Bridge stay cable control method, device and equipment and storage medium

Abstract

The invention provides a bridge stay cable control method and device, equipment and a storage medium. In the method, first vibration displacement information and first speed response information of a stay cable at a damper mounting position at a first moment are collected, calculation is performed in combination with a sliding-mode control algorithm to obtain sliding-mode control force, second vibration displacement information and second speed response information of the stay cable under the action of the sliding-mode control force are calculated, and the second vibration displacement information and the second speed response information of the stay cable under the action of the sliding-mode control force are calculated. Self-adaptive control force is determined; total control force is calculated according to the self-adaptive control force and the sliding mode control force; based on the total control force, the optimal input current of the damper is determined; and based on the optimal input current, the actual damping control force of the damper at the first moment is output, and the stay cable is controlled. Through the method, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and the speed response information of the stay cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment.

Description

Technical Field

[0001] The present application relates to the field of vibration control, and in particular to a control method, device, equipment and storage medium for bridge cable stays. Background Art

[0002] The cable is the main load-bearing material that directly transfers the weight of the main beam and bridge deck of the cable-stayed bridge to the tower. It has the characteristics of high flexibility and low damping. It is very easy to cause various harmful vibrations such as wind vibration, wind-rain vibration and parameter vibration under the stimulation of the external environment. Continuous and large vibration of the cable will cause fatigue damage to the cable, thereby reducing the service life of the cable. Therefore, it is necessary to take effective cable vibration reduction measures to reduce the negative impact of cable vibration.

[0003] At present, passive damper devices are generally installed at the ends of the cables to suppress the vibration of the cables. However, the damping coefficient of the passive damper cannot be adjusted in real time and can only be used as a passive control device, which has a poor effect in suppressing the vibration of the cables. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a control method, device, equipment and storage medium for a bridge cable, which can adjust the input current of the damper in real time according to the vibration displacement information and speed response information of the vibration of the cable, so as to achieve real-time optimal control.

[0005] To achieve the above objectives, the present application discloses the following technical solutions:

[0006] In a first aspect, the present application provides a control method for a bridge stay cable, comprising:

[0007] Collecting first vibration displacement information and first velocity response information of the stayed cable at the damper installation position corresponding to the first moment;

[0008] Perform sliding mode control calculation based on a sliding mode control algorithm, the first vibration displacement information, and the first velocity response information to obtain a sliding mode control force;

[0009] Based on the sliding mode control force, calculating second vibration displacement information and second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force;

[0010] Inputting the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model;

[0011] Obtaining a total control force of the damper by superimposing the adaptive control force and the sliding mode control force;

[0012] determining an optimal input current of the damper based on the total control force;

[0013] Based on the optimal input current, an actual damping control force of the damper at the first moment is output, and the actual damping control force is applied to the inclined cable.

[0014] Optionally, performing sliding mode control calculation based on a sliding mode control algorithm, the first vibration displacement information, and the first velocity response information to obtain a sliding mode control force includes:

[0015] Establishing a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information;

[0016] The linear quadratic method is used to solve the integral objective function to obtain the optimal sliding surface function;

[0017] Calculating an equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function;

[0018] Determine the reaching law of the optimal sliding mode surface function to obtain the switching control force corresponding to the sliding mode control force;

[0019] The sliding mode control force corresponding to the sliding mode control standard equation is obtained by superimposing the equivalent control force and the switching control force.

[0020] Optionally, establishing a sliding mode control standard equation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information includes:

[0021] Establishing a first vibration differential equation for associating the stay cable and the damper based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information;

[0022] According to the Hamiltonian principle, a vibration displacement equation of the inclined cable in a first direction is determined by an integral algorithm, wherein the first direction is a direction perpendicular to the inclined cable;

[0023] Determining a spatial state equation corresponding to the sliding mode control algorithm based on the first vibration differential equation and the vibration displacement equation;

[0024] The spatial state equation is linearized to obtain the sliding mode control standard equation.

[0025] Optionally, the calculating, based on the sliding mode control force, second vibration displacement information and second velocity response information of the stay cable at the damper installation position under the sliding mode control force includes:

[0026] Establishing a second vibration differential equation for relating the stay cable and the damper;

[0027] Calculating according to the improved wake oscillator equation, the first vibration displacement information and the first velocity response information to obtain a pulsating lift coefficient;

[0028] Determining the pulsating lift of the inclined cable according to the pulsating lift coefficient;

[0029] The second vibration displacement information and the second velocity response information are obtained by performing calculation based on the pulsating lift, the second vibration differential equation, and the sliding mode control force.

[0030] Optionally, the damper is a magnetorheological damper, and determining the optimal input current of the damper based on the total control force includes:

[0031] Using the Sigmoid model to simulate the output mode of the magnetorheological damper, and establishing a mechanical model of the magnetorheological damper;

[0032] Based on the mechanical model of the magnetorheological damper, an inverse model of the magnetorheological damper is established, wherein the inverse model includes a corresponding relationship between an optimal input current of the damper and a damping control force;

[0033] Based on the corresponding relationship and the total control force, an optimal input current of the damper is determined.

[0034] Optionally, the method further includes:

[0035] Determining second vibration information after the actual damping control force controls the stay cable;

[0036] The sliding mode control algorithm and the adaptive reference model are optimized according to the second vibration information.

