Large-span cross-business-line horizontal turning intelligent control method and system

Abstract

The invention discloses an intelligent control method and system for a large-span cross-business-line horizontal swivel, and is applied to the technical field of large-span bridge construction. The method comprises the following steps: S1, a data acquisition step: controlling a bridge to carry out swivel operation and monitoring relevant parameters of bridge swivel in real time through preset sensor equipment; s2, a data processing step: carrying out attitude calculation by utilizing the relevant parameters of the bridge swivel obtained in the S1, determining the state of the current bridge swivel, and judging whether the state of the current bridge swivel is abnormal or not; and S3, a swivel intelligent control step: calculating a bridge swivel control instruction by adopting a preset control algorithm, and accurately controlling the bridge swivel according to the bridge swivel control instruction. The bridge swivel is accurately controlled through an intelligent control algorithm, the control strategy is optimized, and the response speed and the control precision of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of long-span bridge construction, and more specifically to an intelligent control method and system for horizontal rotation of a long-span cross-operating line. Background Art

[0002] Although intelligent control of bridge rotation has many advantages in improving bridge safety and efficiency, there are also some defects and challenges in existing technologies:

[0003] Sensor error: Sensors may have errors and drift in actual applications, affecting the accuracy of monitoring data and thus the effectiveness of the control algorithm; Real-time requirements: Bridge rotation control requires real-time monitoring and response, requiring the control system to have high real-time and response speed, but some algorithms and systems may not be able to meet this requirement; System stability: The stability of the intelligent control system is a key issue. Some algorithms may have problems such as oscillation and overshoot, requiring the system to be designed and optimized more stably; Energy consumption issues: Some intelligent control algorithms may require a lot of computing resources and energy consumption, which may be challenging for some scenarios with limited resources or long-term operation; Security and privacy protection: Intelligent control systems involve a large amount of data transmission and processing. Security and privacy protection are important issues, and data encryption and privacy protection measures need to be strengthened.

[0004] To address these defects, further research and optimization of the bridge rotation intelligent control system is needed to improve the stability, real-time performance and efficiency of the system in order to achieve more precise and reliable control of the bridge structure.

[0005] Therefore, it is an urgent problem for technical personnel in this field to propose an intelligent control method and system for horizontal rotation of large-span cross-operating lines to solve the difficulties existing in the prior art. Summary of the invention

[0006] In view of this, the present invention provides an intelligent control method and system for horizontal rotation of a large-span cross-operating line, which accurately controls the rotation of the bridge through an intelligent control algorithm, optimizes the control strategy, and improves the response speed and control accuracy of the system.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] An intelligent control method for horizontal rotation of a large-span cross-operating line comprises the following steps:

[0009] S1, data acquisition step: controlling the bridge to perform rotation operation and monitoring relevant parameters of the bridge rotation in real time through preset sensor equipment;

[0010] S2, data processing step: using the relevant parameters of the bridge rotation obtained in S1 to perform attitude calculation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal;

[0011] S3, intelligent rotation control step: use a preset control algorithm to calculate the bridge rotation control command, and achieve precise control of the bridge rotation according to the bridge rotation control command.

[0012] Optionally, the sensor devices preset in S1 include an attitude sensor and an acceleration sensor to monitor the attitude, angular velocity and acceleration of the bridge rotation in real time.

[0013] Optionally, the construction preparation before the rotation operation of the bridge in S1 includes:

[0014] (1) The hydraulic and electrical equipment used in the rotation process shall be tested and calibrated before leaving the factory, and a trial run shall be carried out. The construction site shall be equipped with a generator with the required power, and the power generation system shall be installed and debugged before the trial run;

[0015] (2) The equipment is installed in place according to the equipment layout diagram, the signal lines between the preset main console, pump station and jack are connected, the oil line between the pump station and the jack is connected, and the power supply of the main console and pump station is connected;

[0016] (3) Equipment no-load trial run: Reversely calculate the oil pressure value of each pump station based on the preset jack force value, adjust the maximum allowable oil pressure of the pump station according to this oil pressure value, conduct a no-load trial run, and check whether the equipment is operating normally.

