Hydraulic creeping form construction intelligent control system

Abstract

This invention relates to the field of structural vibration control and intelligent construction technology, specifically to an intelligent control system for hydraulic climbing formwork construction. The system includes: an energy input evaluation unit that generates resonant power; a control behavior modeling unit that generates control power; a system stability decision unit that generates net energy flow and compares it with a preset safety threshold to generate an active damping control signal or a conventional synchronization mode signal; a target damping generation unit that generates target damping power based on the net energy flow in response to the active damping control signal; a control command execution unit that generates damping pressure commands; and an adaptive correction unit that generates a relative performance error based on the target damping power and control power, and corrects the local damping coefficient according to the relative performance error. This invention constructs a complete energy closed-loop control system, solving the technical problem that traditional control methods may exacerbate vibration.

Description

Technical Field

[0001] This invention relates to the field of structural vibration control and intelligent construction technology, specifically to an intelligent control system for hydraulic climbing formwork construction. Background Technology

[0002] In the construction of super high-rise buildings, the safety and stability of hydraulic climbing formwork systems are of paramount importance. These large structures are highly susceptible to resonance under complex wind loads, especially the influence of periodic vortex-induced vibrations, posing a serious threat to structural safety and construction accuracy.

[0003] Traditional hydraulic climbing formwork control technology has the following limitations:

[0004] Due to limitations in the control dimension, traditional methods often focus on the precision of displacement control and the synchronization of multi-point attitudes, lacking global monitoring of the system's energy state. They cannot quantify the energy injected into the structure by external wind loads, nor can they assess the behavior of the control system itself. Therefore, when encountering periodic strong winds, their control behavior may inadvertently exacerbate structural vibrations and trigger the risk of instability.

[0005] The limitations of the decision-making mechanism mean that existing technologies lack a comprehensive decision-making basis that can integrate external incentives and internal control behaviors. Switching between control modes often depends on a single threshold such as displacement or acceleration, or requires manual judgment. This results in a lag in the system's response to sudden strong winds, making it impossible to activate the most effective vibration suppression strategy at the appropriate time.

[0006] The limitations of model adaptability: Traditional control models usually use fixed control parameters, which cannot adapt to the drift of system characteristics caused by changes in actual working conditions such as hydraulic oil temperature and seal wear. This causes the control performance to gradually decline in long-term operation, making it difficult to maintain the optimal vibration suppression effect. Summary of the Invention

[0007] To solve the above-mentioned technical problems, the present invention provides an intelligent control system for hydraulic climbing formwork construction. Specifically, the technical solution of the present invention is as follows:

[0008] A hydraulic climbing formwork construction intelligent control system includes:

[0009] The energy input evaluation unit is used to generate resonant power based on the acquired measured acceleration signal;

[0010] The control behavior modeling unit is used to generate control power based on the collected hydraulic system data;

[0011] The system stability decision unit is used to generate a net energy flow based on the resonant power and control power, and compare the net energy flow with a preset safety threshold to generate an active damping control signal or a conventional synchronization mode signal.

[0012] The target damping generation unit is used to generate target damping power based on net energy flow in response to active damping control signals;

[0013] The control command execution unit is used to generate a damping pressure command in response to the active damping control signal, based on the target damping power and the collected real-time motion speed;

[0014] The adaptive correction unit is used to generate a relative performance error based on the target damping power and the control power, and to correct the local damping coefficient based on the relative performance error.

[0015] Preferably, the specific process of the system stability decision unit performing the comparison is as follows:

[0016] When the net energy flow exceeds the safety threshold, an active damping control signal is generated;

[0017] When the net energy flow does not exceed the safety threshold, a normal synchronization mode signal is generated.

[0018] Preferably, the process for generating the resonant power is as follows:

[0019] The collected measured acceleration signals were processed by Fast Fourier Transform to determine the acceleration amplitude at the characteristic resonant frequency.

[0020] Resonant power is generated based on the acceleration amplitude and preset sensor calibration coefficients.