[0037] In a second aspect, the present application provides a control device for a bridge stay cable, comprising:

[0038] A collection unit, used for collecting first vibration displacement information and first velocity response information of the stayed cable at the damper installation position at a first moment;

[0039] a calculation unit, configured to calculate based on a sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain a sliding mode control force;

[0040] The calculation unit is further used to calculate, based on the sliding mode control force, second vibration displacement information and second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force;

[0041] A model input and output unit, used for inputting the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model;

[0042] Optionally, the calculation unit is further used to calculate according to the adaptive control force and the sliding mode control force to obtain the total control force of the damper;

[0043] a determining unit, configured to determine an optimal input current of the damper based on the total control force;

[0044] A control unit is used to output an actual damping control force of the damper at the first moment based on the optimal input current, and control the inclined cable through the actual damping control force.

[0045] The computing unit comprises:

[0046] Establishing a subunit, used to establish a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first speed response information;

[0047] A solving subunit, used for solving the integral objective function by using a linear quadratic method to obtain an optimal sliding surface function;

[0048] A calculation subunit, used for calculating an equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function;

[0049] A determination subunit, used to determine the reaching law of the optimal sliding surface function, and obtain the switching control force corresponding to the sliding mode control force;

[0050] The superposition subunit is used to perform superposition according to the equivalent control force and the switching control force to obtain the sliding mode control force corresponding to the sliding mode control standard equation.

[0051] In a third aspect, the present application provides a device, including:

[0052] Memory for storing computer programs;

[0053] A processor is used to execute the computer program stored in the memory to implement the steps of the control method of the bridge cable as provided in the first aspect.

[0054] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the method for controlling a bridge cable as provided in the first aspect.

[0055] The present application provides a control method, device, equipment and storage medium for a bridge cable. In a control method for a bridge cable, first vibration displacement information and first velocity response information of the cable at a damper installation position corresponding to a first moment are collected; sliding mode control calculation is performed based on a sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain a sliding mode control force; based on the sliding mode control force, second vibration displacement information and second velocity response information of the cable at the damper installation position under the action of the sliding mode control force are calculated; the second vibration displacement information and the second velocity response information are input into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model; the adaptive control force and the sliding mode control force are superimposed to obtain a total control force of the damper; based on the total control force, the optimal input current of the damper is determined; based on the optimal input current, the actual damping control force of the damper at the first moment is output, and the actual damping control force is applied to the cable. Through this method, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and velocity response information of the cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0057] Figure 1 It is a flow chart of a control method of a bridge cable provided in an embodiment of the present application;

[0058] Figure 2 It is a structural schematic diagram of a stay cable provided in an embodiment of the present application;

[0059] Figure 3 It is a structural diagram of a Sigmoid model provided in an embodiment of the present application;

[0060] Figure 4 It is a flow chart of another control method of a bridge cable provided in an embodiment of the present application;

[0061] Figure 5 is a schematic diagram of the vortex-induced vibration response of the bridge cable before and after the control method for the bridge cable provided by the present application is used;

[0062] Figure 6 It is a structural schematic diagram of a control device for a bridge cable provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] To facilitate understanding of the technical solution provided by this application, the background technology involved in this application will be described below.

[0065] A large number of experimental and field monitoring studies have shown that long cables frequently experience high-order multi-modal vortex-induced vibrations under normal wind speeds. At present, installing external damper devices at the ends of the cables, such as viscous dampers (VD), magnetorheological dampers (MR), and eddy current dampers (ECD) and other passive control devices, is a common method to control various vibration forms of the cables. However, with the increase in the length of the cables due to the increase in the span of the bridge, their natural frequencies are significantly reduced, and the range of wind-induced vibration modes that are prone to occur under normal wind speeds is relatively wide. Moreover, for different vibration modes of the cables, the optimal damping coefficient corresponding to the maximum additional modal damping ratio will gradually decrease with the increase in the modal order. Due to the limited installation height, passive dampers can only provide sufficient additional modal damping ratios for low-order modes, and their control performance for high-order vibrations is very limited. Therefore, it is challenging to use passive dampers to reduce the multi-modal vibrations of long cables.

[0066] Based on this, the present application provides a control method, device, equipment and storage medium for a bridge cable. In a control method for a bridge cable, the first vibration displacement information and the first velocity response information of the cable at the damper installation position at the first moment are collected, and the sliding mode control algorithm is combined to calculate to obtain the sliding mode control force, and the second vibration displacement information and the second velocity response information of the cable under the action of the sliding mode control force are calculated, and the adaptive control force is determined; the total control force is calculated according to the adaptive control force and the sliding mode control force; based on the total control force, the optimal input current of the damper is determined; based on the optimal input current, the actual damping control force of the damper at the first moment is output to control the cable. Through this method, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and velocity response information of the cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment.

[0067] To facilitate understanding of the technical solution provided by the present application, a control method for a bridge cable provided by the present application will be described below in conjunction with the accompanying drawings. Figure 1, which is a flow chart of a control method for a bridge cable provided in an embodiment of the present application, such as Figure 1 As shown, the method includes S101-S107.

[0068] S101: collecting first vibration displacement information and first velocity response information of the stay cable at the damper installation position corresponding to a first moment.

[0069] In the embodiment of the present application, a sensor may be provided at the damper installation position on the inclined cable to collect first vibration displacement information and first velocity response information of the inclined cable at the damper installation position.

[0070] It can be understood that the first vibration displacement information refers to the displacement distance of the inclined cable in the direction perpendicular to the inclined cable, and the displacement distance at different times may be different. Therefore, the first vibration displacement information can also be represented by a function related to time. The first speed response information can be calculated by taking the derivative of the displacement distance with respect to time, and the first moment can be any moment.

[0071] S102: Perform sliding mode control calculation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain a sliding mode control force.

