Method for predicting hoisting track of arch dam concrete cable crane

Abstract

The invention belongs to the field of concrete dam construction organization, and relates to an arch dam concrete cable crane hoisting track prediction method, which comprises the following steps: 1) constructing a space coordinate system, and determining a space positioning node of a cable crane; 2) acquiring real-time position information of a spatial positioning node of the cable crane by using a sensor; 3) performing filtering and noise reduction preprocessing on the real-time position information of the spatial positioning node of the cable crane by using Kalman filtering; 4) calculating the preprocessed real-time position information of the spatial positioning nodes of the cable crane, and obtaining time sequence motion state parameters of the cable crane; 5) constructing a cable crane trolley-lifting rope-hanging cage system dynamics model, and 6) predicting the swing angle of the cable crane hanging cage based on the cable crane trolley-lifting rope-hanging cage system dynamics model and obtaining the motion trail of the hanging cage. The arch dam concrete cable crane hoisting track prediction method can improve prediction precision.

Description

Technical Field

[0001] The invention belongs to the field of concrete dam construction organization, and relates to a method for predicting the hoisting trajectory of a concrete cable crane of an arch dam, and in particular to a method for predicting the hoisting trajectory of a concrete cable crane of an arch dam based on data driving. Background Art

[0002] During the pouring of arch dam concrete, the operation mode and efficiency of construction machinery are crucial to the safety, progress and quality of engineering construction. Arch dam construction has a long construction period, large scale and complex procedures. In order to achieve the goal of continuous high-quality and high-intensity construction of the dam, more and more engineering machinery is being used in arch dam construction. The construction machinery involved is of various types, with different functions and operation modes. In the concrete pouring process, a variety of construction equipment such as cable cranes, leveling machines, and vibrators are required to cooperate. While the cable crane is lifting concrete, it also faces cross-operation with tower cranes, gantry cranes and other machinery. Therefore, during the concrete lifting process, the movement trajectory of the cable crane hoisting tank is related to the safety of the cable crane movement and the efficiency of the operation.

[0003] The motion trajectory analysis of the cable crane bucket is an effective method to ensure operational safety and efficiency. However, during arch dam construction, there are many mechanical equipment and personnel on the warehouse surface, the layout is three-dimensional and staggered, and it is highly dynamic. The cable crane runs at a high speed, and the bucket swings at the same time, which requires high accuracy in motion trajectory prediction and analysis. The existing trajectory prediction method has not yet considered the swing of the cable crane bucket and failed to provide accurate trajectory prediction results, which leads to the loss of lifting efficiency and even safety risks during the construction process. Summary of the invention

[0004] In order to solve the above technical problems existing in the background technology, the present invention provides a method for predicting the hoisting trajectory of an arch dam concrete cable crane which can improve the prediction accuracy.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A method for predicting the hoisting trajectory of a cable crane for arch dam concrete, characterized in that the method comprises the following steps:

[0007] 1) constructing a spatial coordinate system to determine the spatial positioning nodes of the cable crane; the spatial positioning nodes of the cable crane include the spatial positioning nodes of the trolley and the spatial positioning nodes of the hanging tank;

[0008] 2) using a sensor to obtain real-time position information of the spatial positioning node of the cable car in step 1), wherein the real-time position information includes the coordinates of the trolley and the hanging tank in the spatial coordinate system;

[0009] 3) Using Kalman filtering to perform filtering and noise reduction preprocessing on the real-time position information of the spatial positioning node of the cable crane obtained in step 2);

[0010] 4) Calculating the real-time position information of the spatial positioning node of the cable crane after preprocessing obtained in step 3) to obtain the time-series motion state parameters of the cable crane, wherein the time-series motion parameters of the cable crane include the horizontal and vertical motion speeds and accelerations of the cable crane trolley, the instantaneous swing angle of the hanging tank, the angular velocity and angular acceleration of the hanging tank;

[0011] 5) The Lagrangian mechanics method is used to construct the dynamic model of the cable car-hoisting rope-hoisting tank system;

[0012] 6) Based on the cable car trolley-hoisting rope-hoisting tank system dynamics model obtained in step 5), the time-series motion state parameters of the cable car obtained in step 4) are used as input parameters to predict the swing angle of the cable car hoisting tank and obtain the motion trajectory of the hoisting tank.