[0021] Preferably, the hydraulic system data includes instantaneous pressure difference and instantaneous flow rate; based on the instantaneous pressure difference and instantaneous flow rate, the product values ​​of all units are summed to generate control power.

[0022] Preferably, the process of generating the net energy flow is as follows:

[0023] The weighted resonant power is obtained based on the resonant power and the preset external excitation weighting coefficients;

[0024] The weighted control power is obtained based on the control power and the preset internal control weight coefficient;

[0025] Net energy flow is generated based on weighted resonant power and weighted control power.

[0026] Preferably, the process for generating the target damping power is as follows:

[0027] The target damping power is generated based on the net energy flow and the preset control gain coefficient.

[0028] The control gain coefficient is a preset value greater than 1.

[0029] Preferably, the process for generating the damping pressure command is as follows:

[0030] Based on the real-time movement speed, local damping coefficient, and preset effective working area of ​​each hydraulic support unit, the total target dissipation power benchmark is calculated.

[0031] The global control gain is obtained based on the target damping power and the total target dissipation power;

[0032] Under the condition that the net energy flow is greater than zero, the damping pressure command is obtained based on the global control gain, the local damping coefficient of the corresponding hydraulic cylinder and the real-time movement speed.

[0033] The damping pressure command is zero when the net energy flow is not greater than zero.

[0034] Preferably, the process for generating the relative performance error is as follows:

[0035] Obtain the target damping power set in the previous control cycle, and obtain the measured control power in the current cycle;

[0036] The power difference is calculated based on the target damping power and the control power;

[0037] The relative performance error is generated based on the power difference and the target damping power.

[0038] Preferably, the correction process for the local damping coefficient is as follows:

[0039] A correction factor is generated based on the relative performance error and the preset learning rate;

[0040] Based on the correction factor and the local damping coefficient of the current cycle, an updated local damping coefficient is obtained for the next control cycle.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. This system constructs a complete energy closed-loop control system. The energy input evaluation unit accurately generates a resonant power representing the energy injection rate of external wind load by performing a fast Fourier transform on the acceleration sensor signal. The control behavior modeling unit calculates the control power characterizing the rate at which the control system performs work on the structure by collecting instantaneous pressure difference and instantaneous flow data of the hydraulic system. The introduction of these two indicators enables the system to have a global grasp of system stability from a higher dimension of power balance. The system stability decision unit weights and sums the two to generate net energy flow. This indicator can comprehensively and singularly assess the risk of system instability and serves as the core decision-making basis to determine whether to maintain the high-precision conventional synchronization mode or switch to the active damping mode. This energy flow-based control strategy can effectively avoid the risk of resonance under periodic wind loads such as vortex-induced vibration, and solves the technical problem that traditional control methods may aggravate vibration.

[0043] 2. This system achieves precise and automated control mode switching. The system stability decision unit compares the calculated net energy flow with a preset safety threshold in real time. When the net energy flow exceeds the threshold, an active damping control signal is immediately generated. The safety threshold is calculated based on the SN fatigue curve of the climbing formwork steel structure, representing the energy injection rate level that causes irreversible fatigue damage to the structure. This design defines a clear safety red line for the system, avoiding the lag and uncertainty of manual judgment, and ensuring that the system can always activate the most targeted control strategy at the most appropriate time, thereby achieving the best balance between ensuring structural safety and maintaining construction accuracy.

[0044] 3. When the system requires active damping control, this scheme can dynamically generate a clear and quantifiable target damping power. The target damping generation unit calculates the target damping power to be achieved based on the current net energy flow. A control gain coefficient greater than 1 is introduced in this calculation to ensure that the target damping power is higher than the current net energy flow. This excess dissipation design ensures that the vibration energy of the system can be absorbed quickly and effectively, thereby enabling the vibration state to converge rapidly and greatly improving the response speed and robustness of the control system in the face of sudden strong winds.

