Control system and control method of hydraulic synchronous pushing and sliding device

Abstract

The application discloses a hydraulic synchronous pushing and sliding equipment control system and a control method, relates to the technical field of bridge construction, and realizes three-stage control of hydraulic pushing and sliding through a main controller, a light synchronization unit, a hydraulic control box, a hydraulic device controlled by the hydraulic control box, and a hydraulic pump. The control precision and synchronization of the bridge hydraulic pushing and sliding construction process are effectively improved, the stress borne by the bridge structure in the construction process is reduced, the safety of the bridge and the safety and normal use of the infrastructure around the bridge are ensured, the deviation in the pushing and sliding construction process is effectively reduced, the construction complexity is reduced, the construction efficiency is improved, and the construction progress is ensured.

Description

Technical Field

[0001] This invention relates to the field of bridge construction technology, and more specifically to a control system and control method for a hydraulic synchronous jacking and sliding device. Background Technology

[0002] With the continuous development of my country's economy and the continuous expansion of infrastructure construction, the demand for bridge construction is also gradually increasing. At the same time, with the continuous improvement of infrastructure construction, the environment faced by bridge construction is becoming increasingly complex. In order not to affect the normal use of existing infrastructure, and not to affect the normal operation and safety of existing railway lines, highways, expressways and waterways, new requirements have been put forward for the construction methods, construction progress and construction safety of bridge construction.

[0003] The bridge jacking and sliding construction method has the advantages of short construction period and minimal impact on surrounding buildings. This method typically utilizes a jacking and sliding structure to push the main steel structure of the bridge span to a predetermined position; or, sections of steel beams are placed on pre-set sliding tracks, and the jacking and sliding structure pushes these sections to their predetermined positions. New sections are then connected, and the jacking operation is repeated, assembling all sections of steel beams sequentially and gradually pushing them into place. Existing jacking and sliding construction methods involve numerous hydraulic mechanisms for pushing, lifting, and lowering beams. However, controlling a large number of hydraulic devices over long distances involves numerous and long control lines. The synchronization of hydraulic control is poor due to control line delays and interference between control signals. Furthermore, the real-time performance and accuracy of the sensing system are insufficient due to the accuracy and time delay of various sensors located on the bridge span and hydraulic devices, as well as interference between lines, further affecting the accuracy of hydraulic control. Insufficient synchronization and precision in hydraulic jacking and sliding control can lead to deviations during jacking operations, increasing construction difficulty and affecting construction progress. Furthermore, insufficient synchronization and precision in hydraulic control can increase local stress in the bridge span structure and cause greater horizontal reaction forces on the piers, increasing the risk of bridge structural damage and harming bridge safety and the safety and normal use of surrounding infrastructure.

[0004] Therefore, how to improve the control accuracy and synchronization of the hydraulic jacking and sliding control system is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a control system and control method for a hydraulic synchronous jacking and sliding device, which solves the problems of insufficient control accuracy and synchronization of existing hydraulic jacking and sliding control systems.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention discloses a hydraulic synchronous jacking and sliding equipment control system, comprising: a main controller, an optical synchronization unit, a hydraulic control box, a monitoring unit, a hydraulic device, and a hydraulic pump.

[0008] The main controller is connected to the hydraulic control box via a CAN bus and sends control commands to the hydraulic control box; the main controller is also connected to the optical synchronization unit via a CAN bus and sends synchronization commands to the optical synchronization unit.

[0009] The optical synchronization unit is connected to the hydraulic control box via an optical fiber, and sends optical pulse signals to the hydraulic control box according to the synchronization command; in addition, the optical synchronization unit also receives feedback signals sent by each hydraulic control box.

[0010] Specifically, let the hydraulic control boxes be A1, A2, A3...A i The optical pulse signal sent from the j-th optical pulse to the i-th hydraulic control box is B. j i The time is TB j i， The feedback signal sent by the i-th hydraulic control box is C. j i The time is TC j i .