[0013] Preferably, the specific implementation method of step 1) is: obtain the coordinates of the cable car trolley and the hanging tank and the projection coordinates on the YOX plane: construct a spatial coordinate system with the river direction as the x-axis, the river direction as the y-axis, and the vertical direction as the z-axis. The coordinate of the cable car trolley is A(x A ,y A , z A ); the coordinates of the cable car bucket are B(x B ,y B , z B ); The projection coordinate of the cable car on the yox plane is A ′ (x A ,y A , z B ); The projection coordinates of the cable crane tank on the y-axis and x-axis are B x (x B , 0, z B ) and B y (0,y B , z B );

[0014] in:

[0015] Point A represents the car;

[0016] Point B represents the hanging tank;

[0017] A ′ Point represents the projection point of point A onto the yox plane;

[0018] B x Point represents the projection point of point B onto the x-axis;

[0019] B yPoint represents the projection point of point B onto the y-axis;

[0020] x A Indicates the position of point A on the x-axis;

[0021] y A Indicates the position of point A on the y-axis;

[0022] z A Indicates the position of point A on the z-axis;

[0023] x B Indicates the position of point B on the x-axis;

[0024] y B Indicates the position of point B on the y-axis;

[0025] z B Indicates the position of point B on the z-axis.

[0026] Preferably, the specific method of obtaining the real-time position information of the spatial positioning node of the cable crane in step 2) is:

[0027] The coordinates of the trolley and the hanging tank are:

[0028]

[0029]

[0030] The speeds of the trolley and the hanging tank are:

[0031]

[0032]

[0033] in:

[0034] m is the mass of the hanging tank;

[0035] M is the mass of the trolley;

[0036] l is the length of the lifting rope;

[0037] i is the rate of change of the length of the hoisting rope;

[0038] θ x It is the angle between the hoisting rope and the x-axis when the cable crane bucket is swinging;

[0039] θ y It is the angle between the hoisting rope and the y-axis when the cable crane bucket is swinging;

[0040] x M The traction force F on the car is M Coordinate of the force direction, projection length on the x-axis;

[0041] y M The traction force F on the car is M Coordinate of the force direction, projection length on the y-axis;

[0042] z M The traction force F on the car is M Coordinate of the force direction, projection length on the z-axis;

[0043] x m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the x-axis;

[0044] y m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the y-axis;

[0045] z m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the z-axis;

[0046] v Mx is the speed of the car along the x-axis;

[0047] v My is the speed of the car along the y axis;

[0048] v Mz is the speed of the car along the z axis;

[0049] v mx is the velocity of the hanging tank along the x-axis;

[0050] v my The speed of the hanging tank along the y-axis;

[0051] v mz is the speed of the hanging tank along the z axis;

[0052] is the velocity of the hanging tank along the x-axis;

[0053] is the velocity of the hanging tank along the z-axis.

[0054] Preferably, the instantaneous swing angle of the hanging pot in step 4) includes the angle θ between the hoisting rope and the x-axis when the cable crane hanging pot is swinging. x And the angle θ between the hoisting rope and the y-axis when the cable crane bucket swings y ;

[0055] The angle θ between the hoisting rope and the x-axis when the cable crane bucket swings x The calculation method is:

[0056]

[0057] The angle θ between the hoisting rope and the y-axis when the cable crane bucket swings y The expression is:

[0058]

[0059] in:

[0060] From point A to point B x The vector of a point;

[0061] From point A to A ′ The vector of a point;

[0062] Represents the vector from point A to point B;

[0063] Representation vector Model;

[0064] Representation vector Model;

[0065] Representation vector Model.