[0072] It can be understood that the sliding mode control algorithm is an algorithm for simulating the motion model of the inclined cable, and the sliding mode control force is used to represent the force on the inclined cable when the inclined cable is in the first vibration displacement information and the first velocity response information.

[0073] The present application does not limit the specific manner of performing sliding mode control calculation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain the sliding mode control force. As an example, performing sliding mode control calculation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain the sliding mode control force includes A1-A5:

[0074] A1: Establishing a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information.

[0075] In the embodiment of the present application, a standard sliding mode control equation and an integral objective function may be established first.

[0076] As an example, a sliding mode control standard equation is established based on the sliding mode control algorithm, the first vibration displacement information and the first speed response information, including:

[0077] A11: establishing a first vibration differential equation for associating the stay cable and the damper based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information:

[0078] As an example, the first vibration differential equation relating the stay cable and the damper is as follows:

[0079]

[0080] In formula (1), m is the mass per unit length of the cable, C is the linear damping coefficient per unit length of the cable, T is the initial tension of the cable, and F is y is the pulsating lift, F d is the damping force of the damper, x d is the installation position of the damper, δ(·) is the Dirac function; v represents the vibration displacement function of the cable, i.e., the first vibration displacement information, It represents the velocity response function of the cable, that is, the first velocity response information.

[0081] A12: According to the Hamiltonian principle, a vibration displacement equation of the inclined cable in a first direction is determined by an integral algorithm, where the first direction is a direction perpendicular to the inclined cable;

[0082] As an example, the vibration displacement equation determined in this application is as follows

[0083]

[0084] In the formula, is the vibration mode function, qi(t) is the generalized displacement, q=[q1(t),q2(t),…,q n (t)], n is the number of vibration mode functions, i represents a natural number, and v(x, t) is the v mentioned above, indicating that the vibration displacement function of the inclined cable can be a function related to time t. It can be understood that, if Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a cable-stayed cable provided in an embodiment of the present application. The direction of the cable-stayed cable is opposite to the X-axis, and the first direction is along the Y-axis. Figure 2 1 represents a stay cable, and 2 represents a damper. The present application does not limit the specific style of the damper. As an example, the damper may be a semi-active magnetorheological damper. Figure 2 It is also shown that U is the vortex-induced wind speed, L is the total length of the inclined cable, v represents the vibration displacement function of the inclined cable, and F d (t) represents the function of the damping force of the damper related to time t, and Fy represents the pulsating lift, that is, the vortex-induced force.

[0085] A13: Determine the spatial state equation corresponding to the sliding mode control algorithm based on the first vibration differential equation and the vibration displacement equation.

[0086] After obtaining the first vibration differential equation and the vibration displacement equation, the spatial state equation corresponding to the sliding mode control algorithm can be determined. As an example, substituting equation (2) into equation (1) yields

[0087]

[0088] In the formula, M=[m ij ],C=[c ij ],K=[k ij ]; F d (t) represents the function of the damping force of the damper related to time t, E is the elastic modulus of the cable, and A is the cross-sectional area of ​​the cable; represents the second-order derivative with respect to q, represents the first-order derivative of q, T is the initial tension of the cable, y x represents the derivative of y with respect to x, y represents the static equilibrium equation of the inclined cable, the static equilibrium equation of the inclined cable is an equation including the position x on the inclined cable, and P(t) is the external excitation vector.

[0089] Formula (3) can be written in state space form as:

[0090]

[0091] In the formula, M represents the mass matrix, C represents the damping matrix; K represents the stiffness matrix; Z represents the state space vector matrix; A represents the state space equation coefficient matrix; B represents the control force matrix; D represents the external excitation matrix; Represents the derivative of the system state vector Z, and P is the P(t) mentioned above.

[0092] It can be understood that the above formula (4) is the spatial state equation.

[0093] A14: Linearize the spatial state equation to obtain the standard sliding mode control equation.

[0094] In the embodiment of the present application, after obtaining the spatial state, the spatial state equation can be linearized to obtain the standard sliding mode control equation. As an example, ignoring the influence of external excitation, since the number of dampers (=1) is less than the number of structural degrees of freedom, it is necessary to linearize equation (4), and it can be obtained:

[0095]

[0096] In the formula, T represents the transformation matrix, Z represents the state space vector, Y represents the system state vector after linearization, that is, Y can be represented by two vectors Y1 and Y2, and H means the system state space equation coefficient matrix after linear transformation, that is, H can be represented by To express.

[0097] From equation (5), we can get the transformation matrix T of the system, which is a 2n×2n matrix. Its detailed expression can be expressed as

[0098]

[0099] In addition, the transformation matrix T needs to satisfy the equation Where I is the reversible unit matrix and B represents the control force matrix. Then the standard equation of sliding mode control is the following formula (8):

[0100]

[0101] In the formula, represents the first-order derivative of Y1, represents the first-order derivative of Y2, M represents the mass matrix, C represents the damping matrix; K represents the stiffness matrix, and I is the reversible unit matrix.

[0102] A2: Use the linear quadratic method to solve the integral objective function to obtain the optimal sliding surface function.

[0103] The present application does not limit the specific content of the integral objective function. As an example, the integral objective function can be shown as formula (9):

[0104]

[0105] Where J represents the integral objective function, the matrix P is a symmetric positive definite matrix, the superscript T of the matrix represents the transposed matrix, Z represents the state space vector matrix, and Q represents the weight coefficient matrix; P is divided into blocks set up The coefficient α in the matrix P is calculated by solving the minimum value of J, thereby obtaining the optimal sliding surface function.

