Special-shaped pier column formwork supporting system, control method thereof and related products

Abstract

The invention relates to the technical field of building construction, in particular to a special-shaped pier column formwork supporting system and a control method and related products thereof, and the control method comprises the steps that the inclination angle and bottom displacement of a main vertical rod are obtained; calculating an inclination parameter of the pier column template; if the pitching inclination parameter of the pier column formwork exceeds the perpendicularity threshold value, the height, needing to be adjusted, of the bottom of each main vertical rod is calculated; corresponding adjusting devices are controlled to stretch out and draw back; the special-shaped pier column formwork supporting system comprising the supporting frame, the hydraulic adjusting device, the integrated sensor network and the control center is constructed, and real-time monitoring and accurate control over the posture of the formwork are achieved; the inclination state of the template is obtained by utilizing inclination angle sensors and displacement sensors which are arranged on the main vertical rods, and after a state space model is established, a model prediction control algorithm is adopted to calculate the adjusting quantity required by the bottom of each main vertical rod.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and particularly relates to a formwork support system for special-shaped pier columns, a control method thereof, and related products. Background Art

[0002] In the construction of large-scale projects such as bridges and high-rise buildings, the application of special-shaped pier columns (such as vase piers, Y-shaped piers, variable cross-section piers, etc.) is becoming more and more widespread. Compared with conventional rectangular or circular pier columns, the formwork support and construction control of special-shaped pier columns are more complex.

[0003] At present, the formwork support of special-shaped pier columns usually adopts a customized steel formwork and a steel pipe (or bowl-coupled) support frame system. During the concrete pouring process, manual inspection and simple measuring tools (such as plumb lines, spirit levels, etc.) are relied on to monitor the verticality and stability of the formwork. This method has the following problems: the monitoring accuracy is limited, it is difficult to accurately and real-time grasp the deformation of the formwork; mainly relying on manual experience for judgment and adjustment, the efficiency is low, and errors are prone to occur; for tall special-shaped pier columns, the difficulty and risk of manual monitoring are large; the stress state of the formwork during the concrete pouring process cannot be effectively monitored, there are potential safety hazards.

[0004] To ensure the safety and quality of construction, the existing construction methods for special-shaped pier columns usually adopt relatively conservative measures, such as reducing the pouring speed, increasing the density of the support frame, etc., which to a certain extent affects the construction efficiency. Summary of the Invention

[0005] The technical problems to be solved by the present invention are the low monitoring accuracy, low adjustment efficiency, high safety risk, and inability to achieve automatic control existing in the existing formwork support system for special-shaped pier columns during the construction process. The purpose is to provide a formwork support system for special-shaped pier columns, a control method thereof, and related products, which realizes the real-time and accurate monitoring of the formwork support state of special-shaped pier columns, as well as the dynamic and automatic regulation of the formwork verticality, improving the quality, efficiency, and safety of the construction of special-shaped pier columns.

[0006] The present invention is realized through the following technical solutions:

[0007] A formwork support system for special-shaped pier columns, comprising:

[0008] A support frame, which is used to support the pier column formwork, and the support frame includes a plurality of vertical poles;

[0009] Adjusting devices, a plurality of the adjusting devices are installed at the bottom ends of at least some of the vertical poles, and each of the adjusting devices is independently controlled;

[0010] An integrated sensor network, which is installed on the vertical poles and the pier column formwork;

[0011] A control center, which is communicatively connected to the integrated sensor network and the adjustment device.

[0012] Specifically, a load threshold is set, and the vertical poles in the vertical poles that bear the vertical load of the pier column formwork and are greater than the load threshold are set as main vertical poles, and the adjustment device is installed at the bottom ends of multiple main vertical poles;

[0013] The adjustment device is a hydraulic adjustment device, and the hydraulic lifting end of the adjustment device is connected to the bottom end of the main vertical pole;

[0014] The integrated sensor network includes:

[0015] An inclination sensor installed at the top of the main vertical pole, which is used to monitor the inclination angle of the main vertical pole;

[0016] A displacement sensor installed at the bottom of the main vertical pole, which is used to monitor the telescopic amount of the hydraulic adjustment device.

[0017] A control method for a special-shaped pier column formwork support system, which is used to control a special-shaped pier column formwork support system as described above. The control method includes:

[0018] Obtain the inclination angle of the main vertical pole and the displacement at the bottom of the main vertical pole collected by the integrated sensor network;

[0019] Calculate the inclination parameters of the pier column formwork according to the inclination angle of the main vertical pole. The inclination parameters include the pitch angle and the roll angle;

[0020] Judge whether the inclination parameters of the pier column formwork exceed the preset verticality threshold;

[0021] If the pitch inclination parameter of the pier column formwork exceeds the verticality threshold, then calculate the height that needs to be adjusted at the bottom of each main vertical pole according to the inclination parameter and the displacement at the bottom of the main vertical pole;

[0022] According to the calculated height that needs to be adjusted at the bottom of each main vertical pole, control the corresponding adjustment device to expand and contract to adjust the height of the main vertical pole, so that the overall inclination angle of the pier column formwork is restored to within the verticality threshold range.

