Multi-sensor fusion carrier cable tension compensation control method, system and equipment

Abstract

The invention relates to the technical field of railway engineering, provides a multi-sensor fusion carrier cable tension compensation control method and system, and solves the problems of unstable control effect and insufficient system robustness and adaptive capacity. The method comprises the following steps: acquiring tension change detected by a strain sensor and a space vibration track detected by an acceleration sensor in a dynamic vibration process of a carrier cable; predicting a target deformation damping range required by the adjustable mechanical buffer device at the anchoring end of the carrier cable; according to the tension change, the space vibration track and the target deformation damping range, generating a pulse width and a pulse interval corresponding to the deformation damping correction amount; and according to the pulse width and the pulse interval, a deformation damping parameter of the adjustable mechanical buffer device is adjusted, so that the tension fluctuation amplitude is converged in a preset fluctuation threshold value interval. Accurate sensing and self-adaptive compensation of tension fluctuation of the carrier cable are achieved, and the response speed, stability and environment adaptability of a control system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway engineering, and in particular to a tension compensation control method, system and device for a load-bearing cable based on multi-sensor fusion. BACKGROUND

[0002] In the field of high-speed railway engineering, the tension stability of the load-bearing cable, as a key load-bearing component, directly affects the structural safety and operational reliability. Due to the influence of dynamic factors such as environmental wind load, mechanical vibration and temperature change for a long time, the load-bearing cable is prone to tension fluctuation, which may further cause fatigue damage and even rupture risk.

[0003] Currently, a tension active control method based on single sensor feedback has been proposed. This scheme acquires real-time tension data of the load-bearing cable by installing high-precision strain sensors, and generates corresponding control signals by combining proportional-integral-derivative control algorithm, which are used to drive hydraulic or electromagnetic actuators to adjust the local deformation of the anchoring end, so as to achieve the purpose of suppressing tension fluctuation. However, the existing scheme still has obvious limitations. For example, due to the dependence on only a single type of sensing information, it is difficult to fully reflect the complex dynamic behavior characteristics of the load-bearing cable, resulting in unstable control effect in a multi-disturbance coupling environment. The fixed parameter control strategy cannot dynamically adjust the response strength of the actuator according to the actual vibration state, which easily causes over-compensation or under-compensation phenomenon, affecting the robustness and adaptability of the system, etc. SUMMARY

[0004] The present application provides a tension compensation control method and system for a load-bearing cable based on multi-sensor fusion, to solve the problems in the prior art such as unstable control effect in a multi-disturbance coupling environment, tension over-compensation or under-compensation phenomenon, and insufficient robustness and adaptability of the system.

[0005] In a first aspect, the present application provides a tension compensation control method for a load-bearing cable based on multi-sensor fusion, comprising: acquiring tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of the load-bearing cable; based on the change direction of the tension change data, predicting a target deformation damping range required by an adjustable mechanical buffer device of the anchoring end of the load-bearing cable; generating a pulse width and a pulse interval corresponding to the deformation damping correction amount according to the tension change data, the spatial vibration trajectory data and the target deformation damping range; adjusting the deformation damping parameters of the adjustable mechanical buffer device according to the pulse width and the pulse interval, so that the tension fluctuation amplitude converges to a preset fluctuation threshold interval.

[0006] Optionally, based on the change direction of the tension change data, a target deformation damping range required by the adjustable mechanical buffer device of the cable anchorage end is predicted, comprising: The difference values of adjacent data points in the tension change data are accumulated to generate a cable vibration energy evolution curve; The displacement direction of the previous data point relative to the next data point in the vibration energy evolution curve is identified, and the displacement direction is taken as a real-time change direction; The real-time change direction and historical change directions are combined into a direction state vector, wherein the historical change directions are a set of displacement directions of the previous N data points; According to the direction state vector, a pre-associated physical parameter table is retrieved, and a corresponding deformation damping interval classification identifier is matched; According to the physical energy absorption threshold corresponding to the deformation damping interval classification identifier, the target deformation damping range of the adjustable mechanical buffer device is determined.

[0007] Optionally, according to the direction state vector, a pre-associated physical parameter table is retrieved, and a corresponding deformation damping interval classification identifier is matched, comprising: The direction state vector is decomposed into a real-time change direction component and a historical change direction set component; The number of direction elements in the historical change direction set component that are the same as the real-time change direction component is identified, and the number of direction elements is taken as a direction matching degree; The real-time change direction component and the direction matching degree are combined into a two-parameter query index, and a composite index column of a pre-associated physical parameter table is retrieved according to the two-parameter query index to locate a target data row; The corresponding deformation damping interval classification identifier is extracted from the target data row.

[0008] Optionally, according to the tension change data, the spatial vibration trajectory data, and the target deformation damping range, a pulse width and a pulse interval corresponding to the deformation damping correction amount are generated, comprising: The displacement extreme points of the three-dimensional coordinates in the spatial vibration trajectory data are extracted to generate an amplitude envelope; The amplitude envelope and the tension change data are synchronously marked to generate a basic coupling field structure; The upper threshold and the lower threshold of the target deformation damping range are loaded to the basic coupling field structure to generate a constraint loading field, and a deformation damping correction lower limit value and a deformation damping correction upper limit value are calculated; Based on the constraint loading field, the amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and the tension change rate are calculated to calculate an initial deformation damping correction amount; Perform boundary truncation processing on the initial deformation damping correction amount to generate a deformation damping correction amount; Retrieve the pulse width and pulse interval corresponding to the deformation damping correction amount from a pre-stored driving control parameter library.

[0009] Optionally, the amplitude envelope and the tension change data are synchronously marked to generate a basic coupling field structure, including: Identify vibration event marker points in the amplitude envelope, which are the spatial and temporal coordinates of envelope peaks or envelope troughs; According to the physical span of the bearing cable, calculate the time offset of vibration wave conduction; Position the tension response value corresponding to the vibration event marker point in the tension change data; Bind the vibration event marker point with the same timestamp and the corresponding tension response value as an event response pair, aggregate all event response pairs to generate a basic coupling field structure.

[0010] Optionally, based on the constraint loading field, calculate the amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and the tension change rate, and calculate the initial deformation damping correction amount, including: Based on the constraint loading field, calculate the amplitude envelope slope, and decompose the amplitude envelope slope into three component values in mutually perpendicular directions, and take the maximum component value as the dominant vibration direction component; Calculate the average change amplitude of the tension change data within a preset time window, and take the average change amplitude as the tension change rate; Multiply the dominant vibration direction component and the tension change rate to obtain a dynamic coupling strength factor; When the dynamic coupling strength factor is less than the deformation damping correction lower limit value, take the deformation damping correction lower limit value as the initial deformation damping correction amount; when the dynamic coupling strength factor is greater than the deformation damping correction upper limit value, take the deformation damping correction upper limit value as the initial deformation damping correction amount; when the dynamic coupling strength factor is between the deformation damping correction lower limit value and the deformation damping correction upper limit value, calculate the initial deformation damping correction amount according to the linear proportionality coefficient in the constraint loading field.