[0011] Then the deviation value D of the j-th optical pulse signal of the i-th hydraulic control box can be calculated. j i =TB j i -TC j i All optical pulse signal deviation values ​​{D 1 i D 2 i D 3 i ...D j i Outliers greater than the threshold T0 in the data are removed, and the average deviation D of the optical pulse signal of the i-th hydraulic control box is calculated. i This forms the dataset D = {D1, D2, D3, ..., D}. i}; Take the maximum value D in dataset D. max Ultimately, the optical pulse signal delay compensation value T for each hydraulic control box can be obtained. i＝ D max -D i The initial optical pulse signal delay compensation value is set to 0. The transmission time of the j-th optical pulse signal sent by the optical synchronization unit to the i-th hydraulic control box is increased by the optical pulse signal delay compensation value T. i Send later.

[0012] The hydraulic control box is electrically connected to a hydraulic pump and a hydraulic device, and controls the power and oil supply pressure of the hydraulic pump according to the control command. The hydraulic pump is connected to multiple hydraulic devices to supply hydraulic oil to the hydraulic devices. The hydraulic control box controls the movement of the hydraulic devices according to the control command and the optical pulse signal. The hydraulic control box also receives pressure and displacement signals fed back by the hydraulic devices, as well as pressure and power signals fed back by the hydraulic pump.

[0013] The monitoring unit includes a displacement monitoring module, a stress monitoring module, and a hydraulic monitoring module. The monitoring unit is connected to the main controller and transmits the monitoring data from the displacement monitoring module, stress monitoring module, and hydraulic monitoring module to the main controller in real time. The main controller issues control commands based on the real-time monitoring data and the sliding operation setpoint.

[0014] Furthermore, the control commands include: the serial number of the hydraulic device, the control direction and pulse number corresponding to the serial number of the hydraulic device, and the serial number of the hydraulic pump, and the power and pressure values ​​corresponding to the serial number of the hydraulic pump; the synchronization commands include pulse frequency, start command and stop command.

[0015] Furthermore, there are multiple hydraulic control boxes, each including a main control MCU, and a photoelectric signal conversion module and a signal transceiver module connected to the main control MCU. The photoelectric signal conversion module converts optical pulse signals into electrical pulse signals. The main control MCU generates control signals based on the electrical pulse signals and the control commands, and sends the control signals to the corresponding hydraulic devices through the signal transceiver module. After sending all control signals, the main control MCU sends feedback signals to the optical synchronization unit through the photoelectric signal conversion module. The main control MCU is also connected to the monitoring unit via optical fiber to send the pressure and displacement signals of the hydraulic devices, as well as the pressure and power signals of the hydraulic pump, received by the signal transceiver module, to the monitoring unit.

[0016] Furthermore, the hydraulic device employs a digital hydraulic cylinder, controlling its movement according to a pulse control signal; the hydraulic device includes: a pushing hydraulic device, a lifting hydraulic device, and a lateral movement limiting hydraulic device; the hydraulic control box is connected to one or more of the pushing hydraulic device, the lifting hydraulic device, and the lateral movement limiting hydraulic device.

[0017] Furthermore, the displacement monitoring module monitors the overall displacement data of the bridge span in real time based on displacement sensors on the top of the hydraulic device and on the bridge span itself; the stress monitoring module monitors the stress data of the main body of the bridge span and the main body of the bridge piers in real time based on stress sensors on the bridge span and on the piers; the hydraulic monitoring module monitors the pressure data of each hydraulic device and the hydraulic pump in real time. The stress sensors are fiber optic stress sensors, fixedly attached to the main structure of the bridge span and the main structure of the bridge piers.

[0018] Furthermore, the hydraulic synchronous jacking and sliding equipment control system also includes a process display and alarm module. The process display and alarm module is connected to the main controller and can display the entire process of bridge jacking and sliding operation in real time based on the monitoring data received by the main controller, and issue alarms for abnormal monitoring data.

[0019] Furthermore, the hydraulic synchronous jacking and sliding device control system also includes a storage module connected to the main controller for storing monitoring data received by the main controller and control commands issued by the main controller.