[0023] Specifically, the calculation method of the overall inclination angle and inclination direction of the pier column formwork includes:

[0024] Establish a global coordinate system O-XYZ, where the origin O of the global coordinate system is located at the center of the bottom of the pier column, the Z-axis of the global coordinate system is vertically upward, and the X and Y axes of the global coordinate system are perpendicular to each other in the horizontal plane;

[0025] Obtain the data of the i-th inclination sensor, including the pitch angle α i and roll angle β i;

[0026] Construct the rotation matrix R of the i-th main vertical pole i = R y (-β i )·R x (α i ), where is the rotation matrix about the x i axis, and is the rotation matrix about the y i axis;

[0027] Calculate the quaternion q i of the rotation matrix R i = [q i0 , q i1 , q i2 , q i3 , where R i11 , R i22 , R i33 , R i32 , R i23 , R i13 , R i31 , R i21 , R i12 are the elements at the corresponding positions in R i ;

[0028] Calculate the average quaternion and normalize it where n is the number of main vertical poles;

[0029] Convert the normalized average quaternion back to the average rotation matrix where q′0, q′1, q′2, q′3 are the four components of q′ avg ;

[0030] Calculate the roll angle φ = arctan2(R avg32 , R avg33 ), pitch angle θ = -arcsin(R avg31 ), yaw angle ψ = arctan2(R avg21 , R avg11 ), where R avg33 , R avg31 , R avg21 , R avg11 are the elements at the corresponding positions in the rotation matrix R avg ;

[0031] Specifically, the calculation method for the height to be adjusted at the bottom of each main vertical pole includes:

[0032] Establish the state - space model of the formwork support system \(x(k + 1)=Ax(k)+Bu(k)\), \(y(k)=Cx(k)\), where \(x(k)\) is the system state vector at time \(k\), \(x(k + 1)\) is the system state vector at time \(k + 1\), \(u(k)\) is the control input vector at time \(k\), \(y(k)\) is the system output vector at time \(k\), and \(A\), \(B\), \(C\) are system matrices; the system state vector includes the inclination angles, bottom positions of the main vertical poles, and the inclination parameters of the formwork; the control input vector includes the heights to be adjusted at the bottoms of the main vertical poles; the system output vector includes the inclination parameters of the formwork.

[0033] Define the optimization objective function \(J\).

[0034] where \(N\) p is the prediction horizon, \(N\) c is the control horizon, \(y(k + i|k)\) is the predicted system output vector at time \(k + i\) predicted at time \(k\), \(r(k + i|k)\) is the predicted reference output vector at time \(k + i\) predicted at time \(k\), \(u(k + i|k)\) is the predicted control input vector at time \(k + i\) predicted at time \(k\), \(\Delta u(k + i|k)\) is the predicted change in the control input at time \(k + i\) predicted at time \(k\), and \(Q\), \(R\), \(S\) are weight matrices.

[0035] Solve the optimization problem The solution gives the control input vector sequence \(U=[u(k|k),u(k + 1|k),\cdots,u(k + N\) c - 1|k)] T ;

[0036] Take the first element \(u(k|k)\) in the control input vector sequence as the control input at the current moment, that is, the heights to be adjusted at the bottoms of the main vertical poles.

[0037] Optionally, the method for determining the system matrix includes: [[ID=S29]]

[0038] Establish the finite - element model of the formwork support system to obtain the overall stiffness matrix \(K\) and the overall mass matrix \(M\) of the formwork support system;

[0039] Define the system state vector \(x(k)\), where the system state vector includes the linear displacements in the \(X\) - direction, linear displacements in the \(Y\) - direction, angular displacements about the \(X\) - axis, and angular displacements about the \(Y\) - axis at the tops of the main vertical poles;

[0040] Define the system input vector \(u(k)\), where the system input vector includes the height adjustment amounts at the bottoms of the main vertical poles;

[0041] Define the system output vector \(y(k)\), where the system output vector includes the pitch angle and roll angle of the pier formwork;

[0042] Construct a continuous-time state space model: Where: C c =[C d 0], 0 is a zero matrix, I is an identity matrix, M is the overall mass matrix, K is the overall stiffness matrix, C damp is the damping matrix, B f is the load matrix, C d is the output matrix;

[0043] Discretize the continuous-time state space model to obtain a discrete-time state space model: Where: C = C c , T s is the sampling period.