[0106] As an example, the specific solution process can be as follows:

[0107] First, substitute the matrix P into formula (9), then the objective function can be expressed as shown in formula (10):

[0108]

[0109]

[0110] In formula (10), G represents control input;

[0111] According to formula (10), we can get formula (11):

[0112]

[0113] Substituting formula (11) into formula (8) we can get formula (12)

[0114]

[0115] Based on the objective function (10), taking G as the control input, the optimal feedback of (8) can be obtained as

[0116]

[0117] Where R is the gain matrix, and its value can be obtained by solving the following Riccati equation:

[0118]

[0119] In the formula,

[0120] Substituting formula (13) into formula (11) we can get formula (15)

[0121]

[0122] According to formula (15), the optimal sliding surface function can be obtained

[0123]

[0124] In formula (16), s is the optimal sliding surface function, Θ is the coefficient matrix of the optimal sliding surface function, and Y is the system state vector after linearization.

[0125] A3: Calculate the equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function.

[0126] After obtaining the optimal sliding surface function, the equivalent control force corresponding to the sliding mode control force can be calculated according to the optimal sliding surface function. The present application does not limit the specific method of calculating the equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function. As an example, based on formula (16),

[0127] Assumptions The equivalent control force can be obtained as

[0128]

[0129] In the formula, u eqis the equivalent control force, Γ is the definition expression, which is specifically Γ=ΘIA, A represents the coefficient matrix of the state space equation; I represents the reversible unit matrix, Θ represents the coefficient matrix of the optimal sliding surface function.

[0130] As a possible implementation method, the present application can also combine the vibration displacement equation of the inclined cable in the first direction with the equivalent control force equation for solution, that is, combine formula (2) and formula (17) for solution. Specifically, according to formula (2), the displacement in the y direction can be expressed as

[0131]

[0132] In the formula, v d (x d ,t) represents the first vibration displacement information of the cable at the damper installation position, Indicates v d (x d ,t).

[0133] Combined with formula (18), formula (17) can be written as formula (19)

[0134]

[0135] In order to obtain Assume that there exists an optimal vector L = [L1,L2,Λ,L n-1 ,L n ] T So that Lφ d =I n Established, that is

[0136]

[0137] In the formula, I represents the identity matrix, and the subscript represents the order of the identity matrix.

[0138] However, it is difficult to obtain the conditions that satisfy the optimal vector, so the quasi-optimal vector defined by quasi-optimal control appears as set up

[0139]

[0140] Where tr(·) is the sum of the diagonal elements of the matrix. i When the minimum value is obtained, an optimal value is obtained It can be understood that Wi represents the modulus of the error vector. After solving the quasi-optimal vector, the quasi-optimal vector is equal to φ d -1 , and then substitute into formula (19) to solve the equivalent control force u in sliding mode controleq .

[0141] A4: Determine the reaching law of the optimal sliding surface function, and obtain the switching control force corresponding to the sliding mode control force.

[0142] In the embodiment of the present application, the following formula (22) can be selected as the convergence law of the optimal sliding surface function, and the switching control force corresponding to the sliding mode control force can be directly determined by formula (12).

[0143]

[0144] In the formula, sgn represents the sign function, K represents the constant gain; s is the sliding surface function, represents the derivative of the sliding surface function s;

[0145] A5: The sliding mode control force corresponding to the sliding mode control standard equation is obtained by superimposing the equivalent control force and the switching control force.

[0146] As an example, the present application superimposes formula (17) and formula (22) to obtain the sliding mode control force. In order to further reduce the jitter of the control force during the control process, the saturation function sat is used to replace the sign function sgn. Therefore, the sliding mode control force applied by the active control system is shown in formula (23):

[0147]

[0148] In the formula, u SMC represents the sliding mode control force, x d represents the installation position of the damper, Γ is a definition expression, which is specifically Γ=ΘIA, A represents the coefficient matrix of the state space equation; I represents the reversible unit matrix, Θ represents the coefficient matrix of the optimal sliding surface function.

[0149] S103: Based on the sliding mode control force, second vibration displacement information and second velocity response information of the stay cable at the damper installation position under the sliding mode control force are calculated.

[0150] In the embodiment of the present application, after the sliding mode control force is calculated, the second vibration displacement information and the second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force can be calculated.

[0151] As an example, based on the sliding mode control force, the second vibration displacement information and the second velocity response information of the cable at the damper installation position under the sliding mode control force are calculated, including B1-B6:

[0152] B1: Establishing a second vibration differential equation for relating the stay cable and the damper.

[0153] Specifically, the present application can establish a second vibration differential equation based on Newton's law, which can represent the y-axis motion direction, as follows:

[0154]

[0155] Where T is the initial tension of the cable, τ is the change in tension during the vibration of the cable, y is the static sag deformation curve (i.e., the static equilibrium position, i.e., the static equilibrium equation of the cable), v is the vortex-induced vibration displacement of the cable from the equilibrium position, i.e., the vibration displacement information, s is the arc length of the cable, m is the mass per unit length of the cable, θ is the angle between the longitudinal and horizontal positions of the cable, and F y is the vortex force in the vertical plane acting on the inclined cable, C is the linear damping coefficient per unit cable length, u SMC is the sliding mode control force calculated in step S102, x d is the damper installation position, which refers to the distance between the damper installation position and the anchor end of the cable and the main beam. δ(·) is the Dirac function, and x refers to the distance from one end of the cable along the length direction of the cable.

[0156] B2: Calculate according to the improved wake oscillator equation, the first vibration displacement information and the first velocity response information to obtain a pulsating lift coefficient.

