Multi-sensor fusion method, system and device for tension compensation control of a bearing cable

Abstract

The present application relates to the technical field of railway engineering, and provides a load cable tension compensation control method and system based on multi-sensor fusion, which solves the problems of unstable control effect, insufficient system robustness and adaptability. The method comprises the following steps: obtaining the tension change detected by a strain sensor and the spatial vibration trajectory detected by an acceleration sensor during the dynamic vibration process of the load cable; predicting the target deformation damping range required by the adjustable mechanical buffer device at the anchoring end of the load cable; generating the pulse width and pulse interval corresponding to the deformation damping correction amount according to the tension change, the spatial vibration trajectory and the target deformation damping range; and adjusting the deformation damping parameters 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. The present application realizes accurate perception and adaptive compensation of the load cable tension fluctuation, and improves the response speed, stability and environmental adaptability of the control system.

Description

TECHNICAL FIELD

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

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

[0003] Current research has proposed a tension active control method based on single sensor feedback. This scheme acquires real-time force-bearing cable tension data by installing high-precision strain sensors, and generates corresponding control signals by combining proportional-integral-derivative control algorithms, which are used to drive hydraulic or electromagnetic actuators to adjust the local deformation of the anchoring end, thereby achieving the purpose of suppressing tension fluctuations. However, the existing scheme still has obvious limitations. For example, due to the reliance on only a single type of sensor information, it is difficult to fully reflect the complex dynamic behavior characteristics of the force-bearing cable, resulting in unstable control effect in a multi-disturbance coupled 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 phenomena, affecting the robustness and adaptability of the system, etc. SUMMARY

[0004] The present application provides a multi-sensor fusion force-bearing cable tension compensation control method and system to solve the problems of unstable control effect in a multi-disturbance coupled environment, easy tension over-compensation or under-compensation, and insufficient robustness and adaptability of the system in the prior art.

[0005] In a first aspect, the present application provides a multi-sensor fusion force-bearing cable tension compensation control method, comprising:

[0006] Obtaining tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during dynamic vibration of the force-bearing cable;

[0007] Based on the change direction of the tension change data, predicting the target deformation damping range required by the adjustable mechanical buffer device of the anchoring end of the force-bearing cable;

[0008] According to the tension change data, the spatial vibration trajectory data and the target deformation damping range, generating a pulse width and a pulse interval corresponding to the deformation damping correction amount;

[0009] According to the pulse width and the pulse interval, adjusting the deformation damping parameters of the adjustable mechanical buffer device to make the tension fluctuation amplitude converge to a preset fluctuation threshold interval.

[0010] 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 anchor end is predicted, comprising:

[0011] The difference values of adjacent data points in the tension change data are accumulated to generate a cable vibration energy evolution curve;

[0012] 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;

[0013] 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;

[0014] According to the direction state vector, a pre-associated physical parameter table is retrieved, and a corresponding deformation damping interval classification identifier is matched;

[0015] According to the physical energy absorption threshold corresponding to the deformation damping interval classification identifier, a target deformation damping range of the adjustable mechanical buffer device is determined.

[0016] 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:

[0017] The direction state vector is decomposed into a real-time change direction component and a historical change direction set component;

[0018] 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;

[0019] 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;

[0020] A corresponding deformation damping interval classification identifier is extracted from the target data row.

[0021] 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:

[0022] The displacement extreme points of the three-dimensional coordinates in the spatial vibration trajectory data are extracted to generate an amplitude envelope;

[0023] The amplitude envelope and the tension change data are synchronously marked to generate a basic coupling field structure;

[0024] loading the upper threshold value and the lower threshold value 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;

[0025] based on the constraint loading field, calculating an amplitude envelope line slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and a tension change rate, and calculating an initial deformation damping correction amount;

[0026] performing boundary truncation processing on the initial deformation damping correction amount to generate a deformation damping correction amount;

[0027] retrieving the pulse width and pulse interval corresponding to the deformation damping correction amount from a pre-stored driving control parameter library.

[0028] Optionally, the amplitude envelope line and the tension change data are synchronously marked to generate a basic coupling field structure, including:

[0029] identifying vibration event marker points in the amplitude envelope line, the vibration event marker points being the time-space coordinates of envelope line peaks or envelope line troughs;

[0030] According to the physical span of the bearing cable, the time offset of the vibration wave conduction is calculated;

[0031] Positioning the tension response value corresponding to the vibration event marker point in the tension change data;

[0032] Bind the vibration event marker point and the corresponding tension response value with the same timestamp as an event response pair, aggregate all event response pairs to generate a basic coupling field structure.

