A cable force adaptive control system and method

Abstract

The present invention provides a cable force adaptive control system and method, which are used for monitoring the inclination and settlement of a structure-cable system, as well as controlling the cable force, the installation position and selection method of an actuation system and related equipment, including: obtaining response information in real time through a monitoring system installed on a cable connected to the structure; establishing a target model for the structure in a control system, setting a cable force adjustment condition, converting a target expansion and contraction amount into an analog electrical signal and transmitting it to an actuation system, and setting multiple vibration reduction devices in the actuation system to achieve comprehensive analysis and processing of the structure, which not only provides a buffering effect to the actuation device during the response process, but also improves the accuracy of monitoring and controlling the inclination angle or settlement depth of the structure as a whole.

Description

Technical Field

[0001] The invention belongs to the field of civil engineering, and in particular relates to a cable force adaptive control system and method. Background Art

[0002] The uneven settlement, loosening, and slippage of structure-cable systems (such as transmission towers, cable-stayed bridges, communication towers, etc.) have a significant impact on their cable forces, seriously reducing the stability and safety of the structure. Taking the transmission tower structure as an example, it usually relies on a stable foundation to keep the structure upright. If the foundation of the transmission tower settles unevenly, the tower body will tilt, which will cause problems such as uneven distribution of transmission line tension and even cause structural damage or line break accidents. It can be seen that the uneven change of cable force will not only cause partial or overall deformation of the structure, shorten the service life of the structure, increase maintenance costs, but also increase the risk of structural failure.

[0003] Traditional cable tension monitoring methods include magnetic flux method, vibration frequency method, pressure test method and electrical measurement method. The corresponding monitoring schemes use relatively simple technical means, the cable tension identification accuracy is limited, and multi-channel verification has not yet been involved. Secondly, the operation and maintenance means for the cable tension monitoring results mainly rely on manpower or mechanical equipment for adjustment. Manual adjustment of cable tension does not take into account the ambient temperature effect. The energy required for direct tensioning of mechanical equipment is large, and the safety of personnel cannot be guaranteed. In addition, real-time adjustment and early warning functions cannot be realized, and the cable tension adjustment and operation and maintenance work lack intelligence. Summary of the invention

[0004] Based on the above research status, the purpose of the present invention is to provide a cable force adaptive control method and complete set of equipment. Through the linkage of the monitoring system, control system and actuation system, the cable force of the cable can be changed directly, quickly and efficiently, thereby achieving structural reset adjustment.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention proposes a cable force adaptive control system, which is mainly used for inclination / settlement monitoring and cable force adaptive control of structure-cable system, so as to reduce local or overall deformation of the structure, reduce maintenance costs, extend the service life of the structure, and thus improve the operating stability of the structure-cable system; specifically, it includes a monitoring system, a control system and an actuation system; the monitoring system includes a through-type pressure test ring and an acceleration sensor, which are respectively installed on the cable; the actuation system includes a vibration reduction device and an actuation device, and the vibration reduction device includes a universal connector, a spring, a fixing block, a first connecting plate, a second connecting plate, a guide rod, a metal cylinder, an insert rod, a first limit plate, a second limit plate and a limit support plate; one end of the universal connector is connected to the cable, and the other end is fixed to the first connecting plate; the first connecting plate and The second connecting plate is arranged relatively to each other, and a cylinder body is fixed on the second connecting plate, the cylinder body is filled with silicone oil, and a limit support plate is arranged on the inner wall of the cylinder body; one end of multiple guide rods passes through the first connecting plate and the cylinder body and are connected to the second connecting plate in sequence, and a fixed block is arranged at the other end of the guide rod, and a spring is sleeved on the guide rod between the fixed block and the first connecting plate, one end of the spring is connected to the fixed block, and the other end is connected to the first connecting plate; a plurality of plug rods are arranged at equal intervals along the length direction of the plate at the lower part of the first connecting plate, and a first limit plate and a second limit plate are arranged along the length direction of the plug rod; the actuating device includes a rotating motor and a screw transmission device, and the screw transmission device drives the second connecting plate to perform linear motion; the control system controls the rotating motor according to the data monitored by the through-type pressure test ring and the acceleration sensor.

