A control method and system of a digital twin of a portal crane and a medium thereof

Abstract

This invention discloses a control method, system, and medium for a digital twin of a gantry crane, specifically relating to the field of digital twins, including monitoring time segmentation, data acquisition, data analysis, comprehensive analysis, and control. Through meticulous monitoring time segmentation, comprehensive data acquisition, in-depth data analysis, and integrated anomaly detection, this invention can monitor the crane's operating status in real time, promptly identify and warn of potential safety hazards. This not only improves the crane's operating efficiency and safety but also reduces maintenance costs. Furthermore, the control system and medium provided by this invention enable continuous monitoring and optimization of the crane's operating status, providing strong support for the intelligent management of cranes.

Description

Technical Field

[0001] This invention relates to the field of digital twin technology, and more specifically, to a control method and system for a digital twin of a gantry crane. Background Technology

[0002] Gantry cranes, as heavy machinery, play a vital role in logistics sectors such as ports and docks. Their efficient and stable operation is crucial for ensuring the smooth flow of the logistics chain. With continuous technological advancements, the demand for intelligent management of gantry cranes is increasing, aiming to achieve real-time monitoring and optimization of their operational status.

[0003] The existing technology operation process usually relies on traditional sensor monitoring and manual inspection. By installing various sensors, the operation data of the crane is collected, and then professionals regularly analyze and process the data to evaluate the operation status of the crane. Although this process can reflect the operation status of the crane to a certain extent, it has many shortcomings.

[0004] However, existing technologies have revealed some significant shortcomings in practical applications. For example, data collection is not comprehensive enough, the analysis methods are relatively simple, making it difficult to detect potential safety hazards in a timely manner. Furthermore, manual inspections are inefficient and easily affected by human factors, leading to inaccurate judgments. These problems limit the effectiveness of existing technologies in the intelligent management of gantry cranes. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a control method, system and medium for a digital twin of a gantry crane, which solves the problems mentioned in the background art through the following solutions.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a control method for a digital twin of a gantry crane, comprising:

[0007] Step 1: Monitoring Time Division: This step is used to determine the monitoring time of the target gantry crane as the target time region. The target time region is divided into sub-time regions by equal time division, and they are sequentially marked as 1, 2...n.

[0008] Step 2: Data Acquisition: This step involves acquiring structural stress data, kinematic data, dynamic performance data, and environmental and operating condition data of the target gantry crane in each sub-time zone, and transmitting the acquired data to Step 3.

[0009] Step 3: Data Analysis: This step analyzes the data transmitted in Step 2, including structural stress data analysis methods, kinematic data analysis methods, dynamic performance data analysis methods, and environmental and operating condition data analysis methods, and transmits the analysis results to Step 4.

[0010] Step 4: Comprehensive Analysis: This step is used to establish a comprehensive analysis model. The data transmitted in Step 3 is analyzed using the comprehensive analysis model. The data transmitted in Step 3 is imported into the comprehensive analysis model to calculate the comprehensive anomaly index of the target gantry crane and then transmitted to Step 5.

[0011] Step 5: Control: Used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value of the comprehensive anomaly index, and issue control commands based on the judgment results.

[0012] Preferably, the structural stress data includes the strain of the main beam, the deformation of the outriggers, the torsional angle of the crossbeam, and the stress concentration factor of key nodes, respectively labeled as Mb, Ms, Ml, and Mc; the kinematic data includes the trolley travel speed fluctuation rate, the trolley travel acceleration, the hoisting mechanism angular velocity, and the slewing mechanism angular displacement accuracy, respectively labeled as Ts, Tc, Tm, and Ta; the dynamic performance data includes the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency, and the structural damping ratio, respectively labeled as Hd, Hb, Hl, and Hs; and the environmental and working condition data includes the structural displacement under wind load, the thermal stress caused by the temperature gradient, the motor power factor fluctuation, and the pulley bearing temperature change rate, respectively labeled as Sd, Sg, Sm, and Sp.

