwise it will decelerate;

[0026] Step 4: Uniform rotation stage. When the uniform speed stage is about to be reached, if the angular velocity ω i →[ω], the central control integrated system sends a command to the tensioning jack control system to keep the current tensioning force of the traction cable working continuously; ω i →[ω] means ω i Reach 80% to 90% of the permissible angular acceleration value;

[0027] Step 5: When the rotation angle reaches 80% to 90% of the target rotation angle value set by the central control integrated system, the deceleration stage begins. In the deceleration stage, the central control integrated system sends a deceleration command to the tensioning jack control system to an angular velocity of ω i →0;

[0028] Step six, in the inching stage, the central control integrated system is set with a remaining rotation angle inching value θ', when θ→θ', θ→θ' means that θ reaches 80% to 90% of the remaining rotation angle inching value θ', and the rotation enters the inching stage, and the central control integrated system sends an inching duration control instruction to the tensioning jack control system, and the tensioning jack control system controls the tensioning jack to tension the traction rope through the inching control button until the rotation reaches the target value and the rotation is completed; θ is the current remaining rotation angle.

[0029] Preferably, in step 4, during the uniform speed stage, or due to other factors, the bridge rotation speed may fluctuate around a certain value rather than a certain value. i ≥[ω], the central control integrated system sends a command to the tensioning jack control system to reduce the tensioning force of the traction cable, and slowly decelerates until ω i →[ω].

[0030] The present invention has at least the following beneficial effects:

[0031] 1. The pull-rope displacement meter used in the intelligent control system of the bridge's horizontal angular velocity has a pull rope with a precise scale installed on the upper turntable, and the pull-rope displacement meter is installed on the fixed lower turntable base, which effectively avoids the influence of the rotating cantilever beam end due to the rotation jitter amplification effect and the rotation lag effect, improves the test accuracy, avoids manual measurement errors, and avoids the installation and debugging of high-altitude sensors. It is easy to operate, safe, reliable, and economical.

[0032] 2. The intelligent control system of bridge horizontal rotation angular velocity based on the rope displacement meter automatically converts the data measured by the rope displacement meter into rotation angle, rotation angular velocity and rotation angular acceleration, and grasps the rotation status in real time. It has a simple working principle and a reliable theoretical basis, is almost unaffected by the vibration and deformation of the bridge, is suitable for bridge construction monitoring, and has low construction technical risks.

[0033] 3. The intelligent control system of the angular velocity of the bridge rotation based on the rope displacement meter determines the rotation stage according to the angular velocity and angular acceleration of the rotation. According to the control principles of angular velocity and angular acceleration, it intelligently controls the tensioning force of the tensioning jacks in the accelerated rotation, uniform rotation and decelerated rotation stages in stages, which improves the informationization and intelligence level of the bridge rotation and helps to control the safety, smoothness and efficiency of the rotation.

[0034] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the bridge rotation structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the plane rotation of the upper turntable of the present invention;

[0037] Figure 3 It is a schematic diagram of the spatial rotation of the present invention;

[0038] Figure 4 It is the structural framework diagram of the intelligent control system of the bridge's angular velocity.

[0039] Explanation of the reference numerals in the accompanying drawings: 1 rotating bridge, 2 upper turntable, 3 lower turntable, 4 lower turntable base, 5 tensioning jack, 6 jack base, 7 fixed bracket, 8 pull rope displacement meter, 9 traction rope, 10 protection jack, 11 pull rope, 12 ball joint, 13 shaft rod. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0041] In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0042] like Figures 1 to 4 As shown, the present invention provides an intelligent control system for bridge horizontal rotation angular velocity based on a pull-rope displacement meter, comprising:

[0043] The lower turntable 3 has a ball joint 12 receiving groove on its top surface;

[0044] The upper turntable 2 is provided with a ball joint 12, wherein the ball joint 12 of the upper turntable 2 is rotatably arranged in the ball joint 12 receiving groove, and a traction rope 9 is wound around the upper turntable 2; the structure of the ball joint 12 is as follows Figure 1 As shown, it is a downwardly convex arc surface, and the shape of the ball joint 12 receiving groove matches the ball joint 12. The shapes formed by the side surfaces of the upper turntable 2 and the lower turntable 3 are both cylindrical.

[0045] A pull-wire displacement meter 8 is fixed on the lower turntable 3. The pull wire 11 of the pull-wire displacement meter 8 is wound on the upper turntable 2 in an orderly manner. The free end of the pull wire 11 is fixed on the upper turntable 2. The pull-wire displacement meter 8 and the pull wire 11 are located on the same horizontal line. The pull wire 11 has a precise scale.