[0007] When the lower actuator receives a command or the cable force of the upper cable changes, a limit support plate is set to limit the linear motion range of the small first limit plate and the second limit plate in the vertical direction, and the small limit plate is moved to a certain position to drive the movement of the limit support plate, so as to achieve the purpose of continuous startup and action of the entire device; a portion of silicone oil is filled in the cylinder body, and when the mechanical system is subjected to external force (that is, when the cable drives the first connecting plate to move, or the lower rotating motor drives the second connecting plate to move), the plug rod is inserted and pulled up and down in the silicone oil liquid to generate a damping force, converting the energy of mechanical vibration into heat energy, thereby reducing the vibration amplitude. The vibration reduction device is fixed to the cable through a universal joint, which has a compact structure and flexible steering, which can not only ensure the power transmission of the cable with variable angles, but also has a good absorption and buffering effect on the impact load and vibration generated during the steering process.

[0008] As a further technical solution, the lower part of the second connecting plate is connected to the sleeve rod through a rotating joint, the sleeve rod is connected to the nut of the screw transmission device, and the screw of the screw transmission device extends into the sleeve rod, so that when the lower rotating motor is working, the rotational motion of the rotating motor and the screw rod is converted into linear motion of the nut and the sleeve rod.

[0009] As a further technical solution, the actuating device is placed inside the outer tube, and a plurality of balls are arranged at the contact position between the outer tube and the sleeve rod to reduce contact friction.

[0010] As a further technical solution, the outer tube is connected to a safety buckle, and the other end of the safety buckle is fastened to the base of the actuating system to prevent the actuating system from falling off.

[0011] As a further technical solution, a safety cable is installed outside the actuation system. When an unexpected failure occurs in the actuation system, such as breakage, the safety cable restrains the cable to prevent the structure from overturning. The length of the safety cable can be determined according to the actual working state of the structure.

[0012] As a further technical solution, the rotating motor is connected to the rotating sleeve, and the lead screw of the lead screw transmission device is threadedly matched with the rotating sleeve.

[0013] As a further technical solution, a vibration absorbing layer is arranged around the rotating sleeve.

[0014] As a further technical solution, the vibration absorbing layer is made of metal rubber material, and a number of mass balls are placed in the vibration absorbing layer; the vibration absorbing layer is made of metal rubber material because metal rubber is soft when there is no external force, and it can instantly harden and absorb a large amount of energy when a collision occurs. A number of mass balls are placed in the vibration absorbing layer, and the mass balls collide with the vibration absorbing layer due to inertia, and the vibration absorbing layer absorbs energy to reduce the working vibration of the rotating sleeve.

[0015] As a further technical solution, the lower part of the rotating motor is connected to the viscoelastic material, and the bottom plate is a steel plate, which is placed under the viscoelastic material layer and is bound to the viscoelastic material layer by bolts; to prevent the torque of the rotating motor from being too large and causing damage to the bottom plate, the bottom plate is a steel plate, which is placed under the viscoelastic material layer and is bound to the viscoelastic material layer by bolts.

[0016] In a second aspect, the present invention further provides a control method for a cable force adaptive control system, which is as follows:

[0017] Step 1: Measure the cable force of the inclined cable by a through-type pressure test ring;

[0018] Step 2: The control system automatically obtains the vibration frequency data of the inclined cable collected by the acceleration sensor;

[0019] Step 3: The control system executes the FFT algorithm to perform spectrum analysis to obtain the first-order conversion frequency of the cable;

[0020] Step 4: Formulate a cable force equilibrium strategy, calculate through the static equilibrium equation, ensure that the cable forces in the four directions are equal or meet a certain proportional relationship, and obtain the equilibrium cable force value;

[0021] Step 5: According to the material properties and stress conditions of the cable, taking into account the temperature effect, determine the model of the cable force-displacement relationship, calculate the difference between the cable force measured in step 1 and the equilibrium cable force in step 4, and calculate the displacement that the cable should be extended or compressed according to the angle between the cable and the horizontal plane;

[0022] Step 6: According to the dynamic characteristics and the motion requirements of the motor, a length-motion relationship model is established, the control parameters of the motor are set, the control instructions of the motor are generated, and the rotating motor is controlled.

[0023] The beneficial effects of the present invention are:

[0024] 1. The cable force adaptive control system of the present invention is developed based on the basket bolt.

[0025] The rotating motor controls the rotating bolt sleeve to realize the retraction and release of the cable. Compared with direct tensioning of the cable, this strategy requires less force and is easy to implement. The equipment has strong engineering practicality and a wide range of applications. The monitoring system of the present invention adopts a through-hole pressure test ring and an acceleration sensor to monitor the cable force of the structural cable in real time within a specified time, complete frequency conversion in the single-chip microcomputer, formulate a cable force balance strategy, convert the retraction and release length, and output control instructions based on the length-motor momentum relationship. The present invention innovatively proposes a cable force control algorithm that takes temperature effects into account, which can realize phased real-time monitoring and adjustment of cable force, greatly reducing equipment costs and subsequent operation and maintenance costs.

