Dynamic leveling lifting system and method for large steel truss

Abstract

The invention discloses a dynamic leveling lifting system for a large steel truss and a lifting method.The dynamic leveling lifting system comprises a plurality of electric hoists evenly fixed to a construction platform and a control device, and the control device comprises a height monitor, a tension sensor, a tilt angle sensor, a main control PLC, a subordinate PLC and an upper computer; wherein the main control PLC is used for receiving a lifting instruction signal of an upper computer, generating a regulation and control speed value based on feedback data of a height monitor and a tension sensor and outputting the regulation and control speed value to a servo driver of the electric hoist; and the slave PLC is used for calculating the average tension value of the plurality of tension sensors and outputting the average tension value to the master control PLC. The system has the beneficial effects that stress monitoring and stroke monitoring are carried out on the multiple sets of electric hoists, and monitoring and real-time feedback regulation and control are carried out on the horizontal posture of a steel truss structure, so that the steel truss can stably move in the lifting movement process, and the safety and construction quality of large steel truss lifting construction are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel truss lifting, and in particular to a dynamic leveling and lifting system and a lifting method for large steel trusses, and is particularly suitable for a lifting method of umbrella-shaped steel trusses on the roof of a shallow circular silo. Background Art

[0002] Large steel trusses, the core load-bearing structures of modern buildings and industrial facilities, are widely used in scenarios such as long-span bridges, stadiums, and industrial warehouses. Their construction techniques are directly related to project safety and efficiency. Traditional steel truss lifting and lowering construction is prone to localized stress concentration, lifting offset, and even instability risks due to the heavy deadweight of the structure, insufficient precision in simultaneous control of multiple lifting points, and difficulty in real-time adjustment of the truss's posture at high altitudes.

[0003] Take, for example, specialized storage facilities like shallow silos. These crucial grain storage facilities utilize umbrella-shaped, radial steel trusses on their roofs, featuring a large coverage area and high space utilization. These trusses are primarily used to support the roof cover and supporting equipment, while also ensuring airtightness and thermal insulation within the silo. The trusses, composed of a central ring beam, radial main trusses, and annular secondary trusses, form an umbrella-shaped cantilever structure. Construction requires the trusses, already assembled on the ground, to be hoisted to the silo roof and secured. Due to their heavy weight, the high precision required for high-altitude splicing, and the sensitivity of their structural stability, the construction process presents challenges such as extensive overhead work and low synchronization control accuracy.

[0004] Existing methods for lifting the roof trusses of shallow circular silos are generally divided into two types. One involves lifting the silo wall's slipform construction while simultaneously towing the umbrella-shaped steel trusses. This overall towing and lifting process requires constant monitoring of the umbrella-shaped steel trusses' condition, keeping vigilant to risks such as instability and falling during construction. This increases the turnover period of the umbrella-shaped steel trusses and increases overall project costs. The other method involves a post-lifting method after the silo wall's slipform construction is completed. This method currently primarily utilizes an electric hoist combined with manual monitoring and control. The lifting equipment operates in an open-loop control mode, and manual monitoring of the umbrella-shaped steel trusses during construction is primarily performed. This results in low measurement accuracy and difficulty in correcting errors during the process. This also leads to long lifting times, high safety risks, and a large number of construction personnel. For example, the invention patented with publication number CN220317074U, entitled "A Silo Roof Lifting Device for Shallow Circular Silo Construction," utilizes a mechanical structure to address localized stress issues, but fails to address the core issue of the lifting process: coordinated control of multiple devices and real-time status feedback. Consequently, the degree of automation and synchronization accuracy have not been substantially improved, and manual intervention remains the primary method. In short, the current lifting of umbrella-shaped steel trusses on the roof of shallow circular silos faces the dual contradictions of high-altitude operation risks and insufficient intelligence. Its safety monitoring relies on manual labor, which makes it difficult to detect hidden dangers. The construction control accuracy is low and the efficiency is low, posing a dual challenge to quality and safety. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a dynamic leveling and lifting system for large steel trusses and a lifting method that is particularly suitable for umbrella-shaped steel trusses on the roof of a shallow circular silo. The present invention realizes synchronous lifting operations through the dynamic regulation of multiple groups of electric hoists, thereby realizing the smooth lifting and lowering of the umbrella-shaped steel trusses on the roof of the silo. On the premise of improving construction quality and efficiency, the construction safety is guaranteed at the same time, and the safe and timely delivery of the shallow circular silo project is reasonably guaranteed.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a method for synchronously lifting the umbrella-shaped steel truss on the roof of a shallow circular silo. The patent of the present invention provides real-time control of the synchronous lifting and lowering of multiple groups of electric hoists during the installation and disassembly process and the hoisting process of the umbrella-shaped steel truss. At the same time, during the synchronous lifting process, the force and stroke of the lifting points of each electric hoist are monitored, and the horizontal posture of the truss structure is detected. When an abnormal situation occurs at a certain lifting point, it can accurately determine and intervene through automatic control technology to ensure the safety of the structure in time, thereby forming a set of construction process methods for the safe lifting and lowering of truss structures.