[0033] Optionally, based on the constraint loading field, the amplitude envelope line 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, including:

[0034] Based on the constraint loading field, the amplitude envelope line slope is calculated, and the amplitude envelope line slope is decomposed into three component values in mutually perpendicular directions, and the maximum component value is taken as the dominant vibration direction component;

[0035] Calculate the average change amplitude of the tension change data in a preset time window, and take the average change amplitude as the tension change rate;

[0036] The dominant vibration direction component is multiplied by the tension change rate to obtain a dynamic coupling strength factor;

[0037] 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 an 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 an 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, an initial deformation damping correction amount is calculated according to a linear proportionality coefficient in the constraint loading field.

[0038] Optionally, according to the pulse width and the pulse interval, the deformation damping parameter of the adjustable mechanical buffer device is adjusted to make the tension fluctuation amplitude converge in a preset fluctuation threshold interval, including:

[0039] The pulse width is linearly converted to generate an excitation current intensity positively related to the pulse width, and the pulse interval is taken as a current action time length;

[0040] The excitation coil of the electro-mechanical transducer is loaded with the excitation current intensity to obtain an axial electromagnetic traction force corresponding to the excitation current intensity;

[0041] According to the axial electromagnetic traction force, the position of the piston is adjusted by a deformation execution unit to obtain a displacement amount;

[0042] According to the displacement amount, the deformation damping parameter of the adjustable mechanical buffer device is adjusted to make the tension fluctuation amplitude converge in a preset fluctuation threshold interval, and the adjusted deformation damping parameter remains a constant value within the current action time length.

[0043] In a second aspect, the present application provides a multi-sensor fusion cable tension compensation control system, including:

[0044] 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;

[0045] 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;

[0046] A generation module is configured to generate 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;

[0047] An adjustment module is configured to adjust the 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 in a preset fluctuation threshold interval.

[0048] 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 the multi-sensor fusion cable tension compensation control method as described in the first aspect above.

[0049] In a fourth aspect, the present application provides a computer storage medium, which stores a computer program; when the computer program is executed by a computer, a multi-sensor fusion cable tension compensation control method as described in the first aspect is implemented.

[0050] The beneficial effects of the present application are as follows:

[0051] 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 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 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; 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 a preset fluctuation threshold interval. The technical scheme provided by the present application breaks through the limitation of single sensor monitoring, fully captures the spatial vibration-tension coupling characteristics of the 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 electrical and mechanical energy, the 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 the 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, breaking through the one-sidedness limitation of single sensor data; based on the dynamic coupling factor and the boundary truncation mechanism, the deformation damping correction amount adaptive to vibration intensity is generated, completely eliminating the over-compensation / under-compensation defects of the fixed parameter strategy, and improving the robustness of the system under wind load-train coupling disturbance.

[0052] These aspects or other aspects of the present application will be made clearer in the following description of embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of embodiments or prior art. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0054] Figure 1 A flow chart of a multi-sensor fusion bearing cable tension compensation control method provided by the present application is shown;

[0055] Figure 2 A structural schematic diagram of a multi-sensor fusion bearing cable tension compensation control system provided by the present application is shown;

[0056] Figure 3 A structural schematic diagram of a computing device provided by the present application is shown. DETAILED DESCRIPTION

[0057] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0058] In some of the descriptions in the specification and claims of the present 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 appearing in this text. 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 sequence, nor do "first" and "second" represent different types.

[0059] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0060] In view of the problems of unstable control effect, easy over-compensation or under-compensation of the existing tension active control method based on single sensor feedback and fixed parameter control strategy in a complex disturbance environment, the present application realizes comprehensive perception of the dynamic behavior of the bearing cable by synchronously collecting tension change data detected by a strain sensor and spatial vibration trajectory information obtained by an acceleration sensor; on this basis, the target deformation damping range required by an 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 dynamic adjustment of the deformation damping parameters of the buffer device is performed based on this, so that tension fluctuation is suppressed. Figure 1 A flowchart of a multi-sensor fusion bearing cable tension compensation control method is provided for the embodiment of the present application, as shown in Figure 1 The method comprises the following steps.

[0061] Step 101: obtaining tension change data detected by a strain sensor and spatial vibration trajectory data detected by an acceleration sensor during the dynamic vibration process of the bearing cable.

