Synchronous walking control method for bridge girder erection machine

Abstract

The invention provides a bridge girder erection machine synchronous walking control method which comprises the following steps: calculating a walking beam deviation angle theta according to a deviation angle beta and a course angle alpha of an erection direction and a due north direction; calculating the displacement deviation of the left and right side oil cylinders by combining the mounting distance L between the left side oil cylinder and the right side oil cylinder, namely the distance s required to be adjusted of the oil cylinders; after the distance s, needing to be adjusted, of the oil cylinder is calculated, the following control strategies are selectively executed, and synchronous walking control is achieved: (1) the adjustment target value of the lagged oil cylinder is set to be s10 = s1 + s, and then the oil cylinder extends out; s1 is the displacement of the lagged oil cylinder before extending operation; (2) setting the advanced adjustment target value of the oil cylinder as s20 = s2-s, and then retracting the oil cylinder; s1 is the displacement of the lagged oil cylinder before retraction operation; and (3) oil cylinders on the left side and the right side are adjusted, and it is guaranteed that the deviation angle theta of the walking cross beam is 0. The method provided by the invention can effectively solve the pain point of repeated adjustment caused by asynchronous on-site walking.

Description

Technical Field

[0001] The invention relates to the technical field of bridge erection machines, and in particular to a synchronous running control method for a bridge erection machine. Background Art

[0002] A bridge-building machine is a type of bridge-building equipment used under special working conditions. Due to its special structural characteristics and huge tonnage, most of the equipment's movement relies on hydraulic system control. However, due to the many limitations of the hydraulic system, there is often a problem of asynchronous movement between the left and right sides, causing delays in construction progress and even bridge-building machine rollover accidents. Therefore, movement synchronization has always been a link with higher safety risks in bridge-building machine construction.

[0003] Conventional hydraulic synchronous control methods include electro-hydraulic proportional position synchronous control; compared with the electro-hydraulic servo control system, the electro-hydraulic proportional position synchronous control has a simple structure and low price, and through a certain control algorithm, it can achieve a very high synchronous control accuracy. However, the control parameters of the electro-hydraulic proportional position control system have strong nonlinearity, time-varying characteristics, and are easy to change with changes in system operating conditions. In addition, the electro-hydraulic proportional position control system also has factors that affect the system regulation characteristics, that is, the proportional valve has a large flow dead zone. The existence of this dead zone requires each control action of the proportional valve to be adjusted by a large valve core displacement, even if the control mechanism only needs to perform a small position adjustment, which makes the control output flow response speed of the proportional valve much smaller than the valve core displacement response speed. These have a great impact on the synchronous control performance, and it is necessary to formulate a more complex control strategy to achieve synchronous control. Summary of the invention

[0004] The purpose of the present invention is to provide a simple and easy-to-implement method for controlling the synchronous travel of a bridge erecting machine in view of the deficiencies in the prior art, so as to effectively solve the pain point of repeated adjustments caused by asynchronous travel on site.

[0005] A first aspect of the present invention provides a method for controlling synchronous travel of a bridge erecting machine, comprising the following steps: (1) Calculate the current traveling beam deviation angle: Obtain the deviation angle β and heading angle α between the erection direction and the true north direction, and calculate the deviation angle θ of the traveling beam: θ=α+β-90° The heading angle α is the angle between the current inclination direction of the traveling beam and the true north direction; θ is defined as a positive value in the clockwise direction, and the positive or negative value of the θ angle indicates the current tilt direction of the traveling beam: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the traveling beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags; (2) Combined with the installation distance L between the left and right cylinders, calculate the displacement deviation of the left and right cylinders, that is, the distance s = L*tanθ that the cylinder needs to be adjusted; (3) After calculating the distance s that the cylinder needs to be adjusted, select one of the following control strategies to achieve synchronous travel control: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

[0006] Based on the above, the left and right cylinder deviation thresholds r are set. When s>r, the cylinders are adjusted to move.

[0007] Based on the above, if the lagging cylinder cannot be extended, the leading cylinder is controlled to retract; if the leading cylinder has reached the maximum extension, the lagging cylinder is allowed to extend.

[0008] Based on the above, the synchronous travel control method of the bridge erecting machine also includes: deploying an RTK base station at a high position near the construction site, arranging RTK positioning antennas and RTK directional antennas along the traveling beam and at intervals of a certain width; the RTK positioning antennas and the RTK directional antennas are used to provide a heading angle α.