[0013] Preferably, the strain of the main beam is collected by using fiber optic strain sensors arranged along key positions of the main beam; the deformation of the outriggers is collected by using high-precision laser displacement sensors to measure the displacement of the bottom of the outriggers relative to the ground; the torsional angle of the crossbeam is collected by installing tilt sensors at both ends of the crossbeam and calculating the relative torsional angle; and the stress concentration factor at key nodes is calculated by arranging strain gauges at key nodes to measure the actual stress and combining it with the nominal stress from finite element analysis.

[0014] Preferably, the trolley travel speed fluctuation rate is collected by measuring wheel speed using an encoder and calculating the percentage deviation between the actual speed and the rated speed; the trolley running acceleration is collected by measuring acceleration during operation using a three-axis accelerometer installed on the trolley; the hoisting mechanism angular velocity is collected by measuring angular velocity using a high-resolution rotary encoder installed on the drum shaft; and the slewing mechanism angular displacement accuracy is collected by measuring the slewing angle using a high-precision angle encoder and comparing it with the theoretical angle.

[0015] Preferably, the main hook load dynamic coefficient is acquired by installing a load sensor on the main hook and calculating the ratio of dynamic load to static load; the braking system response time is acquired by synchronously measuring the time from the issuance of the braking command to the occurrence of the actual braking effect using a high-speed camera and displacement sensor; the lateral vibration frequency is acquired by installing an acceleration sensor on the crane beam and analyzing the vibration frequency using fast Fourier transform; and the structural damping ratio is acquired by measuring the amplitude decay curve and calculating the logarithmic decay rate through a free decay test.

[0016] Preferably, the structural displacement under wind load is acquired by measuring the displacement of key points under wind load using a GPS-RTK system; the thermal stress caused by the temperature gradient is acquired by measuring the temperature distribution using an array of temperature sensors and calculating the thermal stress using strain sensor data; the motor power factor fluctuation is acquired by monitoring the motor input current and voltage in real time using a power analyzer and calculating the power factor change; and the pulley bearing temperature change rate is acquired by installing thermocouples on the outer ring of the pulley bearing, continuously recording temperature data, and calculating the change rate.

[0017] Preferably, the structural stress data analysis method is used to establish a structural stress data analysis model, import the structural stress data transmitted in step 2 into the structural stress data analysis model, and calculate the structural stress evaluation value for each time region, specifically expressed as follows:

[0018]

[0019] DM i Mb represents the structural stress assessment value for the i-th time region. i Ms represents the strain of the main beam in the i-th time period. i Ml represents the outrigger deformation in the i-th time region. i Mc represents the beam torsion angle in the i-th time region. i Ml represents the stress concentration factor at critical nodes in the i-th time region. max This indicates the maximum beam torsion angle of the target gantry crane.

[0020] Preferably, the kinematic data analysis method is used to establish a kinematic data analysis model, importing the kinematic data transmitted in step 2 into the kinematic data analysis model to calculate the kinematic evaluation values ​​for each time zone, specifically expressed as follows:

[0021]

[0022] DT i Ts represents the kinematic evaluation value for the i-th time region. i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time region. i Let Tm represent the acceleration of the car in the i-th time interval.i Ta represents the angular velocity of the hoisting mechanism in the i-th time region. i This indicates the angular displacement accuracy of the rotary mechanism in the i-th time region.

[0023] Preferably, the dynamic performance data analysis method is used to establish a dynamic performance data analysis model, import the dynamic performance data transmitted in step 2 into the dynamic performance data analysis model, and calculate the dynamic performance evaluation value for each time region, specifically expressed as follows:

[0024]

[0025] DH i Hd represents the dynamic performance evaluation value for the i-th time region. i Hb represents the dynamic coefficient of the main hook load in the i-th time region. i Hl represents the braking system response time in the i-th time region. i Hs represents the transverse vibration frequency in the i-th time region. i This represents the structural damping ratio in the i-th time region.

[0026] Preferably, the environmental and operating condition data analysis method is used to establish an environmental and operating condition data analysis model, import the environmental and operating condition data transmitted in step 2 into the environmental and operating condition data analysis model, and calculate the environmental and operating condition evaluation values ​​for each time zone, specifically expressed as follows:

[0027]

[0028] DS i Sd represents the environmental and operating condition assessment value for the i-th time period. i Sg represents the structural displacement under wind load in the i-th time region. i Sm represents the thermal stress caused by the temperature gradient in the i-th time region. i Sp represents the fluctuation of the motor power factor in the i-th time period. i This represents the rate of temperature change of the pulley bearing in the i-th time period.

