Active control method for axis vehicle transportation and shipment of large-scale structure

Abstract

The invention discloses an active control method for transportation and shipment of axis vehicles for a large-scale structure, which comprises the following steps: establishing a three-dimensional diagram of the large-scale structure, determining the number of the axis vehicles through the three-dimensional diagram, then optimizing a transportation path of the axis vehicles, determining a foundation settlement value on the optimized path, and calculating a pre-compensation amount. And the pre-compensation tasting amount is input into the weight-displacement fuzzy PID combined control model to compensate the hydraulic cylinder, and therefore active control over the hydraulic system is achieved. According to the method, the transportation path of shipping of the large-scale structure is optimized, and the hydraulic leveling system is used for actively compensating foundation settlement generated by the transportation path and unevenness of the ground, so that the large-scale structure and the horizontal ground are always kept at the same height in the transportation process, and the stability of the large-scale structure in the transportation process is ensured; and the module transportation efficiency is improved.

Description

Technical Field

[0001] The invention relates to a method for transporting large structures of marine engineering, and in particular to an active control method for transporting and loading large structures by an axis vehicle. Background Art

[0002] At present, the common method of transportation for loading some large structures on ships in offshore engineering sites is to transport them by axle trucks. However, due to the diverse structural forms of some large structures and their large mass, the foundation of the transportation ground will sink when they are transported on site. At the same time, during the transportation of large structure modules, the speed changes of the axle truck, the unevenness of the road, uphill and downhill, etc., can easily cause the large structure to tilt. If a large structure tilts during transportation, the stability of the axle truck during transportation will deteriorate, which can easily cause the risk of collapse. Therefore, during the transportation of large structures, it is necessary to manually adjust the transportation height of the large structure so that the distance from the horizontal ground during transportation is always maintained at a uniform horizontal line for transportation, which reduces the transportation efficiency of large structures and cannot guarantee the safety of transportation. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an active control method for the transport and loading of large structures by axle vehicles, which enables the large structures to remain stable during transportation and improves the transportation efficiency of the large structures.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] An active control method for transporting and loading a large structure onto a ship by an axis vehicle comprises the following steps:

[0006] Step 1: Create a 3D diagram of the large structure in 3D software, and calculate the total weight G and the center of gravity COG of the large structure through the 3D software;

[0007] Step 2: Select an axle truck and determine the load-bearing weight T of a single axle truck 轴 , based on the total weight G of the large structure and the load-bearing weight T of a single axle vehicle 轴 , determine the number of axis vehicles N;

[0008]

[0009] Where N is the number of axle vehicles, G is the total weight of the large structure, and T 轴 is the load-bearing weight of a single axle vehicle, and S is the safety factor;

[0010] Step 3. According to the number of axle trucks N determined in step 2, establish an axle truck transportation model for large structures in the axle truck bearing capacity calculation and analysis software, input the axle truck transportation model for large structures and the center of gravity COG of large structures into the axle truck bearing capacity calculation and analysis software, make vertical dividing lines and horizontal dividing lines at the center of gravity COG of large structures, and divide the large structures into three areas according to the axle truck transportation triangle balance principle. The three areas are rectangular, G1, G2 and G3 are the centers of gravity of each area, and the weight G that the hydraulic cylinder in each area needs to bear is g1 , G g2 and G g3 As well as the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of each area, the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of the three areas are set as the key bearing points, according to the weight G that the hydraulic cylinder in each area needs to bear g1 , G g2 and G g3 Calculate the number of hydraulic cylinders required at the key bearing points in each area;

[0011]

[0012] Where q, t, and k are the number of hydraulic cylinders arranged at the key bearing points G1, G2, and G3 in the three areas, respectively. g1 is the weight that the hydraulic cylinder in the first area with G1 as the center of gravity needs to bear, G g2 G is the weight that the hydraulic cylinder in the second area with G2 as the center of gravity needs to bear. g3 is the weight that the hydraulic cylinder in the third area with G3 as the center of gravity needs to bear, T 液 is the load-bearing weight of a single hydraulic cylinder;

[0013] Step 4: Optimize the axle vehicle transportation path according to the axle vehicle transportation model of the large structure and the key bearing point coordinates G1 (x1, y1), G2 (x2, y2) and G3 (x3, y3) of the three areas to determine the optimal path in transportation;

[0014] Step 5: Establish the axle truck transportation model and foundation model of the large structure in the finite element software, establish the coupling relationship between the axle truck transportation model and the foundation model, input the transportation optimization path determined in step 4, simulate and analyze the foundation deformation degree on the transportation path, and obtain the foundation settlement value L of the node passed by the axle truck transportation path during the transportation process. ij ;