[0046] The cable displacement meter monitoring module is connected to the cable displacement meter 8 and is used to collect the rotation displacement L of the upper turntable 2 measured by the cable displacement meter 8 and convert it into the angular velocity ω of the turntable. i , angular acceleration of rotation α i In another embodiment, the pull rope displacement meter monitoring module can also be converted into a rotation angle.

[0047] The tensioning jack 5 is installed on the upper turntable 2 and is used to tension the traction rope 9 wound around the upper turntable 2, thereby driving the rotating bridge 1 to rotate, and is a rotating power device;

[0048] A control system for the tensioning jack 5, which is connected to the tensioning jack 5;

[0049] The central control integrated system is connected with the cable displacement meter monitoring module and the tensioning jack 5 control system to receive the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , 9 pulling force data of the traction rope, and according to the angular velocity ω i , angular acceleration α i , control the tensioning jack 5 control system.

[0050] In this embodiment, the bridge horizontal rotation angular velocity intelligent control system based on the pull rope displacement meter 8 is installed on the lower turntable base 4, and the pull rope 11 with precise scale is orderly wound on the upper turntable 2. Due to the bridge rotation angle, the pull rope 11 only needs to be wound once, and the free end of the pull rope 11 is fixed on the upper turntable 2, avoiding the selection of the measuring point position at the cantilever beam end of the main beam, thereby avoiding the error caused by the rotation jitter amplification effect and the "hysteresis rotation" effect of the cantilever beam end. Through the relationship between the measured tangential velocity and angular velocity of the outer edge of the turntable, the angular velocity and angular acceleration at any time during the rotation process can be obtained. Based on the angular velocity control principle and the angular acceleration control principle, the pre-tension of the tensioning jack 5 is adjusted in time through the control system to ensure smooth and efficient rotation. By real-time monitoring of the rotation angle θ, the current rotation state is mastered. The bridge horizontal rotation angular velocity intelligent control system based on the pull rope displacement meter 8 simplifies the rotation process, achieves informatization and intelligence, and not only ensures the fundamental control accuracy, but also saves labor costs.

[0051] This technical solution can also include the following technical details to better achieve the technical effect: the bottom of the lower turntable 3 has a lower turntable base 4; the pull rope displacement meter 8 is fixed on the lower turntable base 4 through a fixed bracket 7; the tensioning jack 5 is installed on the lower turntable base 4 through a jack base 6.

[0052] This technical solution may also include the following technical details to better achieve the technical effect: the intelligent control system also includes:

[0053] The data acquisition and transmission module is connected to the cable displacement meter monitoring module and the tensioning jack 5 control system, and is used to send data acquisition instructions to the cable displacement meter monitoring module and the tensioning jack 5 control system.

[0054] This technical solution may also include the following technical details to better achieve the technical effect: The central control integrated system includes:

[0055] A data receiving module connected to the data acquisition and transmission module;

[0056] The data analysis and control module is connected to the data receiving module and the tensioning jack 5 control system to analyze the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , analyzing the tensioning force data of the traction cable 9, and issuing control instructions to the control system of the tensioning jack 5 according to the analysis results;

[0057] The display module is connected to the data analysis and control module and is used to display the current rotation posture of the bridge, including the rotation angular velocity ω i , angular acceleration of rotation α i , 9 tensions of traction cables, etc., to display test data and rotation construction interface.

[0058] The present technical solution may also include the following technical details to better achieve the technical effect: a shaft rod 13 is arranged at the center of the top surface of the lower turntable 3, a through hole is arranged at the center of the upper turntable 2, the upper turntable 2 is penetrated on the shaft rod 13, and the diameter of the through hole is larger than the diameter of the shaft rod 13.

[0059] The present technical solution may also include the following technical details to better achieve the technical effect: the tensioning jacks 5 are divided into two groups, which are respectively located on the left and right sides of the upper turntable 2; the traction rope 9 is divided into two strands, and the two strands of traction rope 9 are wound around the upper turntable 2, and the fixed ends of the traction rope 9 are fixed to the upper turntable 2 by anchors, and the two groups of tensioning jacks 5 are arranged so that the tensioning directions of the two strands of traction rope 9 are parallel and opposite.