[0007] To achieve the above-mentioned object, the present invention provides a dynamic leveling and lifting system for large steel trusses, comprising a plurality of electric hoists uniformly fixed on a construction platform, and a control device for controlling the synchronous lifting and lowering of the electric hoists, the control device comprising: Height monitor: integrated in the reduction mechanism of the electric hoist drive motor, used to output real-time height value and real-time speed value; preferably, the height monitor can also be called a displacement sensor, which realizes height or displacement and speed data through a rotary encoder built into the reduction gear. The height monitor realizes this function through a built-in encoder and belongs to the existing technology, which will not be repeated here.

[0008] Tension sensor: installed on the hook of the electric hoist, used to output real-time tension value; Main control PLC: Receives the lifting command signal from the host computer, and based on the feedback data of the height monitor and tension sensor, generates the control speed value and outputs it to the servo driver of the electric hoist; Slave PLC: used to collect and process the real-time tension values ​​of multiple tension sensors to obtain the average tension value and output it to the master PLC; Host computer: Communicates with the main control PLC and is used to issue control instructions and display monitoring data.

[0009] The master PLC includes: The speed comparison module is used to compare the initial speed value sent by the host computer with the real-time speed value fed back by the height monitor; The tension differential module is used to calculate the deviation between the real-time tension value of a single tension sensor and the average tension value output by the slave PLC to obtain the tension differential value; Integral adjustment module, performs integral calculation on the tension difference value; An instruction synthesis module synthesizes the output signal of the integral regulation module and the output signal of the speed comparison module; A signal superposition module superimposes the output signal of the instruction synthesizer with the initial speed value instruction and outputs it to the servo driver; Among them, one input end of the tension differential module is connected to the tension sensor through a host computer switch.

[0010] The signal superposition module outputs the superimposed signal to the servo driver through the amplitude limiting control module.

[0011] Preferably, the system further includes: Inclination sensor: Installed on the steel truss, used to collect horizontal attitude angle signals; when the lifting is suspended, the main control PLC determines whether the horizontal attitude angle exceeds the threshold. When the horizontal attitude angle exceeds the threshold, an alarm signal is issued.

[0012] The master PLC acquires the tension value of each tension sensor in real time, and sends out an alarm signal when the tension value exceeds a set threshold.

[0013] When the upper computer switch is off, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are respectively input into the speed comparison module for differential comparison, and the obtained differential data is input into the corresponding servo driver to adjust the lifting speed of the electric hoist.

[0014] When the upper computer switch is closed, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are input into the speed comparison module for differential comparison, and the differential data 1 is output; The slave PLC obtains the real-time tension values ​​of all tension sensors and calculates the average tension value, or obtains the tension value of two adjacent tension sensors to obtain the average tension value; and inputs the average tension value and the real-time tension value into the tension difference module, outputs the tension difference between the single real-time tension value and the average tension value, and inputs the tension difference value into the integral adjustment module, which performs an integral operation on the tension difference value to obtain differential data 2; Inputting the differential data 1 and the differential data 2 into the instruction synthesis module for synthesis; The output signal of the instruction synthesizer is superimposed on the initial speed value instruction through a signal superposition module and output to the servo driver.