[0011] Optionally, according to the pulse width and pulse interval, adjust the deformation damping parameters of the adjustable mechanical buffer device to make the tension fluctuation amplitude converge in a preset fluctuation threshold interval, including: Linearly convert the pulse width to generate an excitation current intensity positively related to the pulse width, while taking the pulse interval as the current action time length; The excitation coil of the electromechanical converter is loaded with the excitation current intensity to obtain an axial electromagnetic traction force corresponding to the excitation current intensity; According to the axial electromagnetic traction force, a deformation execution unit is used to adjust the position of the piston to obtain a displacement amount; According to the displacement amount, the deformation damping parameter of the adjustable mechanical buffer device is adjusted to make the tension fluctuation amplitude converge to a preset fluctuation threshold interval, and the adjusted deformation damping parameter remains a constant value within the current action duration.

[0012] In a second aspect, the present application provides a multi-sensor fusion cable tension compensation control system, comprising: An acquisition module is configured to acquire tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of a cable; A prediction module is configured to predict a target deformation damping range required by an adjustable mechanical buffer device at an anchoring end of the cable based on a change direction of the tension change data; A generation module is configured to generate a pulse width and a pulse interval corresponding to the deformation damping correction amount according to the tension change data, the spatial vibration trajectory data, and the target deformation damping range; An adjustment module is configured to adjust a deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and the pulse interval to make the tension fluctuation amplitude converge to a preset fluctuation threshold interval.

[0013] In a third aspect, the present application provides a computing device comprising a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement a multi-sensor fusion cable tension compensation control method according to the first aspect.

[0014] In a fourth aspect, the present application provides a computer storage medium storing a computer program; when the computer program is executed by a computer, a multi-sensor fusion cable tension compensation control method according to the first aspect is implemented.

[0015] The present application has the following beneficial effects: In the present application, the tension change data detected by the strain sensor and the spatial vibration trajectory data detected by the acceleration sensor during the dynamic vibration process of the bearing cable are obtained; based on the change direction of the tension change data, the target deformation damping range required by the adjustable mechanical buffer device at the anchoring end of the bearing cable is predicted; according to the tension change data, the spatial vibration trajectory data and the target deformation damping range, the pulse width and pulse interval corresponding to the deformation damping correction amount are generated; and according to the pulse width and pulse interval, the deformation damping parameter of the adjustable mechanical buffer device is adjusted, so that the tension fluctuation amplitude converges to the preset fluctuation threshold interval. The technical scheme provided by the present application breaks through the limitation of single sensor monitoring, comprehensively captures the spatial vibration-tension coupling characteristics of the bearing cable under wind load and train passing through by fusing strain / acceleration dual-source data, solves the problem of information loss in a multi-disturbance coupling environment; establishes a dynamic correlation between vibration energy evolution trend and physical damping parameter, realizes adaptive damping pre-adjustment to vibration intensity, and overcomes the defects of over-compensation / under-compensation caused by fixed parameters; multi-source data and target damping range are fused and converted into executable control instructions, through a space-time coupling field constraint mechanism, the risk of mismatch between control signals and environmental disturbances is eliminated; based on the accurate conversion of electromechanical energy, the bearing cable tension fluctuation converges to the material safety threshold interval, solving the core safety hazard of fatigue fracture caused by tension fluctuation. Further, the amplitude envelope line is generated by extracting the displacement extreme points of the spatial vibration, the space-time synchronization mark with the tension data is realized through span compensation time offset, and the basic coupling field structure is constructed; the target damping threshold is loaded and the correction boundary is calculated, the dynamic coupling factor is generated based on the product of the vibration main direction component and the tension change rate, and the deformation damping correction amount is output after boundary truncation. Through the space-time synchronization mark of the amplitude envelope line and the tension data, the accurate coupling of vibration energy distribution-tension response trajectory is realized, and the one-sidedness limitation of single sensor data is broken through; based on the dynamic coupling factor and the boundary truncation mechanism, the deformation damping correction amount adaptive to vibration intensity is generated, the over-compensation / under-compensation defects of the fixed parameter strategy are completely eliminated, and the robustness of the system under wind load-train coupling disturbance is improved.

[0016] These aspects or other aspects of the present application will be more apparent in the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1A flow chart of a multi-sensor fusion cable tension compensation control method provided by the application is shown. Figure 2 A structural schematic diagram of a multi-sensor fusion cable tension compensation control system provided by the application is shown. Figure 3 A structural schematic diagram of a computing device provided by the application is shown. DETAILED DESCRIPTION

[0019] In order for those skilled in the art to better understand the application scheme, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the application.

[0020] In some of the descriptions in the specification and claims of the application and the above-mentioned drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that these operations can be executed or in parallel without the order in which they appear in this text, and the serial numbers of the operations such as 101, 102, etc. are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this text are used to distinguish different messages, devices, modules, etc. and do not represent the order of precedence. Also, "first" and "second" are not different types.

[0021] The technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, not all. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0022] In view of the problems of unstable control effect, easy over-compensation or under-compensation, etc. of the existing tension active control method based on single sensor feedback and fixed parameter control strategy in a complex disturbance environment, the application realizes comprehensive perception of the dynamic behavior of the cable by synchronously collecting the tension change data detected by the strain sensor and the spatial vibration trajectory information obtained by the acceleration sensor. On this basis, the target deformation damping range required by the adjustable mechanical buffer device at the anchoring end is predicted in combination with the current tension change trend, and accurate pulse width and pulse interval are generated by comprehensively processing multi-source sensing data, and based on this, the deformation damping parameters of the buffer device are dynamically adjusted, thereby realizing the suppression of tension fluctuation. Figure 1 A flow chart of a multi-sensor fusion cable tension compensation control method provided by the application is shown. Figure 1 The method comprises: Step 101: acquiring tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of the bearing cable; In this step, the strain sensor refers to a measuring device based on the metal resistance strain principle, which is pasted on the surface of the bearing cable and used to convert the material deformation into an electrical signal and output the change data reflecting the tension size. The tension change data refers to the digital sequence obtained by analog-to-digital conversion of the voltage signal output by the strain sensor, which contains the amplitude and frequency characteristics of the tension fluctuation over time. The acceleration sensor refers to a three-axis sensing device based on the piezoelectric effect, which is fixed to the key node of the bearing cable and used to detect the spatial vibration acceleration and integrate to generate the displacement trajectory. The spatial vibration trajectory data refers to the three-dimensional coordinate sequence (X / Y / Z axis displacement) output by the acceleration sensor, which describes the spatial motion trajectory of the bearing cable under wind load or train passing.