[0044] Specifically, the verticality threshold includes the pitch angle threshold θ max and the roll angle threshold φ max ;

[0045] Judge whether |θ| > θ max and |φ| > φ max . If so, it is determined that the inclination parameter of the pier column formwork exceeds the preset verticality threshold; if not, it is determined that the inclination parameter does not exceed the preset verticality threshold.

[0046] Furthermore, the integrated sensor network further includes: pressure sensors installed on the inner side surface of the pier column formwork, and a plurality of the pressure sensors are arranged in layers along the height direction of the pier column formwork, and are used to monitor the lateral pressure of the concrete on the pier column formwork;

[0047] The control method further includes:

[0048] Obtain the pressure on the inner side surface of the pier column formwork collected by the integrated sensor network;

[0049] Judge whether the pressure exceeds a preset pressure threshold;

[0050] If the pressure exceeds the pressure threshold, an alarm signal is sent.

[0051] A control terminal of a special-shaped pier column formwork support system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The control terminal is arranged in a control center, and when the processor executes the computer program, the control method of a special-shaped pier column formwork support system as described above is implemented.

[0052] A computer program product includes computer programs / instructions, and when the computer programs / instructions are executed by a control center, the control method of a special-shaped pier column formwork support system as described above is implemented.

[0053] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0054] By constructing a special-shaped pier column formwork support system including a support frame, a hydraulic adjustment device, an integrated sensor network, and a control center, the present invention realizes real-time monitoring and precise control of the formwork attitude; uses inclination sensors and displacement sensors installed on the main vertical poles to obtain the inclination state of the formwork, and after establishing a state space model, adopts a model predictive control algorithm to calculate the required adjustment amount at the bottom of each main vertical pole; thereby, controlling the hydraulic adjustment device to perform precise actions to keep the verticality of the formwork within the allowable range at all times. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the drawings are included in this specification and form a part of this specification, and do not constitute a limitation on the embodiments of the present invention.

[0056] Figure 1 is a schematic structural diagram of a special-shaped pier column formwork support system according to the present invention.

[0057] Figure 2 is a schematic flow diagram of a control method for a special-shaped pier column formwork support system according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and do not limit the present invention.

[0059] In addition, it should be noted that only parts related to the present invention are shown in the drawings for the convenience of description.

[0060] Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and embodiments.

[0061] Embodiment 1

[0062] As Figure 1As shown in the figure, this embodiment provides a formwork support system for special-shaped pier columns, aiming to maintain the stability and verticality of the formwork during the concrete pouring process of special-shaped pier columns (such as vase piers of bridges). The system includes: a support frame, an adjustment device, an integrated sensor network, and a control center. The system installs sensors at key positions of the support frame to monitor the state of the formwork (mainly inclination and displacement) in real time. When it is detected that the inclination of the formwork exceeds the preset allowable range, the control center will calculate the amount that each hydraulic adjustment device needs to extend or retract according to the built-in algorithm, and then control these devices to act precisely, so as to adjust the formwork back to the vertical state.

[0063] The support frame is used to support the pier column formwork, and the support frame includes a plurality of vertical poles;

[0064] A plurality of the adjustment devices are installed at the bottom ends of at least some of the vertical poles, and each of the adjustment devices is independently controlled, so that the height of the corresponding vertical pole can be precisely adjusted.

[0065] The integrated sensor network is installed on the vertical poles and the pier column formwork;

[0066] The control center is communicatively connected to the integrated sensor network and the adjustment device, responsible for receiving the data of the sensors, performing calculations and making decisions, and issuing control instructions. The communication method can be wired (such as industrial Ethernet) or wireless (such as ZigBee, LoRa, etc.).

[0067] By simulation analysis or empirical judgment, a load threshold is set, and the vertical poles in the support frame that bear the vertical load of the pier column formwork and are greater than the load threshold are set as main vertical poles, and the adjustment devices are installed at the bottom ends of the plurality of main vertical poles;

[0068] The adjustment device is a hydraulic adjustment device, and the hydraulic lifting end of the adjustment device is connected to the bottom end of the main vertical pole; the hydraulic device changes its length by the telescopic movement of the hydraulic cylinder, and has the advantages of large bearing capacity and high adjustment accuracy.

[0069] The integrated sensor network includes:

[0070] An inclination sensor installed at the top of the main vertical pole, which is used to monitor the inclination angle of the main vertical pole; the inclination sensor is usually based on MEMS (Micro-Electro-Mechanical System) technology and can measure the inclination angles in two directions (usually called pitch angle and roll angle).

[0071] A displacement sensor installed at the bottom of the main vertical pole, which is used to monitor the telescopic amount of the hydraulic adjustment device. The telescopic amount can be fed back to the control system to form a closed-loop control; it can also be used to monitor whether the vertical pole has settled.