[0045] 4. This system possesses the ability to learn and adapt to environmental changes, ensuring that its control performance remains optimal during long-term operation. The adaptive correction unit calculates the relative performance error between the target damping power set in the previous control cycle and the actual control power achieved in the current cycle, and iteratively corrects the key parameters in the control algorithm, namely the local damping coefficient, based on this error. When the system detects that the actual energy dissipation effect deviates from the target, it can automatically adjust its internal model parameters and compensate in the next control cycle. This continuous self-optimization can effectively overcome the model parameter drift problem caused by factors such as changes in hydraulic oil temperature and seal wear, ensuring that the system's control behavior can always accurately achieve the preset power dissipation target under constantly changing actual working conditions, thereby maintaining optimal vibration suppression performance. Attached Figure Description

[0046] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0047] Figure 1 This is a structural block diagram of the system of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0049] Example 1:

[0050] Please see Figure 1 A hydraulic climbing formwork construction intelligent control system includes:

[0051] The energy input evaluation unit is used to generate resonant power based on the acquired measured acceleration signal;

[0052] The control behavior modeling unit is used to generate control power based on the collected hydraulic system data;

[0053] The system stability decision unit is used to generate a net energy flow based on the resonant power and control power, and compare the net energy flow with a preset safety threshold to generate an active damping control signal or a conventional synchronization mode signal.

[0054] The target damping generation unit is used to generate target damping power based on net energy flow in response to active damping control signals;

[0055] The control command execution unit is used to generate a damping pressure command in response to the active damping control signal, based on the target damping power and the collected real-time motion speed;

[0056] The adaptive correction unit is used to generate a relative performance error based on the target damping power and the control power, and to correct the local damping coefficient based on the relative performance error.

[0057] In this embodiment, the system achieves intelligent and stable control of the hydraulic climbing formwork under complex wind loads through the collaborative work of modular functional units. The system includes the following core units:

[0058] The purpose of the energy input assessment unit is to accurately quantify the rate at which external wind loads, especially the most destructive vortex-induced vibrations, are injected into the climbing formwork structure system. This unit is the starting point of the entire energy control strategy and provides key external input basis for subsequent stability assessment. In this embodiment, the unit collects acceleration sensor signals arranged on key nodes of the climbing formwork structure in real time and processes them through the built-in fast Fourier transform module to generate an index with the dimension of power, namely resonant power.

[0059] The purpose of the control behavior modeling unit is to accurately quantify the rate at which the control system performs work on the structure, that is, to evaluate whether the hydraulic system inputs power to the structure or absorbs energy from the structure when executing control commands. In this embodiment, the unit establishes a physical model of the hydraulic actuator by collecting pressure and flow data inside the hydraulic system in real time, thereby calculating the control power. The introduction of this indicator provides a quantitative basis for revealing the underlying reasons for the possible failure of traditional control technologies and for new control strategies.

[0060] The system stability decision unit aims to integrate external power input and internal control power to form a single decision basis capable of comprehensively assessing the risk of system instability. In this embodiment, the unit performs a weighted summation of the resonant power generated by the energy input evaluation unit and the control power generated by the control behavior modeling unit to generate a net energy flow. The unit compares the calculated net energy flow with a preset safety threshold in real time. Based on the comparison result, the unit outputs a decision signal: when the risk is high, an active damping control signal is generated to activate the energy dissipation strategy; when the system is stable, a conventional synchronization mode signal is generated to execute high-precision attitude synchronization control.

[0061] The purpose of the target damping generation unit is to set a clear and quantifiable global control target for the entire control system when the system decision enters the active power dissipation mode. This unit responds to the active damping control signal generated by the system stability decision unit and calculates a target dissipation power that the system needs to achieve, i.e., the target damping power, based on the current net energy flow. The setting of this target ensures that the rate of energy dissipation is sufficient to suppress the continuous injection of energy and enable the structural vibration to converge quickly.

