Control method and system for digital twinborn body of gantry crane and medium thereof

Abstract

The invention discloses a control method and system for digital twinborn bodies of a gantry crane and a medium of the control method and system, and particularly relates to the field of digital twinborn bodies, and the control method comprises the steps of monitoring time division, data acquisition, data analysis, comprehensive analysis and control. Through careful monitoring time division, comprehensive data acquisition, deep data analysis and comprehensive abnormity judgment, the operation state of the crane can be mastered in real time, potential safety hazards can be found and early warned in time, the operation efficiency and safety of the crane are improved, the maintenance cost is reduced, and in addition, the safety of the crane is improved. According to the control system and the medium provided by the invention, continuous monitoring and optimization of the running state of the crane are realized, and powerful support is provided for intelligent management of the crane.

Description

Technical Field

[0001] The present invention relates to the field of digital twin technology, and more specifically, to a control method, system and medium of a digital twin of a gantry crane. Background Art

[0002] As heavy machinery, gantry cranes play a vital role in logistics fields such as ports and docks. The efficient and stable operation of these equipment is crucial to ensure the smoothness of the logistics chain. With the continuous development of science and technology, the demand for intelligent management of gantry cranes is increasing to achieve real-time monitoring and optimization of their operating status.

[0003] The operating process of existing technologies usually relies on traditional sensor monitoring and manual inspections. By installing various sensors, the operating data of the crane is collected, and then professionals regularly analyze and process the data to evaluate the operating status of the crane. Although this process can reflect the operating status of the crane to a certain extent, it still has many shortcomings.

[0004] However, the existing technology has exposed some obvious shortcomings in practical applications. For example, data collection is not comprehensive enough, the analysis method is relatively simple, and it is difficult to find potential safety hazards in time. In addition, manual inspections are inefficient and easily affected by human factors, resulting in inaccurate judgment results. These problems limit the application effect of existing technologies in the intelligent management of portal cranes. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a control method, system and medium of a digital twin of a gantry crane, and solves the problems raised in the above-mentioned background technology through the following scheme.

[0006] To achieve the above object, the present invention provides the following technical solution: a control method for a digital twin of a portal crane, comprising:

[0007] Step 1: Monitoring time division: used to determine the monitoring time of the target portal crane as the target time zone, divide the target time zone into various sub-time zones by equal time division, and mark them as 1, 2...n in sequence;

[0008] Step 2: Data collection: used to collect the structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target portal crane in each sub-time zone, and transmit the collected data to step 3;

[0009] Step 3: Data analysis: used to analyze the data transmitted in step 2, including structural stress data analysis method, kinematics data analysis method, dynamics performance data analysis method, and environment and working condition data analysis method, and transmit the analysis results to step 4;

[0010] Step 4: Comprehensive analysis: used to establish a comprehensive analysis model, conduct a comprehensive analysis on the data transmitted in step 3 through the comprehensive analysis model, import the data transmitted in step 3 into the comprehensive analysis model, calculate the comprehensive abnormality index of the target portal crane, and transmit it to step 5;

[0011] Step 5: Control: It is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target gantry crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

[0012] Preferably, the structural stress data include the main beam strain, the support leg deformation, the crossbeam torsion angle and the stress concentration factor of the key node, which are marked as Mb, Ms, Ml and Mc respectively; the kinematic data include the trolley walking speed fluctuation rate, the trolley running acceleration, the lifting mechanism angular velocity and the slewing mechanism angular displacement accuracy, which are marked as Ts, Tc, Tm and Ta respectively; the dynamic performance data include the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency and the structural damping ratio, which are marked as Hd, Hb, Hl and Hs respectively; the environmental and working condition data include the structural displacement under wind load, the thermal stress caused by temperature gradient, the motor power factor fluctuation and the pulley bearing temperature change rate, which are marked as Sd, Sg, Sm and Sp respectively.

[0013] Preferably, the strain of the main beam is collected by using fiber grating strain sensors arranged along key positions of the main beam, the deformation of the legs is collected by measuring the displacement of the bottom of the legs relative to the ground using high-precision laser displacement sensors, the torsion angle of the beam is collected by installing inclination sensors at both ends of the beam and calculating the relative torsion angle, and the stress concentration factor of the key node is calculated by arranging strain gauges at the key node to measure the actual stress, and combining the nominal stress of the finite element analysis.