[0072] Summary of the working principle and operation steps:

[0073] Monitoring: The integrated sensor network monitors the tilt angle of the main vertical poles and the telescopic amount of the hydraulic adjustment devices in real time.

[0074] Data transmission: The sensors send the collected data to the control center through the communication network.

[0075] Judgment and decision-making: The control center determines whether the formwork is tilted beyond the limit according to the received data.

[0076] Calculating the adjustment amount: If the formwork is tilted beyond the limit, the control center calculates the amount that each hydraulic adjustment device needs to extend or retract according to a preset algorithm.

[0077] Performing adjustment: The control center sends a control command to the hydraulic adjustment device to drive the telescopic movement of the hydraulic cylinder, thereby adjusting the height of the main vertical poles and making the formwork return to vertical.

[0078] Feedback and closed-loop: The displacement sensor feeds back the actual telescopic amount of the hydraulic adjustment device to the control center to form a closed-loop control to ensure the accuracy of the adjustment.

[0079] Embodiment 2

[0080] As Figure 2 shown, Embodiment 2 describes a method for controlling the support system introduced in Embodiment 1: By monitoring the tilt state of the main vertical poles, the overall tilt state of the formwork is deduced, and then the height that needs to be adjusted at the bottom of each vertical pole is calculated according to the tilt degree. Finally, the hydraulic adjustment device is controlled to perform corresponding telescopic movements, so that the formwork returns to vertical.

[0081] Specifically, the control method includes:

[0082] Obtaining the tilt angle of the main vertical poles and the bottom displacement of the main vertical poles collected by the integrated sensor network; the tilt angle is measured by the tilt sensor installed at the top of the main vertical poles. Usually, the tilt sensor provides tilt angle data in two directions, namely the pitch angle and the roll angle. The bottom displacement is measured by the displacement sensor installed at the bottom of the main vertical poles, which reflects the current telescopic amount of the hydraulic adjustment device and indirectly reflects the current height of the vertical poles.

[0083] Calculating the tilt parameters of the pier formwork according to the tilt angle of the main vertical poles. The tilt parameters include the pitch angle and the roll angle; the tilt degree of the formwork in two perpendicular planes is defined by the pitch angle and the roll angle.

[0084] Judging whether the tilt parameters of the pier formwork exceed the preset verticality threshold; the verticality threshold is set according to specific circumstances, for example, 1°.

[0085] If the pitch inclination parameter of the pier column formwork exceeds the verticality threshold, calculate the height to be adjusted at the bottom of each main vertical rod according to the inclination parameter and the displacement at the bottom of the main vertical rod.

[0086] According to the calculated height to be adjusted at the bottom of each main vertical rod, control the corresponding adjusting device to expand and contract to adjust the height of the main vertical rod, so that the overall inclination angle of the pier column formwork is restored to within the verticality threshold range. The control center issues control commands to each hydraulic adjusting device according to the calculated adjustment amount. The hydraulic adjusting device expands and contracts precisely according to the commands, thereby adjusting the height of the main vertical rod, and the inclination of the formwork is corrected and restored to the vertical state (or within the verticality threshold range).

[0087] Summarize the working principle and operation steps:

[0088] 1. Data acquisition: The sensor continuously acquires the inclination angle and bottom position data of the main vertical rod.

[0089] 2. Data processing: The control center calculates the pitch angle and roll angle of the formwork according to the inclination angle data.

[0090] 3. Overlimit judgment: Compare the calculated pitch angle and roll angle with the preset threshold.

[0091] [[ID=]18]4. Adjustment amount calculation: If it exceeds the threshold, calculate the adjustment amount of each vertical rod according to the inclination state and the position of the vertical rod.

[0092] 5. Execute adjustment: The control center controls the hydraulic adjusting device to expand and contract to adjust the height of the vertical rod.

[0093] 6. Feedback and iteration: The displacement sensor feeds back the actual adjustment amount to the control center to form a closed-loop control, and repeat steps 1-5 until the formwork is restored to vertical.

[0094] Embodiment III

[0095] Embodiment III details how to calculate the inclination state (including pitch angle, roll angle and yaw angle) of the entire pier column formwork according to the inclination angle of the main vertical rod.

[0096] The calculation method for the overall inclination angle and inclination direction of the pier column formwork includes:

[0097] To uniformly describe the positions and postures of all vertical rods and formwork, establish a global coordinate system O-XYZ, where the origin O of the global coordinate system is located at the center of the bottom of the pier column, the Z-axis of the global coordinate system is vertically upward, and the X and Y axes of the global coordinate system are perpendicular to each other in the horizontal plane;

[0098] Obtain the data of the i-th inclination sensor, including the pitch angle α of the i-th main vertical rod i and the roll angle βi ; The inclination sensor directly measures two inclinations of the vertical pole relative to the horizontal plane. The pitch angle represents the rotation of the vertical pole around the X-axis, and the roll angle represents the rotation of the vertical pole around the Y-axis.