[0029] Preferably, the comprehensive analysis model is specifically represented as follows:

[0030]

[0031] η represents the comprehensive anomaly index of the target gantry crane, DM i DT represents the structural stress assessment value for the i-th time region. i DH represents the kinematic evaluation value for the i-th time region. i DS represents the dynamic performance evaluation value for the i-th time region. iw1 represents the environmental and operating condition assessment value for the i-th time region, w2 represents the weight of the structural stress data, w3 represents the weight of the kinematic data, and w4 represents the weight of the environmental and operating condition data.

[0032] Preferably, the preset value of the comprehensive anomaly index is denoted as η. Def When η Def When η ≥ η, it indicates that no abnormality has occurred in the target gantry crane, so the acquisition and analysis of the target gantry crane will continue. Def When the value is less than η, it indicates that the target gantry crane is malfunctioning. The target gantry crane will be marked as malfunctioning and an early warning signal will be sent to the management personnel terminal.

[0033] Preferably, a control system for a digital twin of a gantry crane includes a central processing module, an operating database and a user information terminal, as well as a monitoring time division module, a data acquisition module, a data analysis module, a comprehensive analysis module and a control module.

[0034] Preferably, the monitoring time division module is used to determine the monitoring time of the target gantry crane as the target time region, and divide the target time region into sub-time regions by equal time division, and mark them as 1, 2...n in sequence;

[0035] The data acquisition module is used to collect structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target gantry crane in each sub-time zone, and transmit the collected data to the data analysis module.

[0036] The data analysis module is used to analyze the data transmitted by the data acquisition module, including a structural stress data analysis unit, a kinematic data analysis unit, a dynamic performance data analysis unit, and an environmental and working condition data analysis unit, and transmits the analyzed structure to the comprehensive analysis module.

[0037] The comprehensive analysis module is used to establish a comprehensive analysis model, perform comprehensive analysis on the data transmitted by the data analysis module through the comprehensive analysis model, import the data transmitted by the data analysis module into the comprehensive analysis model, calculate the comprehensive anomaly index of the target gantry crane, and transmit it to the control module.

[0038] The control module is used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value for the comprehensive anomaly index, and issue control commands based on the judgment result.

[0039] Preferably, a computer-readable storage medium stores a control system capable of being loaded by a processor and executed as described above for a digital twin of a gantry crane. The computer-readable storage medium includes, for example, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0040] The technical effects and advantages of this invention are as follows:

[0041] This invention defines the monitoring time of the target gantry crane as the target time zone by dividing the monitoring time, and further subdivides it into various sub-time zones using equal time division. This enables refined management of the crane's operating status. This division helps ensure the accuracy and consistency of subsequent data collection and analysis, providing a solid foundation for subsequent steps. Data collection comprehensively reflects the crane's operating status, providing a rich source of information for subsequent data analysis and anomaly detection, ensuring the accuracy and comprehensiveness of the analysis. In-depth analysis of the collected data can extract key information, providing strong support for subsequent anomaly detection. Data analysis methods include structural stress data analysis, kinematic data analysis, and dynamic performance data analysis. The analysis includes environmental and operational data, covering all aspects of the crane. A comprehensive analysis model is established through this model, integrating structural stress assessment values, kinematic assessment values, dynamic performance assessment values, and environmental and operational condition assessment values ​​from various time zones to calculate the comprehensive anomaly index of the target gantry crane. This step helps to achieve a comprehensive assessment of the crane's operating status and promptly identify potential safety hazards. By controlling and judging the abnormal state of the target gantry crane and issuing control commands based on the judgment results, this step ensures that the crane can be dealt with promptly when anomalies occur, preventing safety accidents. Simultaneously, when the crane is not abnormal, continuous data collection and analysis of the target gantry crane helps to achieve continuous monitoring and optimization of the crane. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the method structure of the present invention.

[0043] Figure 2 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] refer to Figure 1 The control method for a digital twin of a gantry crane shown includes the following steps:

[0046] Step 1: Monitoring Time Division: This step is used to determine the monitoring time of the target gantry crane as the target time region. The target time region is divided into sub-time regions by equal time division, and they are sequentially marked as 1, 2...n.