[0020] This invention also discloses a control method for a hydraulic synchronous jacking and sliding device. This control method employs the aforementioned hydraulic synchronous jacking and sliding device control system and includes the following steps:

[0021] Step 1: Place the bridge span or part of the bridge span to be pushed and slid on the preset sliding track, install the jacking hydraulic device, the lifting hydraulic device and the lateral movement limiting hydraulic device to the preset position, and install the displacement sensor and stress sensor.

[0022] Step 2: Based on the 3D construction model and the actual measurement coordinates after the sensors are installed, initialize the 3D coordinates of each displacement sensor and stress sensor; set the preset data for jacking and sliding, including: preset jacking and sliding position, jacking and sliding speed, safety threshold range of each stress sensor, pressure safety threshold of each hydraulic device, and oil supply pressure value of each hydraulic pump.

[0023] Step 3: The main controller calculates the control pulse frequency, the movement direction and number of control pulses of each hydraulic device based on the coordinate data of the displacement sensor and stress sensor, combined with the preset data of the jacking and sliding, and sends it to the corresponding hydraulic control box.

[0024] Step 4: After receiving the confirmation message from the hydraulic control box, the main controller sends a synchronization command to the optical synchronization unit. The optical synchronization unit sends an optical pulse signal, and the hydraulic control box controls the hydraulic device to move synchronously according to the control command and the optical pulse signal.

[0025] Step 5: The monitoring unit monitors the displacement data, stress data, and hydraulic data in real time during the jacking and sliding process. When the data exceeds the threshold, an alarm is issued, the main controller issues a pause command, then calculates a new control command and sends it to the corresponding hydraulic control box, and then executes operation step 4 until the bridge span or part of the bridge span segment is jacked and slid to the preset position.

[0026] Furthermore, when the bridge span to be jacked and slid is a multi-segment structure, it also includes:

[0027] Step 6: Place the new sliding bridge segment to be pushed into the preset position on the sliding track and connect it with the already pushed segment, then execute steps 1-5;

[0028] Repeat steps 1-6 until all bridge span segments are pushed into place.

[0029] As can be seen from the above technical solution, compared with the prior art, this invention discloses a hydraulic synchronous jacking and sliding equipment control system. By setting up a dedicated optical synchronization unit, it can send synchronous optical pulse signals to the corresponding hydraulic control box according to the synchronization command. The synchronization signal is not affected by external electromagnetic signals or signals between lines, and has the characteristics of good time accuracy and high signal stability. Moreover, the transmission time of each pulse signal is adjusted in real time through compensation value, further enhancing the synchronization of system control. The hydraulic device adopts a digital hydraulic cylinder, which can be precisely controlled according to digital control signals, improving the accuracy of jacking and sliding. Both stress sensors and displacement sensors can be fiber optic sensors, which are small in size, high in accuracy, not easily affected by interference, and highly sensitive, enabling timely feedback of detection data, improving the detection accuracy and response speed of the monitoring unit. The main controller can accurately and promptly issue alarms based on the data from the monitoring unit and send corresponding control and synchronization commands, thereby precisely and synchronously controlling the hydraulic device and hydraulic pump. This effectively reduces the offset of the jacking operation, lowers the difficulty of bridge slippage construction, improves the construction progress, and significantly reduces the situation of excessive local stress in the bridge span and pier structure, reducing the risk of bridge structural damage and ensuring the safety and normal use of the surrounding infrastructure. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 This is a schematic diagram of the hydraulic jacking device of the present invention.

[0033] Figure 3 This is a schematic diagram of the lifting hydraulic device and the lateral movement limiting hydraulic device of the present invention.

[0034] In the diagram: 1. Sliding track mounting base; 2. Sliding track; 3. Jacking hydraulic device; 4. Jacking lug; 5. Bridge span segment; 6. Sliding base; 7. Lifting hydraulic device; 8. Lateral movement limiting hydraulic device; 9. Pulley trolley. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] This invention discloses a control system for a hydraulic synchronous jacking and sliding device, such as... Figure 1 As shown, it includes: a main controller, an optical synchronization unit, a hydraulic control box, a monitoring unit, a hydraulic device, and a hydraulic pump.