[0066] Preferably, the horizontal and vertical movement speeds and accelerations of the cable car trolley in step 4) are calculated as follows: the expression for the speed of the cable car trolley along the x-axis direction is:

[0067]

[0068] in:

[0069] is the speed of the cable car along the x-axis at the i+1th sampling time;

[0070] is the moving speed of the cable car along the x-axis at the i-th sampling moment;

[0071] Δt is the sampling time interval;

[0072] is the acceleration of the cable car along the x-axis at the i-th sampling moment, and the a xi The expression is:

[0073]

[0074] in:

[0075] is the displacement of the cable car along the x-axis between the i-th sampling time and the i+1 sampling time;

[0076] The expression of the speed of the cable car along the z-axis direction is:

[0077]

[0078] in:

[0079] is the movement speed of the cable car along the z-axis at the i+1th sampling time;

[0080] is the movement speed of the cable car along the z-axis at the i-th sampling moment;

[0081] Δt is the sampling time interval;

[0082] is the acceleration of the cable car along the z-axis at the i-th sampling moment, The expression is:

[0083]

[0084] in:

[0085] is the displacement of the cable car trolley along the z-axis direction between the i-th sampling moment and the i+1 sampling moment. Preferably, the angular velocity and angular acceleration of the cable car hanging pot in step 4) are calculated as follows:

[0086] The expression of the angular velocity of the cable crane bucket around the x-axis is:

[0087]

[0088] in:

[0089] is the angular velocity of the cable crane tank around the x-axis at the i+1th sampling moment;

[0090] is the angular velocity of the cable crane tank around the x-axis at the i-th sampling moment;

[0091] Δt is the sampling time interval;

[0092] The angular acceleration of the cable crane bucket around the x-axis at the i-th sampling moment; The expression is:

[0093]

[0094] in:

[0095] θ xi is the angle of rotation of the cable crane pot around the x-axis between the i-th sampling moment and the i+1-th sampling moment; the expression of the angular velocity of the cable crane pot around the y-axis direction is:

[0096]

[0097] in:

[0098] is the angular velocity of the cable crane tank around the y-axis at the i+1th sampling moment;

[0099] is the angular velocity of the cable crane tank around the y-axis at the i-th sampling moment;

[0100] Δt is the sampling time interval;

[0101] The angular acceleration of the cable crane bucket around the y-axis at the i-th sampling moment; The expression is:

[0102]

[0103] in:

[0104] θ yi is the angle of rotation of the cable crane pot around the y-axis between the i-th sampling moment and the i+1-th sampling moment; the expression of the angular velocity of the cable crane pot around the z-axis direction is:

[0105]

[0106] in:

[0107] is the angular velocity of the cable crane tank around the z-axis at the i+1th sampling moment;

[0108] is the angular velocity of the cable crane tank around the z-axis at the i-th sampling moment;

[0109] Δt is the sampling time interval.

[0110] Preferably, the method for constructing the dynamic model of the cable car-hoisting rope-hoisting pot system in step 5) is:

[0111] The Lagrangian equation is obtained, the general form of which is as follows:

[0112]

[0113]

[0114] Where: L is the Lagrangian operator, T is the system kinetic energy, V is the system potential energy, q is the variable, i is the variable number, f i It is a generalized external force;

[0115] The dynamic model of the cable car-hoisting rope-hoisting tank system is established based on the Lagrange equation:

[0116]

[0117] The dynamic model of the cable car-hoisting rope-hoisting tank system is:

[0118]

[0119] in:

[0120] m is the mass of the hanging tank;

[0121] M is the mass of the trolley;

[0122] l is the length of the lifting rope;

[0123] i is the rate of change of the length of the hoisting rope;

[0124] θ x It is the angle between the hoisting rope and the x-axis when the cable crane bucket is swinging;

[0125] θ y It is the angle between the hoisting rope and the y-axis when the cable crane bucket is swinging;

[0126] is the velocity of the hanging tank along the x-axis;

[0127] is the speed of the hanging tank along the z axis;

[0128] g is the acceleration due to gravity;

[0129] are the accelerations of the car along the x-axis and z-axis respectively;

[0130] is the angular velocity of rotation around the x-axis;

[0131] is the angular acceleration about the x-axis.