[0014] Preferably, the fluctuation rate of the trolley's travel speed is collected by measuring the wheel speed with an encoder and calculating the percentage deviation between the actual speed and the rated speed; the trolley's running acceleration is collected by installing a three-axis acceleration sensor on the trolley and measuring the acceleration during operation; the lifting mechanism's angular velocity is collected by installing a high-resolution rotary encoder on the drum shaft and measuring the angular velocity; the angular displacement accuracy of the slewing mechanism is collected by measuring the slewing angle with a high-precision angle encoder and comparing it with the theoretical angle.

[0015] Preferably, the dynamic coefficient of the main hook load is collected by installing a load sensor on the main hook and calculating the ratio of the dynamic load to the static load. The response time of the braking system is collected by using a high-speed camera and a displacement sensor to synchronously measure the time from the issuance of the braking command to the occurrence of the actual braking effect. The lateral vibration frequency is collected by installing an acceleration sensor on the crane beam and analyzing the vibration frequency through fast Fourier transform. The structural damping ratio is collected through a free decay test, measuring the amplitude decay curve, and calculating the logarithmic decay rate.

[0016] Preferably, the structural displacement under the action of wind load is collected by measuring the displacement of key points under the action of wind load using a GPS-RTK system, the thermal stress caused by temperature gradient is collected by measuring the temperature distribution by arranging a temperature sensor array and calculating the thermal stress in combination with the strain sensor data, the motor power factor fluctuation is collected by using a power analyzer to monitor the motor input current and voltage in real time and calculate the power factor change, and the temperature change rate of the pulley bearing is collected by installing a thermocouple on the outer ring of the pulley bearing, continuously recording the temperature data and calculating the change rate.

[0017] Preferably, the structural stress data analysis method is used to establish a structural stress data analysis model, import the structural stress data transmitted in step 2 into the structural stress data analysis model, and calculate the structural stress evaluation value of each time zone, which is specifically expressed as:

[0018]

[0019] DM i Mb represents the structural stress assessment value of the i-th time zone. i represents the strain of the main beam in the i-th time zone, Ms i represents the deformation of the outrigger in the i-th time zone, Ml i represents the beam torsion angle in the i-th time zone, Mc i represents the stress concentration factor of the key node in the i-th time zone, Ml max Indicates the maximum beam twist angle of the target portal crane.

[0020] Preferably, the kinematic data analysis method is used to establish a kinematic data analysis model, import the kinematic data transmitted in step 2 into the kinematic data analysis model, and calculate the kinematic evaluation value of each time zone, which is specifically expressed as:

[0021]

[0022] DT i represents the kinematic evaluation value of the i-th time zone, Ts i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time zone. i Tm represents the acceleration of the car in the i-th time zone.i represents the angular velocity of the lifting mechanism in the i-th time zone, Ta i Indicates the angular displacement accuracy of the rotary mechanism in the i-th time zone.

[0023] Preferably, the kinetic performance data analysis method is used to establish a kinetic performance data analysis model, import the kinetic performance data transmitted in step 2 into the kinetic performance data analysis model, and calculate the kinetic performance evaluation value of each time zone, which is specifically expressed as:

[0024]

[0025] DH i represents the dynamic performance evaluation value of the i-th time zone, Hd i The dynamic coefficient of the main hook load in the i-th time zone, Hb i represents the braking system response time in the i-th time zone, Hl i represents the lateral vibration frequency of the i-th time zone, Hs i represents the structural damping ratio in the i-th time zone.

[0026] Preferably, the environment and operating condition data analysis method is used to establish an environment and operating condition data analysis model, import the environment and operating condition data transmitted in step 2 into the environment and operating condition data analysis model, and calculate the environment and operating condition evaluation value of each time zone, which is specifically expressed as:

[0027]

[0028] DS i represents the environmental and operating condition evaluation value of the i-th time zone, Sd i represents the structural displacement under wind load in the i-th time zone, Sg i represents the thermal stress caused by the temperature gradient in the i-th time zone, Sm i represents the motor power factor fluctuation in the i-th time zone, Sp i Indicates the rate of change of pulley bearing temperature in the i-th time zone.