[0037] The main controller is connected to the hydraulic control box via a CAN bus and sends control commands to the hydraulic control box; the main controller is also connected to the optical synchronization unit via a CAN bus and sends synchronization commands to the optical synchronization unit.

[0038] The optical synchronization unit is connected to the hydraulic control box via an optical fiber, and sends optical pulse signals to the hydraulic control box according to the synchronization command; in addition, the optical synchronization unit also receives feedback signals sent by each hydraulic control box.

[0039] Specifically, let the hydraulic control boxes be A1, A2, A3...A i The optical pulse signal sent from the j-th optical pulse to the i-th hydraulic control box is B. j i The time is TB j i， The feedback signal sent by the i-th hydraulic control box is C. j i The time is TC j i .

[0040] Then the deviation value D of the j-th optical pulse signal of the i-th hydraulic control box can be calculated. j i =TB j i-TC j i All optical pulse signal deviation values ​​{D 1 i D 2 i D 3 i ...D j i Outliers greater than the threshold T0 in the data are removed, and the average deviation D of the optical pulse signal of the i-th hydraulic control box is calculated. i This forms the dataset D = {D1, D2, D3, ..., D}. i}; Take the maximum value D in dataset D. max Ultimately, the optical pulse signal delay compensation value T for each hydraulic control box can be obtained. i＝ D max -D i The initial optical pulse signal delay compensation value is set to 0. The transmission time of the j-th optical pulse signal sent by the optical synchronization unit to the i-th hydraulic control box is increased by the optical pulse signal delay compensation value T. i Send later.

[0041] The hydraulic control box is electrically connected to a hydraulic pump and a hydraulic device, and controls the power and oil supply pressure of the hydraulic pump according to the control command. The hydraulic pump is connected to multiple hydraulic devices to supply hydraulic oil to the hydraulic devices. The hydraulic control box controls the movement of the hydraulic devices according to the control command and the optical pulse signal. The hydraulic control box also receives pressure and displacement signals fed back by the hydraulic devices, as well as pressure and power signals fed back by the hydraulic pump.

[0042] The monitoring unit includes a displacement monitoring module, a stress monitoring module, and a hydraulic monitoring module. The monitoring unit is connected to the main controller and transmits the monitoring data from the displacement monitoring module, stress monitoring module, and hydraulic monitoring module to the main controller in real time. The main controller performs load balancing, attitude correction, and stress control calculations through a preset control program based on the real-time monitoring data and the sliding operation setpoint, and issues corresponding control commands.

[0043] Furthermore, the control commands include: the serial number of the hydraulic device, the control direction and pulse number corresponding to the hydraulic device serial number, and the serial number of the hydraulic pump, the power and pressure values ​​corresponding to the hydraulic pump serial number; the synchronization commands include pulse frequency, start command, and stop command. The control commands may also include a pulse sequence number B corresponding to the hydraulic device serial number. j i For example, specifically controlling a hydraulic device to move at the 1st, 3rd, 5th, 7th... optical pulse signal.

[0044] Furthermore, there are multiple hydraulic control boxes, each including a main control MCU, and a photoelectric signal conversion module and a signal transceiver module connected to the main control MCU. The photoelectric signal conversion module converts optical pulse signals into electrical pulse signals. The main control MCU generates control signals based on the electrical pulse signals and the control commands, and sends the control signals to the corresponding hydraulic devices through the signal transceiver module. After sending all control signals, the main control MCU sends feedback signals to the optical synchronization unit through the photoelectric signal conversion module. The main control MCU is also connected to the monitoring unit via optical fiber to send the pressure and displacement signals of the hydraulic devices, as well as the pressure and power signals of the hydraulic pump, received by the signal transceiver module, to the monitoring unit.