[0132] The present invention has the following beneficial effects:

[0133] The present invention provides a method for predicting the hoisting trajectory of a concrete cable crane of an arch dam, comprising: 1) constructing a spatial coordinate system to determine the spatial positioning nodes of the cable crane; the spatial positioning nodes of the cable crane include the spatial positioning nodes of a trolley and the spatial positioning nodes of a hanging pot; 2) using a sensor to obtain real-time position information of the spatial positioning nodes of the cable crane based on step 1), the real-time position information including the coordinates of the trolley and the hanging pot in the spatial coordinate system; 3) using a Kalman filter to perform filtering and noise reduction preprocessing on the real-time position information of the spatial positioning nodes of the cable crane obtained in step 2); 4) performing preprocessing on the predicted position information obtained in step 3). After processing, the real-time position information of the spatial positioning node of the cable crane is calculated to obtain the time-series motion state parameters of the cable crane, which include the horizontal and vertical motion speeds and accelerations of the cable crane trolley, the instantaneous swing angle of the hanging pot, the angular velocity and angular acceleration of the hanging pot; 5) The Lagrangian mechanics method is used to construct the dynamic model of the cable crane trolley-hoisting rope-hanging pot system; 6) Based on the dynamic model of the cable crane trolley-hoisting rope-hanging pot system obtained in step 5), the time-series motion state parameters of the cable crane obtained in step 4) are used as input parameters to predict the swing angle of the cable crane hanging pot and obtain the motion trajectory of the hanging pot. Aiming at the swing phenomenon of the cable crane hanging pot, the present invention considers the time-varying characteristics of the cable crane trolley movement and the hoisting rope length, constructs the dynamic model of the cable crane trolley-hoisting rope-hanging pot system, and predicts the trajectory position information of the cable crane hanging pot according to the real-time state data information, further improves the trajectory prediction accuracy, solves the problem of large errors in the trajectory prediction results of the traditional model, and can be used for extended applications such as cable crane lifting efficiency and safety analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0134] Figure 1 It is a schematic diagram of the cable crane positioning node;

[0135] Figure 2 It is a schematic diagram of the movement of the construction entity along the x-axis;

[0136] Figure 3 It is a schematic diagram of the object's rotation;

[0137] Figure 4 It is a simplified model of the cable car-hoisting rope-hoisting tank system;

[0138] Figure 5 It is the comparison between the monitoring value and the calculated value of the swing angle of the hanging tank;

[0139] Figure 6 It is the comparison between the monitoring trajectory of the hanging tank and the calculated value. DETAILED DESCRIPTION

[0140] like Figure 1 to Figure 6 The present invention provides a method for predicting the hoisting trajectory of an arch dam concrete cable crane, comprising the following steps:

[0141] 0) constructing a spatial coordinate system to determine the spatial positioning nodes of the cable crane; the spatial positioning nodes of the cable crane include the spatial positioning nodes of the trolley and the spatial positioning nodes of the hanging tank;

[0142] 1) Use sensors to obtain the positions of the cable car and cable crane tank in real time, and clean, reduce noise and standardize the collected data to improve the accuracy of subsequent analysis results.

[0143] 2) Establish a spatial coordinate system, with the river direction as the x-axis, the cross-river direction as the y-axis, and the vertical direction as the z-axis, to obtain the coordinates of the trolley and the cable car bucket, as well as the coordinates of the trolley and the bucket projected on the YOX plane.

[0144] The coordinates A(x A ,y A , z A ) and the coordinates of the cable crane tank B(x B ,y B , z B );

[0145] Construct a node model of the spatial position relationship between the cable car, hoisting rope and hanging tank, as shown in the attached figure. Figure 1 As shown; obtain the coordinates of the projection of the trolley and the hanging tank on the YOX plane: A ′ (x A ,y A , z B ), B x (x B , 0, z B ) and B y (0,y B , z B );

[0146] 3) According to the real-time position coordinates of the trolley and the hanging pot, calculate the lifting depth L (lifting rope length) of the cable crane and the swing angle θ of the hanging pot in the x and y axis directions x ,θ y .