[0029] Preferably, the comprehensive analysis model is specifically expressed as:

[0030]

[0031] η represents the comprehensive abnormality index of the target gantry crane, DM i represents the structural stress assessment value of the i-th time zone, DT i represents the kinematic evaluation value of the i-th time zone, DH i represents the dynamic performance evaluation value of the i-th time zone, DS irepresents the environmental and operating condition evaluation value of the i-th time zone, w1 represents the weight of the structural stress data, w2 represents the weight of the kinematic data, w3 represents the weight of the dynamic performance data, and w4 represents the weight of the environmental and operating condition data.

[0032] Preferably, the preset value of the comprehensive abnormality index is marked as η Def , when η Def ≥η, it means that there is no abnormality in the target portal crane, so the collection and analysis of the target portal crane is maintained. Def <η, it indicates that the target portal crane is abnormal, and the target portal crane is marked as abnormal and an early warning signal is sent to the management terminal.

[0033] Preferably, a control system for a digital twin of a gantry crane includes a central processing module, an operation database and a user information terminal, and also includes a monitoring time division module, a data acquisition module, a data analysis module, a comprehensive analysis module and a control module.

[0034] Preferably, the monitoring time division module is used to determine the monitoring time of the target portal crane as the target time zone, divide the target time zone into various sub-time zones by equal time division, and mark them as 1, 2...n in sequence;

[0035] The data acquisition module is used to collect structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target portal crane in each sub-time zone, and transmit the collected data to the data analysis module;

[0036] The data analysis module is used to analyze the data transmitted by the data acquisition module, including a structural stress data analysis unit, a kinematics data analysis unit, a dynamics performance data analysis unit, and an environment and working condition data analysis unit, and transmits the analysis structure to the comprehensive analysis module;

[0037] The comprehensive analysis module is used to establish a comprehensive analysis model, conduct a comprehensive analysis on the data transmitted by the data analysis module through the comprehensive analysis model, import the data transmitted by the data analysis module into the comprehensive analysis model, calculate the comprehensive abnormality index of the target portal crane, and transmit it to the control module;

[0038] The control module is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target portal crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

[0039] Preferably, a computer-readable storage medium stores a control system that can be loaded and executed by a processor as a digital twin of a gantry crane as described above. The computer-readable storage medium includes, for example: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0040] Technical effects and advantages of the present invention:

[0041] The present invention determines the monitoring time of the target portal crane as the target time zone by monitoring time division, and subdivides it into various sub-time zones in an equal time division manner, so as to realize the refined management of the crane operation status. This division is helpful for the accuracy and consistency of subsequent data collection and analysis, and provides a solid foundation for subsequent steps; the operation status of the crane can be fully reflected through data collection, and these data provide a rich source of information for subsequent data analysis and abnormal judgment, ensuring the accuracy and comprehensiveness of the analysis; through data analysis, the collected data is deeply analyzed, and key information can be extracted to provide strong support for subsequent abnormal judgment. The data analysis method includes structural stress data analysis, kinematic data analysis, and dynamic performance data analysis As well as environmental and working condition data analysis, it covers all aspects of the crane; through comprehensive analysis, a comprehensive analysis model is established, the structural stress assessment values, kinematic assessment values, dynamic performance assessment values, and environmental and working condition assessment values ​​of each time zone are integrated, and the comprehensive abnormality index of the target gantry crane is calculated. This step helps to achieve a comprehensive assessment of the operating status of the crane and timely discover potential safety hazards; through control, the abnormal status of the target gantry crane is judged, and control instructions are issued according to the judgment results. This step ensures that the crane can be handled in time when an abnormality occurs, avoiding the occurrence of safety accidents. At the same time, when there is no abnormality in the crane, maintaining the collection and analysis of the target gantry crane helps to achieve continuous monitoring and optimization of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the structure of the method of the present invention.