[0099] To convert the measured values of the inclination sensor into a rotation matrix in mathematics, determine the rotation matrix for rotating by an angle α i around the x i axis, the rotation matrix for rotating by an angle -β i around the y i axis. Here, it is a negative sign because the inclination sensor measures the angle relative to the horizontal plane, while what we need is the angle relative to the initial attitude of the vertical pole. Construct the rotation matrix R i of the i-th main vertical pole, R y = R i (-β x ) · R i (α i ) and multiply the two rotation matrices to obtain the total rotation matrix, which describes the attitude of the i-th vertical pole relative to the global coordinate system.

[0100] Calculate the quaternion q i = [q i0 , q i1 , q i2 , q i3 of the rotation matrix R where R i11 , R i22 , R i33 , R i32 , R i23 , R i13 , R i31 , R i21 , R i12 are the elements at the corresponding positions in R i ;

[0101] To eliminate the influence of measurement errors and local deformations, average the quaternions of all vertical poles, that is, calculate the average quaternion and then normalize it that is, convert the averaged quaternion into a unit quaternion, where n is the number of main vertical poles;

[0102] Convert the normalized average quaternion back to the average rotation matrix where q′0, q′1, q′2, q′3 are the four components of q′ avg ;

[0103] Calculate the roll angle φ of the pier formwork = arctan2(R avg32 , Ravg33 ), pitch angle θ=-arcsin(R avg31 ), yaw angle ψ=arctan2(R avg21 ,R avg11 ),in, R avg33 、R avg31 、R avg21 、R avg11 is the rotation matrix R avg The elements at the corresponding positions in . That is, the Euler angles (roll angle, pitch angle, yaw angle) are extracted from the average rotation matrix. Arctan2 is a special inverse tangent function.

[0104] Example 4

[0105] The fourth embodiment uses a predictive control algorithm to calculate the height that needs to be adjusted at the bottom of each main pole, establishes a mathematical model of the system, predicts the future behavior of the system, and optimizes the control input on this basis to achieve the desired control target.

[0106] The calculation method for the height that needs to be adjusted at the bottom of each main pole includes:

[0107] The state space model uses mathematical equations to describe how the state of the system changes at different moments, as well as the relationship between the input and output and the state. Therefore, the state space model of the formwork support system is established as x(k+1)=Ax(k)+Bu(k)y(k)=Cx(k), where x(k) is the system state vector at moment k, x(k+1) is the system state vector at moment k+1, u(k) is the control input vector at moment k, y(k) is the system output vector at moment k, and A, B, and C are system matrices that describe the relationship between the internal states of the system, as well as the relationship between the input and output and the state. The system state vector includes the tilt angle (pitch and roll angles) of each main upright, the bottom position (height relative to the initial position), and the tilt parameters (pitch and roll angles) of the formwork; the control input vector includes the height that needs to be adjusted at the bottom of each main upright; the system output vector includes the tilt parameters of the formwork;

[0108] Define the optimization objective function J,

[0109] Among them, N p is the prediction time domain, N c is the control time domain, y(k+i|k) is the system output vector at time k+i predicted at time k, r(k+i|k) is the reference output vector at time k+i predicted at time k, u(k+i|k) is the control input vector at time k+i predicted at time k, Δu(k+i|k) is the change in the control input at time k+i predicted at time k, and Q, R, and S are weight matrices.

[0110] Represents the penalty for the tilt angle, i.e., the sum of the squares of the deviation between the predicted output and the reference output. It is desired that the tilt angle of the template is as close as possible to the target value (usually zero, indicating vertical).

[0111] Represents the penalty for the adjustment amount, i.e., the sum of the squares of the control input amounts. It is desired that the adjustment amount is as small as possible to avoid over-adjustment.

[0112] Represents the penalty for the rate of change of the adjustment amount, i.e., the sum of the squares of the changes in the control input. It is desired that the adjustment process is stable and large-amplitude adjustments are avoided frequently.

[0113] The prediction horizon represents how many steps into the future the system behavior is predicted, and the control horizon represents how many steps into the future the control input is optimized.

[0114] Solve the optimization problem The solution obtains the control input vector sequence U = [u(k|k), u(k+1|k),..., u(k+N c -1|k)] T ; that is, in each control period, a constrained optimization problem needs to be solved to find the optimal control input sequence U for the next N c steps. The optimization objective is to minimize the objective function J, and the constraint condition is the state-space model equation, i.e., the dynamic behavior of the system must conform to the model.

[0115] Take the first element u(k|k) in the control input vector sequence as the control input at the current moment, which is the height to be adjusted at the bottom of each main vertical pole. u(k|k) is a vector, and each component corresponds to the height to be adjusted at the bottom of a main vertical pole.

