Bridging equipment and anti-tipping control method for fixed-point lowering

Abstract

The invention discloses bridging equipment and an anti-rollover control method for fixed-point lowering. The bridging equipment comprises a bridging vehicle, an operation acquisition system and a vehicle-mounted industrial personal computer. The bridge erecting vehicle is provided with a vehicle body, an executing mechanism and a suspension arm, the vehicle body at least comprises two supporting legs, the supporting leg closest to the center of the vehicle body in the at least two supporting legs is the first supporting leg in the length direction of the vehicle body, the suspension arm is used for hoisting a bridge section, and the executing mechanism is arranged at the tail end of the vehicle body and connected with the suspension arm. The lifting arm is driven to move downwards and rotate. The operation acquisition system is used for acquiring state information of the bridging vehicle. The vehicle-mounted industrial personal computer is arranged on the bridging vehicle, the controller is connected with the executing mechanism, and the vehicle-mounted industrial personal computer is used for receiving the state information so as to adjust the executing mechanism to drive the lower speed and the rotation speed of the suspension arm. The control operations of all the execution mechanisms of the bridging equipment provided by the invention are judged by the anti-rollover control strategy and then are completed, so that the safety of the operation process is ensured.

Description

Technical Field

[0001] The present application relates to the field of special engineering machinery, and in particular to a fixed-point lowering control system of a bridge erection vehicle, and also to an anti-rollover control strategy during the lowering process of a bridge section. Background Art

[0002] As a special engineering vehicle, mechanized bridge-building vehicles have the functions of transporting and lifting bridge sections, and are widely used in road repair when geological disasters occur.

[0003] From a technical perspective, mechanized bridge-building vehicles have strict operating specifications and restrictions on the weight of bridge section hoisting. However, considering the urgency of on-site rescue and the complexity of the environment, operators are required to quickly lower the bridge sections, a process that increases the risk of tipping over.

[0004] When the bridge section is quickly lowered to a fixed point at the rear of the bridge-building vehicle, the safety factor of the bridge section lifting operation is relatively high and tipping is not likely to occur. However, considering the on-site working environment, the bridge section may be lifted sideways, which will increase the risk of tipping. Therefore, higher requirements are placed on the operators, who need to undergo special training and accumulate relevant experience.

[0005] Currently, mechanized bridge-building vehicle-related products are equipped with sensors such as pressure sensors, inclination sensors, and torque limiters, but these sensors are generally used as display functions, and the functions of the sensors are not combined together to form a complete control system. Summary of the invention

[0006] The present application provides a bridge-building equipment and a method for controlling the anti-rollover of fixed-point lowering. The technical solution provided by the present application can complete the acquisition of the operating status of the mechanized bridge-building vehicle, plan the trajectory path of the bridge section lowering operation according to the operating status, and according to the planned trajectory path, the control system completes the control of the actuator and completes the control of the fully automatic fixed-point lowering of the bridge-building vehicle. On the basis of the above control system, an anti-rollover control strategy is proposed as a supplement. The control operations of all actuators are completed after being judged by the anti-rollover control strategy, thereby ensuring the safety of the operation process.

[0007] To achieve the above objectives, this application provides the following technical solutions:

[0008] In the first aspect, the present application provides a bridge-building equipment, including a bridge-building vehicle, an operation collection system, and an on-board industrial computer. The bridge-building vehicle has a vehicle body, an actuator, and a boom. The vehicle body is used for walking. The vehicle body includes at least two legs. Along the length direction of the vehicle body, the leg closest to the center of the vehicle body among the at least two legs is the first leg. The boom is used for hoisting bridge sections. The actuator is arranged at the rear end of the vehicle body and connected to the boom, and is used to drive the boom downward and to rotate. The operation collection system is used to collect status information of the bridge-building vehicle. The on-board industrial computer is arranged on the bridge-building vehicle, the controller is connected to the actuator, and the on-board industrial computer is used to receive status information to adjust the actuator to drive the boom downward speed and rotation speed.

[0009] According to some embodiments of the present application, the vehicle-mounted industrial computer is configured to calculate the boom lowering acceleration value and the boom rotation acceleration value with the shortest execution time based on the status information and bridge section information, so as to adjust the actuator to drive the boom's downward speed and rotation speed.