[0026] 2. The sensors of the monitoring system, the single-chip microcomputer of the control system and the rotating motor of the present invention are all low-power electrical appliances, and the energy required for the control system is relatively small. Therefore, the monitoring, control and actuation requirements can be met by equipping them with solar photovoltaic panels and batteries.

[0027] 3. The present invention utilizes a rotating motor in the actuation system to convert the control instructions output by the single-chip microcomputer into rotational motion, and utilizes a ball screw pair to convert the rotational motion into the linear motion of a sleeve rod fixed on the nut, thereby completing the deformation regulation of the cable. During the regulation process, the vibration of the structure is effectively reduced through the vibration reduction device of the actuation system (i.e., the spring and the silicone oil in the metal cylinder).

[0028] 4. The present invention adopts a smart material shape memory alloy spring in the vibration reduction device of the actuation system, and utilizes its remarkable superelastic effect to provide the required damping force when the cable is deformed. After the vibration ends, the vibration reduction device is restored to its original shape to avoid affecting the working performance in the next application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0030] Figure 1 It is a front view of the cable force adaptive control system disclosed in the present invention;

[0031] Figure 2 It is a top view of the cable force adaptive control system disclosed in the present invention;

[0032] Figure 3 A detailed diagram of the actuation system of the cable force adaptive control system disclosed in the present invention;

[0033] Figure 4 A detailed diagram of the vibration absorbing layer of the cable force adaptive control system disclosed in the present invention;

[0034] In the figure: 1 cable, 2 structure, 3 foundation, 4 actuation system foundation, 5 acceleration sensor, 6 through-type pressure test ring, 7 safety cable, 8 fixing block, 9 connecting rod, 10 spring, 11 universal joint, 12 first connecting plate, 13 plug rod, 14 first limit plate, 15 second limit plate, 16 limit support plate, 17 metal cylinder, 18 silicone oil, 19 second connecting plate, 20 rotating joint, 21 sleeve rod, 22 ball, 23 screw rod, 24 nut, 25 rotating sleeve, 26 outer cylinder, 27 vibration absorption layer, 28 rotating connecting rod, 29 rotating motor, 30 viscoelastic material layer, 31 bottom plate, 32 bolt, 33 safety buckle, 34 mass ball. DETAILED DESCRIPTION

[0035] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0038] Terminology explanation section: The terms "install", "connect", "connect", "fix" and the like in the present invention patent should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements, or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention patent can be understood according to the specific circumstances.

[0039] A typical implementation method of the present invention is as follows Figure 1 As shown. The patent of the present invention proposes a method and complete set of equipment for adaptively controlling cable force, which is mainly composed of a monitoring system, a control system and an actuating system. Through the monitoring system sensors, on the basis of satisfying the real-time monitoring of the inclination and settlement of the structure, the single-chip microcomputer of the control system can be used to provide a cable force balancing strategy in real time and output control instructions. In particular, the control system sets a staged self-start (e.g., monitoring and adjustment once every half a month) to reduce energy consumption. The rotating motor of the actuating system is only used to rotate the bolt sleeve, with small actuating force and low energy demand. The vibration reduction device is connected to the actuating system. While executing the strategy, the cable is given a buffering effect to achieve energy consumption and vibration reduction.

[0040] This embodiment discloses a cable force adaptive control system, such as Figure 1 , Figure 2 , Figure 3 As shown, it includes a monitoring system, a control system, and an actuation system; the structure 2 is a common transmission tower, a cable-stayed bridge, a communication tower, etc., which is installed on a foundation 3, and the top of the structure 2 is respectively connected to four cables 1, wherein the monitoring system is composed of an acceleration sensor 5 and a through-type pressure test ring 6, both of which are arranged on the upper part of the above-mentioned four cables 1, and the lower part of the four cables 1 is connected to the actuation system, and the four cables 1 are fixed on the actuation system foundation 4;

[0041] Furthermore, the control system is composed of a single-chip microcomputer, the signal input end of the control system is connected to the through-type pressure test ring 6 and the acceleration sensor 5, and the output end controls the actuation system, which controls the actuation system to perform corresponding actions according to the signals collected by the through-type pressure test ring 6 and the acceleration sensor 5.