[0015] In order to better achieve the above-mentioned purpose of the invention, the present invention also provides a lifting method for a large steel truss with real-time leveling, wherein the large steel truss is an umbrella-shaped steel truss on the roof of a shallow circular warehouse; a plurality of electric hoists are evenly fixed on the upper end of the warehouse wall of the shallow circular warehouse, and the hooks at the lower ends of the electric hoists are evenly connected to the steel truss, and the inclination sensor is arranged on the lower ring beam of the steel truss; wherein, During the lifting process, the above-mentioned dynamic balancing lifting system is used to perform real-time synchronous control of multiple electric hoists.

[0016] The method includes a steel truss lifting method, specifically: Step S101: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the ground; Step S102: Preset a lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system to perform real-time synchronous control; Step S103: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S104: Acquire the horizontal attitude angle of the inclination sensor. When the horizontal attitude angle is greater than or equal to the static threshold, input the average tension value calculated by the slave PLC together with the real-time tension value into the tension difference module, output the tension difference between the single real-time tension value and the average tension value, and input the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stop the operation; Step S105: Repeat steps S102 to S104 until the steel truss is lifted to the final target position, and the entire lifting process is completed.

[0017] The method also includes a method for lowering the steel truss, specifically: Step S201: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the bracket used to support the steel truss; Step S202: Preset a lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system to perform real-time synchronous control; Step S203: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S204: Acquire the horizontal attitude angle of the inclination sensor. When the horizontal attitude angle is greater than or equal to the static threshold, input the average tension value calculated by the slave PLC together with the real-time tension value into the tension difference module, output the tension difference between the single real-time tension value and the average tension value, and input the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stop the operation; Step S205: removing the corbel; Step S206: repeat steps S202 to S204, wherein the lifting height value is a negative value to realize the lowering process, until the steel truss descends to the working surface at the bottom of the warehouse, and the entire lowering process is completed.

[0018] The beneficial effects of the present invention are as follows: by monitoring the force and travel of multiple sets of electric hoists, as well as monitoring the horizontal posture of the steel truss structure and providing real-time feedback and control, the present invention enables the steel truss to maintain stability during lifting and lowering, thus promptly ensuring the safety of the structure (steel truss). The present invention specifically provides a lifting construction method suitable for umbrella-shaped steel trusses, greatly improving the safety and construction quality of umbrella-shaped steel truss lifting and lowering, thereby providing the necessary foundation for shortening project schedules and ensuring safe project delivery. Furthermore, the present invention's automatic synchronous lifting system is easy to install, reliable in operation, and can be recycled multiple times, effectively improving economic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic block diagram of the structure in Example 1 of the present invention.

[0020] Figure 2 This is a schematic block diagram of the structure of the data acquisition module of the slave PLC in Example 1 of the present invention.

[0021] Figure 3 This is a schematic diagram of a shallow circular silo and an umbrella-shaped steel truss on the silo roof according to Example 2 of the present invention.

[0022] Figure 4 Schematic diagram of the distribution of electric hoists on the umbrella-shaped steel truss on the silo roof in Example 2 of the present invention Figure 1 .

[0023] Figure 5 Schematic diagram of the distribution of electric hoists on the umbrella-shaped steel truss on the silo roof in Example 2 of the present invention Figure 2 .

[0024] Figure 6 Schematic diagram of the distribution of tilt sensors in Example 2 of the present invention Figure 1 .

[0025] Figure 7 Schematic diagram of the distribution of tilt sensors in Example 2 of the present invention Figure 2 .

[0026] Figure 8 Schematic diagram of the automatic lifting control system of the umbrella-shaped steel truss on the roof of the shallow circular silo in Example 2 of the present invention. DETAILED DESCRIPTION

[0027] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0028] Example 1 See also Figure 1 An embodiment of the present invention provides a dynamic leveling and lifting system for a large steel truss, comprising a plurality of electric hoists (131) uniformly fixed on a construction platform, and a control device for controlling the synchronous lifting of the electric hoists, wherein the control device comprises: Height monitor (113): integrated in the deceleration mechanism of the electric hoist drive motor, used to output real-time height value and real-time speed value; ( Figure 1 The mid-height monitor (113) is shown as a "displacement sensor") Tension sensor (122): provided on the hook of the electric hoist, for outputting a real-time tension value; Main control PLC (141): receives the lifting command signal from the host computer, obtains the feedback data of the height monitor (113) and the tension sensor (122) through its signal acquisition module (142), generates the control speed value and outputs it to the servo driver (132) of the electric hoist; Slave PLC (161): used to collect and process the real-time tension values ​​of multiple tension sensors (122) to obtain the average tension value and output it to the master PLC (141); Host computer: connected to the main control PLC (141) for issuing control instructions and displaying monitoring data.