[0023] In the embodiment of the application, the strain sensor installed on the bearing cable collects the tension change data in real time, which reflects the time sequence information of the stress state of the bearing cable, and the acceleration sensor collects the spatial vibration trajectory data, which records the displacement trajectory of the bearing cable in three-dimensional space. The two types of data are transmitted to the processing unit synchronously to form a multi-source vibration monitoring basis.

[0024] Step 102: predicting the target deformation damping range required by the adjustable mechanical buffer device at the anchoring end of the bearing cable based on the change direction of the tension change data; In the embodiment of the application, the continuous change direction (upward / downward trend) of the tension change data is analyzed, and the real-time change direction is identified based on the vibration energy evolution curve (adjacent data point change amount accumulation). The direction state vector is constructed in combination with the displacement direction set of the previous N data points. According to the direction state vector, the corresponding deformation damping interval classification identifier is matched by querying the pre-associated physical parameter table. Finally, the target deformation damping range of the adjustable mechanical buffer device is calculated according to the physical energy absorption threshold corresponding to the deformation damping interval classification identifier.

[0025] Step 103: generating the pulse width and pulse interval corresponding to the deformation damping correction amount according to the tension change data, the spatial vibration trajectory data, and the target deformation damping range; In the embodiment of the present application, the amplitude envelope line is generated by extracting the displacement extreme points from the spatial vibration trajectory data; the time-space synchronization mark is performed on the amplitude envelope line and the tension change data through time offset compensation, the basic coupling field structure is constructed, the upper / lower limit threshold of the target deformation damping range is loaded, the constraint loading field is generated, and the deformation damping correction lower limit value and the deformation damping correction upper limit value are calculated; based on the amplitude envelope line slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value and the tension change rate, the initial deformation damping correction amount is calculated; after the boundary truncation processing, the deformation damping correction amount is obtained; finally, the corresponding pulse width and pulse interval are retrieved from the pre-stored driving control parameter library.

[0026] Step 104: adjusting the deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and pulse interval, so that the tension fluctuation amplitude converges to the preset fluctuation threshold interval; In the embodiment of the present application, the voltage-current linear conversion is performed on the pulse width to generate the excitation current intensity, and the pulse interval is used as the current action time; the axial electromagnetic traction force is generated by driving the electro-mechanical converter; the piston displacement is pushed by the force to obtain the displacement amount, and the deformation damping parameter of the adjustable mechanical buffer device is adjusted according to the displacement amount, so that the deformation damping parameter remains constant within the current action time; finally, the tension fluctuation amplitude of the bearing cable is suppressed in the preset fluctuation threshold interval (i.e. the material safety deformation range).

[0027] In the embodiment of the present application, the tension change data of the strain sensor and the spatial vibration trajectory data of the acceleration sensor are fused, the vibration-tension coupling characteristics under the disturbance of multiple sources such as wind load and train passing are comprehensively captured, and the control misalignment problem caused by the missing of data dimension in the traditional method is solved; based on the target deformation damping range of dynamic prediction and the pulse parameters generated by the time-space coupling field, the real-time damping adjustment is realized according to the vibration intensity, and the over-compensation / under-compensation risk of the fixed parameter strategy is avoided; the deformation damping parameter is controlled through the electro-mechanical precise conversion, so that the tension fluctuation is strictly converged to the material safety threshold interval, the fatigue fracture chain of the bearing cable is broken from the root, and the operation reliability of the high-speed railway is improved.

[0028] The present application provides a specific embodiment, step 102, predicting the target deformation damping range required by the adjustable mechanical buffer device of the bearing cable anchoring end based on the change direction of the tension change data, specifically including the following steps: Step 201: accumulating the difference value of adjacent data points in the tension change data to generate a bearing cable vibration energy evolution curve; In this step, the vibration energy evolution curve refers to the time sequence curve generated by the difference accumulation of the tension change data, the horizontal axis is time, and the vertical axis is the cumulative energy value, which is used to represent the dynamic migration process of the bearing cable vibration energy.

[0029] In the embodiment of the present application, the adjacent data point difference calculation is performed on the tension change data, that is, adjacent data point difference = tension value of next data point - tension value of previous data point, and the obtained difference value is algebraically accumulated, specifically, positive difference value is accumulated as rising energy and negative difference value is accumulated as falling energy, to generate the tension cable vibration energy evolution curve.

[0030] Step 202: identifying the displacement direction of the previous data point relative to the next data point in the vibration energy evolution curve, and taking the displacement direction as the real-time change direction; In this step, the real-time change direction refers to the increase or decrease state of energy in the latest time segment in the vibration energy evolution curve, the rising direction indicates energy accumulation, and the falling direction indicates energy release.

[0031] In the embodiment of the present application, the vibration energy evolution curve is scanned, and the ordinate values of adjacent data points in the curve are compared, for example, point A ordinate value - point B ordinate value, if the difference value is positive, it is marked as the rising direction, and if the difference value is negative, it is marked as the falling direction; the direction determination result of the adjacent data points at the current time is taken as the real-time change direction to describe the latest vibration energy flow trend.

[0032] Step 203: combining the real-time change direction and the historical change direction into a direction state vector, wherein the historical change direction is a set of displacement directions of the previous N data points; In this step, the historical change direction refers to the direction mark set of the vibration energy evolution curve at the previous N sampling times, reflecting the historical trajectory of energy migration. The direction state vector refers to a multi-dimensional array composed of the real-time change direction and the historical change direction set, used to describe the space-time evolution state of the vibration energy.

[0033] In the embodiment of the present application, the historical change directions of the previous N data points are extracted, N = catenary span / sensor spacing, to form a historical change direction set; the real-time change direction and the historical change direction set are combined into a direction state vector according to the time sequence, and the structure is [real-time change direction, historical change direction 1, historical change direction 2,..., historical change direction N]).

[0034] Step 204: according to the direction state vector, searching the pre-associated physical parameter table to match the corresponding deformation damping interval classification mark; In this step, the deformation damping interval classification mark refers to the alphanumeric code defined in the pre-associated physical parameter table, used to identify the damping control interval corresponding to different vibration modes.

[0035] In the embodiment of the present application, the direction state vector is decomposed into a real-time change direction component and a historical change direction set component; the number of direction elements in the historical change direction set component that are the same as the real-time change direction component is identified as a direction matching degree; the real-time change direction component and the direction matching degree are combined into a two-parameter query index, so as to query the composite index column of the pre-associated physical parameter table according to the query index to locate the target data row; and the corresponding deformation damping interval classification identifier is extracted from the target data row, such as D3 representing a medium-frequency damping interval.