[0010] According to some embodiments of the present application, the status information includes the length information of the boom. 臂 , inclination information θ 竖直 , rotation acceleration information a 水平 , downlink acceleration information a 竖直 .

[0011] According to some embodiments of the present application, the operation acquisition system includes a boom displacement sensor, a boom inclination acceleration sensor, a boom rotation acceleration sensor, and a vehicle body inclination sensor;

[0012] The boom displacement sensor is used to obtain the length information of the boom. 臂 The boom inclination acceleration sensor is used to obtain the inclination information of the boom θ 竖直 The boom rotation acceleration sensor is used to obtain the boom rotation acceleration information a 水平 The vehicle body inclination sensor is used to obtain the lowering acceleration information of the boom a 竖直 .

[0013] According to some embodiments of the present application, the state information also includes the mass m of the bridge erection vehicle. 车 , the distance l1 between the center of gravity of the bridge-laying vehicle and the first leg;

[0014] The bridge segment information includes the mass m of the bridge segment. 物 .

[0015] According to some embodiments of the present application, the vehicle-mounted industrial computer includes a data analysis system, a database system, an adaptive parameter adjustment system, and a parameter output system;

[0016] The data analysis system is used to receive status information and generate data information, and record the data information in real time to the database system; the database system converts the data information into the data type of the actuator and outputs it to the adaptive parameter adjustment system; the adaptive parameter adjustment system generates adjustment parameters based on the PID adjustment algorithm of the neural network parameter self-adjustment; the parameter output system receives the adjustment parameters and controls the actuator to adjust the downward speed and rotation speed of the boom in real time.

[0017] According to some embodiments of the present application, the database system saves the setting parameters and generates an operation log, and at the same time, converts the setting parameters into a data type of the actuator control system.

[0018] In a second aspect, some embodiments of the present application further provide a fixed-point lowering anti-rollover control method, using the bridge erection equipment of the first aspect, comprising the following steps:

[0019] Provide bridging equipment;

[0020] Operation collection: collect status information through the operation collection system, and collect bridge section information;

[0021] Adaptive parameter adjustment calculation, based on the state system and bridge section information, combined with the anti-rollover control strategy, calculates the boom lowering acceleration value and the boom rotation acceleration value with the shortest execution time, that is, plans the shortest time t, and can also obtain a 水平 and a 竖直 The maximum value of

[0022] The actuator executes, based on the adaptive parameter adjustment calculation a 水平 and a 竖直 The maximum value of drives the boom to work.

[0023] According to some embodiments of the present application, the anti-rollover control strategy includes the following:

[0024] Combined with the moment balance formula M1+M2+M3+M4=0, we can obtain f(a 水平 ,a 竖直 ,t)=0, and the function is applied to the anti-rollover control strategy to plan the shortest time t, and at the same time, a 水平 and a 竖直 The maximum value of M1 = m 车 gl1,M2=m 物 gl 臂 cosθ 竖直 ,M3=(m 物 ω 水平 2 l 臂 )h 臂 ,M4=m 物 a竖直 l 臂 ; Among them, M1 is the stabilizing moment generated by the deadweight, M2 is the overturning moment generated when the weight is stationary, M3 is the overturning moment generated by the centrifugal force when the boom rotates, and M4 is the overturning moment generated when the boom is lowered, m 车 is the mass of the bridge-building vehicle, l1 is the distance between the center of gravity of the bridge-building vehicle and the outriggers, m 物 is the mass of the weight, l 臂 is the boom length, θ 竖直 =a 竖直 t 2 is the boom inclination angle, ω 水平 =a 水平 t is the swing speed of the boom, h 臂 is the distance between the boom and the center of gravity, a 竖直 is the acceleration of the boom lowering.

[0025] The beneficial effects of some embodiments of the present application include:

[0026] By collecting the status information of the bridge-laying vehicle and the bridge section information through sensors, combined with the anti-rollover control strategy, the efficiency of lowering the bridge section can be effectively improved, and the safety of lowering the bridge section can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A side view of a bridge erecting vehicle and a bridge section in some embodiments of the present application;

[0029] Figure 2 A top view of a bridge erecting vehicle and a bridge section in some embodiments of the present application;

[0030] Figure 3 This is a flowchart of the anti-rollover control method in some embodiments of the present application.