[0062] 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 to output change data reflecting the size of the tension. 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 with 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 spatial vibration acceleration and integrate to generate 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.

[0063] In the embodiment of the present application, the strain sensor installed on the bearing cable collects 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 spatial vibration trajectory data, which records the displacement trajectory of the bearing cable in three-dimensional space; the two types of data are synchronously transmitted to the processing unit to form a multi-source vibration monitoring basis.

[0064] 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.

[0065] In the embodiment of the present application, the continuous change direction (upward / downward trend) of the tension change data is analyzed, the real-time change direction is identified based on the vibration energy evolution curve (adjacent data point change amount accumulation generation), the direction state vector is constructed in combination with the displacement direction set of the previous N data points, the corresponding deformation damping interval classification identifier is matched by querying the pre-associated physical parameter table according to the direction state vector, and 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.

[0066] 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;

[0067] In the embodiment of the present application, the amplitude envelope line is generated by extracting the displacement extreme point 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; the initial deformation damping correction amount is 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 deformation damping correction amount is obtained after boundary truncation processing; and finally the corresponding pulse width and pulse interval are retrieved from the pre-stored driving control parameter library.

[0068] 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 in the preset fluctuation threshold interval;

[0069] 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 shaft 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, and finally the tension fluctuation amplitude of the load cable is suppressed in the preset fluctuation threshold interval (i.e. the material safety deformation range).

[0070] The embodiment of the application comprehensively captures the vibration-tension coupling characteristics under multi-source disturbances such as wind load and train passing by fusing the tension change data of the strain sensor and the spatial vibration trajectory data of the acceleration sensor, solves the control misalignment problem caused by the missing data dimension of the traditional method, realizes the real-time damping adjustment adaptive to the vibration intensity based on the target deformation damping range of the dynamic prediction and the pulse parameters generated by the time-space coupling field, and avoids the overcompensation / undercompensation risk of the fixed parameter strategy; the deformation damping parameters are controlled through the accurate electrical-mechanical conversion, the tension fluctuation is strictly converged in 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.

[0071] The application provides one 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 comprising the following steps:

[0072] Step 201: accumulating the difference values of adjacent data points in the tension change data to generate a bearing cable vibration energy evolution curve;

[0073] 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.

[0074] In the embodiment of the application, the difference value calculation of adjacent data points is performed on the tension change data, that is, the difference value of adjacent data points = the tension value of the next data point - the tension value of the previous data point, and the obtained difference value is algebraically accumulated, specifically, the positive difference value is accumulated as the rising energy, and the negative difference value is accumulated as the falling energy, to generate the bearing cable vibration energy evolution curve.

[0075] 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;

[0076] In this step, the real-time change direction refers to the increase / decrease state of the energy in the latest time segment in the vibration energy evolution curve, the rising direction represents energy accumulation, and the falling direction represents energy release.

[0077] In the embodiment of the application, the vibration energy evolution curve is scanned, the ordinate values of adjacent data points in the curve are compared, for example, the ordinate value of point A - the ordinate value of point B, 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.

[0078] Step 203: combine the real-time change direction with the historical change direction into a direction state vector, wherein the historical change direction is a displacement direction set of the previous N data points;

[0079] In this step, the historical change direction refers to a direction marker set of the vibration energy evolution curve at the previous N sampling time, 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.

[0080] In the embodiment of the application, the historical change direction of the previous N data points is extracted, N = contact net 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].

[0081] Step 204: according to the direction state vector, retrieve the pre-associated physical parameter table, and match the corresponding deformation damping interval classification identifier;

[0082] In this step, the deformation damping interval classification identifier refers to an alphanumeric code defined in the pre-associated physical parameter table, used to identify the damping control interval corresponding to different vibration modes.

[0083] In the embodiment of the 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 the direction matching degree; the real-time change direction component and the direction matching degree are combined into a two-parameter query index, and the target data row is located according to the query index to retrieve the composite index column of the pre-associated physical parameter table; the corresponding deformation damping interval classification identifier is extracted from the target data row, such as D3 representing the medium frequency damping interval.

[0084] Step 205: according to the physical energy absorption threshold corresponding to the deformation damping interval classification identifier, determine the target deformation damping range of the adjustable mechanical buffer device;

[0085] In this step, the physical energy absorption threshold refers to the mechanical energy value range that the buffer device can safely absorb under a specific vibration mode, which is obtained based on material fatigue tests and deformation-energy conversion formulas. The target deformation damping range refers to the physical deformation interval that the adjustable mechanical buffer device needs to reach, used to match the absorption demand of the current vibration energy.