[0157] The improved wake oscillator equation can be expressed as:

[0158]

[0159] Where ε y is the nonlinear term parameter, A y is the dynamic parameter of structure-fluid coupling, vortex shedding frequency Ω f =2πStU / D, St is the Strouhal number, U is the vortex-induced wind speed, q(x,t) is the pulsating lift coefficient, which is used to describe the change of the wake and is related to the structural pulsating lift coefficient. Parameter ε y , A y , St, γ y The determination is prior art, so it will not be repeated here. D is the cable diameter.

[0160] In the embodiment of the present application, the first vibration displacement information and the first velocity response information can be substituted into the above formula (25) to obtain the pulsating lift coefficient q(x, t).

[0161] B3: Determine the pulsating lift of the inclined cable according to the pulsating lift coefficient.

[0162] According to the pulsating lift coefficient q(x,t) calculated in formula (25), when the inclined cable undergoes vortex-induced vibration, the pulsating lift Fy It can be expressed as:

[0163]

[0164] Where ρ is the fluid density, D is the cable diameter, C L0 is the initial lift coefficient, and U is the vortex-induced wind speed.

[0165] Based on the above formula (26), the pulsating lift of the cable can be determined.

[0166] B4: Calculate based on the pulsating lift, the second vibration differential equation and the sliding mode control force to obtain the second vibration displacement information and the second velocity response information.

[0167] After the pulsating lift is obtained, the second vibration displacement information and the second speed response information can be obtained by calculation based on the pulsating lift, the second vibration differential equation and the sliding mode control force. As an example, the calculation of the second vibration displacement information and the second speed response information includes the following steps:

[0168] First, the static equilibrium equation of the inclined cable is established. It can be understood that due to the influence of gravity, sag will occur along the axial direction of the inclined cable, causing nonlinear phenomena and making the vibration characteristics of the inclined cable more complicated. Therefore, assuming that the static line shape of the inclined cable is a quadratic parabola, the equation is:

[0169]

[0170] Where H is the chord-wise component of the initial tension, L is the total length of the cable, x is the position on the cable, and θ is the angle between the longitudinal and horizontal positions of the cable.

[0171] Using the following geometric relationship,

[0172]

[0173] And the static equilibrium equation of the inclined cable, equation (24) can be written as:

[0174]

[0175] Where H is the chord-wise component of the initial tension, h is the chord-wise component of the dynamic tension, the dynamic tension is the change in the tension of the cable during vibration operation, and τ represents the dynamic tension of the cable.

[0176] Since the vortex-induced vibration of the cable is a nonlinear problem, the influence of high-order terms on the vibration should be considered. Assuming that the arc length of the micro-segment before deformation is ds and after deformation is ds', the dynamic tension of the cable is:

[0177]

[0178] Where: E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, y x is the derivative of the static linear shape y with respect to x. Substituting the above formula into equation (29), we can obtain the structural oscillator in the y-axis direction:

[0179]

[0180] Further expansion and arrangement can obtain the differential equation of structural motion in the y-axis direction:

[0181]

[0182] Where:

[0183]

[0184] where y xx It refers to the second derivative of y with respect to x, that is, the second derivative of y with respect to x.

[0185] Substituting the calculated pulsating lift, the first vibration displacement information and the first velocity response information into formula (32) and solving them by the second-order central difference method, the second vibration displacement information and the second velocity response information of the inclined cable under the sliding mode control force can be obtained.

[0186] S104: Input the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model.

[0187] In the embodiment of the present application, after obtaining the second vibration displacement information and the second velocity response information, the second vibration displacement information and the second velocity response information can be input into the adaptive reference model to obtain the adaptive control force output by the adaptive reference model.

[0188] It can be understood that the adaptive reference model takes the vibration response of the cable to which the sliding mode control force is applied as the controlled object and the reference model as the control target, calculates the adaptive control command and applies it as control force compensation to the output of the total control force to ensure that the controlled object accurately tracks the reference model.

[0189] As an example, the adaptive reference model of this application is as follows:

[0190]

[0191] In the formula, y p (t) is the actual output of the velocity response of the cable at the damper installation location; y m (t) is the output of the adaptive reference model, which is selected as 5% of the actual output of the control object; x m(t) is the model state vector, representing 5% of the displacement and velocity of the cable at the damper position; u m (t) is the input of the reference model and is set to be the same as the actual output of the control object, that is, the cable vibration velocity at the damper position. The defined adaptive reference model has a simple structure and can always produce better output than the control object model. The defined reference model ensures that the controller reduces the cable velocity at the damper position by 95% at any time.

[0192] The flexible structure equipped with displacement and velocity sensors and dampers satisfies the almost strictly positive real (ASPR) condition. The tracking error between the reference model and the controlled object can be defined as

[0193] e y (t) = y m (t)-y p (t) (34)

[0194] Where y m (t) is the output of the reference model, y p (t) is the actual output of the controlled object, y p (t) is the second vibration displacement information and the second velocity response information of the inclined cable at the damper installation position under the sliding mode control force calculated in step S103.

[0195] If the controlled object completely tracks the reference model, that is, e y When (t) = 0, the control is called "ideal", which is impossible in practical applications. The output of the adaptive controller, that is, the control command, represents the control force required to make the controlled object track the reference model and can be calculated as:

[0196]

[0197] In the formula, u p (t) represents the adaptive control force, r(t) is the reference vector, and K(t) is the gain matrix.