[0015] Step 6: Place a level on the transport path to measure the flatness of the ground on the transport path and record the concave and convex values ​​±L' of the nodes on the transport pathij , calculate the pre-compensation amount ΔL ij ;

[0016] ΔL ij =L ij ±L′ ij

[0017] In the formula, ΔL ij is the pre-compensation amount when the axis vehicle passes through the node, L ij The foundation settlement value when the axis vehicle passes through the node, L' ij is the concave and convex value of the axis vehicle passing through the node, and the road surface is convex when L' ij When the road surface is concave, L' ij is a positive value, i is the horizontal grid number, and j is the vertical grid number;

[0018] Step 7: According to the number of axle vehicles N and the number of hydraulic cylinders q, t, k required to be arranged at each key bearing point G1, G2 and G3, hydraulic cylinders are evenly arranged around each key bearing point on the upper bearing surface of the axle vehicle at the position corresponding to each key bearing point. The hydraulic cylinder group arranged at the position corresponding to the first key bearing point G1 is marked as {G 11 , G 12 …G 1q The hydraulic cylinder group arranged at the position corresponding to the second key bearing point G2 is marked as {G 21 , G 22 …G 2t} and the hydraulic cylinder group arranged at the position corresponding to the third key bearing point G3 is marked as {G 31 , G 32 …G 3k}, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, a weight sensor is installed on each hydraulic cylinder, a displacement sensor is installed on the axis vehicle corresponding to the key bearing points G1, G2 and G3, and the axis vehicle and the hydraulic cylinder are driven to the bottom of the large structure;

[0019] Step 8: Construct a weight-displacement fuzzy PID joint control model for large structures, and set the displacement error [-Δl, +Δl] of the displacement sensor and the weight error [-Δp, +Δp] of the weight sensor;

[0020] Step 9: Set the lifting height H of the hydraulic cylinder in the computer m The computer controls the hydraulic cylinders so that the weight sensors on all the hydraulic cylinders touch the bottom of the large structure, and continuously controls the hydraulic cylinders to lift the large structure up. m , calculate the distance between the bottom surface of the large structure and the horizontal ground, and convert the distance H between the bottom surface of the large structure and the horizontal groundb Set to standard height:

[0021] H b =H m +H n +R

[0022] In the formula, H b H is the standard height of the bottom surface of a large structure from the horizontal ground. m H is the hydraulic cylinder lifting height set in the computer. n is the distance between the top surface of the axis car and the center point of the tire, and R is the radius of the axis car tire;

[0023] Step 10: Record the weight of each hydraulic cylinder at the key bearing points G1, G2 and G3 in the three areas according to the weight signal output by the weight sensor {MG 11 MG 12 …MG 1q}、{MG 21 MG 22 …MG 2t} and {MG 31 MG 32 …MG 3k}, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, calculate the average values ​​MG1', MG2' and MG3' of the bearing weights of the hydraulic cylinders at the key bearing points G1, G2 and G3 of the three areas, and set the average values ​​MG1', MG2' and MG3' as the standard bearing capacity;

[0024] Step 11: Move the axle truck along the transport path. During the movement, the weight sensor and displacement sensor measure the load-bearing weight of the hydraulic cylinder in each area in real time. 11 'MG 12 '…MG 1q '}, {MG 21 'MG 22 '…MG 2t '} and {MG 31 'MG 32 '…MG 3k '} and the real-time lifting displacement values ​​H1, H2 and H3 measured by each displacement sensor at the key bearing points G1, G2 and G3 in the three areas;

[0025] Step 12: Calculate the average values ​​of the real-time load capacity of the hydraulic cylinders in each area MG1", MG2" and MG3" and the distance H from the ground to each key bearing point G1, G2 and G3 of the large structure. m1 , H m2 and H m3 ;