[0017] Optionally, S1 also includes: before the trial rotation, an unbalanced weighing test is performed to test the unbalanced torque, eccentric torque, friction torque and friction coefficient of the rotating part, so as to achieve balanced counterweight of the bridge rotation.

[0018] Optionally, S3 also includes the introduction of an intelligent optimization algorithm to optimize the control algorithm according to real-time monitoring data; the intelligent optimization algorithm uses a genetic algorithm, which simulates the biological evolution process and searches for the optimal solution through genetic operations and selection operations.

[0019] A large-span cross-operation line horizontal rotation intelligent control system, which implements any of the above-mentioned large-span cross-operation line horizontal rotation intelligent control methods, comprises a data acquisition module, a data processing module, and a rotation intelligent control module connected in sequence; wherein,

[0020] A data acquisition module, used to control the bridge to perform rotation operations and monitor relevant parameters of the bridge rotation in real time through preset sensor equipment;

[0021] A data processing module is used to perform posture calculation using the acquired relevant parameters of the bridge rotation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal;

[0022] The intelligent rotation control module is used to calculate the bridge rotation control instructions using a preset control algorithm, and to achieve precise control of the bridge rotation according to the bridge rotation control instructions.

[0023] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a method and system for intelligent control of horizontal rotation of a large-span cross-operating line, which has the following beneficial effects:

[0024] (1) Improve safety: Intelligent control methods monitor the operating status of bridge structures in real time, detect abnormal conditions in a timely manner and take control measures, thereby improving bridge safety and reducing the risk of accidents.

[0025] (2) Optimizing control strategy: By using intelligent control algorithms to accurately control the rotation of the bridge, the control strategy can be optimized, the response speed and control accuracy of the system can be improved, and thus the operating efficiency of the bridge can be improved.

[0026] (3) Extending service life: The intelligent control system monitors and analyzes the bridge structure in real time, promptly identifying problems such as structural fatigue and damage, which helps to extend the service life of the bridge.

[0027] (4) Save maintenance costs: The intelligent control system can predict the operating status of the bridge structure in advance, which helps to reasonably arrange maintenance plans and resources and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0029] Figure 1 A flow chart of a method for intelligent control of horizontal rotation of a large-span cross-operating line provided by the present invention;

[0030] Figure 2 A system structure diagram of an intelligent control system for horizontal rotation of a large-span cross-operating line provided by the present invention;

[0031] Figure 3 It is a flow chart of the rotation construction of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Reference Figure 1 As shown, the present invention discloses an intelligent control method for horizontal rotation of a large-span cross-operating line, comprising the following steps:

[0034] S1, data acquisition step: controlling the bridge to perform rotation operation and monitoring relevant parameters of the bridge rotation in real time through preset sensor equipment;

[0035] S2, data processing step: using the relevant parameters of the bridge rotation obtained in S1 to perform attitude calculation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal;

[0036] S3, intelligent rotation control step: use a preset control algorithm to calculate the bridge rotation control command, and achieve precise control of the bridge rotation according to the bridge rotation control command.

[0037] Specifically, the swivel structure includes a swivel lower plate, a ball joint, an upper swivel plate, and a rotating traction system.

[0038] 1. Rotate the lower body

[0039] The lower plate is the foundation that supports the entire weight of the rotating structure. After the rotation is completed, it forms the bridge foundation together with the upper rotating plate. The lower rotating plate is made of C50 concrete. The lower ball joint of the rotating system, the safety support foot ring slide and the reaction seat of the rotating pulling jack are set on the lower rotating plate.

[0040] 2. Ball joint manufacturing and installation

[0041] (1) The diameter of the steel ball joint is φ3200mm and the thickness is 40mm. It is divided into two parts, the upper and lower parts, and is the rotation system of the rotation construction. The core of the rotation system is the rotating ball joint, which is the key structure of the rotation construction. The manufacturing and installation precision requirements are very high and must be carefully manufactured and installed.