[0086] In the embodiment of the present application, the corresponding physical energy absorption threshold is called according to the deformation damping interval classification mark, such as D3 mark associated threshold [200J, 500J]; the threshold is converted into the 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, so as to obtain the target deformation damping range (such as [5mm, 12mm]).

[0087] The embodiment of the present application realizes adaptive damping prediction based on vibration trend by real-time capturing the energy migration direction through the vibration energy evolution curve and constructing the direction state vector combined with the historical direction set, completely solves the mismatch problem of the traditional fixed parameter strategy under the wind load-train coupling disturbance; the vibration state is mapped to the damping interval mark by using the pre-associated physical parameter table, the deformation damping range is accurately calculated through the physical energy absorption threshold, the response strength of the adjustable mechanical buffer device is strictly matched with the vibration energy, and the tension fluctuation amplification hidden danger caused by overcompensation / undercompensation is eliminated.

[0088] The present application provides a specific embodiment, step 204, according to the direction state vector, retrieve the pre-associated physical parameter table, match the corresponding deformation damping interval classification mark, specifically including the following steps:

[0089] Step 211: decompose the direction state vector into a real-time change direction component and a historical change direction set component;

[0090] In this step, the real-time change direction component refers to the element in the direction state vector representing the vibration energy flow direction at the current sampling time, and the value is rising or falling. The historical change direction set component refers to the array storing the direction elements of the previous N consecutive historical sampling time in the direction state vector, reflecting the historical trajectory of the vibration energy migration.

[0091] In the embodiment of the present application, the direction state vector is split into two independent parts: the real-time change direction component (a single element representing the latest vibration direction) and the historical change direction set component, which are physically separated by memory address offset operation.

[0092] Step 212: identify the number of the same direction elements in the historical change direction set component as the real-time change direction component, and take the number of the direction elements as the direction matching degree;

[0093] In this step, the number of direction elements refers to the number of elements in the historical change direction set component which is the same as the real-time change direction component, which is an integer type intermediate variable. The direction matching degree refers to the final naming of the number of direction elements, which represents the consistency degree of the historical vibration direction and the current direction.

[0094] 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 direction element number, which is the direction matching degree. For example, the historical change direction set component [rise, rise, fall] is compared with the real-time change direction component [rise], and the matching degree = 2.

[0095] 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;

[0096] 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 overhead contact system 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 rising direction and the matching degree is 4 to 6). The target data row refers to a database row whose composite index column value is completely matched with the two-parameter query index.

[0097] In the embodiment of the present application, the real-time change direction component (its binary code is: 0=fall, 1=rise) 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.

[0098] Step 214: extracting the corresponding deformation damping interval classification identifier from the target data row;

[0099] In this step, the deformation damping interval classification identifier refers to an 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.

[0100] In the embodiment of the present application, the corresponding deformation damping interval classification identifier, such as D3 identifier, is read from the specified column of the target data row.

[0101] The embodiment of the application breaks through the recognition blind area of the traditional single parameter query under the composite disturbance by accurately matching the specific vibration mode of the catenary in the composite index column through the real-time direction and the historical matching degree double parameter index mechanism; the vibration energy migration continuity is quantified based on the direction matching, the dynamic adaptation of the damping interval and the vibration trend is realized (such as the high matching degree corresponding to the train continuous impact mode, and the low matching degree corresponding to the wind load random disturbance mode), and the overcompensation risk of the fixed damping parameter is avoided; the query efficiency is improved through the composite index column design of the pre-associated physical parameter table, so that the damping control decision is completed within a millisecond time window, and the high dynamic response demand of the high-speed railway is met.

[0102] The embodiment of the application provides a step 103 of 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, and specifically includes the following steps:

[0103] Step 301: Extracting the displacement extreme points of the three-dimensional coordinates in the spatial vibration trajectory data to generate amplitude envelope lines;

[0104] In this step, the displacement extreme points of the three-dimensional coordinates refer to the local maximum points (peaks) and minimum points (valleys) of the displacement amount in each coordinate axis direction in the spatial trajectory data output by the acceleration sensor, which reflect the extreme value distribution of the vibration energy in the three-dimensional space. The amplitude envelope line refers to a time sequence curve connecting the extreme points of the same coordinate axis, which describes the change boundary of the vibration intensity in this direction, such as the X-axis envelope line reflecting the transverse vibration intensity range.