[0031] Icon: 100-bridge-erecting vehicle, 10-vehicle body, 20-actuator, 30-jib, 40-bridge section; 50-first leg. DETAILED DESCRIPTION

[0032] 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, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of the application are conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0038] See also Figure 1-Figure 3 , Figure 1 This is a side view of a bridge erection vehicle and a bridge section in some embodiments of the present application. Figure 2 This is a top view of the bridge-laying vehicle and the bridge section in some embodiments of the present application. Figure 3 This is a flowchart of the anti-rollover control method in some embodiments of the present application.

[0039] The present application provides a bridge erection equipment, including a bridge erection vehicle 100, an operation collection system, and a vehicle-mounted industrial control computer. The bridge erection vehicle 100 has a vehicle body 10, an actuator 20, and a boom 30. The vehicle body 10 is used for walking. The vehicle body 10 includes at least two legs. Along the length direction of the vehicle body 10, the leg closest to the center of the vehicle body 10 among the at least two legs is the first leg 50. The boom 30 is used to hoist the bridge section 40. The actuator 20 is arranged at the rear end of the vehicle body 10 and connected to the boom 30, and is used to drive the boom 30 downward and to rotate. The operation collection system is used to collect the status information of the bridge erection vehicle 100. The vehicle-mounted industrial control computer is arranged on the bridge erection vehicle 100, the controller is connected to the actuator 20, and the vehicle-mounted industrial control computer is used to receive the status information to adjust the downward speed and the rotation speed of the boom 30 driven by the actuator 20.

[0040] The bridge-building vehicle 100 is also called a bridge-building vehicle, and is an armored vehicle equipped with professional bridge-building tools. In related technologies, it is used to build temporary bridges in a field state so that soldiers, vehicles, etc. can pass through dangerous areas such as swamps and rivers; or it is widely used in road repair when geological disasters occur.

[0041] Generally, the bridge-laying vehicle 100 is modified from a tank, an armored vehicle or a heavy vehicle, and can be divided into light, medium and heavy types according to weight level, and can be divided into wheeled and tracked types according to running parts.

[0042] In some embodiments, see Figure 1 and Figure 2 The bridge erection vehicle 100 is a wheeled vehicle structure, and a cab is provided at the front end thereof for controlling the movement of the bridge erection vehicle 100 and the operation of the actuator 20. Optionally, the on-board industrial computer can also be arranged in the cab. Optionally, the driver can input some data that need to be manually input to the on-board industrial computer through a human-computer interaction module (such as a functional touch screen, a desktop computer, etc.) in the cab.

[0043] The actuator 20 is arranged at the rear end of the vehicle body 10. Generally, the control system of the actuator 20 is the command source of the actuator 20 such as the hydraulic cylinder and the hydraulic motor. The core component is a programmable controller. When the fully automatic fixed-point lowering is not required, the operator's command can be directly accepted to complete the operation of the bridge-building vehicle 100.

[0044] The boom 30 is a machine for hoisting the bridge section 40, and is used to hoist the bridge section 40 to the location where it needs to be paved. Under the action of the actuator 20, the boom 30 can perform lowering and rotational actions, thereby achieving the fixed-point lowering of the bridge section 40. At the same time, by controlling the hydraulic power of the actuator 20, the lowering speed, lowering acceleration, rotation speed, and rotation acceleration of the bridge section 40 can be controlled.

[0045] Generally, the vehicle body 10 has a plurality of legs, such as a front leg, a middle leg and a rear leg, which are sequentially distributed along the length direction of the vehicle. The first leg 50 may be a middle leg.

[0046] The operation collection system is a structure capable of collecting information of the turntable of the bridge-building vehicle 100, including but not limited to manual collection and manual input, and sensor collection and sensor collection automatic input to transmit status information to the vehicle-mounted industrial computer.

[0047] According to some embodiments of the present application, the vehicle-mounted industrial computer is configured to calculate the boom 30 lowering acceleration value and the boom 30 rotation acceleration value with the shortest execution time based on the status information and the bridge section 40 information, so as to adjust the actuator 20 to drive the boom 30 downward speed and rotation speed.