[0043] Figure 2 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] refer to Figure 1 A control method for a digital twin of a portal crane is shown, and the specific steps include:

[0046] Step 1: Monitoring time division: It is used to determine the monitoring time of the target portal crane as the target time area, and divide the target time area into various sub-time areas by equal time division, and mark them as 1, 2...n in sequence.

[0047] Step 2: Data collection: used to collect the structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target gantry crane in each sub-time zone, and transmit the collected data to step 3.

[0048] The structural stress data include the main beam strain, the support leg deformation, the crossbeam torsion angle and the stress concentration factor of the key node, which are marked as Mb, Ms, Ml and Mc respectively; the kinematic data include the trolley walking speed fluctuation rate, the trolley running acceleration, the lifting mechanism angular velocity and the slewing mechanism angular displacement accuracy, which are marked as Ts, Tc, Tm and Ta respectively; the dynamic performance data include the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency and the structural damping ratio, which are marked as Hd, Hb, Hl and Hs respectively; the environmental and working condition data include the structural displacement under wind load, the thermal stress caused by temperature gradient, the motor power factor fluctuation and the pulley bearing temperature change rate, which are marked as Sd, Sg, Sm and Sp respectively.

[0049] The strain of the main beam is collected by arranging fiber grating strain sensors along key positions of the main beam, the deformation of the outrigger is collected by measuring the displacement of the bottom of the outrigger relative to the ground using a high-precision laser displacement sensor, the torsion angle of the beam is collected by installing inclination sensors at both ends of the beam and calculating the relative torsion angle, and the stress concentration factor of the key node is calculated by arranging strain gauges at the key node to measure the actual stress, and combining the nominal stress of the finite element analysis.

[0050] The fluctuation rate of the trolley's travel speed is collected by measuring the wheel speed with an encoder and calculating the percentage deviation between the actual speed and the rated speed. The trolley's running acceleration is collected by installing a three-axis acceleration sensor on the trolley and measuring the acceleration during operation. The angular velocity of the lifting mechanism is collected by installing a high-resolution rotary encoder on the drum shaft and measuring the angular velocity. The angular displacement accuracy of the slewing mechanism is collected by measuring the slewing angle with a high-precision angle encoder and comparing it with the theoretical angle.

[0051] The dynamic coefficient of the main hook load is collected by installing a load sensor on the main hook and calculating the ratio of the dynamic load to the static load. The response time of the braking system is collected by using a high-speed camera and a displacement sensor to synchronously measure the time from the issuance of the braking command to the occurrence of the actual braking effect. The lateral vibration frequency is collected by installing an acceleration sensor on the crane beam and analyzing the vibration frequency through fast Fourier transform. The structural damping ratio is collected through a free decay test, measuring the amplitude decay curve, and calculating the logarithmic decay rate.

[0052] The structural displacement under the action of wind load is collected by measuring the displacement of key points under the action of wind load using a GPS-RTK system, the thermal stress caused by temperature gradient is collected by arranging a temperature sensor array to measure the temperature distribution, and calculating the thermal stress in combination with the strain sensor data, the motor power factor fluctuation is collected by using a power analyzer to monitor the motor input current and voltage in real time, and calculating the power factor change, and the pulley bearing temperature change rate is collected by installing a thermocouple on the outer ring of the pulley bearing, continuously recording the temperature data and calculating the change rate.

[0053] Step 3: Data analysis: used to analyze the data transmitted in step 2, including structural stress data analysis method, kinematic data analysis method, dynamic performance data analysis method, and environment and working condition data analysis method, and transmit the analysis results to step 4.

[0054] The structural stress data analysis method is used to establish a structural stress data analysis model, import the structural stress data transmitted in step 2 into the structural stress data analysis model, and calculate the structural stress evaluation value of each time zone, which is specifically expressed as:

[0055]

[0056] DM i Mb represents the structural stress assessment value of the i-th time zone. i represents the strain of the main beam in the i-th time zone, Ms i represents the deformation of the outrigger in the i-th time zone, Ml i represents the beam torsion angle in the i-th time zone, Mc i represents the stress concentration factor of the key node in the i-th time zone, Ml maxIndicates the maximum beam twist angle of the target portal crane.