[0029] Wherein, the master control PLC (141) includes: A speed comparison module (147) is used to compare the initial speed value sent by the host computer (110) with the real-time speed value fed back by the height monitor (121); A tension differential module (144) is used to calculate the deviation between the real-time tension value of a single tension sensor (122) and the average tension value output by the slave PLC (150) to obtain a tension differential value; An integral adjustment module (145) performs an integral operation on the tension difference value; An instruction synthesis module (146) synthesizes the output signal of the integral adjustment module (145) and the output signal of the speed comparison module (147); A signal superposition module (148) superimposes the output signal of the instruction synthesizer (146) and the initial speed value instruction, and outputs the superimposed signal to the servo driver; One input end of the tension differential module (144) is connected to the tension sensor (122) via a host computer switch (143).

[0030] The signal superposition module (148) outputs the superimposed signal to the servo driver (132) via the amplitude limiting control module (149).

[0031] It should be noted that this embodiment further includes two tilt sensors (150) arranged on the steel truss, and the tilt sensors are used to collect horizontal attitude angle signals. In addition, this embodiment is also provided with an alarm module. When the lifting is suspended, the main control PLC (141) determines whether the horizontal attitude angle exceeds a threshold value. When the horizontal attitude angle exceeds the threshold value, an alarm signal is issued, and the alarm module alarms. The main control PLC (141) obtains the tension value of each tension sensor (122) in real time. When the tension value exceeds the set threshold value, an alarm signal is issued, and the alarm module alarms. The alarm module can be a warning light and / or a buzzer. The structure and connection method of the alarm module belong to the existing technology and are not described in detail here.

[0032] According to the above structure, the system of this embodiment has two working modes: 1. When the upper computer switch (143) is disconnected, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are respectively input into the speed comparison module (147) for differential comparison, and the obtained differential data is input into the corresponding servo driver (132), thereby adjusting the lifting speed of the electric hoist drive motor (111).

[0033] 2. When the upper computer switch (143) is closed, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are input into the speed comparison module (147) for differential comparison, and the differential data 1 is output; The slave PLC (150) obtains the real-time tension values ​​of all tension sensors (122) and calculates the average tension value, or obtains the average tension value by obtaining the tension values ​​of two adjacent tension sensors (122) (the logic operation of the signal acquisition module 162 of the slave PLC is as follows Figure 2and inputting the average tension value and the real-time tension value into a tension difference module (144), outputting a tension difference value between a single real-time tension value and the average tension value, and inputting the tension difference value into an integral adjustment module (145), performing an integral operation on the tension difference value to obtain differential data 2; Inputting the differential data 1 and the differential data 2 into the instruction synthesis module (146) for synthesis; The output signal of the instruction synthesizer (146) is superimposed on the initial speed value instruction through a signal superposition module (148) and output to the servo driver.

[0034] Example 2 The embodiment of the present invention provides a lifting method for a large steel truss with real-time leveling. This embodiment takes a large steel truss, a shallow silo roof umbrella-shaped steel truss, as an example (see Figures 2 to 6 ); Multiple electric hoists (131) are evenly fixed on the upper end of the shallow round warehouse wall, the hooks at the lower ends of the electric hoists are evenly connected to the steel truss, and the two inclination sensors are dual-axis inclination sensors, which are connected to the bottom ring beam of the umbrella-shaped steel truss in a cross-cross manner (see Figure 7 and Figure 8 ).