[0036] Step 205: determining a target deformation damping range of the adjustable mechanical buffer device according to a physical energy absorption threshold corresponding to the deformation damping interval classification identifier; In this step, the physical energy absorption threshold refers to a mechanical energy value range that can be safely absorbed by the buffer device under a specific vibration mode, which is obtained based on material fatigue tests and a deformation-energy conversion formula. The target deformation damping range refers to a physical deformation interval that the adjustable mechanical buffer device needs to reach, which is used to match the absorption requirement of the current vibration energy.

[0037] In the embodiment of the present application, the corresponding physical energy absorption threshold is called according to the deformation damping interval classification identifier, such as the threshold [200J, 500J] associated with the identifier D3; the threshold is converted into a deformation stroke range of the adjustable mechanical buffer device, wherein the lower limit of the threshold corresponds to the minimum stroke and the upper limit of the threshold corresponds to the maximum stroke, to obtain the target deformation damping range (such as [5mm, 12mm]).

[0038] The embodiment of the present application realizes adaptive damping prediction based on vibration trends by real-time capturing of energy migration directions through vibration energy evolution curves, combining a historical direction set to construct a direction state vector, and completely solving the mismatching problem of the traditional fixed parameter strategy under wind load-train coupling disturbance; vibration states are mapped to damping interval identifiers by using a pre-associated physical parameter table, and deformation damping ranges are accurately calculated through physical energy absorption thresholds, so as to ensure that the response strength of the adjustable mechanical buffer device strictly matches the vibration energy and eliminate the hidden danger of tension fluctuation amplification caused by overcompensation / undercompensation.

[0039] The present application provides a specific embodiment, step 204, according to the direction state vector, retrieving a pre-associated physical parameter table, matching a corresponding deformation damping interval classification identifier, specifically including the following steps: Step 211: decomposing the direction state vector into a real-time change direction component and a historical change direction set component; In this step, the real-time change direction component refers to an element in the direction state vector that represents the flow direction of the vibration energy at the current sampling time, which takes the value of rising or falling. The historical change direction set component refers to an array of direction elements stored in the direction state vector for the previous N consecutive historical sampling times, which reflects the historical trajectory of the vibration energy migration.

[0040] In the embodiment of the present application, the direction state vector is split into two independent parts: a real-time change direction component (representing a single element of the vibration direction at the latest time) and a historical change direction set component, which are physically separated through memory address offset operations.

[0041] Step 212: identifying the number of direction elements in the historical change direction set component that are the same as the real-time change direction component, and taking the number of direction elements as the direction matching degree; In this step, the number of direction elements refers to the number of elements in the historical change direction set component that are the same as the real-time change direction component, which is an integer intermediate variable. The direction matching degree refers to the final naming of the number of direction elements, representing the consistency degree of the historical vibration direction and the current direction.

[0042] In the embodiment of the present application, each element of the historical change direction set component is compared with the real-time change direction component in binary, and a plurality of mark values are obtained, wherein 1 is marked if they are the same, and 0 is marked if they are different. All mark values are accumulated to generate the number of direction elements, which is the direction matching degree. For example, the historical change direction set component [up, up, down] is compared with the real-time change direction component [up], and the matching degree = 2.

[0043] Step 213: combining the real-time change direction component and the direction matching degree into a two-parameter query index, and retrieving a composite index column of a pre-associated physical parameter table according to the two-parameter query index to locate a target data row; In this step, the two-parameter query index refers to a string retrieval key formed by splicing the real-time change direction component and the direction matching degree. The pre-associated physical parameter table refers to a database table storing the mapping relationship between the vibration mode of the railway catenary and the damping interval, which is constructed based on wind tunnel test and train operation measurement data. The composite index column refers to a special field in the table in which the real-time direction code and the matching degree range are stored (for example, 4-6 represents the up direction and the matching degree is 4 to 6). The target data row refers to the database row that is completely matched with the composite index column value and the two-parameter query index.

[0044] In the embodiment of the present application, the real-time change direction component (its binary code is: 0=down, 1=up) and the direction matching degree (decimal integer) are spliced into a format string of [real-time direction-matching degree] (such as [1-5]), to generate a two-parameter query index; according to the index, the string is accurately matched in the composite index column of the pre-associated physical parameter table, to locate the target data row.

[0045] Step 214: extracting the corresponding deformation damping interval classification identifier from the target data row; In this step, the deformation damping interval classification identifier refers to the alphanumeric code (such as D1 / D2 / D3) defined in the pre-associated physical parameter table, which identifies the damping control interval corresponding to different vibration modes.

[0046] In the embodiment of the present application, the corresponding deformation damping interval classification identifier is read from the specified column of the target data row, such as D3 identifier.

[0047] The embodiment of the present application accurately matches the specific vibration mode of the catenary in the composite index column through the real-time direction and historical matching degree double-parameter indexing mechanism, breaking through the recognition blind area of traditional single-parameter query under composite disturbance; based on direction matching, the vibration energy migration persistence is quantified, the dynamic adaptation of damping interval and vibration trend is realized (such as high matching degree corresponding to train continuous impact mode, low matching degree corresponding to wind load random disturbance mode), and the over-compensation risk of fixed damping parameter is avoided; through the design of the composite index column of the pre-associated physical parameter table, the query efficiency is improved, ensuring that the damping control decision is made within a millisecond time window, meeting the high dynamic response demand of high-speed railway.

[0048] The present application provides a specific embodiment, step 103, generating pulse width and pulse interval corresponding to the deformation damping correction amount according to the tension change data, the spatial vibration trajectory data and the target deformation damping range, specifically including the following steps: Step 301: Extracting the displacement extreme points of three-dimensional coordinates in the spatial vibration trajectory data to generate an amplitude envelope; In this step, the displacement extreme points of three-dimensional coordinates refer to the local maximum points (peaks) and minimum points (valleys) of displacement in each coordinate axis direction in the spatial trajectory data output by the acceleration sensor, reflecting the extreme value distribution of vibration energy in three-dimensional space. The amplitude envelope refers to the time sequence curve connecting the extreme points of the same coordinate axis, describing the change boundary of vibration intensity in that direction, such as the X-axis envelope reflecting the range of lateral vibration intensity.

[0049] In the embodiment of the present application, the three-dimensional coordinates of the scanned spatial vibration trajectory data are identified to identify the local maximum and minimum points (i.e. peaks and valleys) of the absolute value of displacement on each coordinate axis; connecting adjacent extreme points in time sequence generates three axial amplitude envelopes (X / Y / Z axis envelopes) to comprehensively represent the spatial vibration intensity boundary of the catenary.

[0050] Step 302: Synchronously marking the amplitude envelope and the tension change data to generate a basic coupling field structure; In this step, the basic coupling field structure refers to a data set bound by vibration event marker points (amplitude envelope extreme points) and tension response values in space-time relationship, with a storage format of [timestamp, spatial coordinates, tension value].