[0042] (2) Manufacturing precision control is as follows:

[0043] ①The curvature of the spherical surface should be equal at all places, and the difference in the radius of curvature should be ±2mm;

[0044] ②The height difference of each point on the edge shall not exceed 1mm;

[0045] ③ The ovality is not greater than 1.5mm;

[0046] ④The top surfaces of the inlaid PTFE plates should be located on the same spherical surface, and the error should not exceed 0.2mm;

[0047] ⑤ The centroidal axes of the upper and lower surfaces of the ball joint and the central axis of rotation of the ball joint should coincide with each other, and the error should not be greater than 1mm; the central axis of the upper ball joint welded steel pipe should coincide with the rotation axis, and the error should not be greater than 1mm. The steel pipe should be plumb, and the inclination should not be greater than 1‰.

[0048] 3. Rotation upper plate support and slide

[0049] The upper plate support legs are the safety legs that support the stability of the rotating structure during rotation. Considering the force of the safety legs during rotation, the center line between the two symmetrical safety legs of the turntable coincides with the longitudinal center line of the upper plate, so that the 8 safety legs are symmetrically distributed on both sides of the longitudinal axis. There is a 90cm wide slideway below the support legs (i.e. the top surface of the lower plate), and the slideway radius is 425cm. During rotation, the safety support legs can slide in the slideway to keep the rotating structure stable. The entire slideway surface is required to be on a horizontal plane, and the relative height difference is not greater than 3mm.

[0050] There are 8 support legs under each upper plate. Each support leg is cylindrical and has a 30mm thick steel plate underneath. The cylinder is a φ600mmx24mm steel pipe, and C50 micro-expansive concrete is poured into the steel pipe of the support legs of the entire bridge. The support legs are manufactured in the factory and transported to the construction site. When the lower plate concrete is poured and the upper ball joint is installed in place, the support legs are installed, and a 6mm steel plate is supported under the support leg walking board (as the gap between the rotating structure and the slideway).

[0051] 4. Turn the body to the upper plate

[0052] The upper plate is an important structure of the swivel. It forms a multi-directional and three-dimensional stress state during the entire swivel process. It is equipped with longitudinal and transverse prestressed steel bars. The upper plate (turntable) has a diameter of 1100cm and a height of 2500cm. The upper turntable is the part where the traction force of the swivel is directly applied. The swivel traction rope is embedded in the upper plate, and the embedded end adopts a P-type anchor. The anchor ends of the same pair of ropes are on the same diameter line and symmetrical to the center of the circle. Note that the embedded height and traction direction of each rope should be consistent. The length of each rope embedded in the turntable is not less than 500cm, and the exit point of each pair of ropes is symmetrical to the center of the turntable. The exposed part of the traction rope is smoothly wrapped around the turntable and placed on the embedded steel bars without interfering with each other. Protective measures are taken to prevent damage or severe rust of the steel strands during construction.

[0053] After the upper plate concrete reaches the design strength, the entire rotation system support system is converted. Remove the pad so that the upper plate is supported on the ball joint. Apply a rotation torque to rotate the upper plate around the central axis of the ball joint. Check whether the ball joint operates normally and measure its friction coefficient to provide a basis for the rotation construction.

[0054] 5. Traction power system

[0055] The traction power system of each swivel consists of two sets of 200-ton ZLD200 continuous traction jacks, two hydraulic pump stations and a main console connected by high-pressure oil pipes and cables. The swivels on both sides are each a separate traction system. The two continuous jacks of the traction power system are arranged horizontally, parallelly and symmetrically on both sides of the turntable. The center line of the jack is tangent to the outer circle of the upper turntable, and the center line height is level with the center line of the embedded steel strand of the upper turntable. The jack is placed on the matching reaction seat. After the debugged power system equipment is transported to the construction site for alignment installation, fill the oil pump tank with special hydraulic oil, correctly connect the oil circuit and circuit, and re-debug the system to achieve the best synchronization and continuity of the power system.