[0035] The lifting method of this embodiment includes: a lifting method and a lowering method of the steel truss, specifically: 1. The method for lifting the steel truss includes the following steps: Step S101: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the ground; Step S102: Preset the lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system of Example 1 to perform real-time synchronous control; Step S103: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S104: obtaining the horizontal attitude angle of the tilt sensor, and when the horizontal attitude angle is greater than or equal to the static threshold, inputting the average tension value calculated by the slave PLC (150) and the real-time tension value into the tension difference module (144), outputting the tension difference between the single real-time tension value and the average tension value, and inputting the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stopping the operation; Step S105: Repeat steps S102 to S104 until the steel truss is lifted to the final target position, and the entire lifting process is completed.

[0036] 2. The method for lowering the steel truss includes the following steps: Step S201: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the bracket used to support the steel truss; Step S202: Preset a lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system of Example 1 to perform real-time synchronous control; Step S203: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S204: obtaining the horizontal attitude angle of the tilt sensor, and when the horizontal attitude angle is greater than or equal to the static threshold, inputting the average tension value calculated by the slave PLC (150) and the real-time tension value into the tension difference module (144), outputting the tension difference between the single real-time tension value and the average tension value, and inputting the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stopping the operation; Step S205: removing the corbel; Step S206: repeat steps S202 to S204, wherein the lifting height value is a negative value to realize the lowering process, until the steel truss descends to the working surface at the bottom of the warehouse, and the entire lowering process is completed.

[0037] It should be noted that the maximum lifting speed of the hook of the electric hoist in this embodiment is 90 mm / min (5.4 m / h), and the height monitor can be Figure 1 The displacement sensor shown in FIG. 1 is a rotary encoder (such as a Figure 6 ) to realize the acquisition of height and speed data signals (the resolution of the rotary encoder is 8192 per revolution; the electric hoist guide chain rises and falls 10mm per revolution, of which the detection resolution of the position encoder is 10 / 8192=0.001mm, and the comprehensive control accuracy of the lifting displacement is: ±1mm-±2mm). The electric hoist can directly use a tension sensor with a hook. The tension sensor has a range of 100KN and a signal output of 4-20mA; the resolution is 22118, the tension measurement resolution is 100 / 22118≈0.005KN, and the comprehensive control accuracy of the lifting force is ±0.5KN-±1KN. In addition, Figure 8 A system diagram is given. This system includes a full-process control computer (i.e., the host computer), which is connected to two PLC variable frequency speed control boxes (i.e., the master PLC and the slave PLC) via a network cable. The PLC variable frequency speed control boxes can be connected to multiple electric hoists via the network cable. The system can connect 20 electric hoists.

[0038] 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 in the scope of protection of the present invention.

Claims

1. A dynamic leveling and lifting system for large steel trusses, characterized in that: The system comprises a plurality of electric hoists uniformly fixed on a construction platform, and a control device for controlling the synchronous lifting and lowering of the electric hoists, wherein the control device comprises: Height monitor: integrated in the reduction mechanism of the electric hoist drive motor, used to output real-time height and speed values; Tension sensor: installed on the hook of the electric hoist, used to output real-time tension value; Main control PLC: used to receive the lifting command signal from the host computer, and based on the feedback data of the height monitor and tension sensor, generate the control speed value and output it to the servo driver of the electric hoist; Slave PLC: used to collect and process the real-time tension values ​​of multiple tension sensors to obtain the average tension value and output it to the master PLC; Host computer: Communicates with the main control PLC and is used to issue control instructions and display monitoring data.

2. The dynamic leveling lifting system according to claim 1, characterized in that: The master PLC includes: The speed comparison module is used to compare the initial speed value sent by the host computer with the real-time speed value fed back by the height monitor; The tension differential module is used to calculate the deviation between the real-time tension value of a single tension sensor and the average tension value output by the slave PLC to obtain the tension differential value; Integral adjustment module, performs integral calculation on the tension difference value; An instruction synthesis module synthesizes the output signal of the integral regulation module and the output signal of the speed comparison module; A signal superposition module superimposes the output signal of the instruction synthesizer with the initial speed value instruction and outputs it to the servo driver; Among them, one input end of the tension differential module is connected to the tension sensor through a host computer switch.

3. The dynamic leveling lifting system according to claim 2, characterized in that: The signal superposition module outputs the superimposed signal to the servo driver through the amplitude limiting control module.