[0047] Step 2: Data Acquisition: This step involves acquiring structural stress data, kinematic data, dynamic performance data, and environmental and operating condition data of the target gantry crane in each sub-time zone, and then transmitting the acquired data to Step 3.

[0048] The structural stress data includes the strain of the main beam, the deformation of the outriggers, the torsional angle of the crossbeam, and the stress concentration factor of key nodes, labeled as Mb, Ms, Ml, and Mc, respectively. The kinematic data includes the trolley travel speed fluctuation rate, the trolley travel acceleration, the hoisting mechanism angular velocity, and the slewing mechanism angular displacement accuracy, labeled as Ts, Tc, Tm, and Ta, respectively. The dynamic performance data includes the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency, and the structural damping ratio, labeled as Hd, Hb, Hl, and Hs, respectively. The environmental and working condition data include the structural displacement under wind load, the thermal stress caused by the temperature gradient, the motor power factor fluctuation, and the pulley bearing temperature change rate, labeled as Sd, Sg, Sm, and Sp, respectively.

[0049] The strain of the main beam is collected by using fiber optic strain sensors arranged along key locations of the main beam. The deformation of the outriggers is collected by using high-precision laser displacement sensors to measure the displacement of the bottom of the outriggers relative to the ground. The torsional angle of the crossbeam is collected by installing tilt sensors at both ends of the crossbeam and calculating the relative torsional angle. The stress concentration factor at key nodes is calculated by measuring the actual stress at key nodes with strain gauges and combining it with the nominal stress from finite element analysis.

[0050] The trolley travel speed fluctuation rate is collected by measuring wheel speed using an encoder and calculating the percentage deviation between the actual speed and the rated speed. The trolley running acceleration is collected by measuring acceleration during operation using a three-axis accelerometer installed on the trolley. The hoisting mechanism angular velocity is collected by measuring angular velocity using a high-resolution rotary encoder installed on the drum shaft. The slewing mechanism angular displacement accuracy is collected by measuring the slewing angle using a high-precision angle encoder and comparing it with the theoretical angle.

[0051] The main hook load dynamic coefficient is collected by installing a load sensor on the main hook and calculating the ratio of dynamic load to static load. The braking system response time is collected by synchronously measuring the time from the issuance of the braking command to the occurrence of the actual braking effect using a high-speed camera and displacement sensor. The lateral vibration frequency is collected by installing an acceleration sensor on the crane beam and analyzing the vibration frequency through fast Fourier transform. The structural damping ratio is collected by measuring the amplitude decay curve and calculating the logarithmic decay rate through a free decay test.

[0052] The structural displacement under wind load is collected by measuring the displacement of key points under wind load using a GPS-RTK system. The thermal stress caused by the temperature gradient is collected by measuring the temperature distribution using an array of temperature sensors and calculating the thermal stress using strain sensor data. The power factor fluctuation of the motor is collected by monitoring the motor input current and voltage in real time using a power analyzer and calculating the power factor change. The temperature change rate of the pulley bearing is collected by installing thermocouples on the outer ring of the pulley bearing, continuously recording temperature data and calculating the change rate.

[0053] Step 3: Data Analysis: This step analyzes the data transmitted in Step 2, including structural stress data analysis methods, kinematic data analysis methods, dynamic performance data analysis methods, and environmental and operating condition data analysis methods, and transmits the analysis results to Step 4.

[0054] The structural stress data analysis method is used to establish a structural stress data analysis model. The structural stress data transmitted in step 2 is imported into the structural stress data analysis model to calculate the structural stress assessment values ​​for each time region, specifically as follows:

[0055]

[0056] DM i Mb represents the structural stress assessment value for the i-th time region. i Ms represents the strain of the main beam in the i-th time period. i Ml represents the outrigger deformation in the i-th time region. i Mc represents the beam torsion angle in the i-th time region. i Ml represents the stress concentration factor at critical nodes in the i-th time region. maxThis indicates the maximum beam torsion angle of the target gantry crane.