[0009] Based on the above, the synchronous travel control method of the bridge erecting machine also includes: installing displacement sensors on the left and right cylinders respectively to provide the displacement of the corresponding cylinders.

[0010] A second aspect of the present invention provides a bridge erecting machine synchronous travel control system, comprising: The running beam deviation angle calculation module is used to calculate the current running beam deviation angle θ; The method for calculating the current traveling beam deviation angle θ is: Obtain the deviation angle β and heading angle α between the erection direction and the true north direction, and calculate the deviation angle θ of the running beam = α + β - 90°; The heading angle α is the angle between the current inclination direction of the traveling beam and the true north direction; θ is defined as a positive value in the clockwise direction, and the positive or negative value of the θ angle indicates the current tilt direction of the traveling beam: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the traveling beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags; The cylinder needs to adjust the distance calculation module, which is used to calculate the displacement deviation of the left and right cylinders by combining the installation distance L of the left and right cylinders, that is, the distance s=L*tanθ that the cylinder needs to adjust; The synchronous travel control module is used to select one of the following control strategies to achieve synchronous travel control after calculating the distance s that the cylinder needs to adjust: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

[0011] Based on the above, the left and right cylinder deviation thresholds r are set. When s>r, the cylinders are adjusted to move.

[0012] Based on the above, if the lagging cylinder cannot be extended, the leading cylinder is controlled to retract; if the leading cylinder has reached the maximum extension, the lagging cylinder is allowed to extend.

[0013] A third aspect of the present invention provides an electronic device, comprising: at least one processor, and a memory coupled to the at least one processor; Wherein, the memory stores a computer program, and the computer program can be executed by the at least one processor to implement the synchronous travel control method of the bridge erecting machine as described.

[0014] A fourth aspect of the present invention provides a computer program product, including a computer program / instruction, characterized in that when the computer program / instruction is executed by a processor, the bridge erection machine synchronous travel control method as described is implemented.

[0015] The present invention has the following beneficial effects and advantages: The control method of the present invention is developed in combination with the construction characteristics of actual working conditions, and can effectively solve the pain point of repeated adjustments caused by asynchronous on-site travel. The method uses the installed RTK antenna to detect the heading to ensure the bridge line shape when the bridge erection machine is working. The target displacement is obtained by calculating the displacement of the single-side cylinder without comparing the displacement of the cylinders on both sides, which not only improves the robustness of the control system, but also relaxes the requirements for laying the left and right side running tracks.

[0016] The control system of the present invention only needs to install an RTK base station, an antenna, a displacement sensor, etc. It is simple to install and easy to operate. It can not only improve the construction accuracy and reduce the difficulty of on-site construction, but also ensure the safety during travel and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the traveling arrangement of the hanging basket in an embodiment of the present invention.

[0018] Figure 2 Schematic diagram of heading deviation calculation in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may include steps or units that are not listed.

[0021] The present application is described in detail below through some embodiments and their application scenarios in conjunction with the accompanying drawings.

[0022] Example 1 This embodiment provides a synchronous travel control method for a bridge erection machine.

[0023] There are many types of bridge erection machines, but all of them have the function of running through the hole of the whole machine. This embodiment only uses the common hanging basket running to illustrate (the principles of other bridge erection machines are similar). The specific schematic diagram is as follows Figure 1 As shown. The RTK base station 1 can be deployed at a high position near the construction site, and the RTK positioning antenna 2 and the RTK directional antenna 3 are arranged along the running beam 4, with a certain width between them. Ideally, the installation direction of the hanging basket is basically perpendicular to the horizontal direction of the running beam 4. However, during on-site use, the running guide rail 7 is artificially laid, so it is impossible to ensure that the initial positions of the left cylinder 5 and the right cylinder 6 are consistent. Therefore, the displacement detected by the displacement sensors installed on the left cylinder 5 and the right cylinder 6 cannot accurately reflect the current posture of the running beam and the deviation between the left and right sides, so it is necessary to use RTK for detection.