[0045] Furthermore, the hydraulic device employs a digital hydraulic cylinder, controlling its movement according to pulse control signals. The hydraulic device includes a jacking hydraulic device 3, a lifting hydraulic device 7, and a lateral movement limiting hydraulic device 8, wherein the lifting hydraulic device 8 is connected to the bridge span. The hydraulic control box is connected to one or more of the jacking hydraulic device 3, lifting hydraulic device 7, and lateral movement limiting hydraulic device 8. For example, the hydraulic control box can be placed on one side of the sliding track, simultaneously controlling multiple jacking hydraulic devices 3; alternatively, the hydraulic control box can be installed on a specific bridge pier, simultaneously controlling multiple lifting hydraulic devices 7 and multiple lateral movement limiting hydraulic devices 8.

[0046] Furthermore, the displacement monitoring module monitors the overall displacement data of the bridge span in real time based on displacement sensors on the top of the hydraulic device and on the bridge span itself; the stress monitoring module monitors the stress data of the main body of the bridge span and the main body of the bridge piers in real time based on stress sensors on the bridge span and on the piers; the hydraulic monitoring module monitors the pressure data of each hydraulic device and the hydraulic pump in real time. The stress sensors are fiber optic stress sensors, fixedly attached to the main structure of the bridge span and the main structure of the bridge piers.

[0047] Furthermore, the hydraulic synchronous jacking and sliding equipment control system also includes a process display and alarm module. The process display and alarm module is connected to the main controller and can display the entire process of bridge jacking and sliding operation in real time based on the monitoring data received by the main controller, and issue alarms for abnormal monitoring data.

[0048] Furthermore, the hydraulic synchronous jacking and sliding device control system also includes a storage module connected to the main controller for storing monitoring data received by the main controller and control commands issued by the main controller.

[0049] In another embodiment of the present invention, a control method for a hydraulic synchronous jacking and sliding device is also disclosed. The method employs the aforementioned hydraulic synchronous jacking and sliding device control system and specifically includes the following steps:

[0050] Step 1: As Figure 2 and Figure 3 As shown, the sliding rail 2 is fixedly installed on the sliding rail mounting base 1. The bridge span or part of the bridge span segment 5 to be pushed and slid is placed on the preset sliding rail 2. Multiple sliding bases 6 are set between the bridge span segment 5 and the sliding rail 2. The jacking hydraulic device 3, the lifting hydraulic device 7, and the transverse limiting hydraulic device 8 are installed in the preset positions. The jacking hydraulic device 3 is hinged to the bridge span segment 5 through the jacking lug 4. The top of the lifting sliding hydraulic device 7 is fixedly installed with a pulley trolley 9. A slider is installed between the transverse limiting hydraulic device 8 and the bridge span segment 5. Then, the displacement sensor and stress sensor are installed in the preset positions.

[0051] Step 2: Based on the 3D construction model and the actual measurement coordinates after the sensors are installed, initialize the 3D coordinates of each displacement sensor and stress sensor; set the preset data for jacking and sliding, including: preset jacking and sliding position, jacking and sliding speed, safety threshold range of each stress sensor, pressure safety threshold of each hydraulic device, and oil supply pressure value of each hydraulic pump.

[0052] Step 3: The main controller calculates the control pulse frequency, the movement direction and number of control pulses of each hydraulic device based on the coordinate data of the displacement sensor and stress sensor, combined with the preset data of the jacking and sliding, and sends it to the corresponding hydraulic control box.

[0053] Step 4: After receiving the confirmation message from the hydraulic control box, the main controller sends a synchronization command to the optical synchronization unit. The optical synchronization unit sends an optical pulse signal, and the hydraulic control box controls the hydraulic device to move synchronously according to the control command and the optical pulse signal.

[0054] Step 5: The monitoring unit monitors the displacement, stress, and hydraulic data during the jacking and sliding process in real time. When the data exceeds the threshold, an alarm is issued and the main controller issues a pause command; or, on-site personnel can manually issue a pause command based on the on-site display and alarm module data. After detecting the abnormality, the preset data is adjusted; then the main controller calculates the new control command and sends the new control command to the corresponding hydraulic control box, and then executes operation step 4 until the bridge span or part of the bridge span segment is jacked and slid to the preset position.