[0042] Furthermore, the actuating system in this embodiment is composed of an upper damping device and a lower actuating device, wherein the damping device includes a universal joint 11, a spring 10, a fixing block 8, a first connecting plate 12, a second connecting plate 19, a guide rod 9, a metal cylinder 17, silicone oil 18, an insert rod 13, a first limit plate 14, a second limit plate 15, and a limit support plate 16; the actuating device is composed of a ball screw pair, a rotary joint 20, a sleeve rod 21, a rotary motor 29, a rotary sleeve 25, a rotary connecting rod 28, a vibration absorbing layer 27, an outer cylinder 26, a ball 22, a viscoelastic material layer 30, a bolt 32, and a bottom plate 31. In addition, a safety cable 7 is installed outside the actuating system. When the actuating system fails, the safety cable 7 constrains the cable 1 to prevent the structure from overturning. The length of the safety cable 7 can be determined according to the actual working state of the structure.

[0043] Further, such as Figure 3 As shown, one end of the universal connector 11 in the vibration reduction device is connected to the cable 1, and the other end is fixed to the first connecting plate 12; the first connecting plate 12 and the second connecting plate 19 are arranged opposite to each other, and a cylinder body 17 is fixed to the second connecting plate, and the cylinder body 17 is filled with silicone oil 18, and a limit support plate 16 is arranged on the inner wall of the cylinder body 17; the cylinder body 17 is located between the first connecting plate 12 and the second connecting plate 19, and one end of a plurality of guide rods 9 passes through the first connecting plate 12, the cylinder body 17 and the second connecting plate 19 in sequence, and a fixing block 8 is arranged at the other end of the guide rod 9, and a spring 10 is sleeved on the guide rod 9 between the fixing block 8 and the first connecting plate 12, and the spring 10 is arranged on the guide rod 9 between the fixing block 8 and the first connecting plate 12. One end of the spring 10 is connected to the fixed block 8, and the other end is connected to the first connecting plate 12; a plurality of plug rods 13 are arranged at equal intervals along the length direction of the plate at the lower part of the first connecting plate 12, and a first limiting plate 14 and a second limiting plate 15 are arranged along the length direction of the plug rods 13. The first limiting plate 14 and the second limiting plate 15 mainly limit the movement of the limiting support plate 16; when the limiting support plate 16 moves to the position of the first limiting plate 14 and the second limiting plate 15, it can drive the first connecting plate 12 to move in the direction away from the second connecting plate 19, and can also drive the first connecting plate 12 to move in the direction close to the second connecting plate 19;

[0044] like Figure 3 As shown, the rotary joint 20 of the actuator is fixed on the lower surface of the second connecting plate 19 and is fixed to the sleeve rod 21. A plurality of balls 22 are placed on the contact surface between the sleeve rod 21 and the outer cylinder 26 to lubricate and reduce contact friction. The sleeve rod 21 is bound together with the nut 24 in the ball screw pair and is nested outside the screw rod 23. The lower part of the screw rod 23 is fixed in the rotating sleeve 25. The rotating sleeve 25 rotates with the rotating motor 29 and the rotating connecting rod 28, and the rotating motor 29 is controlled by the above-mentioned control system, that is, by the single chip microcomputer.

[0045] When the lower actuator receives a command or the cable force of the upper cable changes, a limit support plate is set to limit the linear motion range of the small first limit plate and the second limit plate in the vertical direction, and the small limit plate is moved to a certain position to drive the movement of the limit support plate, so as to achieve the purpose of continuous startup and action of the entire device; a portion of silicone oil is filled in the cylinder body, and when the mechanical system is subjected to external force (that is, when the cable drives the first connecting plate to move, or the lower rotating motor drives the second connecting plate to move), the plug rod is inserted and pulled up and down in the silicone oil liquid to generate a damping force, converting the energy of mechanical vibration into heat energy, thereby reducing the vibration amplitude. The vibration reduction device is fixed to the cable through a universal joint, which has a compact structure and flexible steering, which can not only ensure the power transmission of the cable with variable angles, but also has a good absorption and buffering effect on the impact load and vibration generated during the steering process.