[0062] The purpose of the control command execution unit is to accurately decompose and transform the macroscopic, global target damping power into specific action commands for each underlying hydraulic actuator. This unit also responds to the active damping control signal. It comprehensively considers the global target damping power and the real-time movement speed of each hydraulic support unit obtained by differentiating the displacement sensor signal, and generates a precise damping pressure command for each hydraulic servo valve.

[0063] The adaptive correction unit aims to endow the system with the ability to learn and adapt to changing environments, ensuring that the control performance remains optimal under long-term operation and variable conditions. In this embodiment, the unit calculates the relative performance error by comparing the target damping power of the previous control cycle with the actual control power achieved in the current cycle. Based on this error, the key parameter in the control algorithm—the local damping coefficient—is iteratively corrected.

[0064] This embodiment constructs a complete energy closed-loop control system through the collaborative work of the aforementioned units. It no longer pursues the precision of displacement control in isolation, but rather takes a global view of system stability from a higher dimension of power balance. By accurately quantifying and actively managing the energy flow of the system, this system can effectively avoid the risk of resonance under periodic wind loads such as vortex-induced vibration, and solves the technical problem that traditional control methods may aggravate vibration, thereby greatly improving the safety and reliability of hydraulic climbing formwork in the construction of super high-rise buildings.

[0065] Example 2:

[0066] The specific process of comparison by the system stability decision unit is as follows:

[0067] When the net energy flow exceeds the safety threshold, an active damping control signal is generated;

[0068] When the net energy flow does not exceed the safety threshold, a normal synchronization mode signal is generated.

[0069] This embodiment optimizes the specific process of comparing the system stability decision unit; the design aims to provide a clear and unambiguous triggering logic for switching control modes;

[0070] When the net energy flow exceeds the safety threshold, an active damping control signal is generated. The safety threshold here is a preset critical energy injection rate, which is determined by calculating based on the SN fatigue curve of the climbing formwork steel structure to represent the energy injection rate level that will cause irreversible fatigue damage to the structure under continuous action. This step sets a clear safety red line for the system. Once the net energy inflow rate touches this red line, it indicates that the vibration trend has posed a threat to the structural safety, and active intervention must be initiated immediately.

[0071] Correspondingly, when the net energy flow does not exceed the safety threshold, a normal synchronization mode signal is generated; in this state, the system energy income and expenditure are balanced or in a net expenditure state, the vibration is controllable, and the primary task of the system is to maintain high-precision synchronization of multiple support points to ensure the smooth lifting of the construction platform.

[0072] The specific control logic of the conventional synchronous mode is as follows: The system sets a desired synchronous lifting speed or displacement benchmark; it collects displacement sensor signals from each hydraulic support unit in real time and calculates the displacement deviation between each unit and the benchmark. Based on this deviation, an independent synchronous controller generates a compensating control command for each unit, such as adjusting the servo valve opening. This command aims to eliminate the displacement deviation. Specifically, this compensating control command can be generated by a proportional-integral-derivative controller, whose output is a pressure compensation command. With displacement deviation The relationship between them can be represented as:

[0073]

[0074] in, , , These are the proportional, integral, and derivative gain coefficients of the synchronous controller, respectively. These coefficients are preset based on the response characteristics of the hydraulic system using standard control theory methods. To clarify the time-related signs in the formulas, here... Refers to the current control cycle, while For use with time from 0 to the current time The variable that is integrated based on the historical deviation;

[0075] The goal of the controller is to minimize the relative displacement error between all support units, i.e. This ensures the stability and synchronization accuracy of the entire climbing platform during the lifting process. When the system switches from active damping mode back to conventional synchronization mode, the damping pressure command is set to zero and the synchronization controller is activated to achieve a smooth transition.

[0076] By introducing a safety threshold directly related to structural fatigue damage and establishing a clear binary switching logic, this embodiment achieves precise and automated control mode switching. This avoids the lag and uncertainty of manual judgment and ensures that the system can always activate the most targeted control strategy at the most appropriate time, thereby achieving the best balance between ensuring structural safety and maintaining construction accuracy.