[0105] In the embodiment of the application, the three-dimensional coordinates of the spatial vibration trajectory data are scanned, the local maximum and minimum points (i.e. peaks and valleys) of the displacement absolute value on each coordinate axis are identified, adjacent extreme points are connected in time sequence to generate three axial amplitude envelope lines (X / Y / Z-axis envelope lines) to comprehensively represent the spatial vibration intensity boundary of the catenary cable.

[0106] Step 302: Synchronously marking the amplitude envelope line and the tension change data to generate a basic coupling field structure;

[0107] In this step, the basic coupling field structure refers to a data set bound by the vibration event marking points (amplitude envelope line extreme points) and the tension response value in the space-time relationship, and the storage format is [time stamp, spatial coordinates, tension value].

[0108] In the embodiment of the present application, the vibration event marker points in the amplitude envelope are identified; the time offset of 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.

[0109] 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;

[0110] 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.

[0111] 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.

[0112] 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;

[0113] 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 the 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 the 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 the linear proportional coefficient (dynamic coupling strength factor x linear proportional coefficient).

[0114] Step 305: performing boundary truncation processing on the initial deformation damping correction amount to generate a deformation damping correction amount;

[0115] 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 needs to be adjusted by the buffer device.

[0116] In the embodiment of the present application, the initial deformation damping correction amount is subjected to boundary truncation processing, specifically: if it is less than the deformation damping correction lower limit value, the lower limit value is taken as the deformation damping correction amount, if it is greater than the deformation damping correction upper limit value, the upper limit value is taken as the deformation damping correction amount, otherwise the initial deformation damping correction amount is directly taken as the deformation damping correction amount.

[0117] Step 306: retrieving the pulse width and pulse interval corresponding to the deformation damping correction amount from the pre-stored driving control parameter library;

[0118] In this step, the driving control parameter library refers to a database storing the mapping relationship between the deformation damping correction amount and the electric pulse parameter, which is constructed based on the mechanical and electrical calibration experiment of the buffer device. The pulse width refers to the high level duration 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 vibration energy change frequency.

[0119] In the embodiment of the present 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.

[0120] The embodiment of the application constructs a basic coupling field structure, realizes accurate correlation of 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 the fixed parameter strategy in the wind load-train coupling scene, converts the physical correction amount into an electric control instruction, ensures that the tension fluctuation of the bearing cable is quickly converged within the material fatigue threshold, and blocks the structure fracture chain from the root.

[0121] The application provides an embodiment, step 302, synchronously marking the amplitude envelope and the tension change data to generate a basic coupling field structure, and specifically comprises the following steps:

[0122] Step 311: identifying vibration event marker points in the amplitude envelope, the vibration event marker points being time-space coordinates of envelope line peaks or envelope line troughs;

[0123] In this step, the vibration event marker points refer to time-space recording points of energy extreme value positions on the amplitude envelope, including peaks and troughs. The envelope line peak refers to a local displacement maximum value point in the amplitude envelope, reflecting the peak time and position of vibration energy release. The envelope line trough refers to a local displacement minimum value point in the amplitude envelope, reflecting the trough time and position of vibration energy absorption. The time-space coordinates refer to a data structure containing a time stamp (millisecond level accuracy) and three-dimensional space coordinates (X / Y / Z axis displacement).

[0124] In the embodiment of the application, the amplitude envelope (X / Y / Z three-axis curve) is scanned, the local maximum value points (i.e. envelope line peaks) and minimum value points (i.e. envelope line troughs) of the envelope lines of each coordinate axis are detected, time-space coordinates (including time stamp+XYZ space coordinates) are assigned to each extreme value point, and a vibration event marker point set is generated.

[0125] Step 312: calculating a time offset of vibration wave conduction according to the physical span of the bearing cable;

[0126] In this step, the physical span refers to the actual length of the bearing cable between adjacent catenary supports, and the unit is 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.

[0127] In the embodiment of the application, the physical span measured value (such as 50 meters) of the bearing cable is obtained; a pre-stored wave speed-span mapping table is queried, for example: 50-meter span corresponds to wave conduction speed 300 m / s; and the formula: time offset=physical span / wave conduction speed is used, for example, 50 / 300≈0.167 seconds.

[0128] Step 313: locating the tension response value corresponding to the vibration event marker point in the tension change data;

[0129] 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.

[0130] In the embodiment of the present application, a time offset is added to the timestamp of each vibration event marker point to obtain the timestamp of the tension response value; the tension value corresponding to the timestamp in the time sequence of the tension change data is located as the tension response value.