[0056] Furthermore, the sensor devices preset in S1 include attitude sensors and acceleration sensors, which monitor the attitude, angular velocity, and acceleration of the bridge rotation in real time.

[0057] Furthermore, the construction preparation before the bridge rotation operation in S1 is as follows Figure 3 Shown include:

[0058] (1) The hydraulic and electrical equipment used in the rotation process shall be tested and calibrated before leaving the factory, and a trial run shall be carried out. The construction site shall be equipped with a generator with the required power, and the power generation system shall be installed and debugged before the trial run;

[0059] (2) The equipment is installed in place according to the equipment layout diagram, the signal lines between the preset main console, pump station and jack are connected, the oil line between the pump station and the jack is connected, and the power supply of the main console and pump station is connected;

[0060] (3) Equipment no-load test run: Calculate the oil pressure value of each pump station based on the preset jack force value, adjust the maximum allowable oil pressure of the pump station according to this oil pressure value, conduct no-load test run, and check whether the equipment is operating normally;

[0061] (4) Install the traction rope. Wrap the steel strand traction rope around the turntable in the traction direction and pass it through the jack. Clamp it with the clamping device of the jack. Be careful not to cross, disturb or twist the steel strand when passing it. The steel strand used should be evenly distributed in left and right rotation as much as possible. The installation direction of the jack should be consistent with that of the steel strand.

[0062] (5) About 10 days before the rotation, start to dismantle the upper turntable template, remove the steel wedges under the support feet, clean the slideway, check whether there are any factors that hinder the rotation around the slideway, lay a polytetrafluoroethylene plate under the support feet on the slideway surface, and apply butter polytetrafluoroethylene powder on the contact surface between the polytetrafluoroethylene plate and the slideway; and remove the fixing device and support pads between the upper and lower turntables one day before the trial rotation;

[0063] (6) After removing all the support constraints, comprehensively check whether there are cracks and abnormal conditions in the key stress-bearing parts of the rotating structure. After removing all the supports, the observation and monitoring time of the rotating structure must reach more than 2 hours;

[0064] (7) Before rotation, weigh the rotating structure and measure its center of gravity. If necessary, add counterweights so that the weight of the entire rotating structure is mainly borne by the center ball joint.

[0065] Furthermore, S1 also includes: before the trial rotation, an unbalanced weighing test is carried out to test the unbalanced torque, eccentric torque, friction torque and friction coefficient of the rotating part, so as to achieve balanced counterweight of the bridge rotation.

[0066] Furthermore, S3 also includes the introduction of an intelligent optimization algorithm to optimize the control algorithm based on real-time monitoring data; the intelligent optimization algorithm uses a genetic algorithm, which simulates the biological evolution process and searches for the optimal solution through genetic operations and selection operations.

[0067] Specifically, the genetic algorithm steps include:

[0068] Initialize the population: First, randomly generate a certain number of individuals (chromosomes), each of which represents a solution to the problem, forming the initial population;

[0069] Fitness evaluation: Calculate the fitness of each individual in the population, that is, evaluate how well the individual solves the problem;

[0070] Selection operation: According to the fitness value, individuals with higher fitness are selected as parents to reproduce the next generation. Selection operations usually use methods such as roulette selection and competitive selection;

[0071] Crossover operation: Select two individuals from the parent generation and generate new offspring individuals through crossover operation. The crossover operation simulates the gene exchange process of organisms, exchanging some genes of the chromosomes of the parent generation to generate offspring;

[0072] Mutation operation: Perform mutation operation on offspring to increase the diversity of the population. Mutation operation is to randomly change the genes in individual chromosomes to introduce new changes;

[0073] Replacement operation: replace individuals with lower fitness in the original population with newly generated offspring to update the population;

[0074] Termination condition: Determine whether to terminate the algorithm based on the set termination condition (such as reaching the maximum number of iterations, fitness reaching the threshold, etc.). If the termination condition is not met, return to step 3; otherwise, output the optimal solution.