[0026] Step 13: Set the real-time distance H between each key bearing point G1, G2 and G3 and the ground m1 , H m2 and H m3 The average values ​​of the real-time load capacity MG1”, MG2” and MG3” are input into the large-scale structure weight-displacement fuzzy PID joint control model, and the large-scale structure weight-displacement fuzzy PID joint control model outputs the displacement feedback error e of each key bearing point G1, G2 and G3. f1 、e f2 、e f3 And the feedback error of each hydraulic cylinder load {e g11、 e g12 …e g1q}、{e g21、 e g22 …e g2t} and {e g31、 e g32 …e g3k}, the computer control system is based on the displacement feedback error e f1 、e f2 、e f3 And the load feedback error {e g11、 e g12 …e g1q}、{e g21、 e g22 …e g2t} and {e g31、 e g32 …e g3k Active weight-displacement compensation is performed to actively adjust the load capacity and telescopic distance of each hydraulic cylinder, so that large structures can always maintain the same level when moved to the transport ship.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention optimizes the transportation path for loading large structures onto ships, and actively compensates for the foundation settlement and uneven ground caused by the transportation path through a hydraulic leveling system, so that the large structures always remain at the same height as the horizontal ground during transportation, thereby ensuring the stability of the large structures during transportation and improving the transportation efficiency of modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a flow chart of an active control method for transporting and loading a large structure onto a ship by an axis vehicle according to the present invention;

[0030] Figure 2 It is a schematic diagram of the partitions of the axis vehicle bearing of the large structure of the present invention;

[0031] Figure 3 This is a schematic diagram of standard transportation of the axle vehicle of the present invention;

[0032] Figure 4 A schematic diagram of compensation when the axle vehicle of the present invention passes through a concave road surface;

[0033] Figure 5 It is a compensation diagram of the axle vehicle of the present invention when passing through a convex road surface. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the accompanying drawings:

[0035] As shown in the figure, an active control method for transporting and loading a large structure by an axis vehicle of the present invention comprises the following steps:

[0036] Step 1: Create a 3D diagram of the large structure in 3D software, and calculate the total weight G and the center of gravity COG of the large structure through the 3D software;

[0037] Step 2: Select an axle truck and determine the load-bearing weight T of a single axle truck 轴 , based on the total weight G of the large structure and the load-bearing weight T of a single axle vehicle 轴 , determine the number of axis vehicles N;

[0038]

[0039] Where N is the number of axle vehicles, G is the total weight of the large structure, and T 轴 is the load-bearing weight of a single axle vehicle, S is the safety factor, usually selected as 2.0.

[0040] Step 3. According to the number of axle trucks N determined in step 2, establish an axle truck transportation model for large structures in the axle truck bearing capacity calculation and analysis software, input the axle truck transportation model for large structures and the center of gravity COG of large structures into the axle truck bearing capacity calculation and analysis software, make vertical dividing lines and horizontal dividing lines at the center of gravity COG of large structures, and divide the large structures into three areas AB'D'D, B'BC'O' and O'C'CD' according to the axle truck transportation triangle balance principle (see the axle truck bearing capacity calculation instructions provided by the manufacturer), the three areas are rectangular, G1, G2 and G3 are the centers of gravity of each area, and the weight G that the hydraulic cylinder in each area needs to bear is g1 , G g2 and G g3As well as the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of each area, the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of the three areas are set as the key bearing points, according to the weight G that the hydraulic cylinder in each area needs to bear g1 , G g2 and G g3 (obtained from the axle vehicle bearing capacity calculation and analysis software provided by the manufacturer) Calculate the number of hydraulic cylinders required to be arranged at the key bearing points in each area;

[0041]

[0042] Where q, t, and k are the number of hydraulic cylinders arranged at the key bearing points G1, G2, and G3 in the three areas, respectively. g1 is the weight that the hydraulic cylinder in the first area with G1 as the center of gravity needs to bear, G g2 G is the weight that the hydraulic cylinder in the second area with G2 as the center of gravity needs to bear. g3 is the weight that the hydraulic cylinder in the third area with G3 as the center of gravity needs to bear, T 液 is the load-bearing weight of a single hydraulic cylinder.

[0043] Step 4: Optimize the axle vehicle transportation path according to the axle vehicle transportation model of the large structure and the key bearing point coordinates G1 (x1, y1), G2 (x2, y2) and G3 (x3, y3) of the three areas to determine the optimal path in transportation. The specific steps are as follows:

[0044] The first step is to establish the transportation site model, obstacle model and large structure model in the axle vehicle bearing capacity calculation and analysis software;

[0045] The second step is to grid the transportation site model according to the length and width of the large structure. During the gridding process, if a cell collides with an obstacle, this cell is set as an obstacle.

[0046] Step 3: Set the transportation start and end point of the large structure, connect the start and end points to form a straight line, and determine whether the straight line collides with an obstacle. If no collision occurs, output the straight line as the transportation path. If a collision occurs, proceed to step 4.