[0060] The present technical solution may also include the following technical details to better achieve the technical effect: a protective jack 10 is provided between the lower turntable base 4 and the upper turntable 2 to prevent the upper turntable 2 from tilting.

[0061] like Figures 1 to 4 As shown, a method for controlling the horizontal rotation of a bridge using an intelligent control system comprises the following steps:

[0062] Step 1: Obtain the displacement-time curve Lt through the pull-rope displacement meter 8 and the pull-rope displacement meter monitoring module, and obtain the rotation angular velocity ω i and the angular acceleration αi ;

[0063] Among them, the pull-wire displacement meter 8 obtains the displacement-time curve Lt, and any time period t i =t i -t i-1 , the corresponding displacement L i =L i -L i-1 , the linear velocity v of the outer edge of the turntable i , according to the linear velocity v i With angular velocity w i The relationship between the radius r of the turntable and the angular velocity w can be obtained i :

[0064]

[0065] From the angular velocity w i With angular acceleration α i The relationship can be obtained:

[0066]

[0067] Step 2: Startup phase, if θ i If the bridge overcomes the static friction and starts to rotate, it will enter the stage of accelerated rotation; θ i The bridge structure has rotated to a certain angle;

[0068] Step 3: Acceleration and rotation stage: the central control integrated system is set with an angular acceleration allowable value [ω] and an angular velocity allowable value [α]. If the angular acceleration α i <[α],angular velocity ω i <[ω], the central control integrated system sends a command to the control device of the tensioning jack 5 to continue to increase the angular acceleration or maintain the angular acceleration, otherwise it reduces the angular acceleration;

[0069] Step 4: Uniform rotation stage. When the uniform speed stage is about to be reached, if the angular velocity ω i →[ω], the central control integrated system sends a command to the tensioning jack 5 control system to keep the current tensioning force of the traction cable 9 continuously working; ω i →[ω] means ω i The angular acceleration reaches 80% to 90% of the permissible value. The uniform rotation stage is the main stage of the entire rotation stage and takes the longest time.

[0070] In step 4, during the uniform speed stage, or due to other factors, the bridge rotation speed will fluctuate around a certain value, rather than a fixed value. If the angular velocity ω i ≥[ω], the central control integrated system sends a command to the tensioning jack 5 control system to reduce the tension of the traction rope 9, and slowly decelerates until ωi →[ω].

[0071] Step 5: In the deceleration stage, the central control integrated system sends a deceleration command to the tensioning jack 5 control system to an angular velocity ω i →0; when the rotation angle reaches 80% to 90% of the target rotation angle value set by the central control integrated system, it enters the deceleration stage. In this embodiment, the rotation angle reaches 85% of the target rotation angle and enters the deceleration stage. In this embodiment, the angular velocity ω i →0 means ω i When it reaches 0.0001-0.0005rad / min, stop decelerating and enter the inching stage.

[0072] Step 6. In the inching stage, the central control integrated system is set with the remaining rotation angle inching value θ'. When θ→θ', θ→θ' means that θ reaches 80% to 90% of the remaining rotation angle inching value θ', and the rotation enters the inching stage. According to the test data of the trial rotation, the central control integrated system sends an inching duration control instruction to the tensioning jack 5 control system. The tensioning jack 5 control system controls the tensioning jack 5 tensioning traction rope 9 through the inching control button until the rotation reaches the target value and the rotation is completed; θ is the current remaining rotation angle. When the rotation is close to the target value, it is about to be rotated into place, and enters the last stage: the inching stage. Through the inching control button of the tensioning jack 5 control system, the rotation is in place little by little, mainly for the convenience of adjustment to achieve the final target value.

[0073] Current remaining rotation angle θ, initial rotation angle θ 0 , has turned an angle θ i , then θ=θ 0 -θ i , where θ i for:

[0074]

[0075] According to the rotation angle, it is determined whether the current bridge is in the accelerated rotation, uniform rotation, decelerated rotation and inching stage. If the current remaining rotation angle θ = 0°, the rotation reaches the target value and the rotation is completed.