[0116] In the next control period, repeat the above process to form a rolling optimization.

[0117] In addition, the method for determining the system matrix provided in this embodiment further includes:

[0118] Use professional finite element analysis software (such as ANSYS, ABAQUS, COMSOL, etc.) to establish a finite element model of the template support system. The modeling process: According to the actual geometric shapes and dimensions of the support frame and the template, create a geometric model in the finite element software. Select appropriate element types (such as beam elements, shell elements, solid elements, etc.) to mesh the model. Define material properties (such as elastic modulus, Poisson's ratio, density, etc.). Define connection methods (such as rigid connections, hinged connections, bolt connections, etc.). Apply boundary conditions (such as fixed constraints, simply supported constraints, etc.).

[0119] The overall stiffness matrix K and overall mass matrix M of the formwork support system are automatically calculated through finite element analysis. The overall stiffness matrix K describes the ability of the entire support system to resist deformation and reflects the relationship between nodal displacements and nodal forces. The overall mass matrix M describes the inertial characteristics of the entire support system and reflects the relationship between nodal accelerations and nodal forces.

[0120] Define the system state vector x(k). The system state vector includes the linear displacements in the X direction, linear displacements in the Y direction, angular displacements about the X axis, and angular displacements about the Y axis at the tops of the main vertical poles. Selecting the displacements and angles at the tops of the main vertical poles as state variables is because these variables are directly related to the attitude (pitch angle and roll angle) of the formwork and can be measured by sensors.

[0121] Define the system input vector u(k). The system input vector includes the height adjustment amounts at the bottoms of the main vertical poles, which are the control actions applied to the system.

[0122] Define the system output vector y(k). The system output vector includes the pitch angle and roll angle of the pier formwork, which are the quantities to be controlled.

[0123] Construct a continuous-time state-space model:

[0124] Where: is the system matrix, which contains information on the mass matrix, stiffness matrix, and damping matrix. is the input matrix, which maps the adjustment amount at the bottom of the vertical pole to the nodal load. C c =[C d 0] is the output matrix. 0 is the zero matrix, I is the identity matrix, M is the overall mass matrix, K is the overall stiffness matrix, C damp is the damping matrix that describes the energy dissipation characteristics of the system and can be calculated through Rayleigh damping, modal damping, etc., or can be determined based on experience or experiments. If not sensitive to damping, the damping can also be ignored; B f is the load matrix, which maps the adjustment amount (input) at the bottom of the vertical pole to the nodal load of the finite element model and needs to be constructed according to the nodal numbers of the finite element model, the positions of the vertical poles, and the action modes of the adjustment devices; C d is the output matrix, which maps the state variables (displacements and angles at the tops of the vertical poles) to the output variables (pitch angle and roll angle of the formwork) and needs to be constructed according to the geometric shape of the formwork and the layout of the vertical poles.

[0125] Discretize the continuous-time state-space model to obtain a discrete-time state-space model: Where: C = C c , T s is the sampling period.

[0126] A model of the formwork support system is established using finite element software to obtain the stiffness matrix and mass matrix; the state vector, input vector, and output vector are defined; according to the principles of structural dynamics, a continuous-time state-space model is constructed; the continuous-time model is discretized to obtain a discrete-time state-space model, and finally the A, B, and C matrices are obtained.

[0127] Example Five

[0128] The perpendicularity threshold includes the pitch angle threshold θ max and the roll angle threshold φ max ; The specific values of the two thresholds need to be determined according to the actual engineering situation, the design requirements of the pier column, the construction specifications, etc. For example, according to the design specifications of the bridge, θ max can be set to 0.1°, and φ max can be set to 0.1°.

[0129] Judge whether |θ| > θ max and |φ| > φ max . If so, it is determined that the inclination parameter of the pier column formwork exceeds the preset perpendicularity threshold; if not, it is determined that the inclination parameter does not exceed the preset perpendicularity threshold.

[0130] The absolute value symbol is used to indicate that only the degree of deviation of the angle from the vertical direction is concerned, and not the specific direction of deviation. The use of the and logic means that only when both the pitch angle and the roll angle exceed their respective thresholds, is it considered that the perpendicularity of the formwork is exceeded, that is, the formwork must have obvious inclination in two mutually perpendicular directions to be determined as exceeded. If the inclination in only one direction exceeds the threshold and the inclination in the other direction is very small, it may still be considered that the perpendicularity of the formwork is acceptable, avoiding frequent adjustment of the inclination of the pier column formwork and affecting the setting of the internal concrete.

[0131] Example Six

[0132] Example Six adds pressure monitoring and alarm on the basis of the original perpendicularity control. It can monitor the lateral pressure exerted on the formwork during concrete pouring and issue an alarm in a timely manner when the pressure is too high to prevent formwork damage or other safety accidents.