[0047] Step 4: Set the necessary nodes in the axle vehicle transportation, take the minimum transportation cost and transportation risk of the axle vehicle as the optimization goal, establish the axle vehicle transportation path optimization function of the large structure, input the starting point and the end point, use the intelligent NSGA-Ⅱ algorithm to solve the model, and output the optimized transportation path, where:

[0048] The transportation path optimization function is:

[0049] Where minF is the optimization objective function, F1 is the time cost of axle vehicle transportation, F2 is the risk during axle vehicle transportation, T is the transposition code, and x ij is the node code of the path passed by the axle vehicle during transportation, t ij is the time cost unit price of axle vehicle transportation, P ij is the risk factor when the axis vehicle passes by, i is the horizontal grid number, and j is the vertical grid number.

[0050] Step 5: Establish the axle truck transportation model and foundation model of the large structure in the finite element software, establish the coupling relationship between the axle truck transportation model and the foundation model, input the transportation optimization path determined in step 4, simulate and analyze the foundation deformation degree on the transportation path, and obtain the foundation settlement value L of the node passed by the axle truck transportation path during the transportation process. ij ;

[0051] Step 6: Place a level on the transport path to measure the flatness of the ground on the transport path and record the concave and convex values ​​±L' of the nodes on the transport path ij , calculate the pre-compensation amount ΔL ij ;

[0052] ΔL ij =L ij ±L′ ij

[0053] In the formula, ΔL ij is the pre-compensation amount when the axis vehicle passes through the node, L ij The foundation settlement value when the axis vehicle passes through the node, L' ij is the concave and convex value of the axis vehicle passing through the node, and the road surface is convex when L' ij When the road surface is concave, L' ij is a positive value, i is the horizontal grid index, and j is the vertical grid index.

[0054] Step 7: According to the number of axle vehicles N and the number of hydraulic cylinders q, t, k required to be arranged at each key bearing point G1, G2 and G3, hydraulic cylinders are evenly arranged around each key bearing point on the upper bearing surface of the axle vehicle at the position corresponding to each key bearing point. The hydraulic cylinder group arranged at the position corresponding to the first key bearing point G1 is marked as {G 11 , G 12 …G 1q The hydraulic cylinder group arranged at the position corresponding to the second key bearing point G2 is marked as {G 21 , G 22 …G 2t} and the hydraulic cylinder group arranged at the position corresponding to the third key bearing point G3 is marked as {G 31 , G 32 …G 3k}, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, a weight sensor is installed on each hydraulic cylinder, a displacement sensor is installed on the axis vehicle corresponding to the key bearing points G1, G2 and G3, and the axis vehicle and the hydraulic cylinder are driven to the bottom of the large structure;

[0055] Step 8. Construct a large-scale structure weight-displacement fuzzy PID joint control model (see Zhang Zibo, "Research on Active Compensation Technology for Slip Loading of Large Structures", Tianjin University, Master's Thesis, 2022, P35-36), set the displacement error [-Δl, +Δl] of the displacement sensor and the weight error [-Δp, +Δp] of the weight sensor;

[0056] Step 9: Set the lifting height H of the hydraulic cylinder in the computer m The computer controls the hydraulic cylinders so that the weight sensors on all the hydraulic cylinders touch the bottom of the large structure, and continuously controls the hydraulic cylinders to lift the large structure up. m , calculate the distance between the bottom surface of the large structure and the horizontal ground, and convert the distance H between the bottom surface of the large structure and the horizontal ground b Set to standard height:

[0057] H b =H m +H n +R

[0058] In the formula, H b H is the standard height of the bottom surface of a large structure from the horizontal ground. m H is the hydraulic cylinder lifting height set in the computer. n is the distance from the top surface of the axis vehicle to the center point of the tire, and R is the radius of the axis vehicle tire.

[0059] Step 10: Record the weight of each hydraulic cylinder at the key bearing points G1, G2 and G3 in the three areas according to the weight signal output by the weight sensor {MG 11 MG 12 …MG 1q}、{MG 21 MG 22 …MG 2t} and {MG 31 MG 32 …MG 3k}, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, calculate the average values ​​MG1', MG2' and MG3' of the bearing weights of the hydraulic cylinders at the key bearing points G1, G2 and G3 of the three areas, and set the average values ​​MG1', MG2' and MG3' as the standard bearing capacity;

[0060]

[0061] Where MG'1 is the standard load capacity at the key bearing point G1, MG'2 is the standard load capacity at the key bearing point G2, MG'3 is the standard load capacity at the key bearing point G3, {MG 11 MG 12 …MG 1q} is the load capacity of each hydraulic cylinder at the key bearing point G1, {MG 21 MG 22 …MG 2t} is the load capacity of each hydraulic cylinder at the key bearing point G2, {MG 31 MG 32 …MG 3k} is the load capacity of each hydraulic cylinder at the key bearing point G3, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 in the three areas respectively.