[0198] The adaptive control law is defined as

[0199]

[0200] Where T1 and T2 are the "selected" positive definite symmetric and positive semidefinite scaling matrices, respectively, which are selected to adjust the adaptive rate. The σ term is added to equation (37) to prevent the integral gain from diverging. The σ term can be a very small value in the presence of interference. K I is the integral gain matrix, which is required for the adaptive stability of the control system and to accelerate the convergence speed. K I The derivative of KP is a proportional gain matrix that enhances the performance of the plant and promotes perfect output tracking by adding immediate penalties for large errors.

[0201] S105: The adaptive control force and the sliding mode control force are superimposed to obtain a total control force of the damper.

[0202] In the embodiment of the present application, the obtained adaptive control force and sliding mode control force may be superimposed to obtain the total control force of the damper.

[0203] S106: Determine the optimal input current of the damper based on the total control force.

[0204] In the embodiment of the present application, after the total control force is obtained, the optimal input current of the damper can be determined according to the total control force.

[0205] The present application does not limit the specific manner of determining the optimal input current of the damper based on the total control force. As an example, S106 includes the following steps:

[0206] C1: Use the Sigmoid model to simulate the output mode of the magnetorheological damper and establish a mechanical model of the magnetorheological damper.

[0207] See also Figure 3 , Figure 3 A schematic diagram of the structure of a Sigmoid model provided in an embodiment of the present application, Figure 3 3 represents the Sigmoid module, 4 represents the damping unit, and 5 represents the stiffness unit, which are connected in parallel. The stiffness and damping units in this model are constant modules of the damper, and the parameters that vary with the current are integrated in the Sigmoid module. The hyperbolic tangent function in the Sigmoid module is used to simulate the yield characteristics of the magnetorheological damper. The output of the Sigmoid model is:

[0208]

[0209] Where x and are the axial displacement and axial velocity of the damper, c0 represents the inherent viscosity coefficient, k0 represents the inherent stiffness coefficient, f d is the yield strength of the damper, and β is the exponent coefficient of the hyperbolic tangent function, which characterizes the linear viscosity of the magnetorheological damper in the early stage of yield. It has only 4 undetermined parameters. Because it involves low computational complexity and high practicality, it has low requirements on the computing power of the controller, which is more conducive to subsequent real-time intelligent control.

[0210] The present application does not limit the specific numerical values ​​of the inherent viscosity coefficient, the inherent stiffness coefficient, the yield strength of the damper, and the exponential coefficient of the hyperbolic tangent function. These values ​​can be determined according to actual needs. As an example, c0=18.17 kN / m, k0=36.87 kN / m, β=64.81 s / m,

[0211] C2: Based on the mechanical model of the magnetorheological damper, an inverse model of the magnetorheological damper is established, wherein the inverse model includes a corresponding relationship between an optimal input current of the damper and the total control force.

[0212] Based on the mechanical model of the magnetorheological damper established above, an inverse model of the magnetorheological damper is established. It can be understood that the inverse model includes the corresponding relationship between the optimal input current of the damper and the total control force.

[0213] In the embodiment of the present application, the damping force is a function of the damper axial displacement, velocity and input voltage. Therefore, under a given damper axial displacement and velocity state, the damping force and the input current are in a one-to-one correspondence. In the embodiment of the present application, various current inputs and the estimated damper axial displacement and velocity can be input into the Sigmoid model, and then the damping force array for each current value can be stored in f F The current values ​​can be arbitrary, but in this study they are between 0 and I max linearly distributed between them and stored in ascending order in the current vector I F In.

[0214] I F (i) = Imax×(i-1) / (n I -1) (38)

[0215] Where i = 1, 2, ..., n I , and n I is the current vector I F Increase n I The accuracy of the inverse model can be improved, but the amount of calculation will also increase. Imax represents the maximum input current of the damper.

[0216] In the embodiment of the present application, the most suitable current is determined and sent to the magnetorheological damper so that the difference between the generated damper force and the target control force is minimized.

[0217] C3: Based on the corresponding relationship and the total control force, determine the optimal input current of the damper.

[0218] In the embodiment of the present application, the obtained total control force can be searched for a corresponding relationship, and the damping control force with the smallest difference with the total control force in the corresponding relationship can be found, and the current corresponding to the damping control force can be used as the optimal input current.

[0219] S107: Based on the optimal input current, output the actual damping control force of the damper at the first moment, and apply the actual damping control force to the inclined cable.

[0220] In the embodiment of the present application, after obtaining the optimal current, the damper output can be controlled to apply the actual damping control force to the cable, thereby effectively suppressing the vibration of the cable. Through this method, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and speed response information of the cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment. In addition, through the above method, the problem of poor robustness and poor practical performance of the existing semi-active control algorithm can also be solved.

[0221] As a possible implementation method, the present application provides a control method for a bridge stay cable, further comprising the following steps:

[0222] D1: determining the second vibration information after the actual damping control force controls the stay cable;

[0223] D2: Optimizing the sliding mode control algorithm and the adaptive reference model according to the second vibration information.

[0224] In the embodiment of the present application, after the actual damping control force is applied to the inclined cable in S106, second vibration information can also be obtained. It can be understood that the second vibration information refers to the vortex-induced vibration steady-state response after the inclined cable applies the control semi-active control force. The present application can iteratively optimize the sliding mode control algorithm and the adaptive reference model by comparing the vortex-induced vibration steady-state response before and after the inclined cable applies the control semi-active control force.

[0225] The present application does not limit the specific content of optimizing the sliding mode control algorithm and the adaptive reference model. As an example, the present application can optimize the switching control gain K in the sliding mode control algorithm, that is, the constant gain K, and optimize the integral gain matrix T1 and the proportional gain matrix T2 in the adaptive control.