[0024] The current deviation angle of the traveling beam can be calculated by installing the RTK positioning antenna and RTK directional antenna on the traveling beam and combining the installation direction with the heading angle of RTK positioning. The specific calculation method is as follows: Figure 2 As shown in the figure, the deviation angle β between the erection direction and the true north direction can be obtained by the design institute or the construction party, and the heading angle α can be directly read by the RTK antenna. Therefore, the calculation formula of the deviation angle θ of the running beam is: θ=α+β-90° The heading angle α is the angle between the current tilt direction of the traveling beam and the true north direction; θ defines the clockwise direction as a positive value, so the angle range is within -180°~+180°. The current tilt direction of the traveling beam can be inferred by the positive or negative value of the θ angle: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the running beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags.

[0025] Combined with the installation distance L between the left and right cylinders, the displacement deviation of the left and right cylinders is calculated, that is, the distance s=L*tanθ that the cylinder needs to be adjusted.

[0026] After calculating the distance s that the cylinder needs to be adjusted, select one of the following control strategies to achieve synchronous travel control: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

[0027] The three synchronous travel control strategies can be adjusted according to the actual situation. If the lagging cylinder cannot be extended, it may be because the mechanism is stuck, then only the leading cylinder can be controlled to retract; if the leading cylinder has reached the maximum extension, only the lagging cylinder can be extended. During the entire adjustment process, when it is detected that the displacement of a cylinder is about to reach the extension limit, the sound and light alarm can be used to remind the on-site construction personnel to adjust the pin in advance, thereby improving the efficiency of on-site construction.

[0028] In order to improve the smoothness of on-site operation, the left and right cylinder deviation thresholds r are set. When s>r, the cylinders are adjusted to move.

[0029] Example 2 This embodiment provides a bridge erection machine synchronous travel control system, including: An RTK base station is deployed at a high position near the construction site, and an RTK positioning antenna and an RTK directional antenna are arranged along the running beam with a certain width; the RTK positioning antenna and the RTK directional antenna are used to provide a heading angle α; Displacement sensors are installed on the left and right cylinders respectively to provide the displacement of the corresponding cylinders; The running beam deviation angle calculation module is used to calculate the current running beam deviation angle θ; The oil cylinder needs to adjust the distance calculation module, which is used to calculate the distance s that the oil cylinder needs to adjust; The synchronous travel control module is used to select a control strategy to achieve synchronous travel control after calculating the distance s that the cylinder needs to be adjusted; The current deviation angle of the traveling beam can be calculated by installing the RTK positioning antenna and RTK directional antenna on the traveling beam and combining the installation direction with the heading angle of RTK positioning. The specific calculation method is as follows: Figure 2 As shown in the figure, the deviation angle β between the erection direction and the true north direction can be obtained by the design institute or the construction party, and the heading angle α can be directly read by the RTK antenna. Therefore, the calculation formula of the deviation angle θ of the running beam is: θ=α+β-90° The heading angle α is the angle between the current tilt direction of the traveling beam and the true north direction; θ defines the clockwise direction as a positive value, so the angle range is within -180°~+180°. The current tilt direction of the traveling beam can be inferred by the positive or negative value of the θ angle: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the running beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags.

[0030] Combined with the installation distance L between the left and right cylinders, the displacement deviation of the left and right cylinders is calculated, that is, the distance s=L*tanθ that the cylinder needs to be adjusted.

[0031] After calculating the distance s that the cylinder needs to be adjusted, select one of the following control strategies to achieve synchronous travel control: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

[0032] The three synchronous travel control strategies can be adjusted according to the actual situation. If the lagging cylinder cannot be extended, it may be because the mechanism is stuck, then only the leading cylinder can be controlled to retract; if the leading cylinder has reached the maximum extension, only the lagging cylinder can be extended. During the entire adjustment process, when it is detected that the displacement of a cylinder is about to reach the extension limit, the sound and light alarm can be used to remind the on-site construction personnel to adjust the pin in advance, thereby improving the efficiency of on-site construction.

[0033] In order to improve the smoothness of on-site operation, the left and right cylinder deviation thresholds r are set. When s>r, the cylinders are adjusted to move.

[0034] Example 3 An embodiment of the present application also provides an electronic device, including: a memory and a processor, the memory and the processor are connected via a bus communication, a computer program is stored in the memory, and the computer program can be run on the processor, thereby implementing the steps in the bridge erection machine synchronous travel control method disclosed in Example 1 of the present application.

[0035] The embodiment of the present application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps in the synchronous travel control method of the bridge erection machine as disclosed in Embodiment 1 of the present application.