[0075] like Figure 2As shown, a large-span horizontal rotation intelligent control system across an operating line implements any of the above-mentioned large-span horizontal rotation intelligent control methods across an operating line, including a data acquisition module, a data processing module, and a rotation intelligent control module connected in sequence; wherein,

[0076] A data acquisition module, used to control the bridge to perform rotation operations and monitor relevant parameters of the bridge rotation in real time through preset sensor equipment;

[0077] A data processing module is used to perform posture calculation using the acquired relevant parameters of the bridge rotation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal;

[0078] The intelligent rotation control module is used to calculate the bridge rotation control instructions using a preset control algorithm, and to achieve precise control of the bridge rotation according to the bridge rotation control instructions.

[0079] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0080] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent control method for horizontal rotation of a large-span cross-operating line, characterized in that: The following steps are involved: S1, data acquisition step: controlling the bridge to perform rotation operation and monitoring relevant parameters of the bridge rotation in real time through preset sensor equipment; S2, data processing step: using the relevant parameters of the bridge rotation obtained in S1 to perform attitude calculation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal; S3, intelligent rotation control step: use a preset control algorithm to calculate the bridge rotation control command, and achieve precise control of the bridge rotation according to the bridge rotation control command.

2. According to claim 1, a method for intelligent control of horizontal rotation of a large-span cross-operating line is characterized in that: The sensor devices preset in S1 include attitude sensors and acceleration sensors, which monitor the attitude, angular velocity, and acceleration of the bridge rotation in real time.

3. According to claim 1, a method for intelligent control of horizontal rotation of a large-span cross-operating line is characterized in that: The construction preparations before the bridge rotation operation in S1 include: (1) The hydraulic and electrical equipment used in the rotation process shall be tested and calibrated before leaving the factory, and a trial run shall be carried out. The construction site shall be equipped with a generator with the required power, and the power generation system shall be installed and debugged before the trial run; (2) The equipment is installed in place according to the equipment layout diagram, the signal lines between the preset main console, pump station and jack are connected, the oil line between the pump station and the jack is connected, and the power supply of the main console and pump station is connected; (3) Equipment no-load trial run: Reversely calculate the oil pressure value of each pump station based on the preset jack force value, adjust the maximum allowable oil pressure of the pump station according to this oil pressure value, conduct a no-load trial run, and check whether the equipment is operating normally.

4. The intelligent control method for horizontal rotation of a large-span cross-operating line according to claim 1 is characterized in that: S1 also includes: before the trial rotation, an unbalanced weighing test is carried out to test the unbalanced torque, eccentric torque, friction torque and friction coefficient of the rotating part, so as to achieve balanced counterweight of the bridge rotation.

5. The intelligent control method for horizontal rotation of a large-span cross-operating line according to claim 1 is characterized in that: S3 also includes the introduction of an intelligent optimization algorithm to optimize the control algorithm based on real-time monitoring data; the intelligent optimization algorithm uses a genetic algorithm, which simulates the biological evolution process and searches for the optimal solution through genetic operations and selection operations.

6. An intelligent control system for horizontal rotation of a large-span cross-operating line, characterized in that: A method for intelligent control of horizontal rotation of a large span across an operating line according to any one of claims 1 to 5 is implemented, comprising a data acquisition module, a data processing module, and an intelligent rotation control module connected in sequence; wherein: A data acquisition module, used to control the bridge to perform rotation operations and monitor relevant parameters of the bridge rotation in real time through preset sensor equipment; A data processing module is used to perform posture calculation using the acquired relevant parameters of the bridge rotation, determine the current state of the bridge rotation, and judge whether the current state of the bridge rotation is abnormal; The intelligent rotation control module is used to calculate the bridge rotation control instructions using a preset control algorithm, and to achieve precise control of the bridge rotation according to the bridge rotation control instructions.

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