[0048] According to some embodiments of the present application, the state information includes the length information of the boom 30. 臂 , inclination information θ 竖直 , rotation acceleration information a 水平 , downlink acceleration information a 竖直 .

[0049] According to some embodiments of the present application, the operation acquisition system includes a boom 30 displacement sensor, a boom 30 inclination acceleration sensor, a boom 30 rotation acceleration sensor, and a vehicle body inclination sensor. The boom 30 displacement sensor is used to obtain the length information of the boom 30. 臂 The inclination acceleration sensor of the boom 30 is used to obtain the inclination information θ of the boom 30 竖直 The arm 30 rotation acceleration sensor is used to obtain the rotation acceleration information a of the arm 30 水平 The vehicle body inclination sensor is used to obtain the lowering acceleration information a of the boom 30 竖直 .

[0050] According to some embodiments of the present application, the state information also includes the mass m of the bridge erection vehicle 100. 车 , the distance l1 between the center of gravity of the bridge erection vehicle 100 and the first leg 50. The information of the bridge section 40 includes the mass m of the bridge section 40 物 .

[0051] According to some embodiments of the present application, the vehicle-mounted industrial computer includes a data analysis system, a database system, an adaptive parameter adjustment system, and a parameter output system. The data analysis system is used to receive state information and generate data information, and record the data information in real time to the database system; the database system converts the data information into the data type of the actuator 20 and outputs it to the adaptive parameter adjustment system; the adaptive parameter adjustment system generates the adjustment parameters based on the PID adjustment algorithm of the neural network parameter self-adjustment; the parameter output system receives the adjustment parameters and controls the actuator 20 to adjust the lower speed and the rotation speed of the boom 30 in real time.

[0052] Generally, the data analysis system may include a MySQL database system.

[0053] According to some embodiments of the present application, the database system saves the setting parameters and generates an operation log, and at the same time, converts the setting parameters into a data type of the actuator 20 control system.

[0054] According to some embodiments of the present application, the tuning algorithm includes an anti-rollover control strategy, and the anti-rollover control strategy includes the following formula:

[0055] (1) Stabilizing moment generated by self-weight

[0056] M1=m 车 gl1

[0057] Where m 车 is the mass of the bridge-building vehicle 100, l1 is the distance between the center of gravity of the bridge-building vehicle 100 and the outriggers;

[0058] (2) Overturning moment generated by a heavy object when it is stationary

[0059] M2=m 物 gl 臂 cosθ 竖直

[0060] Where m 物 is the mass of the weight, l 臂 is the length of the boom 30, θ 竖直 =a 竖直 t 2 The boom has a 30° inclination angle;

[0061] (3) Overturning moment caused by centrifugal force when the boom rotates 30 degrees

[0062] M3=(m 物 ω 水平 2 l 臂 )h 臂

[0063] where ω 水平 =a水平 t is the 30° rotation speed of the boom, h 臂 is the distance between the boom 30 and the center of gravity;

[0064] (4) Overturning moment caused by lowering the boom 30

[0065] M4=m 物 a 竖直 l 臂

[0066] where a 竖直 is the acceleration of the boom 30 being lowered;

[0067] Based on the above formula, combined with the moment balance formula M1+M2+M3+M4=0, we can obtain f(a 水平 ,a 竖直 ,t)=0, and the function is applied to the anti-rollover control strategy to plan the shortest time t, and at the same time, a 水平 and a 竖直 The maximum value of

[0068] The parameter output system will calculate the a 水平 and a 竖直 The maximum value of is transmitted to the execution mechanism 20 in the form of an execution instruction for execution.

[0069] Please combine Figure 3 Some embodiments of the present application also provide an anti-rollover control method, using the bridge erection equipment of the first aspect, comprising the following steps:

[0070] Provide bridging equipment;

[0071] Operation collection, collect status system through operation collection system, and collect bridge section 40 information;

[0072] Adaptive parameter adjustment calculation, based on the state system and bridge section 40 information, combined with the anti-rollover control strategy, calculates the boom 30 lowering acceleration value and the boom 30 rotation acceleration value with the shortest execution time, that is, plans the shortest time t, and can also obtain a 水平 and a 竖直 The maximum value of

[0073] The actuator 20 performs the calculation based on the adaptive parameter adjustment calculation. 水平 and a 竖直 The maximum value of drives the boom 30 to work.