[0226] As an example, the optimized integral gain matrix is ​​T1=109I, the proportional gain matrix is ​​T2=109I, and the switching control gain k is 10.

[0227] Combine the following Figure 4 , a control method for a bridge cable provided in the present application is further described, Figure 4: is a flow chart of another control method for a bridge cable provided in an embodiment of the present application. The present application first collects the first vibration displacement information and the first velocity response information of the cable through a sensor, and calculates them in combination with a sliding mode control algorithm to obtain a sliding mode control force u SMC The method of calculating the sliding mode control force is the same as above and will not be repeated here.

[0228] After the sliding mode control force is obtained, the vibration equation of the cable-damper system and the reference model can be established. The vibration equation can be the second vibration differential equation mentioned above. The second vibration displacement information and the second velocity response information of the inclined cable at the damper installation position under the sliding mode control force are calculated, and the adaptive control force u can be obtained through the reference model, which is the adaptive reference model discussed above. p .

[0229] The sliding mode control force u SMC And the adaptive control force u p By superimposing them, the active control force can be obtained, which is the total control force recorded above. The total control force is input into the inverse model of the MR damper, and the optimal input current of the damper is output through the inverse model of the MR damper; the optimal input current is input into the MR damper model, and the actual damping control force of the damper at the first moment can be output, and the inclined cable can be controlled by the actual damping control force.

[0230] Through the above method, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and velocity response information of the cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment. Figure 5 , Figure 5 The figure is a schematic diagram of the vortex-induced vibration response of the bridge cable before and after the control method of the bridge cable provided by the present application is used. It can be understood that ACSMC refers to adaptive compensation sliding mode control, that is, the control method of the bridge cable provided by the present application as described above. The horizontal axis in the figure represents the wind speed, and the vertical axis represents the acceleration amplitude at the mid-span of the cable, which can be used to reflect the vibration of the cable. It can be seen that the control method of the bridge cable provided by the present application can effectively suppress the vibration of the cable.

[0231] See also Figure 6 , Figure 6 A schematic structural diagram of a control device for a bridge cable provided in an embodiment of the present application, the device comprising: a collection unit 601, a calculation unit 602, a model input and output unit 603, a determination unit 604, and a control unit 605.

[0232] A collection unit 601 is used to collect first vibration displacement information and first velocity response information of the stay cable at the damper installation position at a first moment;

[0233] A calculation unit 602, configured to perform calculation based on a sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain a sliding mode control force;

[0234] The calculation unit 602 is further configured to calculate, based on the sliding mode control force, second vibration displacement information and second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force;

[0235] A model input and output unit 603, configured to input the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model;

[0236] The calculation unit 602 is further used to calculate according to the adaptive control force and the sliding mode control force to obtain the total control force of the damper;

[0237] A determination unit 604, configured to determine an optimal input current of the damper based on the total control force;

[0238] The control unit 605 is configured to output an actual damping control force of the damper at the first moment based on the optimal input current, and control the stay cable by means of the actual damping control force.

[0239] Through the above device, the input current of the damper can be adjusted in time according to the real-time vibration displacement information and speed response information of the inclined cable, so that the actual output of the damper can be close to the optimal control force for the vibration response at each moment.

[0240] As a possible implementation, the computing unit 602 includes:

[0241] Establishing a subunit, used to establish a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first speed response information;

[0242] A solving subunit, used for solving the integral objective function by using a linear quadratic method to obtain an optimal sliding surface function;

[0243] A calculation subunit, used for calculating an equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function;

[0244] A determination subunit, used to determine the reaching law of the optimal sliding surface function, and obtain the switching control force corresponding to the sliding mode control force;

[0245] The superposition subunit is used to perform superposition according to the equivalent control force and the switching control force to obtain the sliding mode control force corresponding to the sliding mode control standard equation.

[0246] As a possible implementation, the establishing subunit is specifically used for:

[0247] Establishing a first vibration differential equation for associating the stay cable and the damper based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information;

[0248] According to the Hamiltonian principle, a vibration displacement equation of the inclined cable in a first direction is determined by an integral algorithm, wherein the first direction is a direction perpendicular to the inclined cable;

[0249] Determining a spatial state equation corresponding to the sliding mode control algorithm based on the first vibration differential equation and the vibration displacement equation;

[0250] The spatial state equation is linearized to obtain the sliding mode control standard equation.

[0251] As a possible implementation, the computing unit 602 further includes:

[0252] The establishing subunit is further used to establish a second vibration differential equation for associating the stay cable and the damper;

[0253] The calculation subunit is further used to calculate according to the improved wake oscillator equation, the first vibration displacement information and the first velocity response information to obtain a pulsating lift coefficient;

[0254] A determination subunit is further used to determine the pulsating lift of the inclined cable according to the pulsating lift coefficient;

[0255] The calculation subunit is further used to perform calculation based on the pulsating lift, the second vibration differential equation and the sliding mode control force to obtain the second vibration displacement information and the second velocity response information.

[0256] As a possible implementation manner, the damper is a magnetorheological damper, and the determining unit 604 is specifically configured to:

[0257] Using a Sigmoid model to simulate the output mode of the magnetorheological damper, and establishing a mechanical model of the magnetorheological damper;

[0258] Based on the mechanical model of the magnetorheological damper, an inverse model of the magnetorheological damper is established, wherein the inverse model includes a corresponding relationship between an optimal input current of the damper and a damping control force;

[0259] Based on the corresponding relationship and the total control force, an optimal input current of the damper is determined.