[0046] The working principle of the present invention is as follows:

[0047] When the rotating motor 29 is started, the rotational motion of the lead screw 23 is converted into linear motion of the sleeve rod 21 along the length direction of the rod through the ball screw pair, which then drives the second connecting plate 19 in the upper vibration reduction device to move. When the movement range of the limit support plate 16 on the inner wall of the cylinder body exceeds the specified limit values ​​of the two first limit plates 14 and the second limit plates 15, the first connecting plate 12 will be driven to move linearly, and at this time, the cable 1 will be driven to adjust the telescopic amount, and finally the position adjustment of the inclination or settlement of the structure 2 will be completed. In this process, the rod 13 is inserted and pulled up and down in the silicone oil 18 to provide damping force to achieve the first vibration reduction effect; the spring 10 is deformed under force to achieve the second vibration reduction effect.

[0048] Furthermore, in this embodiment, a vibration absorbing layer 27 is provided outside the rotating sleeve 25. The vibration absorbing layer 27 is made of metal rubber material. Since metal rubber is in a soft state without external force, it can instantly harden and absorb a large amount of energy when a collision occurs. A plurality of mass balls 34 are filled inside the vibration absorbing layer 27. When the rotating sleeve 25 rotates, the collision between the mass balls 34 and the metal rubber material is utilized to absorb part of the energy and reduce the working vibration of the rotating sleeve 25.

[0049] Furthermore, a viscoelastic material layer 30 and a bottom plate 31 are placed under the rotating motor 29 of this embodiment, and the two are connected together by bolts 32. Finally, a safety buckle 33 is installed at the bottom of the outer cylinder 26 of the actuating device, and connected to the base 4 of the actuating system.

[0050] Furthermore, the spring 10 is made of shape memory alloy material, which not only ensures that it has self-resetting capability but also provides a certain vibration reduction capability.

[0051] As a further technical solution, the above-mentioned multiple actuating components are all located in the outer tube, the outer tube is connected to a safety buckle, and the other end of the safety buckle is fastened to the base of the actuating system to prevent the actuating system from falling off.

[0052] As a further technical solution, a safety cable is installed outside the actuation system. When an unexpected failure occurs in the actuation system, such as breakage, the safety cable restrains the cable to prevent the structure from overturning. The length of the safety cable can be determined according to the actual working state of the structure.

[0053] As a further technical solution, the lower part of the rotating motor is connected to the viscoelastic material to prevent the torque of the rotating motor from being too large and causing damage to the base plate. The base plate is a steel plate, which is placed under the viscoelastic material layer and bound to the viscoelastic material layer by bolts.

[0054] Furthermore, based on the above-mentioned cable force adaptive control system, this embodiment also proposes a control process of the cable force adaptive control system, which obtains response information in real time through a monitoring system installed on a cable connected to the structure; establishes a target model for the structure in the control system, sets a cable force adjustment condition, converts the target expansion and contraction amount into an analog electrical signal and transmits it to the actuation system, and sets multiple vibration reduction devices in the actuation system to achieve comprehensive analysis and processing of the structure, which not only gives the actuation device a buffering effect during the response process, but also improves the overall monitoring and control accuracy of the structural inclination angle or settlement depth, as follows:

[0055] 1. When installing the cable, install the through-hole pressure test ring and use the pressure ring to directly read the cable force;

[0056] 2. At the same time, the single-chip microcomputer is turned on to automatically obtain the vibration frequency data of the inclined cable collected by the acceleration sensor;

[0057] 3. When data collection is full 13 After that, the FFT algorithm is used to perform spectrum analysis to obtain the first-order conversion frequency of the cable.

[0058] 4. Formulate a cable force equilibrium strategy. According to the principles of physics, calculate through the static equilibrium equation to ensure that the cable forces in the four directions are equal or meet a certain proportional relationship to obtain the equilibrium cable force. In addition, a safety factor can be appropriately introduced when calculating the "equilibrium cable force" to ensure the stability of the structure under extreme conditions.

[0059] 5. According to the material properties and stress conditions, consider the temperature effect and determine the specific model of the cable force-displacement relationship. According to the difference between the known cable force and the "equilibrium cable force" calculated in the previous step, and according to the angle between the cable and the horizontal plane, calculate the displacement that the cable should extend or compress. It should be noted that there is a linear relationship between temperature and material length. Therefore, when determining the cable force-displacement relationship, consider the influence of temperature and multiply by the relevant coefficient.

[0060] 6. According to the dynamic characteristics and motion requirements of the motor, a length-motion relationship model is established, the motor speed, acceleration and other control parameters are set, and the motor control instructions are generated, such as PWM signals, start / stop commands, etc.