[0062] Step 11: Move the axle truck along the transport path. During the movement, the weight sensor and displacement sensor measure the load-bearing weight of the hydraulic cylinder in each area in real time. 11 'MG 12 '…MG 1q '}, {MG 21 'MG 22 '…MG 2t '} and {MG 31 'MG 32 '…MG 3k '} and the real-time lifting displacement values ​​H1, H2 and H3 measured by each displacement sensor at the key bearing points G1, G2 and G3 in the three areas;

[0063] Step 12: Calculate the average values ​​of the real-time load capacity of the hydraulic cylinders in each area MG1", MG2" and MG3" and the distance H from the ground to each key bearing point G1, G2 and G3 of the large structure. m1 , H m2 and H m3 ;

[0064]

[0065] Where, MG”1 is the average value of the real-time bearing capacity at the key bearing point G1, MG”2 is the average value of the real-time bearing capacity at the key bearing point G2, MG”3 is the average value of the real-time bearing capacity at the key bearing point G3, {MG 11 'MG 12 '…MG 1q '} is the real-time load capacity of each hydraulic cylinder at the key bearing point G1, {MG 21 'MG 22 '…G 2t '} is the real-time load capacity of each hydraulic cylinder at the key bearing point G2, {MG 31 'MG 32 '…MG 3k '} is the real-time load capacity of each hydraulic cylinder at the key bearing point G3, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 in the three areas, H m1 , H m2 and H m3 are the real-time distances from the ground to the key bearing points G1, G2 and G3, ΔL ij1 , ΔL ij2 , ΔL ij3 They are the pre-compensation amounts at the key bearing points G1, G2 and G3 respectively.

[0066] Step 13: Set the real-time distance H between each key bearing point G1, G2 and G3 and the ground m1 , H m2 and H m3 The average values ​​of the real-time load capacity MG1”, MG2” and MG3” are input into the large-scale structure weight-displacement fuzzy PID joint control model, and the large-scale structure weight-displacement fuzzy PID joint control model outputs the displacement feedback error e of each key bearing point G1, G2 and G3. f1 、e f2 、e f3 And the feedback error of each hydraulic cylinder load {e g11、 e g12 …e g1q}、{e g21、 e g22 …e g2t} and {e g31、 e g32 …e g3k}, the computer control system is based on the displacement feedback error e f1 、e f2 、e f3 And the load feedback error {e g11、 e g12 …e g1q}、{e g21、 e g22…e g2t} and {e g31、 e g32 …e g3k} Perform active weight-displacement compensation and actively adjust the load capacity and telescopic distance of each hydraulic cylinder so that the large structure always maintains the same horizontal height and moves to the transport ship. The specific active compensation process is as follows:

[0067] The first step is to determine the displacement feedback error e at each key bearing point G1, G2 and G3 respectively. f1 、e f2 、e f3 Is it within the set displacement error [-Δl, +Δl]? If the displacement feedback error e f1 、e f2 、e f3 If the displacement feedback error is within the set displacement error [-Δl, +Δl], proceed to step 2. f1 、e f2 、e f3 When one of them exceeds the displacement error [-Δl, +Δl], the third step is performed;

[0068] Step 2: If the displacement feedback error e f1 、e f2 、e f3 If all of them are within the set displacement error [-Δl, +Δl], it indicates that the axle vehicle is in horizontal ground motion, and the load-bearing cylinder does not perform displacement compensation. The load capacity of each load-bearing cylinder is adjusted respectively, and the load capacity of the hydraulic cylinder in each area measured in real time {MG 11 'MG 12 '…MG 1i '}, {MG 21 'MG 22 '…MG 2j '} and {MG 31 'MG 32 '…MG 3k '} are respectively subtracted from the corresponding standard load capacity G1', G2' and G3' to obtain the load capacity feedback error {e g11、 e g12 …e g1q}、{e g21、 e g22 …e g2t} and {e g31、 e g32 …e g3k}, if the difference is within the corresponding weight error [-Δp, +Δp], the load cylinder remains unchanged; if the difference exceeds the corresponding weight error [-Δp, +Δp] range, the computer will feedback the load error {eg11、 e g12 …e g1q}、{e g21、 e g22 …e g2t} and {e g31、 e g32 …e g3k} Output to each load-bearing cylinder to adjust the load capacity of the load-bearing cylinder so that the difference is within the corresponding weight error [-Δp, +Δp];