[0076] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. An intelligent control system for bridge angular velocity based on a pull-rope displacement meter, characterized in that: include: A lower turntable, the top surface of which is provided with a ball joint receiving groove; An upper turntable with a ball joint, wherein the ball joint of the upper turntable is rotatably arranged in a ball joint receiving groove, and a traction rope is wound around the upper turntable; A pull-wire displacement meter is fixed on the lower rotating disk, the pull wire of the pull-wire displacement meter is wound on the upper rotating disk in an orderly manner, the free end of the pull wire is fixed on the upper rotating disk, and the pull-wire displacement meter and the pull wire are located on the same horizontal line; The cable displacement meter monitoring module is connected to the cable displacement meter to collect the upper turntable rotation displacement L measured by the cable displacement meter and convert it into the angular velocity ω of the turntable. i , angular acceleration of rotation α i ; The tensioning jack is installed on the lower turntable and is used to tension the traction rope wound on the upper turntable, thereby driving the rotating bridge to rotate; A tensioning jack control system connected to the tensioning jack; The central control integrated system is connected to the cable displacement meter monitoring module and the tension jack control system to receive the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , the tension data of the traction cable, and according to the angular velocity ω i , angular acceleration α i , control the tensioning jack control system.

2. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 1 is characterized in that: The bottom of the lower turntable is provided with a lower turntable base; the pull rope displacement meter is fixed on the lower turntable base through a fixed bracket; and the tensioning jack is installed on the lower turntable base through a jack base.

3. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 1 is characterized in that: The intelligent control system also includes: The data acquisition and transmission module is connected with the cable displacement meter monitoring module and the tensioning jack control system, and is used to send data acquisition instructions to the cable displacement meter monitoring module and the tensioning jack control system.

4. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 3 is characterized in that: The central control integrated system comprises: A data receiving module connected to the data acquisition and transmission module; The data analysis and control module is connected to the data receiving module and the tension jack control system to analyze the angular velocity ω of the rotating body. i , angular acceleration of rotation α i , Analyze the tensioning force data of the traction cable, and issue control instructions to the tensioning jack control system based on the analysis results; The display module is connected to the data analysis and control module and is used to display the current rotation posture of the bridge.

5. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 1 is characterized in that: A shaft rod is arranged at the center of the top surface of the lower turntable, a through hole is arranged at the center of the upper turntable, the upper turntable is penetrated on the shaft rod, and the diameter of the through hole is larger than the diameter of the shaft rod.

6. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 1 is characterized in that: There are two groups of tensioning jacks, which are respectively located on the left and right sides of the upper turntable; there are two traction ropes, which are wound around the upper turntable, and the two groups of tensioning jacks are arranged so that the tensioning directions of the two traction ropes are parallel and opposite.

7. The intelligent control system for bridge angular velocity based on the pull-rope displacement meter according to claim 1 is characterized in that: A protection jack is arranged between the lower turntable base and the upper turntable.

8. A method for controlling the horizontal rotation of a bridge using the intelligent control system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Obtain the displacement-time curve Lt through the pull-rope displacement meter and the pull-rope displacement meter monitoring module, and obtain the rotation angular velocity ω i and the angular acceleration α i ; Step 2: Startup phase, if θ i If the bridge overcomes the static friction and starts to rotate, it will enter the stage of accelerated rotation; θ i The bridge structure has rotated to a certain angle; Step 3: Acceleration rotation stage: the central control integrated system is set with an angular acceleration allowable value [ω] and an angular velocity allowable value [α]. If the angular acceleration , angular velocity , the central control integrated system sends a command to the tensioning jack control device to continue accelerating or maintain acceleration, otherwise decelerate; Step 4: Uniform rotation stage. When the uniform speed stage is about to be reached, if the angular velocity , the central control integrated system sends a command to the tensioning jack control system to keep the current tensioning force of the traction cable working continuously; refers to ω i Reach 80%~90% of the allowable angular acceleration value; Step 5: When the rotation angle reaches 80% to 90% of the target rotation angle value set by the central control integrated system, the deceleration stage begins. In the deceleration stage, the central control integrated system sends a deceleration command to the tensioning jack control system to an angular velocity of ; Step 6: In the jog stage, the central control integrated system sets a remaining swivel angle jog value θ'. hour, It means that when θ reaches 80% to 90% of the remaining rotation angle inching value θ', the rotation enters the inching stage, and the central control integrated system sends an inching duration control instruction to the tensioning jack control system. The tensioning jack control system controls the tensioning jack to tension the traction rope through the inching control button until the rotation reaches the target value and the rotation is completed; θ is the current remaining rotation angle.

9. The method for horizontal rotation of a bridge as claimed in claim 8, characterized in that: In step 4, during the uniform speed stage, or due to other factors, the bridge rotation speed will fluctuate around a certain value, rather than a fixed value. The central control integrated system sends a command to the tensioning jack control system to reduce the tensioning force of the traction cable, and slowly decelerates until .

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