[0061] 7. Write a program in the control system and set a timer to trigger the self-start process every 15 days. Use a timer reminder mechanism (such as the operating system's scheduled task or real-time clock module) to send a start signal when the preset time is reached. During the self-start process, perform necessary maintenance tasks such as cable force detection, adjustment, and recording.

[0062] After the above steps, the operation process of the joint system is completed, and the microcontroller can set the restart command as needed to meet the needs of intelligent control.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cable force adaptive control system, characterized in that: Including monitoring system, control system and actuation system; The monitoring system includes a through-type pressure test ring and an acceleration sensor, both of which are installed on the cable respectively; The actuating system comprises a vibration reduction device and an actuating device, and the vibration reduction device comprises a universal connector, a spring, a fixed block, a first connecting plate, a second connecting plate, a guide rod, a metal cylinder body, an insertion rod, a first limit plate, a second limit plate and a limit support plate; one end of the universal connector is connected to the cable, and the other end is fixed to the first connecting plate; the first connecting plate and the second connecting plate are arranged opposite to each other, and a cylinder body is fixed on the second connecting plate, the cylinder body is filled with silicone oil, and a limit support plate is arranged on the inner wall of the cylinder body; one end of the plurality of guide rods passes through the first connecting plate and the cylinder body and is connected to the second connecting plate in sequence, a fixed block is arranged at the other end of the guide rod, and a spring is mounted on the guide rod between the fixed block and the first connecting plate, one end of the spring is connected to the fixed block, and the other end is connected to the first connecting plate; a plurality of insertion rods are arranged at equal intervals along the length direction of the plate at the lower part of the first connecting plate, and a first limit plate and a second limit plate are arranged along the length direction of the insertion rod; The actuating device comprises a rotary motor and a screw transmission device, and the screw transmission device drives the second connecting plate to perform linear motion; The control system controls the rotating motor according to the data monitored by the through-hole pressure test ring and the acceleration sensor; The lower part of the second connecting plate is connected to the sleeve rod through a rotating joint, the sleeve rod is connected to the nut of the screw transmission device, and the screw of the screw transmission device extends into the sleeve rod.

2. The cable force adaptive control system according to claim 1, characterized in that: The actuating device is placed in the outer cylinder, and a plurality of balls are arranged at the contact position between the outer cylinder and the sleeve rod.

3. The cable force adaptive control system according to claim 2, characterized in that: The outer cylinder is connected to a safety buckle, and the other end of the safety buckle is fastened to the actuation system base.

4. The cable force adaptive control system according to claim 1, characterized in that: A safety cable is installed outside the actuating system.

5. The cable force adaptive control system according to claim 1, characterized in that: The rotating motor is connected to the rotating sleeve, and the lead screw of the lead screw transmission device is threadedly matched with the rotating sleeve.

6. The cable force adaptive control system according to claim 5, characterized in that: A vibration absorbing layer is arranged around the rotating sleeve.

7. The cable force adaptive control system according to claim 6, characterized in that: The vibration absorbing layer is made of metal rubber material, and a number of mass balls are placed in the vibration absorbing layer.

8. The cable force adaptive control system according to claim 1, characterized in that: The lower part of the rotating motor is connected with the viscoelastic material, a bottom plate is arranged at the bottom of the viscoelastic material, and the bottom plate is bound together with the viscoelastic material layer by bolts.

9. The control method of the cable force adaptive control system according to any one of claims 1 to 8, characterized in that: Step 1: Measure the cable force of the inclined cable by a through-type pressure test ring; Step 2: The control system automatically obtains the vibration frequency data of the inclined cable collected by the acceleration sensor; Step 3: The control system executes the FFT algorithm to perform spectrum analysis to obtain the first-order conversion frequency of the cable; Step 4: Formulate a cable force equilibrium strategy, calculate through the static equilibrium equation, ensure that the cable forces in the four directions are equal or meet a certain proportional relationship, and obtain the equilibrium cable force value; Step 5: According to the material properties and stress conditions of the cable, taking into account the temperature effect, determine the model of the cable force-displacement relationship, calculate the difference between the cable force measured in step 1 and the equilibrium cable force in step 4, and calculate the displacement that the cable should be extended or compressed according to the angle between the cable and the horizontal plane; Step 6: According to the dynamic characteristics and the motion requirements of the motor, a length-motion relationship model is established, the control parameters of the motor are set, the control instructions of the motor are generated, and the rotating motor is controlled.

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