[0147] Cable crane hoisting depth L (hoisting rope length) and the swing angle θ of the hoisting tank in the x and y axis directions x ,θ y The calculation formula is as follows;

[0148] Hoisting rope length:

[0149] The swing angle of the hanging tank in the x and y axis directions:

[0150] in:

[0151] From point A to point Bx The vector of a point;

[0152] From point A to A ′ The vector of a point;

[0153] Represents the vector from point A to point B;

[0154] Representation vector Model;

[0155] Representation vector Model;

[0156] Representation vector Model.

[0157] 4) Calculate the timing state parameters of the trolley and the hanging tank.

[0158] Calculate the car's time-series motion state parameters: speed and acceleration.

[0159] Due to the high frequency of data collection and the short time interval between two adjacent sets of data, it can be approximately considered that the movement of the construction entity along a certain dimension in each time interval is uniformly accelerated motion.

[0160] Take the movement along the x-axis as an example, as shown in the following figure. Figure 2 As shown, the sampling time interval of the three sets of positioning data is Δt. According to the calculation formula of uniform acceleration motion, the formula can be obtained: In the formula, x i is the displacement of the entity along the x-axis between the i-th and i+1-th sampling moments; is the speed of the entity along the x-axis at the i-th sampling moment.

[0161] Furthermore, the acceleration of the entity along the x-axis at the i-th sampling moment can be obtained as:

[0162] The final motion state of the entity in the i-th sampling interval is the initial motion state of the i+1-th sampling interval. According to the initial velocity along the x-axis at the i+1-th time point and acceleration The speed corresponding to the next sampling moment can be calculated as:

[0163] Similarly, the motion parameters of the car along the z-axis can be calculated as shown in the following formula:

[0164]

[0165]

[0166] The initial speed of the car in each section of the motion trajectory is 0, that is, v0=0. According to the above formula, the speed and acceleration of the entire trajectory at each sampling moment can be deduced.

[0167] Calculate the timing state parameters of the hanging tank: angular velocity and angular acceleration.

[0168] Similarly, due to the high frequency of data collection, the time interval between two adjacent sets of data is short. Therefore, in the rotational motion, it can be approximately considered that the rotation of the construction entity around a certain dimension in each time interval is a uniformly accelerated rotation.

[0169] Take the rotation around the x-axis as an example. Figure 3 As shown, the sampling time interval of the three sets of positioning data is Δt. According to the uniform acceleration rotation calculation formula, we can get: In the formula, θ xi is the angle of rotation of the entity around the x-axis between the i-th sampling moment and the i+1 sampling moment; is the angular velocity of the entity rotating around the x-axis at the i-th sampling moment.

[0170] Furthermore, the angular acceleration of the entity around the x-axis at the i-th sampling moment can be obtained as:

[0171] The final motion state of the entity in the i-th sampling interval is the initial motion state of the i+1-th sampling interval. According to the initial angular velocity around the x-axis at the i+1-th time point and angular acceleration The angular velocity corresponding to the next sampling moment can be calculated as:

[0172] Similarly, the rotation parameters of the entity around the y-axis can be calculated as shown below.

[0173]

[0174]

[0175] The initial angular velocity of the hanging tank in each segment of the motion trajectory is 0, that is, ω0=0. According to the above formula, the angular velocity and angular acceleration of each sampling moment of the entire trajectory are deduced one by one.

[0176] 5) Cableway crane tank trajectory prediction model

[0177] The cable car-hoisting rope-hoisting pot system is a typical underactuated system. In addition to the system itself, it is also affected by external environmental factors such as wind, which causes the hoisting pot to swing in different directions. In order to facilitate theoretical analysis, it is necessary to abstractly consider the movement of the cable car-hoisting rope-hoisting pot system, as shown in the following figure. Figure 4 The abstract physical model shown in Figure 1. In order to analyze its essence, the system needs to be further simplified, where the mass of the hanging tank, the mass and elasticity of the rope, and the damping coefficient of the load swing are ignored.