[0069] Step 3: If the displacement feedback error e f1 、e f2 、e f3 When any value exceeds the displacement error, it indicates that the axle vehicle is in a concave or convex position on the ground. The computer outputs a control signal to control the hydraulic cylinder at that position to perform displacement compensation according to the displacement feedback error value without weight compensation: the load-bearing weight of the hydraulic cylinder in each area measured in real time {MG 11 'MG 12 '…MG 1q '}, {MG 21 'MG 22 '…MG 2t '} and {MG 31 'MG 32 '…MG 3k '} are subtracted from the corresponding standard load capacities MG1', MG2' and MG3' respectively. If the subtraction value of a certain hydraulic cylinder is a negative value and exceeds the corresponding weight error [-Δp, +Δp], the computer controls the hydraulic cylinder to perform displacement compensation, so that the telescopic rod of the hydraulic cylinder is extended, and the extension value is the displacement feedback error value; if the subtraction value of a certain hydraulic cylinder is a positive value and exceeds the corresponding weight error [-Δp, +Δp], the computer controls the hydraulic cylinder to perform displacement compensation, so that the telescopic rod of the hydraulic cylinder is retracted, and the retraction value is the displacement feedback error value. If the subtraction value of a certain hydraulic cylinder is within the corresponding weight error [-Δp, +Δp], the hydraulic cylinder remains unchanged.