[0077] Example 3:

[0078] The process of generating resonant power is as follows:

[0079] The collected measured acceleration signals were processed by Fast Fourier Transform to determine the acceleration amplitude at the characteristic resonant frequency.

[0080] Resonant power is generated based on the acceleration amplitude and preset sensor calibration coefficients.

[0081] This embodiment details the process of generating resonant power; the purpose of this design is to accurately separate and quantify the most destructive energy component injected by vortex-induced vibration from complex vibration signals; to achieve this goal, resonant power is introduced. The calculation method is as follows:

[0082]

[0083] in: Indicates at the characteristic resonance frequency The magnitude of acceleration at point , its dimensions are The data is obtained by performing a fast Fourier transform analysis on the measured acceleration signals on the climbing formwork structure.

[0084] It is the inherent resonant frequency of the climbing formwork structure, which is most easily excited by wind. Its source is determined through preliminary structural dynamics analysis or on-site modal testing. It directly reflects the intensity of the resonance;

[0085] It is a sensor calibration coefficient with dimensions of Its source is the physical calibration report of the accelerometer used, which is set once before the system is deployed; its physical function is to convert the square dimension of the acceleration amplitude. Directly convert to power dimensions Thus making It becomes an energy input rate indicator with clear physical meaning;

[0086] By employing FFT transform to lock the energy of the characteristic resonant frequency, and using calibration coefficients... By performing dimensional transformation, this embodiment can accurately extract the energy injection rate caused by vortex-induced resonance from complex broadband wind vibration signals. This method eliminates the interference of non-resonant frequency vibration components, making the quantification of the most destructive external excitations more accurate and providing a solid data foundation for the accuracy of subsequent stability decisions.

[0087] Example 4:

[0088] Hydraulic system data includes instantaneous differential pressure and instantaneous flow rate; control power is generated based on the instantaneous differential pressure and instantaneous flow rate.

[0089] This embodiment elaborates on the process of generating control power; the core purpose of this design is to establish a mathematical model of the energy behavior of the control system itself, so as to be able to evaluate in real time and quantitatively whether the current control action itself is suppressing vibration or promoting vibration.

[0090] In this embodiment, the hydraulic system data are explicitly defined as instantaneous pressure difference and instantaneous flow rate. Based on these data, the instantaneous power of each hydraulic support unit is calculated, and then the power values ​​of all units are summed to generate the control power. , The physical dimension of is watt (W), which represents the energy exchange rate between the control system and the climbing formwork structure. Its calculation formula is:

[0091]

[0092] in: Indicates the first When the servo valve of a hydraulic support unit executes a control command, the instantaneous pressure difference between the two chambers of its hydraulic cylinder has dimensions of... The pressure is obtained in real time by pressure sensors installed in both chambers of the hydraulic cylinder;

[0093] This indicates the pressure difference. The corresponding instantaneous flow rate of hydraulic oil has the following dimensions: The source is either directly measured by the flow sensor or indirectly calculated based on the valve opening command of the servo valve and the current pressure;

[0094] This represents the total number of hydraulic support units contained in the system. It is a dimensionless integer and is derived from the system design parameters.

[0095] The key to this model is... The sign of a value has a clear physical meaning: when When this occurs, it indicates that the control system is inputting power to the climbing formwork structure, which may exacerbate vibrations under cyclic loads; when When this occurs, it indicates that the control system is absorbing energy from the structure, i.e., dissipating power, thus playing the role of active damping;

[0096] This embodiment establishes a system based on measured pressure difference and flow rate. The computational model, for the first time, precisely quantifies the energy contribution of the control system itself. This enables the system to self-examine the consequences of its control behavior, providing another crucial dimension for determining whether the overall energy flow of the system is an input or an output. It forms the technological foundation for realizing the core concept shift from displacement control to energy control. In this embodiment, hydraulic power is calculated... The energy exchange rate between the control system and the climbing formwork structure is characterized by this calculation, which is based on the assumption of an ideal hydraulic actuator, i.e., ignoring the compression effect of hydraulic oil and internal leakage of the system. In practical applications, the model deviations caused by these factors can be effectively compensated by the adaptive correction unit described in the subsequent embodiments, thereby ensuring the robustness of the control.