[0074] According to some embodiments of the present application:

[0075] (1) Stabilizing moment generated by self-weight

[0076] M1=m 车gl1

[0077] Where m 车 is the mass of the bridge-building vehicle 100, l1 is the distance between the center of gravity of the bridge-building vehicle 100 and the outriggers;

[0078] (2) Overturning moment generated by a heavy object when it is stationary

[0079] M2=m 物 gl 臂 cosθ 竖直

[0080] Where m 物 is the mass of the weight, l 臂 is the length of the boom 30, θ 竖直 =a 竖直 t 2 The boom has a 30° inclination angle;

[0081] (3) Overturning moment caused by centrifugal force when the boom rotates 30 degrees

[0082] M3=(m 物 ω 水平 2 l 臂 )h 臂

[0083] where ω 水平 =a 水平 t is the 30° rotation speed of the boom, h 臂 is the distance between the boom 30 and the center of gravity;

[0084] (4) Overturning moment caused by lowering the boom 30

[0085] M4=m 物 a 竖直 l 臂

[0086] where a 竖直 is the acceleration of the boom 30 being lowered;

[0087] Based on the above formula, combined with the moment balance formula M1+M2+M3+M4=0, we can obtain f(a 水平 ,a 竖直 ,t)=0, and the function is applied to the anti-rollover control strategy to plan the shortest time t, and at the same time, a 水平 and a 竖直 The maximum value of .

[0088] It should be noted that the anti-rollover control strategy mainly includes boundary condition input of the actuator 20 , sensor data input, adaptive parameter adjustment algorithm, and instruction output of the actuator 20 .

[0089] The calculation method of the boundary conditions of the actuator 20 is not described in detail in this article, and is related to the physical characteristics of the bridge-building vehicle 100 (the working flow of the actuator 20, the starting current of the valve group, the rotation limit angle, etc.).

[0090] Sensor data input, as the original input, is the basis for anti-rollover control strategy. However, due to the overlapping functions of sensors, data weights will be set in actual use, and mutual verification of data can be achieved.

[0091] The adaptive parameter adjustment algorithm is a supplement to the torque balance control method. The torque balance control method is based on the constant acceleration working condition, which is conducive to ensuring the stability of the fully automatic fixed-point lowering of the bridge-building vehicle 100. However, for the extreme shortest time working condition, it is necessary to change the a 水平 and a 竖直 The value of ensures the dynamic balance of the automatic fixed-point lowering of the bridge-building vehicle 100. In order to avoid building a complex mathematical model, the machine self-learning method is adopted to simulate the working conditions in the adaptive parameter adjustment algorithm by repeating a single calculation, and the a corresponding to the shortest time t is calculated in the current state. 水平 and a 竖直 as the adjustment value.

[0092] The command output of the actuator 20 controls the a calculated by the adaptive parameter adjustment algorithm. 水平 and a 竖直 The actuator 20 decides by following a 水平 and a 竖直 to complete the control.

[0093] At the same time, in combination with the bridge erection equipment and anti-rollover control method provided above, a full-automatic fixed-point lowering control system for a bridge erection vehicle 100 can also be provided. The system includes an operation status acquisition system, a data processing and analysis system, a MySQL database system, an adaptive parameter adjustment system, a parameter output system, and an actuator 20 control system.

[0094] The operating status acquisition system can complete the acquisition of the operating status of the mechanized bridge erection vehicle 100, and the main acquisition sensors include a vehicle body inclination sensor a 竖直 、Boom 30 inclination acceleration sensor θ 竖直 、Boom 30 displacement sensor l 臂 、Boom 30 rotation acceleration sensor a 水平 , the operation status is collected according to the above sensors.