[0057] The kinematic data analysis method is used to establish a kinematic data analysis model. The kinematic data transmitted in step 2 is imported into the kinematic data analysis model to calculate the kinematic evaluation values ​​for each time zone, specifically as follows:

[0058]

[0059] DT i Ts represents the kinematic evaluation value for the i-th time region. i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time region. i Let Tm represent the acceleration of the car in the i-th time interval. i Ta represents the angular velocity of the hoisting mechanism in the i-th time region. i This indicates the angular displacement accuracy of the rotary mechanism in the i-th time region.

[0060] The aforementioned dynamic performance data analysis method is used to establish a dynamic performance data analysis model. The dynamic performance data transmitted in step 2 is imported into the dynamic performance data analysis model to calculate the dynamic performance evaluation values ​​for each time region, specifically as follows:

[0061]

[0062] DH i Hd represents the dynamic performance evaluation value for the i-th time region. i Hb represents the dynamic coefficient of the main hook load in the i-th time region. i Hl represents the braking system response time in the i-th time region. i Hs represents the transverse vibration frequency in the i-th time region. i This represents the structural damping ratio in the i-th time region.

[0063] The environmental and operating condition data analysis method is used to establish an environmental and operating condition data analysis model. The environmental and operating condition data transmitted in step 2 is imported into the model to calculate the environmental and operating condition evaluation values ​​for each time zone, specifically as follows:

[0064]

[0065] DS i Sd represents the environmental and operating condition assessment value for the i-th time period. i Sg represents the structural displacement under wind load in the i-th time region. i Sm represents the thermal stress caused by the temperature gradient in the i-th time region. i Sp represents the fluctuation of the motor power factor in the i-th time period. iThis represents the rate of temperature change of the pulley bearing in the i-th time period.

[0066] Step 4: Comprehensive Analysis: This step is used to establish a comprehensive analysis model. The data transmitted in Step 3 is analyzed using the comprehensive analysis model. The data transmitted in Step 3 is imported into the comprehensive analysis model to calculate the comprehensive anomaly index of the target gantry crane and then transmitted to Step 5.

[0067] The comprehensive analysis model is specifically represented as follows:

[0068]

[0069] η represents the comprehensive anomaly index of the target gantry crane, DM i DT represents the structural stress assessment value for the i-th time region. i DH represents the kinematic evaluation value for the i-th time region. i DS represents the dynamic performance evaluation value for the i-th time region. i w1 represents the environmental and operating condition assessment value for the i-th time region, w2 represents the weight of the structural stress data, w3 represents the weight of the kinematic data, and w4 represents the weight of the environmental and operating condition data.

[0070] Step 5: Control: Used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value of the comprehensive anomaly index, and issue control commands based on the judgment results.

[0071] The preset value of the comprehensive anomaly index is denoted as η. Def When η Def When η ≥ η, it indicates that no abnormality has occurred in the target gantry crane, so the acquisition and analysis of the target gantry crane will continue. Def When the value is less than η, it indicates that the target gantry crane is malfunctioning. The target gantry crane will be marked as malfunctioning and an early warning signal will be sent to the management personnel terminal.

[0072] refer to Figure 2 A control system for a digital twin of a gantry crane includes a central processing module, an operating database and a user information terminal, as well as a monitoring time division module, a data acquisition module, a data analysis module, a comprehensive analysis module and a control module.

[0073] The monitoring time division module is used to determine the monitoring time of the target gantry crane as the target time region, and divide the target time region into sub-time regions by equal time division, and mark them as 1, 2...n in sequence;

[0074] The data acquisition module is used to collect structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target gantry crane in each sub-time zone, and transmit the collected data to the data analysis module.

[0075] The data analysis module is used to analyze the data transmitted by the data acquisition module, including a structural stress data analysis unit, a kinematic data analysis unit, a dynamic performance data analysis unit, and an environmental and working condition data analysis unit, and transmits the analyzed structure to the comprehensive analysis module.

[0076] The comprehensive analysis module is used to establish a comprehensive analysis model, perform comprehensive analysis on the data transmitted by the data analysis module through the comprehensive analysis model, import the data transmitted by the data analysis module into the comprehensive analysis model, calculate the comprehensive anomaly index of the target gantry crane, and transmit it to the control module.