[0051] In the embodiment of the present application, the vibration event marker points in the amplitude envelope are identified; the time offset of the vibration wave conduction is calculated according to the physical span of the bearing cable; the tension response values corresponding to the vibration event marker points in the tension change data are located; the vibration event marker points and the corresponding tension response values with the same time stamp are bound as event response pairs, all the event response pairs are aggregated, and the basic coupling field structure is generated.

[0052] Step 303: loading the upper threshold and the lower threshold of the target deformation damping range to the basic coupling field structure to generate a constraint loading field, and calculating a deformation damping correction lower limit value and a deformation damping correction upper limit value; In this step, the constraint loading field refers to the basic coupling field structure loaded with the deformation damping boundary conditions, and the increase of the deformation damping correction amount allows the range attribute. The deformation damping correction lower limit value refers to the minimum deformation damping correction amount allowed in the constraint loading field, and the deformation damping correction upper limit value refers to the maximum deformation damping correction amount allowed in the constraint loading field.

[0053] In the embodiment of the present application, the upper threshold (i.e. the maximum safe deformation value) and the lower threshold (i.e. the minimum effective deformation value) are extracted from the target deformation damping range; the two thresholds are loaded as boundary constraint conditions to each event response pair of the basic coupling field structure to generate a constraint loading field (a safe operation domain with boundaries); and the deformation damping correction lower limit value and the deformation damping correction upper limit value are calculated according to the two thresholds, i.e. the deformation damping correction lower limit value = threshold lower limit × safety factor, and the deformation damping correction upper limit value = threshold upper limit × safety factor, wherein the safety factor is set according to the safety margin requirement of the bearing cable dynamic compensation device, and the coefficient is verified through material fatigue test and engineering experience to ensure that there is still a 20% safety margin under the maximum working load.

[0054] Step 304: based on the constraint loading field, calculating the amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and the tension change rate to calculate an initial deformation damping correction amount; In the embodiment of the present application, the amplitude envelope slope in the constraint loading field is decomposed into three component values in mutually perpendicular directions, and the maximum component value is taken as the dominant vibration direction component; the average change amplitude of the tension change data in a preset time window is calculated and taken as the tension change rate; the dominant vibration direction component is multiplied by the tension change rate to obtain a dynamic coupling strength factor; when the dynamic coupling strength factor is less than the deformation damping correction lower limit value, the lower limit value is taken as the initial deformation damping correction amount; when it is greater than the deformation damping correction upper limit value, the upper limit value is taken as the initial deformation damping correction amount; and when it is between the deformation damping correction lower limit value and the deformation damping correction upper limit value, the initial deformation damping correction amount is calculated according to a linear proportional coefficient (dynamic coupling strength factor × linear proportional coefficient).

[0055] Step 305: performing boundary truncation processing on the initial deformation damping correction amount to generate a deformation damping correction amount; In this step, the deformation damping correction amount refers to the final correction amount after boundary truncation processing, indicating the deformation stroke value (unit: millimeter) that the buffer device needs to adjust.

[0056] In the embodiment of the application, the initial deformation damping correction amount is subjected to boundary truncation processing, specifically: if it is less than the lower limit of deformation damping correction, the lower limit is taken as the deformation damping correction amount, if it is greater than the upper limit of deformation damping correction, the upper limit is taken as the deformation damping correction amount, otherwise the initial deformation damping correction amount is directly taken as the deformation damping correction amount.

[0057] Step 306: retrieving the pulse width and pulse interval corresponding to the deformation damping correction amount from the pre-stored driving control parameter library; In this step, the driving control parameter library refers to a database storing the mapping relationship between deformation damping correction amount and electric pulse parameters, which is constructed based on the electromechanical calibration experiment of the buffer device. The pulse width refers to the duration of the high level of the driving voltage signal, which is proportional to the deformation stroke of the buffer device. The pulse interval refers to the time difference between the starting points of adjacent driving voltage signals, which is inversely proportional to the frequency of vibration energy change.

[0058] In the embodiment of the application, the closest calibration value to the deformation damping correction amount is retrieved from the pre-stored driving control parameter library, and the corresponding pulse width and pulse interval are extracted, which are executable correction instructions.

[0059] The embodiment of the application constructs a basic coupling field structure, realizes accurate correlation between spatial vibration energy distribution and tension response, solves the problem of environmental disturbance misjudgment caused by data dimension loss in traditional methods, realizes real-time parameter adjustment adaptive to vibration intensity, avoids the overcompensation / undercompensation defects of fixed parameter strategy in wind load-train coupling scene, converts physical correction amount into electric control instructions, ensures that the tension fluctuation of the bearing cable converges rapidly within the material fatigue threshold, and blocks the structure fracture chain from the root.

[0060] The application provides a specific embodiment, step 302, synchronously marking the amplitude envelope and the tension change data to generate a basic coupling field structure, specifically including the following steps: Step 311: identifying the vibration event marker point in the amplitude envelope, the vibration event marker point being the time-space coordinates of the envelope line peak or envelope line valley; In this step, the vibration event marker point refers to the time-space recording point of the energy extreme position on the amplitude envelope line, including the wave crest and the wave trough. The envelope line wave crest refers to the local displacement maximum point in the amplitude envelope line, reflecting the peak time and position of vibration energy release. The envelope line wave trough refers to the local displacement minimum point in the amplitude envelope line, reflecting the valley time and position of vibration energy absorption. The time-space coordinate refers to a data structure containing a time stamp (millisecond level accuracy) and a three-dimensional space coordinate (X / Y / Z axis displacement).

[0061] In the embodiment of the present application, the amplitude envelope line (X / Y / Z three-axis curve) is scanned, and the local maximum point (i.e. the envelope line wave crest) and the minimum point (i.e. the envelope line wave trough) of each coordinate axis envelope line are detected; a time-space coordinate (including a time stamp + XYZ space coordinate) is assigned to each extreme point, and a vibration event marker point set is generated.

[0062] Step 312: calculating the time offset of vibration wave conduction according to the physical span of the bearing cable; In this step, the physical span refers to the actual length of the bearing cable between adjacent contact net support pillars, with the unit of meter. The vibration wave conduction refers to the propagation process of mechanical vibration along the bearing cable, and the speed is affected by the cable tension and material characteristics. The time offset refers to the time compensation amount required for the vibration wave to propagate from the measurement point to the anchoring end.

[0063] In the embodiment of the present application, the actual measured value of the physical span of the bearing cable (such as 50 meters) is obtained; the pre-stored wave speed-span mapping table is queried, for example: 50-meter span corresponds to wave conduction speed 300 m / s; according to the formula: time offset = physical span / wave conduction speed, for example, 50 / 300 ≈ 0.167 seconds.