[0095] The data processing and analysis system, MySQL database system, adaptive parameter adjustment system, and parameter output system are all integrated in the vehicle-mounted industrial computer. The data processing and analysis system can complete the filtering, actual meaning conversion, data type conversion and other processing of the operation status data, and record the data in real time in the MySQL database system. The data output by the data processing and analysis system is transmitted to the adaptive parameter adjustment system. The adaptive parameter adjustment system is a PID tuning algorithm based on neural network parameter self-adjustment, which can realize real-time adjustment of control parameters. In addition to the above-mentioned required parameters, the input of the adaptive parameter adjustment system also includes the boundary conditions of the actuator 20 (parameters such as the rated flow of the chassis hydraulic pump, the multi-way valve distribution flow, the rated flow of the hydraulic components, and the theoretical safety limit), which are not considered here because they are not the focus of the present invention. The setting parameters output by the adaptive parameter adjustment system are transmitted to the parameter output system, saved in the MySQL database system and an operation log is generated, and the setting parameters are converted into the data type of the actuator 20 control system.

[0096] The control system of the actuator 20 is the command source of the actuator 20 such as the hydraulic cylinder and the hydraulic motor. The core component is a programmable controller. Under working conditions where full-automatic fixed-point lowering is not required, it can directly accept the operator's command to complete the operation of the bridge-building vehicle 100.

[0097] In the fully automatic fixed-point lowering operation, the boom 30 is lowered with acceleration / deceleration while the boom 30 rotates. This is the shortest time and also the worst working condition.

[0098] The vehicle body is leveled by the vehicle body inclination sensor. The torques generated by the forces received are as follows:

[0099] (1) Stabilizing moment generated by the vehicle’s own weight

[0100] M1=m 车 gl1

[0101] It is stipulated that this moment is positive, m 车 is the mass of the bridge-building vehicle 100, which can be used as a manually input value, and l1 is the distance between the center of gravity of the bridge-building vehicle 100 and the support legs, which can be used as a manually input value.

[0102] (2) Overturning moment generated by a heavy object when it is stationary

[0103] M2=m 物 gl 臂 cosθ 竖直

[0104] At this time, it is a negative moment, m 物 is the mass of the object, which can be entered manually. 臂 is the length of the boom 30, which can be obtained by the displacement sensor of the boom 30, θ竖直 is the inclination angle of the boom 30, which can be obtained by the inclination angle acceleration sensor of the boom 30.

[0105] (3) Overturning moment caused by centrifugal force when the boom rotates 30 degrees

[0106] M3=(m 物 ω 水平 2 l 臂 )h 臂

[0107] At this time, the moment is determined according to the relative position of the center of gravity of the bridge-building vehicle 100 and the center of gravity of the weight. When the center of gravity of the bridge-building vehicle 100 is higher than the center of gravity of the weight, it is a positive moment. When the center of gravity of the bridge-building vehicle 100 is lower than the center of gravity of the weight, it is a negative moment. 水平 =a 水平 t is the 30° rotation speed of the boom, a 水平 It can be obtained by the arm 30 rotation acceleration sensor, h 臂 =h 车 -l 臂 sinθ 竖直 is the distance between the boom 30 and the center of gravity.

[0108] (4) Overturning moment caused by lowering the boom 30

[0109] M4=m 物 a 竖直 l 臂

[0110] At this time, the torque is determined by the acceleration of the lowering. When the lowering is accelerated, it is a positive torque, and when the lowering is decelerated, it is a positive torque, where a 竖直 is the acceleration of the boom 30 being lowered, which can be obtained by the inclination acceleration sensor of the boom 30.

[0111] When the center of gravity of the bridge-building vehicle 100 is lower than the center of gravity of the heavy object, it is the optimal control strategy when accelerating down, and the stabilizing moment and the overturning moment form a moment balance, that is, M1+M2+M3+M4≥0. The adaptive parameter adjustment system adjusts a in real time based on the data of the data processing and analysis system. 水平 and a 竖直 The value of f(a 水平 ,a 竖直 ,t)=0In the function, t is always calculated as the minimum value.

[0112] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bridge-building device, characterized in that: include: A bridge erection vehicle comprises a vehicle body, an actuator and a boom, wherein the vehicle body is used for traveling, the vehicle body comprises at least two legs, and along the length direction of the vehicle body, the leg closest to the center of the vehicle body among the at least two legs is a first leg, the boom is used for hoisting a bridge section, the actuator is arranged at the rear end of the vehicle body and connected to the boom, and is used for driving the boom downward and rotating; An operation collection system, used for collecting status information of the bridge erection vehicle; The vehicle-mounted industrial computer is arranged on the bridge erection vehicle, the controller is connected to the actuator, and the vehicle-mounted industrial computer is used to receive the status information to adjust the actuator to drive the downward speed and the rotation speed of the boom.