[0178] In the construction of arch dam concrete strips, fixed line feeding is adopted. The large car is stationary and only the trolley is in motion. Based on this, the model is built. The direction from the main tower to the auxiliary tower of the cable crane is set as the positive direction of the x-axis. A right-hand coordinate system is established. The mass of the hoisting tank is m, the mass of the trolley is M, the length of the lifting rope is 1, and the angle between the lifting rope and the x-axis when the hoisting tank swings is θ x , the angle between it and the y-axis is θ y , the traction force of the car is F M The tension on the hoisting rope is F l .

[0179] The coordinates of the trolley and the hanging tank are:

[0180]

[0181]

[0182] The speeds of the trolley and the hanging tank are:

[0183]

[0184]

[0185] In the cable car-hoisting rope-tank system F M 、F l 、F w are the input quantities, x, y, z, 1, θ x and θ y It is an output quantity, which has the characteristics of multivariable and high coupling. The input and output of the system cannot form a one-to-one correspondence. It is very difficult to construct a system dynamics model using the Newtonian mechanics method. The Lagrangian mechanics method only needs to calculate the kinetic energy and potential energy of the cable car and the hanging tank. Compared with the Newton-Euler equation method, it is simpler and can fully reflect the dynamic characteristics of the system. Therefore, this paper adopts the Lagrangian mechanics method to model.

[0186] The general form of the Lagrange equation is as follows:

[0187]

[0188]

[0189] Where: L is the Lagrangian operator, T is the system kinetic energy, V is the system potential energy, q is the variable, i is the variable number, f i It is a generalized external force.

[0190] The kinetic energy T and potential energy V of the system can be expressed as:

[0191]

[0192] From the above formula, the Lagrangian operator L can be obtained as:

[0193]

[0194] The Lagrange equations of the cable car-hoisting rope-hoisting tank system can be established:

[0195]

[0196] The dynamic model of cable car-hoisting rope-hoisting tank is:

[0197]

[0198] In this model, the acceleration in the x and z directions, the length of the lifting rope and its rate of change are used as the input of the model, and the swing angle of the hanging pot is used as the output. When the above parameters are input into the model at a future moment, the swing angle of the hanging pot at a future moment can be calculated, thereby obtaining the position of the hanging pot at a future moment and making a prediction. Figure 5 and attached Figure 6 It is a specific example.

[0199] The specific process of prediction is: the initial position and initial rope length of the trolley, the initial swing angle, speed, angular acceleration of the hanging pot, and the speed, acceleration, changing speed of the rope length, and changing acceleration of the trolley in the future are known. Then, the swing angle of the hanging pot in the future can be solved through the cable car trolley-hoisting rope-hanging pot dynamics model. Finally, the position of the trolley in the future, the rope length information plus the solved hanging pot swing angle can be used to solve the coordinates of the hanging pot. Although the dynamics model does not include the speed of the trolley and the changing speed of the rope length, it will be used later to solve the position of the trolley and the rope length in the future. After obtaining the trolley position and rope length, plus the swing angle, the coordinates of the hanging pot can be solved. In fact, the hanging pot motion trajectory prediction involved in the present invention is a trajectory prediction that takes into account the swing of the hanging pot.

[0200] The present invention considers the time-varying characteristics of the cable car trolley motion and the hoisting rope length, and constructs a trajectory prediction model considering the swing of the cable car bucket. The arch dam concrete cable car hoisting trajectory can be predicted based on real-time data, which improves the accuracy of the trajectory prediction model and can be used for extended applications such as cable car hoisting efficiency and safety analysis. The comparison between the monitoring value and the calculated value of the hanging pot swing angle is shown in the attached figure. Figure 5 As shown in the figure, the comparison between the monitoring trajectory of the hanging tank and the calculated value is shown in the attached figure. Figure 6 shown.