[0064] Step 313: positioning the tension response value corresponding to the vibration event marker point in the tension change data; In this step, the tension response value refers to the data point in the tension change data that is physically associated with the vibration event.

[0065] In the embodiment of the present application, the time stamp of each vibration event marker point is superimposed with the time offset to obtain the time stamp of the tension response value; the tension value corresponding to the time stamp in the time sequence of the tension change data is positioned as the tension response value.

[0066] Step 314: binding the vibration event marker point with the same time stamp and the corresponding tension response value as an event response pair, aggregating all event response pairs to generate a basic coupling field structure; In this step, the event response pair refers to the binding unit composed of the vibration event marker point and the tension response value, which embodies the causal relationship between the vibration energy and the tension response. The basic coupling field structure refers to the time-space-mechanical mapping set storing all event response pairs.

[0067] In the embodiment of the present application, first, the time stamp of the vibration event marker point is made consistent with the time stamp of the tension response value through vibration wave conduction time offset compensation, and then the corresponding space-time coordinates (including X / Y / Z axis displacement and time stamp) and tension value are associated to form a single event response pair, for example, an event response pair is {time stamp: 100 ms, space coordinates: (5 mm, 3 mm, -2 mm), tension response value: 150 N}. Then, all event response pairs are integrated in time sequence through a data aggregation algorithm to generate a basic coupling field structure, which is stored in the form of a multidimensional array, each array element contains the space-time coordinates of the vibration event and the corresponding tension response value, thereby constructing a complete space-time-mechanical mapping relationship set, and realizing accurate coupling of vibration energy distribution and tension response trajectory.

[0068] In the embodiment of the present application, the vibration wave conduction time offset is calculated by physical span, the accurate space-time alignment of vibration event and tension response is realized, and the data fragmentation problem caused by wave conduction delay in the background art is solved; the basic coupling field structure is generated based on the event response pair, the deterministic correlation between wind load / train disturbance and tension fluctuation is established, and the misjudgment of single sensor data under composite disturbance is avoided.

[0069] The present application provides a specific embodiment, step 304, based on the constraint loading field, the amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value and the tension change rate are calculated, and the initial deformation damping correction amount is calculated, which specifically includes the following steps: Step 321: Based on the constraint loading field, the amplitude envelope slope is calculated, and the amplitude envelope slope is decomposed into three component values perpendicular to each other, and the maximum component value is taken as the dominant vibration direction component; In this step, the component value perpendicular to each other refers to the projection value of the amplitude envelope slope on the X / Y / Z axis of the Cartesian coordinate system, which reflects the vibration intensity change rate of each axis. The maximum component value refers to the absolute value of the largest value among the three axial component values, which identifies the main direction of energy transfer. The dominant vibration direction component refers to the axial vibration intensity change rate corresponding to the maximum component value, which is used to represent the core disturbance source (such as X axis corresponding to strong wind transverse disturbance).

[0070] In the embodiment of the present application, based on the constraint loading field, the amplitude envelope slope is calculated, and the amplitude envelope slope = adjacent extreme point displacement difference ÷ adjacent extreme point time difference; it is decomposed into X / Y / Z axial component values perpendicular to each other; the absolute values of the three component values are compared, and the maximum component value is selected as the dominant vibration direction component.

[0071] Step 322: Calculate the average change amplitude of the tension change data in the preset time window, and take the average change amplitude as the tension change rate; In this step, the average change amplitude refers to the average intensity of tension fluctuation per unit time.

[0072] In the embodiment of the present application, a time window is set (window length = cable span ÷ (4 × wave propagation speed)); the average change amplitude of the tension change data in the window is calculated, and the average change amplitude = the sum of the absolute values of all tension differences in the window divided by the window length, i.e. ∑|tension value at i+1 point - tension value at i point| / window length, and the average change amplitude is taken as the tension change rate.

[0073] Step 323: multiplying the dominant vibration direction component and the tension change rate to obtain a dynamic coupling strength factor; In this step, the dynamic coupling strength factor refers to the product of the spatial vibration energy gradient and the intensity of the time dimension tension change, which quantifies the coupling energy density of the disturbance-response.

[0074] In the embodiment of the present application, the dominant vibration direction component (unit: mm / s) and the tension change rate (unit: kN / s) are subjected to scalar multiplication to obtain the dynamic coupling strength factor (unit: mm·kN / s²).

[0075] Step 324: when the dynamic coupling strength factor is less than the deformation damping correction lower limit value, the deformation damping correction lower limit value is taken as the initial deformation damping correction amount; when the dynamic coupling strength factor is greater than the deformation damping correction upper limit value, the deformation damping correction upper limit value is taken as the initial deformation damping correction amount; and when the dynamic coupling strength factor is between the deformation damping correction lower limit value and the deformation damping correction upper limit value, the initial deformation damping correction amount is calculated according to the linear proportionality coefficient in the constraint loading field; In this step, the linear proportionality coefficient refers to a preset calibration parameter (dimensionless) in the constraint loading field, which is determined based on the deformation-energy conversion characteristics of the buffer device.

[0076] In the embodiment of the present application, the dynamic coupling strength factor is compared with the deformation damping correction lower limit value / upper limit value: if the factor < the deformation damping correction lower limit value, the deformation damping correction lower limit value is taken as the initial correction amount; if the factor > the deformation damping correction upper limit value, the deformation damping correction upper limit value is taken as the initial correction amount; and if the factor is between the deformation damping correction lower limit value and the deformation damping correction upper limit value, the initial correction amount is calculated according to the formula, i.e. initial correction amount = factor × dynamic coupling strength linear proportionality coefficient.

[0077] The embodiment of the application breaks through the direction confusion defect of the traditional method under the composite disturbance by identifying the core disturbance axis in the main vibration direction component (such as strong wind acting on the X axis and train impact acting on the Z axis); based on the boundary adaptive mechanism of the dynamic coupling strength factor, the vibration energy-damping strength is accurately matched, and the overcompensation / undercompensation risk caused by parameter solidification in the background technology is avoided.

[0078] The application provides a specific embodiment, step 104, adjusting the deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and pulse interval, so that the tension fluctuation amplitude converges to the preset fluctuation threshold interval, specifically including the following steps: Step 401: linearly converting the pulse width to generate an excitation current intensity positively related to the pulse width, and taking the pulse interval as a current action time; In this step, the excitation current intensity refers to the driving current value input to the electromagnetic coil, and the calculation formula is: pulse width (millisecond) x conversion coefficient (ampere / millisecond), which determines the electromagnetic force. The current action time refers to the continuous energization time of the excitation current, and the value is equal to the pulse interval time, which controls the maintenance period of mechanical action.