[0070] The above-described embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An active control method for transporting large structures by axis vehicles, characterized in that The following steps are involved: Step 1: Create a 3D diagram of the large structure in 3D software, and calculate the total weight G and the center of gravity COG of the large structure through the 3D software; Step 2: Select an axle truck and determine the load-bearing weight T of a single axle truck 轴 , based on the total weight G of the large structure and the load-bearing weight T of a single axle vehicle 轴 , determine the number of axis vehicles N; Where N is the number of axle vehicles, G is the total weight of the large structure, and T 轴 is the load-bearing weight of a single axle vehicle, and S is the safety factor; Step 3. According to the number of axle trucks N determined in step 2, establish an axle truck transportation model for large structures in the axle truck bearing capacity calculation and analysis software, input the axle truck transportation model for large structures and the center of gravity COG of large structures into the axle truck bearing capacity calculation and analysis software, make vertical dividing lines and horizontal dividing lines at the center of gravity COG of large structures, and divide the large structures into three areas according to the axle truck transportation triangle balance principle. The three areas are rectangular, G1, G2 and G3 are the centers of gravity of each area, and the weight G that the hydraulic cylinder in each area needs to bear is g1 , G g2 and G g3 As well as the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of each area, the center of gravity coordinates G1(x1, y1), G2(x2, y2) and G3(x3, y3) of the three areas are set as the key bearing points, according to the weight G that the hydraulic cylinder in each area needs to bear g1 , G g2 and G g3 Calculate the number of hydraulic cylinders required at the key bearing points in each area; Where q, t, and k are the number of hydraulic cylinders arranged at the key bearing points G1, G2, and G3 in the three areas, respectively. g1 is the weight that the hydraulic cylinder in the first area with G1 as the center of gravity needs to bear, G g2 G is the weight that the hydraulic cylinder in the second area with G2 as the center of gravity needs to bear. g3 is the weight that the hydraulic cylinder in the third area with G3 as the center of gravity needs to bear, T 液 is the load-bearing weight of a single hydraulic cylinder; Step 4: Optimize the axle vehicle transportation path according to the axle vehicle transportation model of the large structure and the key bearing point coordinates G1 (x1, y1), G2 (x2, y2) and G3 (x3, y3) of the three areas to determine the optimal path in transportation; Step 5: Establish the axle truck transportation model and foundation model of the large structure in the finite element software, establish the coupling relationship between the axle truck transportation model and the foundation model, input the transportation optimization path determined in step 4, simulate and analyze the foundation deformation degree on the transportation path, and obtain the foundation settlement value L of the node passed by the axle truck transportation path during the transportation process. ij ; Step 6: Place a level on the transport path to measure the flatness of the ground on the transport path and record the concave and convex values ​​±L' of the nodes on the transport path ij , calculate the pre-compensation amount ΔL ij ; ΔL ij =L ij ±L′ ij Where, ΔL ij is the pre-compensation amount when the axis vehicle passes through the node, L ij The foundation settlement value when the axis vehicle passes through the node, L' ij is the concave and convex value of the axis vehicle passing through the node, and the road surface is convex when L′ ij When the road surface is concave, L' ij is a positive value, i is the horizontal grid number, and j is the vertical grid number; Step 7: According to the number of axle vehicles N and the number of hydraulic cylinders q, t, k required to be arranged at each key bearing point G1, G2 and G3, hydraulic cylinders are evenly arranged around each key bearing point on the upper bearing surface of the axle vehicle at the position corresponding to each key bearing point. The hydraulic cylinder group arranged at the position corresponding to the first key bearing point G1 is marked as {G 11 , G 12 ...G 1q The hydraulic cylinder group arranged at the position corresponding to the second key bearing point G2 is marked as {G 21 , G 22 ...G 2t } and the hydraulic cylinder group arranged at the position corresponding to the third key bearing point G3 is marked as {G 31 , G 32 ...G 3k }, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, a weight sensor is installed on each hydraulic cylinder, a displacement sensor is installed on the axis vehicle corresponding to the key bearing points G1, G2 and G3, and the axis vehicle and the hydraulic cylinder are driven to the bottom of the large structure; Step 8: Construct a weight-displacement fuzzy PID joint control model for large structures, and set the displacement error [-Δ1, +Δ1] of the displacement sensor and the weight error [-Δp, +Δp] of the weight sensor; Step 9: Set the lifting height H of the hydraulic cylinder in the computer m The computer controls the hydraulic cylinders so that the weight sensors on all the hydraulic cylinders touch the bottom of the large structure, and continuously controls the hydraulic cylinders to lift the large structure up. m , calculate the distance between the bottom surface of the large structure and the horizontal ground, and convert the distance H between the bottom surface of the large structure and the horizontal ground b Set to standard height: H b =H m +H n +R In the formula, H b H is the standard height of the bottom surface of a large structure from the horizontal ground. m H is the hydraulic cylinder lifting height set in the computer. n is the distance between the top surface of the axis car and the center point of the tire, and R is the radius of the axis car tire; Step 10: Record the weight of each hydraulic cylinder at the key bearing points G1, G2 and G3 in the three areas according to the weight signal output by the weight sensor {MG 11 MG 12 …MG 1q }、{MG 21 MG 22 …MG 2t } and {MG 31 MG 32 …MG 3k }, q, t, k are the number of hydraulic cylinders arranged at the key bearing points G1, G2 and G3 of the three areas respectively, calculate the average values ​​MG1', MG2' and MG3' of the bearing weights of the hydraulic cylinders at the key bearing points G1, G2 and G3 of the three areas, and set the average values ​​MG1', MG2' and MG3' as the standard bearing capacity; Step 11: Move the axle truck along the transport path. During the movement, the weight sensor and displacement sensor measure the load-bearing weight of the hydraulic cylinder in each area in real time. 11 'MG 12 '…MG 1q '}, {MG 21 'MG 22 '…MG 2t '} and {MG 31 'MG 32 '…MG 3k '} and the real-time lifting displacement values ​​H1, H2 and H3 measured by each displacement sensor at the key bearing points G1, G2 and G3 in the three areas; Step 12: Calculate the average values ​​of the real-time load capacity of the hydraulic cylinders in each area MG1", MG2" and MG3" and the distance H from the ground to each key bearing point G1, G2 and G3 of the large structure. m1 , H m2 and H m3 ; Step 13: Set the real-time distance H between each key bearing point G1, G2 and G3 and the ground m1 , H m2 and H m3 The average values ​​of the real-time load capacity MG1”, MG2” and MG3” are input into the large-scale structure weight-displacement fuzzy PID joint control model, and the large-scale structure weight-displacement fuzzy PID joint control model outputs the displacement feedback error e of each key bearing point G1, G2 and G3. f1 、e f2 、e f3 And the feedback error of each hydraulic cylinder load {e g11、 e g12 …e g1q }、{e g21、 e g22 …e g2t } and {e g31、 e g32 …e g3k }, the computer control system is based on the displacement feedback error e f1 、e f2 、e f3 And the load feedback error {e g11、 e g12 …e g1q }、{e g21、 e g22 …e g2t } and {e g31、 e g32 …e g3k Active weight-displacement compensation is performed to actively adjust the load capacity and telescopic distance of each hydraulic cylinder, so that large structures can always maintain the same level when moved to the transport ship.