[0131] Step 314: binding the vibration event marker point with the same timestamp and the corresponding tension response value as an event response pair, aggregating all event response pairs to generate a basic coupling field structure;

[0132] In this step, the event response pair refers to a binding unit composed of a vibration event marker point and a tension response value, which reflects the causal relationship between vibration energy and tension response. The basic coupling field structure refers to a spatio-temporal-mechanical mapping set that stores all event response pairs.

[0133] In the embodiment of the present application, first, the vibration event marker point timestamp is kept consistent with the tension response value timestamp through vibration wave conduction time offset compensation, and then the corresponding spatio-temporal coordinates (including X / Y / Z axis displacement and timestamp) and tension value are associated to form a single event response pair, for example, an event response pair {timestamp: 100ms, spatial coordinates: (5mm, 3mm, -2mm), tension response value: 150N}. 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 multi-dimensional array, each array element contains the spatio-temporal coordinates of the vibration event and the corresponding tension response value, thereby constructing a complete spatio-temporal-mechanical mapping relationship set, realizing the precise coupling of vibration energy distribution and tension response trajectory.

[0134] The embodiment of the present application calculates the vibration wave conduction time offset through physical span, realizes the precise spatio-temporal alignment of vibration events and tension responses, and solves the data fragmentation problem caused by wave conduction delay in the background technology; generates a basic coupling field structure based on event response pairs, establishes a deterministic correlation between wind load / train disturbance and tension fluctuation, and avoids misjudgment of single sensor data under complex disturbance.

[0135] The present application provides a specific embodiment, 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, calculating the initial deformation damping correction amount, specifically including the following steps:

[0136] Step 321: based on the constraint loading field, the amplitude envelope slope is calculated, and the amplitude envelope slope is decomposed into three mutually perpendicular directional component values, and the maximum component value is taken as the dominant vibration direction component;

[0137] In this step, the component value in the mutually perpendicular direction refers to the projection value of the amplitude envelope slope on the X / Y / Z axis of the Cartesian coordinate system, reflecting the axial vibration intensity change rate. The maximum component value refers to the absolute value of the largest value in the three axial component values, indicating the main direction of energy transmission. The dominant vibration direction component refers to the axial vibration intensity change rate corresponding to the maximum component value, which is used to characterize the core disturbance source (such as the X-axis corresponding to the lateral disturbance of strong wind).

[0138] In the embodiment of the 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.

[0139] 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;

[0140] In this step, the average change amplitude refers to the average intensity of tension fluctuation per unit time.

[0141] In the embodiment of the application, the time window is set (window length = cable span ÷ (4 × wave conduction 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, that is, ∑|the tension value of the i+1th point - the tension value of the ith point| / window length, and the average change amplitude is taken as the tension change rate.

[0142] Step 323: multiply the dominant vibration direction component and the tension change rate to obtain the dynamic coupling strength factor;

[0143] In this step, the dynamic coupling strength factor refers to the product of the spatial vibration energy gradient and the time dimension tension change intensity, which quantifies the coupling energy density of disturbance-response.

[0144] In the embodiment of the application, the dominant vibration direction component (unit: mm / s) and the tension change rate (unit: kN / s) are subjected to scalar multiplication operation to obtain the dynamic coupling strength factor (unit: mm·kN / s²).

[0145] 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;

[0146] 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.

[0147] In the embodiment of the application, the dynamic coupling strength factor is compared with the deformation damping correction lower limit value / upper limit value: if the factor is less than the deformation damping correction lower limit value, the deformation damping correction lower limit value is taken as the initial correction amount; if the factor is greater than 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, that is, the initial correction amount = factor x dynamic coupling strength linear proportionality coefficient.

[0148] The embodiment of the application breaks through the direction confusion defect of the traditional method under complex 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); and realizes accurate matching of vibration energy-damping strength based on the boundary adaptive mechanism of the dynamic coupling strength factor, and avoids the overcompensation / undercompensation risk caused by parameter solidification in the background technology.

[0149] The application provides a specific embodiment, step 104, adjusting the deformation damping parameters 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, specifically including the following steps:

[0150] Step 401: linearly converting the pulse width to generate an excitation current intensity positively correlated with the pulse width, and taking the pulse interval as a current action time length;

[0151] 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 (milliseconds) x conversion coefficient (ampere / millisecond), which determines the electromagnetic force. The current action time length refers to the continuous power-on time of the excitation current, and the value is equal to the pulse interval time, which controls the maintenance period of mechanical action.