[0057] The kinematic data analysis method is used to establish a kinematic data analysis model, import the kinematic data transmitted in step 2 into the kinematic data analysis model, and calculate the kinematic evaluation value of each time zone, which is specifically expressed as:

[0058]

[0059] DT i represents the kinematic evaluation value of the i-th time zone, Ts i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time zone. i Tm represents the acceleration of the car in the i-th time zone. i represents the angular velocity of the lifting mechanism in the i-th time zone, Ta i Indicates the angular displacement accuracy of the rotary mechanism in the i-th time zone.

[0060] The kinetic performance data analysis method is used to establish a kinetic performance data analysis model, import the kinetic performance data transmitted in step 2 into the kinetic performance data analysis model, and calculate the kinetic performance evaluation value of each time zone, which is specifically expressed as:

[0061]

[0062] DH i represents the dynamic performance evaluation value of the i-th time zone, Hd i The dynamic coefficient of the main hook load in the i-th time zone, Hb i represents the braking system response time in the i-th time zone, Hl i represents the lateral vibration frequency of the i-th time zone, Hs i represents the structural damping ratio in the i-th time zone.

[0063] The environment and working condition data analysis method is used to establish an environment and working condition data analysis model, import the environment and working condition data transmitted in step 2 into the environment and working condition data analysis model, and calculate the environment and working condition evaluation value of each time zone, which is specifically expressed as:

[0064]

[0065] DS i represents the environmental and operating condition evaluation value of the i-th time zone, Sd i represents the structural displacement under wind load in the i-th time zone, Sg i represents the thermal stress caused by the temperature gradient in the i-th time zone, Sm i represents the motor power factor fluctuation in the i-th time zone, Sp iIndicates the rate of change of pulley bearing temperature in the i-th time zone.

[0066] Step 4: Comprehensive analysis: It is used to establish a comprehensive analysis model, and conduct a comprehensive analysis on the data transmitted in step 3 through the comprehensive analysis model. The data transmitted in step 3 is imported into the comprehensive analysis model, and the comprehensive abnormality index of the target gantry crane is calculated and transmitted to step 5.

[0067] The comprehensive analysis model is specifically expressed as:

[0068]

[0069] η represents the comprehensive abnormality index of the target gantry crane, DM i represents the structural stress assessment value of the i-th time zone, DT i represents the kinematic evaluation value of the i-th time zone, DH i represents the dynamic performance evaluation value of the i-th time zone, DS i represents the environmental and operating condition evaluation value of the i-th time zone, w1 represents the weight of the structural stress data, w2 represents the weight of the kinematic data, w3 represents the weight of the dynamic performance data, and w4 represents the weight of the environmental and operating condition data.

[0070] Step 5: Control: It is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target gantry crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

[0071] The preset value of the comprehensive abnormality index is marked as η Def , when η Def ≥η, it means that there is no abnormality in the target portal crane, so the collection and analysis of the target portal crane is maintained. Def <η, it indicates that the target portal crane is abnormal, and the target portal crane is marked as abnormal and an early warning signal is sent to the management terminal.

[0072] refer to Figure 2 , a control system for a digital twin of a gantry crane, including a central processing module, an operation database and a user information terminal, and also including a monitoring time division module, a data acquisition module, a data analysis module, a comprehensive analysis module and a control module.

[0073] The monitoring time division module is used to determine the monitoring time of the target portal crane as a target time zone, divide the target time zone into various sub-time zones by equal time division, and mark them as 1, 2...n in sequence;

[0074] The data acquisition module is used to collect structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target portal crane in each sub-time zone, and transmit the collected data to the data analysis module;

[0075] The data analysis module is used to analyze the data transmitted by the data acquisition module, including a structural stress data analysis unit, a kinematics data analysis unit, a dynamics performance data analysis unit, and an environment and working condition data analysis unit, and transmits the analysis structure to the comprehensive analysis module;

[0076] The comprehensive analysis module is used to establish a comprehensive analysis model, conduct a comprehensive analysis on the data transmitted by the data analysis module through the comprehensive analysis model, import the data transmitted by the data analysis module into the comprehensive analysis model, calculate the comprehensive abnormality index of the target portal crane, and transmit it to the control module;