2. The active control method for transporting and loading large structures by axis vehicles according to claim 1 is characterized in that: The specific steps of step 4 are as follows: The first step is to establish the transportation site model, obstacle model and large structure model in the axle vehicle bearing capacity calculation and analysis software; The second step is to grid the transportation site model according to the length and width of the large structure. During the gridding process, if a cell collides with an obstacle, this cell is set as an obstacle. The third step is to set the transportation starting point and end point of the large structure, connect the starting point and end point to form a straight line, and determine whether the straight line collides with an obstacle. If no collision occurs, output the straight line as the transportation path. If a collision occurs, Step 4: Step 4: Set the necessary nodes in the axle vehicle transportation, take the minimum transportation cost and transportation risk of the axle vehicle as the optimization goal, establish the axle vehicle transportation path optimization function of the large structure, input the starting point and the end point, use the intelligent NSGA-Ⅱ algorithm to solve the model, and output the optimized transportation path, where: The transportation path optimization function is: Where minF is the optimization objective function, F1 is the time cost of axle vehicle transportation, F2 is the risk during axle vehicle transportation, T is the transposition code, and x ij is the node code of the path passed by the axle vehicle during transportation, t ij is the time cost unit price of axle vehicle transportation, P ij is the risk factor when the axis vehicle passes by, i is the horizontal grid number, and j is the vertical grid number.

3. The active control method for transporting and loading large structures by axis vehicles according to claim 1 or 2, characterized in that: The active compensation process in step 13 is as follows: The first step is to determine the displacement feedback error e at each key bearing point G1, G2 and G3 respectively. f1 、e f2 、e f3 Is it within the set displacement error [-Δl, +Δl]? If the displacement feedback error e f1 、e f2 、e f3 If the displacement feedback error is within the set displacement error [-Δl, +Δl], proceed to step 2. f1 、e f2 、e f3 When one of them exceeds the displacement error [-Δl, +Δl], the third step is performed; Step 2: If the displacement feedback error e f1 、e f2 、e f3 If all of them are within the set displacement error [-Δl, +Δl], it indicates that the axle vehicle is in horizontal ground motion, and the load-bearing cylinder does not perform displacement compensation. The load capacity of each load-bearing cylinder is adjusted respectively, and the load capacity of the hydraulic cylinder in each area measured in real time {MG 11 'MG 12 '…MG 1i '}, {MG 21 'MG 22 '…MG 2j '} and {MG 31 'MG 32 '…MG 3k '} are respectively subtracted from the corresponding standard load capacity G1', G2' and G3' to obtain the load capacity feedback error {e g11、 e g12 …e g1q }、{e g21、 e g22 …e g2t } and {e g31、 e g32 …e g3k }, if the difference is within the corresponding weight error [-Δp, +Δp], the load cylinder remains unchanged; if the difference exceeds the corresponding weight error [-Δp, +Δp] range, the computer will feedback the load error {e g11、 e g12 …e g1q }、{e g21、 e g22 …e g2t } and {e g31、 e g32 …e g3k } Output to each load-bearing cylinder to adjust the load capacity of the load-bearing cylinder so that the difference is within the corresponding weight error [-Δp, +Δp]; Step 3: If the displacement feedback error e f1 、e f2 、e f3 When any value exceeds the displacement error, it indicates that the axle vehicle is in a concave or convex position on the ground. The computer outputs a control signal to control the hydraulic cylinder at that position to perform displacement compensation according to the displacement feedback error value without weight compensation: the load-bearing weight of the hydraulic cylinder in each area measured in real time {MG 11 'MG 12 '…MG 1q '}, {MG 21 'MG 22 '…MG 2t '} and {MG 31 'MG 32 '…MG 3k '} are subtracted from the corresponding standard load capacities MG1', MG2' and MG3' respectively. If the subtraction value of a certain hydraulic cylinder is a negative value and exceeds the corresponding weight error [-Δp, +Δp], the computer controls the hydraulic cylinder to perform displacement compensation, so that the telescopic rod of the hydraulic cylinder is extended, and the extension value is the displacement feedback error value; if the subtraction value of a certain hydraulic cylinder is a positive value and exceeds the corresponding weight error [-Δp, +Δp], the computer controls the hydraulic cylinder to perform displacement compensation, so that the telescopic rod of the hydraulic cylinder is retracted, and the retraction value is the displacement feedback error value. If the subtraction value of a certain hydraulic cylinder is within the corresponding weight error [-Δp, +Δp], the hydraulic cylinder remains unchanged.

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