[0260] As a possible implementation manner, the device further includes:

[0261] The determining unit is further used to determine second vibration information after the actual damping control force controls the stay cable;

[0262] An optimization unit is used to optimize the sliding mode control algorithm and the adaptive reference model according to the second vibration information.

[0263] The present application also provides a control device for a bridge cable, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the terminal may also include various network interfaces, power supplies and other components.

[0264] It should be noted that the control device for a bridge cable provided in an embodiment of the present application has the technical effects of any of the above embodiments, and the embodiments of the present application will not be described in detail here.

[0265] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: 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.

[0266] It should be noted that a computer-readable storage medium provided in an embodiment of the present application has the technical effects of any of the above embodiments, and the embodiments of the present application are not described in detail here.

[0267] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0268] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0269] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A method for controlling a bridge cable, characterized in that: The method comprises: Collecting first vibration displacement information and first velocity response information of the stayed cable at the damper installation position corresponding to the first moment; Perform sliding mode control calculation based on a sliding mode control algorithm, the first vibration displacement information, and the first velocity response information to obtain a sliding mode control force; Based on the sliding mode control force, calculating second vibration displacement information and second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force; Inputting the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model; Obtaining a total control force of the damper by superimposing the adaptive control force and the sliding mode control force; determining an optimal input current of the damper based on the total control force; Based on the optimal input current, an actual damping control force of the damper at the first moment is output, and the actual damping control force is applied to the stay cable.

2. The method according to claim 1, characterized in that The performing sliding mode control calculation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain the sliding mode control force includes: Establishing a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information; The linear quadratic method is used to solve the integral objective function to obtain the optimal sliding surface function; Calculating an equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function; Determine the reaching law of the optimal sliding mode surface function to obtain the switching control force corresponding to the sliding mode control force; The sliding mode control force corresponding to the sliding mode control standard equation is obtained by superimposing the equivalent control force and the switching control force.

3. The method according to claim 2, characterized in that The establishing of a sliding mode control standard equation based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information comprises: Establishing a first vibration differential equation for associating the stay cable and the damper based on the sliding mode control algorithm, the first vibration displacement information and the first velocity response information; According to the Hamiltonian principle, a vibration displacement equation of the inclined cable in a first direction is determined by an integral algorithm, wherein the first direction is a direction perpendicular to the inclined cable; Determining a spatial state equation corresponding to the sliding mode control algorithm based on the first vibration differential equation and the vibration displacement equation; The spatial state equation is linearized to obtain the sliding mode control standard equation.

4. The method according to claim 1, characterized in that: The calculating, based on the sliding mode control force, second vibration displacement information and second velocity response information of the stay cable at the damper installation position under the action of the sliding mode control force comprises: Establishing a second vibration differential equation for relating the stay cable and the damper; Calculating according to the improved wake oscillator equation, the first vibration displacement information and the first velocity response information to obtain a pulsating lift coefficient; Determining the pulsating lift of the inclined cable according to the pulsating lift coefficient; The second vibration displacement information and the second velocity response information are obtained by performing calculation based on the pulsating lift, the second vibration differential equation, and the sliding mode control force.

5. The method according to claim 1, characterized in that The damper is a magnetorheological damper, and based on the total control force, determining the optimal input current of the damper includes: Using the Sigmoid model to simulate the output mode of the magnetorheological damper, and establishing a mechanical model of the magnetorheological damper; Based on the mechanical model of the magnetorheological damper, an inverse model of the magnetorheological damper is established, wherein the inverse model includes a corresponding relationship between an optimal input current of the damper and a damping control force; Based on the corresponding relationship and the total control force, an optimal input current of the damper is determined.

6. The method according to claim 1, characterized in that The method further comprises: Determining second vibration information after the actual damping control force controls the stay cable; The sliding mode control algorithm and the adaptive reference model are optimized according to the second vibration information.

7. A control device for a bridge cable, characterized in that: The device comprises: A collection unit, used for collecting first vibration displacement information and first velocity response information of the stayed cable at the damper installation position at a first moment; a calculation unit, configured to calculate based on a sliding mode control algorithm, the first vibration displacement information and the first velocity response information to obtain a sliding mode control force; The calculation unit is further used to calculate, based on the sliding mode control force, second vibration displacement information and second velocity response information of the inclined cable at the damper installation position under the action of the sliding mode control force; A model input and output unit, used for inputting the second vibration displacement information and the second velocity response information into an adaptive reference model to obtain an adaptive control force output by the adaptive reference model; The calculation unit is further used to calculate according to the adaptive control force and the sliding mode control force to obtain the total control force of the damper; a determining unit, configured to determine an optimal input current of the damper based on the total control force; A control unit is used to output an actual damping control force of the damper at the first moment based on the optimal input current, and control the inclined cable through the actual damping control force.

8. The device according to claim 7, characterized in that The computing unit comprises: Establishing a subunit, used to establish a sliding mode control standard equation and an integral objective function based on the sliding mode control algorithm, the first vibration displacement information and the first speed response information; A solving subunit, used for solving the integral objective function by using a linear quadratic method to obtain an optimal sliding surface function; A calculation subunit, used for calculating an equivalent control force corresponding to the sliding mode control force according to the optimal sliding surface function; A determination subunit, used to determine the reaching law of the optimal sliding surface function, and obtain the switching control force corresponding to the sliding mode control force; The superposition subunit is used to perform superposition according to the equivalent control force and the switching control force to obtain the sliding mode control force corresponding to the sliding mode control standard equation.

9. A control device for a bridge cable, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program stored in the memory to implement the steps of the control method of the bridge cable according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the steps of the method for controlling a bridge cable according to any one of claims 1 to 6.

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