[0077] The control module is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target portal crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

[0078] An embodiment of the present application also discloses a computer-readable storage medium, which stores a control system that can be loaded and executed by a processor as a digital twin of a gantry crane as described above. The computer-readable storage medium includes, for example: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0079] The present invention determines the monitoring time of the target portal crane as the target time zone by monitoring time division, and subdivides it into various sub-time zones in an equal time division manner, so as to realize the refined management of the crane operation status. This division is helpful for the accuracy and consistency of subsequent data collection and analysis, and provides a solid foundation for subsequent steps; the operation status of the crane can be fully reflected through data collection, and these data provide a rich source of information for subsequent data analysis and abnormal judgment, ensuring the accuracy and comprehensiveness of the analysis; through data analysis, the collected data is deeply analyzed, and key information can be extracted to provide strong support for subsequent abnormal judgment. The data analysis method includes structural stress data analysis, kinematic data analysis, and dynamic performance data analysis As well as environmental and working condition data analysis, it covers all aspects of the crane; through comprehensive analysis, a comprehensive analysis model is established, the structural stress assessment values, kinematic assessment values, dynamic performance assessment values, and environmental and working condition assessment values ​​of each time zone are integrated, and the comprehensive abnormality index of the target gantry crane is calculated. This step helps to achieve a comprehensive assessment of the operating status of the crane and timely discover potential safety hazards; through control, the abnormal status of the target gantry crane is judged, and control instructions are issued according to the judgment results. This step ensures that the crane can be handled in time when an abnormality occurs, avoiding the occurrence of safety accidents. At the same time, when there is no abnormality in the crane, maintaining the collection and analysis of the target gantry crane helps to achieve continuous monitoring and optimization of the crane.

[0080] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0081] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a digital twin of a portal crane, characterized in that: include: Step 1: Monitoring time division: used to determine the monitoring time of the target portal crane as the target time zone, divide the target time zone into various sub-time zones by equal time division, and mark them as 1, 2...n in sequence; Step 2: Data collection: used to collect the structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target portal crane in each sub-time zone, and transmit the collected data to step 3; Step 3: Data analysis: used to analyze the data transmitted in step 2, including structural stress data analysis method, kinematics data analysis method, dynamics performance data analysis method, and environment and working condition data analysis method, and transmit the analysis results to step 4; Step 4: Comprehensive analysis: used to establish a comprehensive analysis model, conduct a comprehensive analysis on the data transmitted in step 3 through the comprehensive analysis model, import the data transmitted in step 3 into the comprehensive analysis model, calculate the comprehensive abnormality index of the target portal crane, and transmit it to step 5; Step 5: Control: It is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target gantry crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

2. The control method of a portal crane digital twin according to claim 1, characterized in that: The structural stress data include the main beam strain, the support leg deformation, the crossbeam torsion angle and the stress concentration factor of the key node, which are marked as Mb, Ms, Ml and Mc respectively; the kinematic data include the trolley walking speed fluctuation rate, the trolley running acceleration, the lifting mechanism angular velocity and the slewing mechanism angular displacement accuracy, which are marked as Ts, Tc, Tm and Ta respectively; the dynamic performance data include the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency and the structural damping ratio, which are marked as Hd, Hb, Hl and Hs respectively; the environmental and working condition data include the structural displacement under wind load, the thermal stress caused by temperature gradient, the motor power factor fluctuation and the pulley bearing temperature change rate, which are marked as Sd, Sg, Sm and Sp respectively.

3. The control method of a portal crane digital twin according to claim 1, characterized in that: The structural stress data analysis method is used to establish a structural stress data analysis model, import the structural stress data transmitted in step 2 into the structural stress data analysis model, and calculate the structural stress evaluation value of each time zone, which is specifically expressed as: DM i Mb represents the structural stress assessment value of the i-th time zone. i represents the strain of the main beam in the i-th time zone, Ms i Ml represents the deformation of the outrigger in the i-th time zone, i represents the beam torsion angle in the i-th time zone, Mc i represents the stress concentration factor of the key node in the i-th time zone, Ml max Indicates the maximum beam twist angle of the target portal crane.