4. The dynamic leveling lifting system according to claim 1, characterized in that: Also includes: Inclination sensor: Installed on the steel truss, used to collect horizontal attitude angle signals; when the lifting is suspended, the main control PLC determines whether the horizontal attitude angle exceeds the threshold. When the horizontal attitude angle exceeds the threshold, an alarm signal is issued.

5. The dynamic leveling lifting system according to claim 1, characterized in that: The master PLC acquires the tension value of each tension sensor in real time, and sends out an alarm signal when the tension value exceeds a set threshold.

6. The dynamic leveling lifting system according to claim 1, characterized in that: When the upper computer switch is off, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are respectively input into the speed comparison module for differential comparison, and the obtained differential data is input into the corresponding servo driver to adjust the lifting speed of the electric hoist.

7. The dynamic balancing and lifting system according to claim 1, characterized in that: When the upper computer switch is closed, the dynamic leveling method of the lifting system is specifically as follows: The initial speed value signal sent by the host computer and the real-time speed value signal of the height monitor are input into the speed comparison module for differential comparison, and the differential data 1 is output; The slave PLC obtains the real-time tension values ​​of all tension sensors and calculates the average tension value, or obtains the tension value of two adjacent tension sensors to obtain the average tension value; and inputs the average tension value and the real-time tension value into the tension difference module, outputs the tension difference between the single real-time tension value and the average tension value, and inputs the tension difference value into the integral adjustment module, which performs an integral operation on the tension difference value to obtain differential data 2; Inputting the differential data 1 and the differential data 2 into the instruction synthesis module for synthesis; The output signal of the instruction synthesizer is superimposed on the initial speed value instruction through a signal superposition module and output to the servo driver.

8. A lifting method for large steel trusses with real-time leveling, characterized in that: The large steel truss is an umbrella-shaped steel truss on the roof of a shallow round warehouse; a plurality of electric hoists are evenly fixed on the upper end of the shallow round warehouse wall, the hooks at the lower ends of the electric hoists are evenly connected to the steel truss, and the inclination sensor is set on the lower ring beam of the steel truss; wherein, During the lifting process, the dynamic balancing lifting system according to any one of claims 1 to 7 is used to perform real-time synchronous control on multiple electric hoists.

9. The synchronous lifting method according to claim 8, characterized in that: The method includes a steel truss lifting method, specifically: Step S101: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the ground; Step S102: Preset a lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system to perform real-time synchronous control; Step S103: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S104: Acquire the horizontal attitude angle of the inclination sensor. When the horizontal attitude angle is greater than or equal to the static threshold, input the average tension value calculated by the slave PLC together with the real-time tension value into the tension difference module, output the tension difference between the single real-time tension value and the average tension value, and input the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stop the operation; Step S105: Repeat steps S102 to S104 until the steel truss is lifted to the final target position, and the entire lifting process is completed.

10. The synchronous lifting method according to claim 8, characterized in that: The method also includes a method for lowering the steel truss, specifically: Step S201: first set a preset tension value for the electric hoist, start all electric hoists for pre-tensioning, and when the real-time tension value of the electric hoist reaches the preset tension value, the master PLC controls the corresponding electric hoist to stop moving. When all electric hoists stop lifting, the pre-tensioning is in place, and the steel truss is evenly stressed and located on the bracket used to support the steel truss; Step S202: Preset a lifting height value for the height monitor, and during the ascent, use the dynamic leveling and lifting system to perform real-time synchronous control; Step S203: When the lifting height of the electric hoist reaches the preset lifting height value, the lifting is stopped. When all the electric hoists stop, the lifting is completed. Step S204: Acquire the horizontal attitude angle of the inclination sensor. When the horizontal attitude angle is greater than or equal to the static threshold, input the average tension value calculated by the slave PLC together with the real-time tension value into the tension difference module, output the tension difference between the single real-time tension value and the average tension value, and input the tension difference into the corresponding servo driver to drive the electric hoist to operate until the tension difference is less than the threshold and the horizontal attitude angle is less than the static threshold, and then stop the operation; Step S205: removing the corbel; Step S206: repeat steps S202 to S204, wherein the lifting height value is a negative value to realize the lowering process, until the steel truss descends to the working surface at the bottom of the warehouse, and the entire lowering process is completed.

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