[0077] The control module is used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value for the comprehensive anomaly index, and issue control commands based on the judgment result.

[0078] This application also discloses a computer-readable storage medium that stores a control system capable of being loaded by a processor and executed as described above for a digital twin of a gantry crane. The computer-readable storage medium includes, for example, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0079] This invention defines the monitoring time of the target gantry crane as the target time zone by dividing the monitoring time, and further subdivides it into various sub-time zones using equal time division. This enables refined management of the crane's operating status. This division helps ensure the accuracy and consistency of subsequent data collection and analysis, providing a solid foundation for subsequent steps. Data collection comprehensively reflects the crane's operating status, providing a rich source of information for subsequent data analysis and anomaly detection, ensuring the accuracy and comprehensiveness of the analysis. In-depth analysis of the collected data can extract key information, providing strong support for subsequent anomaly detection. Data analysis methods include structural stress data analysis, kinematic data analysis, and dynamic performance data analysis. The analysis includes environmental and operational data, covering all aspects of the crane. A comprehensive analysis model is established through this model, integrating structural stress assessment values, kinematic assessment values, dynamic performance assessment values, and environmental and operational condition assessment values ​​from various time zones to calculate the comprehensive anomaly index of the target gantry crane. This step helps to achieve a comprehensive assessment of the crane's operating status and promptly identify potential safety hazards. By controlling and judging the abnormal state of the target gantry crane and issuing control commands based on the judgment results, this step ensures that the crane can be dealt with promptly when anomalies occur, preventing safety accidents. Simultaneously, when the crane is not abnormal, continuous data collection and analysis of the target gantry crane helps to achieve continuous monitoring and optimization of the crane.

[0080] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0081] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for a digital twin of a gantry crane, characterized in that, include: Step 1: Monitoring Time Division: This step is used to determine the monitoring time of the target gantry crane as the target time region. The target time region is divided into sub-time regions by equal time division, and they are sequentially marked as 1, 2...n. Step 2: Data Acquisition: This step involves acquiring structural stress data, kinematic data, dynamic performance data, and environmental and operating condition data of the target gantry crane in each sub-time zone, and transmitting the acquired data to Step 3. Step 3: Data Analysis: This step analyzes the data transmitted in Step 2, including structural stress data analysis methods, kinematic data analysis methods, dynamic performance data analysis methods, and environmental and operating condition data analysis methods, and transmits the analysis results to Step 4. The structural stress data analysis method is used to establish a structural stress data analysis model. The structural stress data transmitted in step 2 is imported into the structural stress data analysis model to calculate the structural stress assessment values ​​for each time region, specifically as follows: ， DMi represents the structural stress assessment value in the i-th time region, Mbi represents the strain of the main beam in the i-th time region, Msi represents the deformation of the outrigger in the i-th time region, Mli represents the torsional angle of the crossbeam in the i-th time region, Mci represents the stress concentration factor of the critical node in the i-th time region, and Mlmax represents the maximum torsional angle of the crossbeam of the target gantry crane. The kinematic data analysis method is used to establish a kinematic data analysis model. The kinematic data transmitted in step 2 is imported into the kinematic data analysis model to calculate the kinematic evaluation values ​​for each time region, specifically as follows: ， DT i Ts represents the kinematic evaluation value for the i-th time region. i Tc represents the fluctuation rate of the vehicle's travel speed in the i-th time region. i Let Tm represent the acceleration of the car in the i-th time interval. i Ta represents the angular velocity of the hoisting mechanism in the i-th time region. i This indicates the angular displacement accuracy of the rotary mechanism in the i-th time region; The aforementioned dynamic performance data analysis method is used to establish a dynamic performance data analysis model. The dynamic performance data transmitted in step 2 is imported into the dynamic performance data analysis model to calculate the dynamic performance evaluation values ​​for each time region, specifically as follows: ， DH i Hd represents the dynamic performance evaluation value for the i-th time region. i Hb represents the dynamic coefficient of the main hook load in the i-th time region. i Hl represents the braking system response time in the i-th time region. i Hs represents the transverse vibration frequency in the i-th time region. i This represents the structural damping ratio in the i-th time region; The environmental and operating condition data analysis method is used to establish an environmental and operating condition data analysis model. The environmental and operating condition data transmitted in step 2 is imported into the model to calculate the environmental and operating condition evaluation values ​​for each time zone, specifically as follows: ， DS i Sd represents the environmental and operating condition assessment value for the i-th time period. i Sg represents the structural displacement under wind load in the i-th time region. i Sm represents the thermal stress caused by the temperature gradient in the i-th time region. i Sp represents the fluctuation of the motor power factor in the i-th time period. i This represents the rate of temperature change of the pulley bearing in the i-th time region; Step 4: Comprehensive Analysis: This step is used to establish a comprehensive analysis model. The data transmitted in Step 3 is analyzed using the comprehensive analysis model. The data transmitted in Step 3 is imported into the comprehensive analysis model to calculate the comprehensive anomaly index of the target gantry crane and then transmitted to Step 5. The comprehensive analysis model is specifically represented as follows: ， η represents the comprehensive anomaly index of the target gantry crane, DM i DT represents the structural stress assessment value for the i-th time region. i DH represents the kinematic evaluation value for the i-th time region. i DS represents the dynamic performance evaluation value for the i-th time region. i w1 represents the environmental and working condition assessment value for the i-th time region, w2 represents the weight of the structural stress data, w3 represents the weight of the kinematic data, and w4 represents the weight of the environmental and working condition data. Step 5: Control: Used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value of the comprehensive anomaly index, and issue control commands based on the judgment results.