Claims

1. A method for predicting the hoisting trajectory of a concrete cable crane for an arch dam, characterized in that: The arch dam concrete cable crane hoisting trajectory prediction method comprises the following steps: 1) constructing a spatial coordinate system to determine the spatial positioning nodes of the cable crane; the spatial positioning nodes of the cable crane include the spatial positioning nodes of the trolley and the spatial positioning nodes of the hanging tank; 2) using a sensor to obtain real-time position information of the spatial positioning node of the cable car in step 1), wherein the real-time position information includes the coordinates of the trolley and the hanging tank in the spatial coordinate system; 3) Using Kalman filtering to perform filtering and noise reduction preprocessing on the real-time position information of the spatial positioning node of the cable crane obtained in step 2); 4) Calculating the real-time position information of the spatial positioning node of the cable crane after preprocessing obtained in step 3) to obtain the time-series motion state parameters of the cable crane, wherein the time-series motion parameters of the cable crane include the horizontal and vertical motion speeds and accelerations of the cable crane trolley, the instantaneous swing angle of the hanging tank, the angular velocity and angular acceleration of the hanging tank; 5) The Lagrangian mechanics method is used to construct the dynamic model of the cable car-hoisting rope-hoisting tank system; 6) Based on the cable car trolley-hoisting rope-hoisting tank system dynamics model obtained in step 5), the time-series motion state parameters of the cable car obtained in step 4) are used as input parameters to predict the swing angle of the cable car hoisting tank and obtain the motion trajectory of the hoisting tank.

2. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 1 is characterized in that: The specific implementation method of step 1) is: obtain the coordinates of the cable car and the hanging tank and the projection coordinates on the YOX plane: construct a spatial coordinate system with the river direction as the x-axis, the river direction as the y-axis, and the vertical direction as the z-axis. The coordinate of the cable car is A(x A ,y A , z A ); the coordinates of the cable car bucket are B(x B ,y B , z B ); The projection coordinate of the cable car on the yox plane is A ′ (x A ,y A , z B ); The projection coordinates of the cable crane tank on the y-axis and x-axis are B x (x B , 0, z B ) and B y (0,y B , z B ); in: Point A represents the car; Point B indicates a hanging tank; A ′ Point represents the projection point of point A onto the yox plane; B x Point represents the projection point of point B onto the x-axis; B y Point represents the projection point of point B onto the y-axis; x A Indicates the position of point A on the x-axis; y A Indicates the position of point A on the y-axis; z A Indicates the position of point A on the z-axis; x B Indicates the position of point B on the x-axis; y B Indicates the position of point B on the y-axis; z B Indicates the position of point B on the z-axis.

3. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 2 is characterized in that: The specific method of obtaining the real-time position information of the spatial positioning node of the cable crane in step 2) is: The coordinates of the trolley and the hanging tank are: The speeds of the trolley and the hanging tank are: in: m is the mass of the hanging tank; M is the mass of the trolley; l is the length of the lifting rope; is the rate of change of the length of the hoisting rope; θ x It is the angle between the hoisting rope and the x-axis when the cable crane bucket is swinging; θ y It is the angle between the hoisting rope and the y-axis when the cable crane bucket is swinging; x M The traction force F on the car is M Coordinate of the force direction, projection length on the x-axis; y M The traction force F on the car is M Coordinate of the force direction, projection length on the y-axis; z M The traction force F on the car is M Coordinate of the force direction, projection length on the z-axis; x m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the x-axis; y m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the y-axis; z m The tensile force F on the hoisting rope is l Coordinate of the force direction, projection length on the z-axis; v Mx is the speed of the car along the x-axis; v My is the speed of the car along the y-axis; v Mz is the speed of the car along the z axis; v mx is the velocity of the hanging tank along the x-axis; v my The speed of the hanging tank along the y-axis; v mz is the speed of the hanging tank along the z axis; is the velocity of the hanging tank along the x-axis; is the velocity of the hanging tank along the z-axis.

4. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 3 is characterized by: The instantaneous swing angle of the hanging pot in step 4) includes the angle θ between the hoisting rope and the x-axis when the cable crane hanging pot is swinging. x And the angle θ between the hoisting rope and the y-axis when the cable crane bucket swings y ; The angle θ between the hoisting rope and the x-axis when the cable crane bucket swings x The calculation method is: The angle θ between the hoisting rope and the y-axis when the cable crane bucket swings y The expression is: in: From point A to point B x The vector of a point; From point A to A ′ The vector of a point; Represents the vector from point A to point B; Representation vector Model; Representation vector Model; Representation vector Model.

5. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 3 is characterized in that: The calculation method of the horizontal and vertical motion speed and acceleration of the cable car trolley in step 4) is: The expression of the speed of the cable car along the x-axis direction is: in: is the movement speed of the cable car along the x-axis at the i+1th sampling time; is the moving speed of the cable car along the x-axis at the i-th sampling moment; Δt is the sampling time interval; is the acceleration of the cable car along the x-axis at the i-th sampling moment, The expression is: in: is the displacement of the cable car along the x-axis between the i-th sampling time and the i+1 sampling time; The expression of the speed of the cable car along the z-axis direction is: in: is the movement speed of the cable car along the z-axis at the i+1th sampling time; is the movement speed of the cable car along the z-axis at the i-th sampling moment; Δt is the sampling time interval; is the acceleration of the cable car along the z-axis at the i-th sampling moment, The expression is: in: is the displacement of the cable car trolley along the z-axis between the i-th sampling time and the i+1-th sampling time.

6. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 3 is characterized by: The calculation method of the angular velocity and angular acceleration of the cable crane bucket in step 4) is: The expression of the angular velocity of the cable crane bucket around the x-axis is: in: is the angular velocity of the cable crane tank around the x-axis at the i+1th sampling moment; is the angular velocity of the cable crane tank around the x-axis at the i-th sampling moment; Δt is the sampling time interval; The angular acceleration of the cable crane bucket around the x-axis at the i-th sampling moment; The expression is: in: θ xi is the rotation angle of the cable crane tank around the x-axis between the i-th sampling moment and the i+1 sampling moment; The expression of the angular velocity of the cable crane bucket around the y-axis direction is: in: is the angular velocity of the cable crane tank around the y-axis at the i+1th sampling moment; is the angular velocity of the cable crane tank around the y-axis at the i-th sampling moment; Δt is the sampling time interval; The angular acceleration of the cable crane bucket around the y-axis at the i-th sampling moment; The expression is: in: θ yi is the angle of rotation of the cable crane bucket around the y-axis between the i-th sampling moment and the i+1 sampling moment.

7. The arch dam concrete cable crane hoisting trajectory prediction method according to claim 3 is characterized by: The method for constructing the dynamic model of the cable car-hoisting rope-hoisting tank system in step 5) is: The Lagrangian equation is obtained, the general form of which is as follows: Where: L is the Lagrangian operator, T is the kinetic energy of the system, V is the potential energy of the system, q is the variable, i is the variable number, and f is the i It is a generalized external force; The dynamic model of the cable car-hoisting rope-hoisting tank system is established based on the Lagrange equation: The dynamic model of the cable car-hoisting rope-hoisting tank system is: in: m is the mass of the hanging tank; M is the mass of the trolley; l is the length of the lifting rope; is the rate of change of the length of the hoisting rope; θ x is the angle between the hoisting rope and the x-axis when the cable crane bucket is swinging; θ y It is the angle between the hoisting rope and the y-axis when the cable crane bucket is swinging; is the velocity of the hanging tank along the x-axis; is the speed of the hanging tank along the z axis; g is the acceleration due to gravity; are the accelerations of the car along the x-axis and z-axis respectively; is the angular velocity of rotation around the x-axis; is the angular acceleration about the x-axis.

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