[0133] The integrated sensor network further includes: pressure sensors installed on the inner side of the pier column formwork, which are in direct contact with the concrete, and a plurality of the pressure sensors are arranged in layers along the height direction of the pier column formwork for monitoring the lateral pressure of the concrete at different heights on the pier column formwork;

[0134] The control method further includes:

[0135] Obtaining the pressure on the inner side of the pier column formwork collected by the integrated sensor network;

[0136] Determine whether the pressure exceeds a preset pressure threshold; the pressure threshold needs to be determined based on factors such as the material, structure, thickness, and support conditions of the template to ensure that the template does not exceed this pressure under normal working conditions.

[0137] If the pressure exceeds the pressure threshold, it means that the template may be under excessive load and there is a safety risk, and an alarm signal is issued. The alarm signal can be in the form of sound and light alarm, SMS notification, App push, etc., to remind on-site staff to take immediate measures.

[0138] Example 7

[0139] A control terminal for a special-shaped pier column formwork support system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The control terminal is disposed in a control center, and when the processor executes the computer program, a control method for a special-shaped pier column formwork support system as described above is implemented.

[0140] The memory can be used to store software programs and modules. The processor executes the software programs and modules stored in the memory to perform various terminal functions and data processing. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system and the executable program required for at least one function.

[0141] The data storage area can store data created based on the use of the terminal, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0142] A computer program product includes a computer program / instruction, which, when executed by a control center, implements the control method of the special-shaped pier column formwork support system as described above.

[0143] A computer program product consists of a computer program or set of instructions for performing specific tasks or implementing specific functions. These programs or instructions are designed to be executed by a processor, thereby completing a series of predefined steps or operations. The program product may be stored in various forms of computer storage media, such as memory, hard disks, solid-state drives, optical disks, or other digital storage devices. It may exist as compiled binary code or as a script or bytecode executable by an interpreter. Through carefully designed algorithms and logical instructions, the program product enables the processor to process data in a specific order and manner, completing various functions such as data analysis, user interaction, and device control.

[0144] In the description of this specification, the descriptions with reference to the terms "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0145] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0146] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications can be made on the basis of the above invention, and these changes or modifications are still within the scope of the present invention.

Claims

1. A special-shaped pier column formwork support system, characterized in that, Comprising: A support frame for supporting a pier column formwork, the support frame including a plurality of vertical rods; Adjusting devices, a plurality of the adjusting devices being installed at the bottom ends of at least some of the vertical rods, and each of the adjusting devices being independently controlled; An integrated sensor network installed on the vertical rods and the pier column formwork; A control center communicatively connected to the integrated sensor network and the adjusting devices.

2. The special-shaped pier column formwork support system according to claim 1, wherein, Set a load threshold, and set the vertical rods in the support frame that bear the vertical load of the pier column formwork and are greater than the load threshold as main vertical rods, and the adjusting devices are installed at the bottom ends of the plurality of main vertical rods; The adjusting device is a hydraulic adjusting device, and the hydraulic lifting end of the adjusting device is connected to the bottom end of the main vertical rod; The integrated sensor network includes: An inclination sensor installed at the top of the main vertical rod for monitoring the inclination angle of the main vertical rod; A displacement sensor installed at the bottom of the main vertical rod for monitoring the telescopic amount of the hydraulic adjusting device.

3. A control method for a formwork support system of a special-shaped pier column, characterized in that, A control method for controlling a special-shaped pier column formwork support system as claimed in claim 2, the control method comprising: Obtain the inclination angle of the main vertical rod and the bottom displacement of the main vertical rod collected by the integrated sensor network; Calculate the inclination parameters of the pier column formwork according to the inclination angle of the main vertical rod, the inclination parameters including the pitch angle and the roll angle; Judge whether the inclination parameters of the pier column formwork exceed a preset verticality threshold; If the inclination parameters of the pier column formwork exceed the verticality threshold, calculate the height to be adjusted at the bottom of each main vertical rod according to the inclination parameters and the bottom displacement of the main vertical rod; According to the calculated height to be adjusted at the bottom of each main vertical rod, control the corresponding adjusting device to expand and contract to adjust the height of the main vertical rod so that the overall inclination angle of the pier column formwork is restored within the verticality threshold range.