[0055] Step 6: Place the new bridge span segment to be jacked and slid into the preset position on the sliding track, connect it with the already jacked segment, and execute steps 1-5; repeat steps 1-6 until all bridge span segments are jacked into place. Then, perform the beam lowering operation, sequentially removing the pads under the jacking hydraulic device and the pads between the bridge span base and the pier support until all pads are removed, fix the bridge span base and the pier support, and dismantle all jacking and sliding equipment.

[0056] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0057] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control system for a hydraulic synchronous jacking and sliding device, characterized in that, The system includes: a main controller, an optical synchronization unit, a hydraulic control box, a monitoring unit, a hydraulic device, and a hydraulic pump; The main controller is connected to the hydraulic control box via a CAN bus and sends control commands to the hydraulic control box; the main controller is also connected to the optical synchronization unit via a CAN bus and sends synchronization commands to the optical synchronization unit. The hydraulic control box comprises multiple units, each including: a main control MCU, and a photoelectric signal conversion module and a signal transceiver module connected to the main control MCU; The photoelectric signal conversion module is used to convert optical pulse signals into electrical pulse signals. The main control MCU generates control signals based on the electrical pulse signals and the control commands, and sends the control signals to the hydraulic devices with corresponding serial numbers through the signal transceiver module. The main control MCU is also connected to the monitoring unit via optical fiber, and is used to send the pressure signal and displacement signal of the hydraulic device, as well as the pressure signal and power signal of the hydraulic pump, received by the signal transceiver module to the monitoring unit; The optical synchronization unit is connected to the hydraulic control box via optical fiber, and sends optical pulse signals to the hydraulic control box according to the synchronization command; furthermore, the optical synchronization unit also receives feedback signals sent by each hydraulic control box; specifically, let the hydraulic control boxes be A1, A2, A3...A i The optical pulse signal sent from the j-th optical pulse to the i-th hydraulic control box is B. j i The time is TB j i， The feedback signal sent by the i-th hydraulic control box is C. j i The time is TC j i Then the deviation value D of the j-th optical pulse signal of the i-th hydraulic control box can be calculated. j i =TB j i -TC j i All optical pulse signal deviation values ​​{D 1 i D 2 i D 3 i ...D j i Outliers greater than the threshold T0 in the data are removed, and the average deviation D of the optical pulse signal of the i-th hydraulic control box is calculated. i This forms the dataset D = {D1, D2, D3, ..., D}. i }; Take the maximum value D in dataset D. max Ultimately, the optical pulse signal delay compensation value T for each hydraulic control box can be obtained. i= D max -D i The initial optical pulse signal delay compensation value is set to 0. The transmission time of the j-th optical pulse signal sent from the optical synchronization unit to the i-th hydraulic control box is increased by the optical pulse signal delay compensation value T. i Send later; The hydraulic control box is electrically connected to a hydraulic pump and a hydraulic device, and controls the power and oil supply pressure of the hydraulic pump according to the control command; the hydraulic pump is connected to multiple hydraulic devices to supply hydraulic oil to the hydraulic devices; the hydraulic control box controls the movement of the hydraulic devices according to the control command and the optical pulse signal; the hydraulic control box also receives pressure and displacement signals fed back by the hydraulic devices, as well as pressure and power signals fed back by the hydraulic pump. The monitoring unit includes a displacement monitoring module, a stress monitoring module, and a hydraulic monitoring module. The monitoring unit is connected to the main controller and transmits the monitoring data from the displacement monitoring module, stress monitoring module, and hydraulic monitoring module to the main controller in real time. The main controller issues control commands based on the real-time monitoring data and the sliding operation setpoint.