2. The control method for a digital twin of a gantry crane according to claim 1, characterized in that: The structural stress data includes the strain of the main beam, the deformation of the outriggers, the torsional angle of the crossbeam, and the stress concentration factor of key nodes, labeled as Mb, Ms, Ml, and Mc, respectively. The kinematic data includes the trolley travel speed fluctuation rate, the trolley travel acceleration, the hoisting mechanism angular velocity, and the slewing mechanism angular displacement accuracy, labeled as Ts, Tc, Tm, and Ta, respectively. The dynamic performance data includes the main hook load dynamic coefficient, the braking system response time, the lateral vibration frequency, and the structural damping ratio, labeled as Hd, Hb, Hl, and Hs, respectively. The environmental and working condition data include the structural displacement under wind load, the thermal stress caused by the temperature gradient, the motor power factor fluctuation, and the pulley bearing temperature change rate, labeled as Sd, Sg, Sm, and Sp, respectively.

3. The control method for a digital twin of a gantry crane according to claim 1, characterized in that: The preset value of the comprehensive anomaly index is denoted as η. Def When η Def When η ≥ η, it indicates that no abnormality has occurred in the target gantry crane, so the acquisition and analysis of the target gantry crane will continue. Def When the value is less than η, it indicates that the target gantry crane is malfunctioning. The target gantry crane will be marked as malfunctioning and an early warning signal will be sent to the management personnel terminal.

4. A control system for a digital twin of a gantry crane, used to implement the control method for a digital twin of a gantry crane as described in any one of claims 1-3, comprising a central processing module, an operating database, and a user information terminal, characterized in that, Also includes: The monitoring time division module is used to determine the monitoring time of the target gantry crane as the target time area, and divides the target time area into sub-time areas by equal time division, and marks them as 1, 2...n in sequence; The data acquisition module is used to collect structural stress data, kinematic data, dynamic performance data, and environmental and working condition data of the target gantry crane in each sub-time zone, and transmit the collected data to the data analysis module. The data analysis module is used to analyze the data transmitted by the data acquisition module, including structural stress data analysis unit, kinematic data analysis unit, dynamic performance data analysis unit, and environmental and working condition data analysis unit, and transmits the analysis results to the comprehensive analysis module. The comprehensive analysis module is used to establish a comprehensive analysis model. The comprehensive analysis model is used to perform comprehensive analysis on the data transmitted by the data analysis module. The data transmitted by the data analysis module is imported into the comprehensive analysis model to calculate the comprehensive anomaly index of the target gantry crane and transmit it to the control module. The control module is used to establish a preset value for the comprehensive anomaly index, judge the abnormal state of the target gantry crane based on the preset value of the comprehensive anomaly index, and issue control commands based on the judgment result.

5. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as described in any one of claims 1-3.

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