2. The bridge erection equipment according to claim 1, characterized in that: The vehicle-mounted industrial computer is configured to calculate the boom lowering acceleration value and the boom rotation acceleration value with the shortest execution time based on the state information and bridge section information, so as to adjust the actuator to drive the boom downward speed and rotation speed.

3. The bridge erection equipment according to claim 2, characterized in that: The state information includes the length information of the boom. 臂 , inclination information θ 竖直 , rotation acceleration information a 水平 And the lowering acceleration information a 竖直 .

4. The bridge erection equipment according to claim 3, characterized in that: The operation acquisition system includes a boom displacement sensor, a boom inclination acceleration sensor, a boom rotation acceleration sensor, and a vehicle body inclination sensor; The boom displacement sensor is used to obtain the length information of the boom. 臂 The boom inclination acceleration sensor is used to obtain the inclination information θ of the boom. 竖直 The arm rotation acceleration sensor is used to obtain the rotation acceleration information a of the arm 水平 The vehicle body inclination sensor is used to obtain the lowering acceleration information a of the boom 竖直 .

5. The bridge erection equipment according to claim 3, characterized in that: The state information also includes the mass m of the bridge erection vehicle 车 , a distance l1 between the center of gravity of the bridge-laying vehicle and the first leg; The bridge segment information includes the mass m of the bridge segment 物 .

6. The bridge erection equipment according to claim 5, characterized in that: The vehicle-mounted industrial computer includes a data analysis system, a database system, an adaptive parameter adjustment system and a parameter output system; The data analysis system is used to receive the status information and generate data information, and record the data information in real time to the database system; The database system converts the data information into the data type of the actuator and outputs it to the adaptive parameter adjustment system; The adaptive parameter adjustment system generates adjustment parameters based on the PID adjustment algorithm of the neural network parameter self-adjustment; The parameter output system receives the setting parameters and controls the actuator to adjust the lower speed and the rotation speed of the boom in real time.

7. The bridge erection equipment according to claim 6, characterized in that: The database system saves the setting parameters and generates an operation log, and at the same time, converts the setting parameters into data types of the actuator control system.

8. A method for controlling the anti-rollover of a fixed-point lowering device, characterized in that: Utilizing the bridging device according to claim 1, comprising the following steps: Providing the bridging equipment; Operation collection, collecting the status system and the bridge section information through the operation collection system; Adaptive parameter adjustment calculation, based on the state system and the bridge section information, combined with the anti-rollover control strategy, calculates the boom lowering acceleration value and the boom rotation acceleration value with the shortest execution time, that is, plans the shortest time t, and can also obtain a 水平 and a 竖直 The maximum value of The actuator executes, based on the adaptive parameter adjustment calculation, the a obtained 水平 and a 竖直 The maximum value of drives the boom to work.

9. The anti-rollover control method for fixed-point lowering according to claim 8, characterized in that: Combined with the moment balance formula M1+M2+M3+M4=0, we can obtain f(a 水平 ,a 竖直 ,t)=0, and the function is applied to the anti-rollover control strategy to plan the shortest time t, and at the same time, a 水平 and a 竖直 The maximum value of M1 = m 车 gl1,M2=m 物 gl 臂 cosθ 竖直 ,M3=(m 物 ω 水平 2 l 臂 )h 臂 , M4=m 物 a 竖直 l 臂 ; Among them, M1 is the stabilizing moment generated by the deadweight, M2 is the overturning moment generated when the weight is stationary, M3 is the overturning moment generated by the centrifugal force when the boom rotates, and M4 is the overturning moment generated when the boom is lowered, m 车 is the mass of the bridge-building vehicle, l1 is the distance between the center of gravity of the bridge-building vehicle and the outriggers, m 物 is the mass of the weight, l 臂 is the boom length, θ 竖直 =a 竖直 t 2 is the boom inclination angle, ω 水平 =a 水平 t is the swing speed of the boom, h 臂 is the distance between the boom and the center of gravity, a 竖直 is the acceleration of the boom lowering.

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