2. The hydraulic synchronous jacking and sliding equipment control system according to claim 1, characterized in that, The control commands include: the serial number of the hydraulic device, the control direction and pulse number corresponding to the serial number of the hydraulic device, and the serial number of the hydraulic pump, and the power and pressure value corresponding to the serial number of the hydraulic pump; the synchronization commands include pulse frequency, start command and stop command.

3. The control system for a hydraulic synchronous jacking and sliding device according to claim 1, characterized in that, The hydraulic device uses a digital hydraulic cylinder, and its movement is controlled by a pulse control signal. The hydraulic device includes a pushing hydraulic device, a lifting hydraulic device, and a lateral movement limiting hydraulic device. The hydraulic control box is connected to one or more of the pushing hydraulic device, the lifting hydraulic device, and the lateral movement limiting hydraulic device.

4. The control system for a hydraulic synchronous jacking and sliding device according to claim 1, characterized in that, The displacement monitoring module monitors the overall displacement data of the bridge span in real time based on the displacement sensor on the top of the hydraulic device and the displacement sensor on the bridge span. The stress monitoring module monitors the stress data of the main body of the bridge span and the main body of the bridge pier in real time based on the stress sensors on the bridge span and the stress sensors on the bridge pier. The hydraulic monitoring module monitors the pressure data of various hydraulic devices and hydraulic pumps in real time.

5. The control system for a hydraulic synchronous jacking and sliding device according to claim 4, characterized in that, The stress sensor is a fiber optic stress sensor, which is fixedly attached to the main structure of the bridge span and the main structure of the bridge pier.

6. The control system for a hydraulic synchronous jacking and sliding device according to claim 1, characterized in that, It also includes a process display and alarm module, which is connected to the main controller and can display the entire process of bridge jacking and sliding operation in real time based on the monitoring data received by the main controller, and issue alarms for abnormal monitoring data.

7. The control system for a hydraulic synchronous jacking and sliding device according to claim 1, characterized in that, It also includes a storage module, which is connected to the main controller and is used to store the monitoring data received by the main controller and the control commands issued by the main controller.

8. A control method for a hydraulic synchronous jacking and sliding device, characterized in that, The control method employs a hydraulic synchronous jacking and sliding device control system as described in any one of claims 1 to 7, and the control method includes the following steps: Step 1: Place the bridge span or part of the bridge span to be pushed and slid on the preset sliding track, install the jacking hydraulic device, the lifting hydraulic device and the lateral movement limiting hydraulic device to the preset position, and install the displacement sensor and stress sensor. Step 2: Based on the 3D construction model and the actual measurement coordinates after the sensors are installed, initialize the 3D coordinates of each displacement sensor and stress sensor; set the preset data for jacking and sliding, including: preset jacking and sliding position, jacking and sliding speed, safety threshold range of each stress sensor, pressure safety threshold of each hydraulic device, and oil supply pressure value of each hydraulic pump. Step 3: The main controller calculates the control pulse frequency, the movement direction and number of control pulses of each hydraulic device based on the coordinate data of the displacement sensor and stress sensor, combined with the preset data of the jacking and sliding, and sends it to the corresponding hydraulic control box. Step 4: After receiving the confirmation message from the hydraulic control box, the main controller sends a synchronization command to the optical synchronization unit. The optical synchronization unit sends an optical pulse signal, and the hydraulic control box controls the hydraulic device to move synchronously according to the control command and the optical pulse signal. Step 5: The monitoring unit monitors the displacement data, stress data, and hydraulic data in real time during the jacking and sliding process. When the data exceeds the threshold, an alarm is issued, the main controller issues a pause command, then calculates a new control command and sends it to the corresponding hydraulic control box, and then executes operation step 4 until the bridge span or part of the bridge span segment is jacked and slid to the preset position.

9. The control method for a hydraulic synchronous jacking and sliding device according to claim 8, characterized in that, When the bridge span to be jacked and slid is a multi-segment structure, it also includes: Step 6: Place the new sliding bridge segment to be pushed into the preset position on the sliding track and connect it with the already pushed segment, then execute steps 1-5; Repeat steps 1-6 until all bridge span segments are pushed into place.

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