[0079] In the embodiment of the application, the pulse width is linearly converted by the constant current conversion circuit to calculate the excitation current intensity, i.e. excitation current intensity (A)=pulse width (ms) x conversion coefficient (A / ms); at the same time, the pulse interval time value is directly taken as the current action time (physical time equivalent) to complete the conversion of the electric control signal to the execution parameter.

[0080] Step 402: loading the excitation coil of the electro-mechanical converter with the excitation current intensity to obtain an axial electromagnetic traction force corresponding to the excitation current intensity; In this step, the axial electromagnetic traction force refers to the electromagnetic attraction force along the piston movement axis direction, which is used to drive the mechanical displacement. The electro-mechanical converter refers to a device for converting electrical energy into mechanical force, including an excitation coil, a core and a magnetic circuit structure.

[0081] In the embodiment of the present application, when the excitation coil of the electromechanical converter is loaded with the excitation current intensity, the specific working principle is as follows: when the excitation current passes through the excitation coil wound on the iron core, based on the Ampere loop law, the current generates a ring magnetic field in the magnetic circuit, and the magnetic field intensity is proportional to the excitation current intensity and the number of turns of the excitation coil. The magnetic circuit structure is composed of the iron core and the air gap, and the magnetic field forms a closed loop through the iron core to generate an axial electromagnetic traction force at the gap of the electromagnet core. The size of the traction force follows: axial electromagnetic traction force = excitation current intensity x number of turns of excitation coil x magnetic permeability of magnetic circuit, wherein the magnetic permeability reflects the magnetic conductivity of the magnetic circuit material (such as the iron core and the air gap). Since the number of turns of the excitation coil and the magnetic permeability of the magnetic circuit are fixed during the design of the device, the axial electromagnetic traction force is linearly and positively correlated with the excitation current intensity, and the greater the current intensity, the stronger the magnetic field attraction at the gap of the iron core, thereby providing a mechanical force basis for driving the piston to displace along the movement axis direction.

[0082] Step 403: adjusting the position of the piston by using the deformation execution unit according to the axial electromagnetic traction force to obtain a displacement amount; In this step, the deformation execution unit refers to a mechanical assembly including a piston, a hydraulic chamber, and a transmission mechanism, which is used to convert the axial electromagnetic traction force into physical deformation. The piston refers to a cylindrical member that can slide in the hydraulic chamber, and the displacement of the piston changes the volume of the damping chamber. The displacement amount refers to the linear distance (unit: millimeter) that the piston moves from the initial position, which directly determines the damping parameter.

[0083] In the embodiment of the present application, the axial electromagnetic traction force pulls the piston connecting rod of the deformation execution unit; overcomes the reaction force of the hydraulic chamber to push the piston to generate linear displacement, and obtains a displacement amount, which is proportional to the electromagnetic traction force, i.e. displacement amount = axial electromagnetic traction force x mechanical transmission ratio.

[0084] Step 404: adjusting the deformation damping parameter of the adjustable mechanical buffer device according to the displacement amount, so that the tension fluctuation amplitude converges to a preset fluctuation threshold interval, wherein the adjusted deformation damping parameter remains a constant value within the current action time of the current; In this step, the adjustable mechanical buffer device refers to a hydraulic damping mechanism installed at the anchoring end of the load-bearing cable, which absorbs vibration energy through deformation. The deformation damping parameter refers to the hydraulic damping coefficient (unit: Newton·second / meter) of the buffer device, which determines the energy absorption efficiency. The tension fluctuation amplitude refers to the absolute value of the deviation of the real-time value of the tension of the load-bearing cable from the reference value. The preset fluctuation threshold interval refers to the tension fluctuation range allowed by the material safety (such as ±10% of the reference value), which is determined based on the fatigue strength test.

[0085] In the embodiment of the present application, the opening degree of the throttle valve of the hydraulic damping chamber is adjusted according to the displacement amount (the opening degree is proportional to the displacement amount), so that the deformation damping parameter is inversely proportional to the displacement amount by changing the flow resistance of the hydraulic oil; the throttle valve position is locked within the current action time, the deformation damping parameter is kept constant, and finally the tension fluctuation range of the bearing cable is suppressed within the preset fluctuation threshold range.

[0086] The embodiment of the present application realizes the precise response of the millisecond-level electric control signal to the mechanical force through the linear conversion of the pulse width and the current intensity, breaks through the control lag problem caused by the delay of the actuator in the background technology, keeps the deformation damping parameter constant within the current action time, ensures the complete coverage of the vibration damping period, and solves the secondary tension fluctuation caused by parameter drift in the traditional method.

[0087] Figure 2 A structural diagram of a multi-sensor fusion bearing cable tension compensation control system is provided for the embodiment of the present application, as shown in Figure 2 The system comprises: An acquisition module 21 is configured to acquire tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during a dynamic vibration process of a bearing cable; A prediction module 22 is configured to predict a target deformation damping range required by an adjustable mechanical buffer device at an anchoring end of the bearing cable based on a change direction of the tension change data; A generation module 23 is configured to generate a pulse width and a pulse interval corresponding to the deformation damping correction amount according to the tension change data, the spatial vibration trajectory data, and the target deformation damping range; An adjustment module 24 is configured to adjust a deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and the pulse interval, so that the tension fluctuation range converges to a preset fluctuation threshold range.

[0088] Figure 2 The multi-sensor fusion bearing cable tension compensation control system can perform Figure 1 The implementation principle and technical effects of the multi-sensor fusion bearing cable tension compensation control method in the embodiment shown in the above are not described again. The specific operation execution manner of each module and unit of the multi-sensor fusion bearing cable tension compensation control system in the above embodiment has been described in detail in the embodiment related to the method, and will not be described in detail here.

[0089] In one possible design, Figure 2 The multi-sensor fusion bearing cable tension compensation control system in the embodiment shown in the above can be implemented as a computing device, as shown in Figure 3 The computing device can comprise a storage component 31 and a processing component 32. The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component 32.

[0090] The processing component 32 is configured to perform the above Figure 1 The embodiment of the application provides a multi-sensor fusion cable tension compensation control method.

[0091] The processing component 32 can include one or more processors to execute computer instructions to complete all or part of the steps in the above method. Of course, the processing component can also be one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic elements for executing the above method.

[0092] The storage component 31 is configured to store various types of data to support the operation of the terminal. The storage component can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0093] Of course, the computing device can also include other components, such as input / output interfaces, display components, communication components, etc.

[0094] The input / output interface provides an interface between the processing component and the peripheral interface module, which can be an output device, an input device, etc.

[0095] The communication component is configured to facilitate wired or wireless communication between the computing device and other devices.

[0096] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform, and the computing device can be a cloud server, and the processing component, the storage component, etc. can be basic server resources rented or purchased from the cloud computing platform.