[0152] In the embodiment of the present application, the constant current conversion circuit performs linear conversion on the pulse width, calculates 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.

[0153] Step 402: load the excitation current intensity to the excitation coil of the electro-mechanical converter to obtain an axial electromagnetic traction force corresponding to the excitation current intensity;

[0154] 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 electric energy into mechanical force, which includes an excitation coil, a core and a magnetic circuit structure.

[0155] In the embodiment of the present application, when the excitation coil of the electro-mechanical 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 core, based on the Ampere loop law, the current generates a ring-shaped 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 a core and an air gap, and the magnetic field forms a closed loop through the core to generate an axial electromagnetic traction force at the gap between the electromagnet cores. The size of the traction force follows: axial electromagnetic traction force=excitation current intensity x number of turns of excitation coil x magnetic circuit permeability, wherein the magnetic permeability reflects the magnetic conductivity of the magnetic circuit material (such as the core and the air gap). Since the number of turns of the excitation coil and the magnetic circuit permeability are fixed in the design of the device, the axial electromagnetic traction force is linearly and positively related to the excitation current intensity. The greater the current intensity, the stronger the magnetic field attraction at the core gap, thereby providing a mechanical force basis for driving the piston to produce displacement along the movement axis direction.

[0156] Step 403: adjust the position of the piston by using the deformation execution unit according to the axial electromagnetic traction force to obtain a displacement amount;

[0157] 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 its displacement changes the volume of the damping chamber. The displacement amount refers to the linear distance (unit: millimeter) of the piston moving from the initial position, which directly determines the damping parameter.

[0158] 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 produce linear displacement, to obtain the displacement amount, which is directly proportional to the electromagnetic traction force, i.e. displacement amount=axial electromagnetic traction force x mechanical transmission ratio.

[0159] 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 duration of the electric current;

[0160] In this step, the adjustable mechanical buffer device refers to a hydraulic damping mechanism installed at the anchoring end of the 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 bearing cable tension 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 fatigue strength test.

[0161] In the embodiment of the present application, the throttle valve opening of the hydraulic damping chamber is adjusted according to the displacement amount (opening ∝ displacement amount), so that the deformation damping parameter changes inversely with the displacement amount by changing the flow resistance of the hydraulic oil; the throttle valve position is locked within the current duration of the electric current, the deformation damping parameter remains constant, and finally the bearing cable tension fluctuation amplitude is suppressed within the preset fluctuation threshold interval.

[0162] The embodiment of the present application realizes precise response of millisecond-level electric control signal to mechanical force through linear conversion of pulse width and current intensity, breaking through the control lag problem caused by the delay of actuator in the background technology; the deformation damping parameter remains constant within the current duration of the electric current, ensuring complete coverage of the vibration damping period, and solving the tension secondary fluctuation caused by parameter drift in traditional methods.

[0163] Figure 2 A structural diagram of a bearing cable tension compensation control system with multi-sensor fusion is provided for the embodiment of the present application, as shown in Figure 2 The system comprises:

[0164] The 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 dynamic vibration of the bearing cable;

[0165] The prediction module 22 is configured to predict a 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;

[0166] The generation module 23 is configured to generate 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;

[0167] The adjustment module 24 is configured to adjust 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 a preset fluctuation threshold interval.

[0168] Figure 2 The multi-sensor fusion cable tension compensation control system can perform Figure 1 The multi-sensor fusion cable tension compensation control method of the embodiment has the same implementation principles and technical effects as the multi-sensor fusion cable tension compensation control system. The specific operation modes of each module and unit of the multi-sensor fusion cable tension compensation control system in the above embodiment have been described in detail in the embodiment of the method, and will not be described in detail here.

[0169] In one possible design, Figure 2 The multi-sensor fusion cable tension compensation control system of the embodiment can be implemented as a computing device, such as a computer. Figure 3 As shown in the figure, the computing device can include a storage component 31 and a processing component 32.

[0170] 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.

[0171] The processing component 32 is configured to perform the above Figure 1 The multi-sensor fusion cable tension compensation control method of the embodiment.

[0172] 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 (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, for executing the above method.

[0173] The storage component 31 is configured to store various types of data to support the operation of the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, 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.

[0174] Of course, the computing device can also include other components, such as an input / output interface, a display component, a communication component, etc.

[0175] 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.

[0176] The communication component is configured to facilitate wired or wireless communication between the computing device and other devices.

[0177] 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, and the like can be basic server resources rented or purchased from the cloud computing platform.