[0036] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0037] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, devices, storage media, and program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0039] The methods, systems, devices and products provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A synchronous travel control method for a bridge erecting machine, characterized in that: The following steps are involved: (1) Calculate the current deviation angle of the traveling beam: Obtain the deviation angle β and heading angle α between the erection direction and the true north direction, and calculate the deviation angle θ of the traveling beam: θ=α+β-90° The heading angle α is the angle between the current inclination direction of the traveling beam and the true north direction; θ is defined as a positive value in the clockwise direction, and the positive or negative value of the θ angle indicates the current tilt direction of the traveling beam: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the traveling beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags; (2) Combined with the installation distance L between the left and right cylinders, calculate the displacement deviation of the left and right cylinders, that is, the distance s = L*tanθ that the cylinder needs to be adjusted; (3) After calculating the distance s that the cylinder needs to be adjusted, select one of the following control strategies to achieve synchronous travel control: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

2. The synchronous travel control method for a bridge erecting machine according to claim 1, characterized in that: Set the left and right cylinder deviation threshold r. When s>r, adjust the cylinder to move.

3. The synchronous travel control method for a bridge erecting machine according to claim 1 or 2, characterized in that: If the lagging cylinder cannot be extended, the leading cylinder is controlled to retract; if the leading cylinder has reached the maximum extension, the lagging cylinder is allowed to extend.

4. The synchronous travel control method of a bridge erecting machine according to claim 1, characterized in that: The synchronous running control method of the bridge erecting machine also includes: deploying an RTK base station at a high position near the construction site, arranging an RTK positioning antenna and an RTK directional antenna along the running beam and at a certain width; the RTK positioning antenna and the RTK directional antenna are used to provide a heading angle α.

5. The synchronous travel control system of the bridge erecting machine according to claim 1 is characterized in that: The synchronous travel control method of the bridge erecting machine also includes: installing displacement sensors on the left and right oil cylinders respectively to provide the displacement of the corresponding oil cylinders.

6. A synchronous travel control system for a bridge erecting machine, characterized in that: include: The running beam deviation angle calculation module is used to calculate the current running beam deviation angle θ; The method for calculating the current traveling beam deviation angle θ is: Obtain the deviation angle β and heading angle α between the erection direction and the true north direction, and calculate the deviation angle θ of the running beam = α + β - 90°; The heading angle α is the angle between the current inclination direction of the traveling beam and the true north direction; θ is defined as a positive value in the clockwise direction, and the positive or negative value of the θ angle indicates the current tilt direction of the traveling beam: When the angle θ is negative, it is judged that the left side of the traveling beam travels shorter than the right side, that is, the left cylinder lags behind and the right cylinder leads; When the angle θ is positive, it is judged that the right side of the traveling beam travels shorter than the left side, that is, the left cylinder leads and the right cylinder lags; The cylinder needs to adjust the distance calculation module, which is used to calculate the displacement deviation of the left and right cylinders by combining the installation distance L of the left and right cylinders, that is, the distance s=L*tanθ that the cylinder needs to adjust; The synchronous travel control module is used to select one of the following control strategies to achieve synchronous travel control after calculating the distance s that the cylinder needs to adjust: ① Set the adjustment target value of the lagging oil cylinder to s10=s1+s, and then perform the oil cylinder extension operation; s1 is the displacement of the lagging oil cylinder before the extension operation; ② Set the adjustment target value of the leading cylinder to s20=s2-s, and then retract the cylinder; s1 is the displacement of the lagging cylinder before retracting; ③ Adjust the left and right cylinders to ensure that the deviation angle θ of the traveling beam is 0.

7. The synchronous travel control system for a bridge erecting machine according to claim 6 is characterized in that: Set the left and right cylinder deviation threshold r. When s>r, adjust the cylinder to move.

8. The synchronous travel control system for a bridge erecting machine according to claim 6 or 7, characterized in that: If the lagging cylinder cannot be extended, the leading cylinder is controlled to retract; if the leading cylinder has reached the maximum extension, the lagging cylinder is allowed to extend.

9. An electronic device, characterized in that: include: at least one processor, and a memory coupled to the at least one processor; Wherein, the memory stores a computer program, and the computer program can be executed by the at least one processor to implement the synchronous travel control method of the bridge erecting machine as described in any one of claims 1 to 5.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by the processor, the synchronous travel control method of the bridge erecting machine as described in any one of claims 1 to 5 is implemented.

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