4. The control method of a special-shaped pier column formwork support system according to claim 3, characterized in that, The calculation method for the overall inclination angle and inclination direction of the pier column formwork includes: Establish a global coordinate system O-XYZ, wherein the origin O of the global coordinate system is located at the center of the bottom of the pier column, the Z axis of the global coordinate system is vertically upward, and the X and Y axes of the global coordinate system are perpendicular to each other in the horizontal plane; Obtain the data of the i-th inclination sensor, including the pitch angle α of the i-th main vertical pole i and the roll angle β i ; Construct the rotation matrix R of the i-th main vertical pole i = R y (-β i )·R x (α i ), where is the rotation matrix about the x i axis, and is the rotation matrix about the y i axis; Calculate the rotation matrix R i The quaternion q i =[q i0 , q i1 , q i2 , q i3 , where R i11 , R i22 , R i33 , R i32 , R i23 , R i13 , R i31 , R i21 , R i12 are the elements at the corresponding positions in R i . Calculate the average quaternion and normalize it where n is the number of main vertical poles; Convert the normalized average quaternion back to the average rotation matrix where q′0, q′1, q′2, and q′3 are the four components of q′ avg ; Calculate the roll angle φ of the pier formwork: φ = arctan2(R avg32 , R avg33 ), the pitch angle θ = -arcsin(R avg31 ), and the yaw angle ψ = arctan2(R avg21 , R avg11 ), where R avg33 , R avg31 , R avg21 , R avg11 are the elements at the corresponding positions in the rotation matrix R avg .

5. The control method of a special-shaped pier column formwork support system according to claim 3, characterized in that, The calculation method for the height to be adjusted at the bottom of each main vertical rod includes: Establish a state space model of the formwork support system x(k + 1) = Ax(k) + Bu(k) y(k) = Cx(k), where x(k) is the system state vector at time k, x(k + 1) is the system state vector at time k + 1, u(k) is the control input vector at time k, y(k) is the system output vector at time k, and A, B, C are system matrices; the system state vector includes the inclination angles, bottom positions of each main vertical rod and the inclination parameters of the formwork; the control input vector includes the height to be adjusted at the bottom of each main vertical rod; the system output vector includes the inclination parameters of the formwork; Define the optimization objective function J, where N p is the prediction horizon, N c is the control horizon, y(k+i|k) is the system output vector predicted at time k for time k+i, r(k+i|k) is the reference output vector predicted at time k for time k+i, u(k+i|k) is the control input vector predicted at time k for time k+i, Δu(k+i|k) is the change in the control input predicted at time k for time k+i, and Q, R, and S are weight matrices; Solving the optimization problem The control input vector sequence U = [u(k|k), u(k+1|k),..., u(k+N c -1|k)] T ; Take the first element u(k|k) in the control input vector sequence as the control input at the current moment, that is, the height to be adjusted at the bottom of each main vertical rod.

6. The control method of a special-shaped pier column formwork support system according to claim 5, characterized in that, The determination method of the system matrix includes: Establish a finite element model of the formwork support system to obtain the overall stiffness matrix K and overall mass matrix M of the formwork support system; Define the system state vector x(k), where the system state vector includes the X-direction linear displacement, Y-direction linear displacement, angular displacement about the X-axis, and angular displacement about the Y-axis at the top of each main vertical pole; Define the system input vector u(k), where the system input vector includes the height adjustment amounts at the bottom of each main vertical pole; Define the system output vector y(k), where the system output vector includes the pitch angle and roll angle of the pier formwork; Construct a continuous-time state-space model: Where: C c = [C d 0], 0 is a zero matrix, I is an identity matrix, M is the global mass matrix, K is the global stiffness matrix, C damp is the damping matrix, B f is the load matrix, C d is the output matrix; Discretize the continuous-time state-space model to obtain a discrete-time state-space model: Where: C = C c , T s is the sampling period.

7. The control method of a special-shaped pier column formwork support system according to claim 3, characterized in that, The perpendicularity threshold includes a pitch angle threshold θ max and a roll angle threshold φ max ; Determine whether |θ| > θ is satisfied max and |φ| > φ max , if so, it is determined that the inclination parameter of the pier column formwork exceeds the preset perpendicularity threshold; If the answer is no, it is determined that the inclination parameter does not exceed the preset perpendicularity threshold.

8. The control method of a special-shaped pier column formwork support system according to claim 3, characterized in that, The integrated sensor network further includes: pressure sensors installed on the inner side surface of the pier formwork, and a plurality of the pressure sensors are arranged in layers along the height direction of the pier formwork, and are used for monitoring the lateral pressure of the concrete on the pier formwork; The control method further includes: Obtain the pressure on the inner side surface of the pier formwork collected by the integrated sensor network; Judge whether the pressure exceeds a preset pressure threshold; If the pressure exceeds the pressure threshold, an alarm signal is issued.

9. A control terminal of a special-shaped pier column formwork support system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The control terminal is arranged in the control center, and when the processor executes the computer program, it realizes a control method of a special-shaped pier formwork support system as described in any one of claims 3-8.

10. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the control center, it realizes a control method of a special-shaped pier formwork support system as described in any one of claims 3-8.

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