[0178] The embodiment of the present application also provides a computer storage medium storing a computer program, and the computer program can realize the above-mentioned Figure 1 The embodiment of the present application also provides a computer storage medium storing a computer program, and the computer program can realize the above-mentioned

[0179] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned system, device and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0180] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they 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.

[0181] 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 above 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, and the like, and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0182] Finally, it should be noted that: the above 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 to some 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 following steps: 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 a 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; 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, which comprises the following steps: 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 displacement direction set of the 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; generating a pulse width and a pulse interval corresponding to a deformation damping correction amount based on the tension change data, the spatial vibration trajectory data, and the target deformation damping range, which comprises the following steps: extracting displacement extreme points of three-dimensional coordinates in the spatial vibration trajectory data to generate an amplitude envelope; synchronizing 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; retrieving a pulse width and a pulse interval corresponding to the deformation damping correction amount from a pre-stored driving control parameter library.

2. The multi-sensor fusion backstay tension compensation control method according to claim 1, characterized in that, retrieving a pre-associated physical parameter table according to the direction state vector, and matching a corresponding deformation damping interval classification identifier, which comprises the following steps: 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; Combine the real-time change direction component and the direction matching degree into a two-parameter query index, and retrieve a composite index column of a pre-associated physical parameter table according to the two-parameter query index to locate a target data row; Extract a corresponding deformation damping interval classification identifier from the target data row.

3. The multi-sensor fusion backstay tension compensation control method of claim 1, wherein, Synchronize the amplitude envelope line with the tension change data to generate a basic coupling field structure, including: Identify vibration event marker points in the amplitude envelope line, which are the time-space coordinates of envelope line peaks or envelope line troughs; According to the physical span of the bearing cable, calculate the time offset of the vibration wave conduction; Locate the tension response value corresponding to the vibration event marker point in the tension change data; Bind the vibration event marker point and the corresponding tension response value with the same timestamp as an event response pair, aggregate all event response pairs, and generate a basic coupling field structure.

4. The multi-sensor fusion backstay tension compensation control method of claim 1, wherein, Based on the constraint loading field, calculate the amplitude envelope line slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value, and the tension change rate to calculate the initial deformation damping correction amount, including: Based on the constraint loading field, calculate the amplitude envelope line slope, and decompose the amplitude envelope line slope into three mutually perpendicular direction 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 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; and 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.

5. 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 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; 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 a 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 a preset fluctuation threshold interval, wherein the adjusted deformation damping parameters remain constant within the current action time.

6. A multi-sensor fusion stayed-cable tension compensation control system, characterized by, Including: 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 bearing cable; The prediction module is configured to predict a target deformation damping range required by the adjustable mechanical buffer device of the cable anchor end based on a change direction of the tension change data. The generation module is configured to generate a pulse width and a pulse interval corresponding to a deformation damping correction amount according to the tension change data, the spatial vibration trajectory data and the target deformation damping range. The 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, so that a tension fluctuation amplitude converges to a preset fluctuation threshold interval. The prediction of the target deformation damping range required by the adjustable mechanical buffer device of the cable anchor end based on the change direction of the tension change data comprises: The difference values of adjacent data points in the tension change data are accumulated to generate a cable vibration energy evolution curve. A displacement direction of a previous data point relative to a next data point in the vibration energy evolution curve is identified as a real-time change direction. The real-time change direction and a historical change direction are combined as a direction state vector, wherein the historical change direction is a displacement direction set of 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 a physical energy absorption threshold corresponding to the deformation damping interval classification identifier, a target deformation damping range of the adjustable mechanical buffer device is determined. The generation of a pulse width and a pulse interval corresponding to a deformation damping correction amount according to the tension change data, the spatial vibration trajectory data and the target deformation damping range comprises: Displacement extreme points of 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. Upper and lower threshold values 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, an amplitude envelope slope, the deformation damping correction lower limit value, the deformation damping correction upper limit value and a tension change rate are calculated to calculate an initial deformation damping correction amount. Boundary truncation processing is performed on the initial deformation damping correction amount to generate a deformation damping correction amount. A pulse width and a pulse interval corresponding to the deformation damping correction amount are retrieved from a pre-stored driving control parameter library.

7. A computing device, comprising: The system comprises 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 the multi-sensor fusion cable tension compensation control method according to any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer program is stored in the computer and is executed by the computer to implement the multi-sensor fusion cable tension compensation control method according to any one of claims 1-5.

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