4. The control method of a portal crane digital twin according to claim 1, characterized in that: The kinematic data analysis method is used to establish a kinematic data analysis model, import the kinematic data transmitted in step 2 into the kinematic data analysis model, and calculate the kinematic evaluation value of each time zone, which is specifically expressed as: DT i represents the kinematic evaluation value of the i-th time zone, Ts i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time zone. i Tm represents the acceleration of the car in the i-th time zone. i represents the angular velocity of the lifting mechanism in the i-th time zone, Ta i Indicates the angular displacement accuracy of the rotary mechanism in the i-th time zone.

5. The control method of a portal crane digital twin according to claim 1, characterized in that: The kinetic performance data analysis method is used to establish a kinetic performance data analysis model, import the kinetic performance data transmitted in step 2 into the kinetic performance data analysis model, and calculate the kinetic performance evaluation value of each time zone, which is specifically expressed as: DH i represents the dynamic performance evaluation value of the i-th time zone, Hd i The dynamic coefficient of the main hook load in the i-th time zone, Hb i represents the braking system response time in the i-th time zone, Hl i represents the lateral vibration frequency of the i-th time zone, Hs i represents the structural damping ratio in the i-th time zone.

6. The control method of a portal crane digital twin according to claim 1, characterized in that: The environment and working condition data analysis method is used to establish an environment and working condition data analysis model, import the environment and working condition data transmitted in step 2 into the environment and working condition data analysis model, and calculate the environment and working condition evaluation value of each time zone, which is specifically expressed as: DS i represents the environmental and operating condition evaluation value of the i-th time zone, Sd i represents the structural displacement under wind load in the i-th time zone, Sg i represents the thermal stress caused by the temperature gradient in the i-th time zone, Sm i represents the motor power factor fluctuation in the i-th time zone, Sp i Indicates the rate of change of pulley bearing temperature in the i-th time zone.

7. The control method of a portal crane digital twin according to claim 1, characterized in that: The comprehensive analysis model is specifically expressed as: η represents the comprehensive abnormality index of the target gantry crane, DM i represents the structural stress assessment value of the i-th time zone, DT i represents the kinematic evaluation value of the i-th time zone, DH i represents the dynamic performance evaluation value of the i-th time zone, DS i represents the environmental and operating condition evaluation value of the i-th time zone, w1 represents the weight of the structural stress data, w2 represents the weight of the kinematic data, w3 represents the weight of the dynamic performance data, and w4 represents the weight of the environmental and operating condition data.

8. The control method of a portal crane digital twin according to claim 1, characterized in that: The preset value of the comprehensive abnormality index is marked as η Def , when η Def ≥η, it means that there is no abnormality in the target portal crane, so the collection and analysis of the target portal crane is maintained. Def <η, it indicates that the target portal crane is abnormal, and the target portal crane is marked as abnormal and an early warning signal is sent to the management terminal.

9. A control system for a digital twin of a gantry crane, used to implement a control method for a digital twin of a gantry crane as described in any one of claims 1 to 8, comprising a central processing module, an operation database and a user information terminal, characterized in that: Also includes: The monitoring time division module is used to determine the monitoring time of the target portal crane as the target time zone, divide the target time zone into various sub-time zones by equal time division, and mark them as 1, 2...n in sequence; The data acquisition module is used to collect the structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target portal crane in each sub-time zone, and transmit the collected data to the data analysis module; The data analysis module is used to analyze the data transmitted by the data acquisition module, including a structural stress data analysis unit, a kinematics data analysis unit, a dynamics performance data analysis unit, and an environment and working condition data analysis unit, and transmits the analysis structure to the comprehensive analysis module; The comprehensive analysis module is used to establish a comprehensive analysis model, conduct a comprehensive analysis on the data transmitted by the data analysis module through the comprehensive analysis model, import the data transmitted by the data analysis module into the comprehensive analysis model, calculate the comprehensive abnormality index of the target portal crane, and transmit it to the control module; The control module is used to establish a preset value of the comprehensive abnormality index, judge the abnormal state of the target gantry crane through the preset value of the comprehensive abnormality index, and issue a control instruction according to the judgment result.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 8.

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