[0097] The embodiment of the application further provides a computer storage medium, which stores a computer program, and the computer program is executed by a computer to realize the above Figure 1 The embodiment of the application provides a multi-sensor fusion cable tension compensation control method.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0099] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0100] Through the description of the foregoing embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the foregoing technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that: the foregoing embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for a multi-sensor fusion based stay cable tension compensation control, characterized in that, The method comprises the steps of: acquiring tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of a bearing cable; predicting a target deformation damping range required by an adjustable mechanical buffer device at an anchoring end of the bearing cable based on a change direction of the tension change data; generating a pulse width and a pulse interval corresponding to the deformation damping correction amount based on the tension change data, the spatial vibration trajectory data, and the target deformation damping range; adjusting a deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and the pulse interval, so that a tension fluctuation amplitude converges to a preset fluctuation threshold interval.

2. The multi-sensor fusion backstay tension compensation control method according to claim 1, characterized in that, The method for predicting a target deformation damping range required by an adjustable mechanical buffer device at an anchoring end of a bearing cable based on a change direction of tension change data comprises the steps of: accumulating differences between adjacent data points in the tension change data to generate a bearing cable vibration energy evolution curve; identifying a displacement direction of a previous data point relative to a subsequent data point in the vibration energy evolution curve, and taking the displacement direction as a real-time change direction; combining the real-time change direction and historical change directions into a direction state vector, wherein the historical change directions are a set of displacement directions of previous N data points; retrieving a pre-associated physical parameter table according to the direction state vector, and matching a corresponding deformation damping interval classification identifier; determining a target deformation damping range of the adjustable mechanical buffer device according to a physical energy absorption threshold corresponding to the deformation damping interval classification identifier.

3. The multi-sensor fusion backstay tension compensation control method according to claim 2, characterized in that, The method for retrieving a pre-associated physical parameter table according to the direction state vector and matching a corresponding deformation damping interval classification identifier comprises the steps of: decomposing the direction state vector into a real-time change direction component and a historical change direction set component; identifying a number of direction elements in the historical change direction set component that are the same as the real-time change direction component, and taking the number of direction elements as a direction matching degree; combining the real-time change direction component and the direction matching degree into a two-parameter query index, and retrieving a composite index column of the pre-associated physical parameter table according to the two-parameter query index to locate a target data row; extracting a corresponding deformation damping interval classification identifier from the target data row.

4. The multi-sensor fusion backstay tension compensation control method of claim 1, wherein, The method for generating a pulse width and a pulse interval corresponding to the deformation damping correction amount based on the tension change data, the spatial vibration trajectory data, and the target deformation damping range comprises the steps of: extracting displacement extreme points of three-dimensional coordinates in the spatial vibration trajectory data to generate an amplitude envelope; synchronously marking the amplitude envelope and the tension change data to generate a basic coupling field structure; loading an upper threshold and a lower threshold of the target deformation damping range to the basic coupling field structure to generate a constraint loading field, and simultaneously calculating a deformation damping correction lower limit value and a deformation damping correction upper limit value; calculating an amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and a tension change rate based on the constraint loading field to calculate an initial deformation damping correction amount; performing boundary truncation processing on the initial deformation damping correction amount to generate a deformation damping correction amount. Retrieve the pulse width and pulse interval corresponding to the deformation damping correction from the pre-stored driving control parameter library.

5. The multi-sensor fusion backstay tension compensation control method according to claim 4, characterized in that, Synchronize the amplitude envelope with the tension change data to generate a basic coupling field structure, including: Identify the vibration event marker points in the amplitude envelope, which are the spatial and temporal coordinates of the envelope peaks or envelope troughs; According to the physical span of the cable, calculate the time offset of the vibration wave conduction; Locate the tension response values in the tension change data corresponding to the vibration event marker points; Bind the vibration event marker points with the corresponding tension response values with the same timestamp as event response pairs, aggregate all event response pairs, and generate a basic coupling field structure.

6. The multi-sensor fusion backstay tension compensation control method of claim 4, wherein, Based on the constraint loading field, calculate the amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and the tension change rate, and calculate the initial deformation damping correction, including: Based on the constraint loading field, calculate the amplitude envelope slope, and decompose the amplitude envelope slope into three mutually perpendicular component values, with the maximum component value as the dominant vibration direction component; Calculate the average change amplitude of the tension change data within a preset time window, and take the average change amplitude as the tension change rate; Multiply the dominant vibration direction component and the tension change rate to obtain the dynamic coupling strength factor; When the dynamic coupling strength factor is less than the deformation damping correction lower limit value, take the deformation damping correction lower limit value as the initial deformation damping correction; when the dynamic coupling strength factor is greater than the deformation damping correction upper limit value, take the deformation damping correction upper limit value as the initial deformation damping correction; when the dynamic coupling strength factor is between the deformation damping correction lower limit value and the deformation damping correction upper limit value, calculate the initial deformation damping correction according to the linear proportionality coefficient in the constraint loading field.

7. The multi-sensor fusion's load cable tension compensation control method according to claim 1, characterized in that, According to the pulse width and pulse interval, adjust the deformation damping parameters of the adjustable mechanical buffer device to make the tension fluctuation amplitude converge in the preset fluctuation threshold interval, including: Linearly convert the pulse width to generate an excitation current intensity positively related to the pulse width, while taking the pulse interval as the current action time; Drive the excitation coil of the electro-mechanical converter to load the excitation current intensity to obtain an axial electromagnetic traction force corresponding to the excitation current intensity; According to the axial electromagnetic traction force, adjust the position of the piston using the deformation execution unit to obtain a displacement amount; Adjust the deformation damping parameters of the adjustable mechanical buffer device according to the displacement amount to make the tension fluctuation amplitude converge in the preset fluctuation threshold interval, wherein the adjusted deformation damping parameters remain constant within the current action time.

8. A multi-sensor fusion stayed-cable tension compensation control system, characterized by, Including: An acquisition module for acquiring tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of a cable; A prediction module for predicting the target deformation damping range required by an adjustable mechanical buffer device at the cable anchoring end based on the change direction of the tension change data; The generating module is configured to generate pulse width and pulse interval corresponding to the shape deformation damping correction amount according to the tension change data, the spatial vibration trajectory data, and the target shape deformation damping range; The adjusting module is configured to adjust the shape deformation damping parameter of the adjustable mechanical buffer device according to the pulse width and pulse interval, so that the tension fluctuation amplitude converges to a preset fluctuation threshold interval.

9. A computing device, comprising: The storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component, and realize the multi-sensor fusion load cable tension compensation control method in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer program is stored in the computer, and when the computer program is executed by the computer, the multi-sensor fusion load cable tension compensation control method in any one of claims 1-7 is realized.

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