[0097] Example 5:

[0098] The process of generating net energy flow is as follows:

[0099] The weighted resonant power is obtained based on the resonant power and the preset external excitation weighting coefficients;

[0100] The weighted control power is obtained based on the control power and the preset internal control weight coefficient;

[0101] Net energy flow is generated based on weighted resonant power and weighted control power.

[0102] This embodiment elaborates on the process of generating net energy flow; the purpose of this design is to integrate external excitation power and internal control power to construct a decision index that can comprehensively and singularly assess the risk of system instability.

[0103] Net energy flow Its essence is the rate of change of the total energy of the system. Its derivation logic is to calculate the weighted sum of the external input energy and the internal control energy. The calculation formula is as follows:

[0104]

[0105] in: The resonant power is defined and calculated as described in the implementation method of Example 3;

[0106] The external incentive weighting coefficient is dimensionless and is derived from a preset value. This value is determined by finite element dynamic simulation analysis of the climbing formwork structure, aiming to adjust the contribution of external incentives to the overall risk assessment of the system.

[0107] For power control, its definition and calculation are described in the implementation method of Example 4;

[0108] This refers to the internal control weighting coefficient, which is dimensionless, and its source and determination method are the same as those used in internal control weighting coefficients. Consistency is used to adjust the contribution of internal control behavior to the overall risk assessment of the system.

[0109] To ensure the physical meaning of this formula, weighting coefficients... and The method for determining the internal control weight coefficient is as follows: Set to baseline value 1; external incentive weighting coefficient The calibration is achieved by combining finite element dynamics simulation, aiming to make the weighted resonant power comparable to the control power in terms of magnitude. The specific steps are as follows:

[0110] A finite element model of the climbing formwork structure was established, and modal analysis was performed to obtain its natural frequencies. .

[0111] Apply a known frequency to the model Using simulated wind loads with representative energy spectra from the vicinity as input, transient dynamic analysis was performed to calculate the wind load over a time period of [duration missing]. Within a representative range, the total work done by wind load on the structure ;in, It is a preset constant time length;

[0112] At the same time duration During a specific time period, the acceleration response signal in the simulation model is processed to calculate the resonant power during that time period. Integral value within ;

[0113] External incentive weighting coefficient The following formula can be used to calculate and thus calibrate the external energy input:

[0114]

[0115] The sign of the symbol directly indicates the energy balance of the system: if A value consistently greater than zero indicates a net power inflow, and the vibration amplitude will tend to diverge, posing a risk of system instability; conversely, the system is stable. This indicator is the core trigger and decision-making factor for all subsequent active control strategies.

[0116] By constructing net energy flow This comprehensive indicator, in this embodiment, incorporates the originally independent external stimuli. and internal control The two physical processes are unified under a single energy balance framework for evaluation; and weighting coefficients are used. and Adjusting the importance of the two, so that It can reflect the overall stability trend of the system with extreme sensitivity and accuracy, providing a high-quality, high signal-to-noise ratio single input source for subsequent control decisions.

[0117] Example 6:

[0118] The process of generating the target damping power is as follows:

[0119] The target damping power is generated based on the net energy flow and the preset control gain coefficient.

[0120] The control gain coefficient is a preset value greater than 1.

[0121] This embodiment elaborates on the process of generating the target damping power; the goal of this design is to dynamically generate a clear and quantified energy dissipation target when the system determines that active damping control is required.

[0122] Target damping power This target represents the power dissipation required to restore the system to stability, and its calculation is derived from the net energy flow:

[0123]

[0124] in: The net energy flow is defined and calculated in the implementation method of Example 5;

[0125] The gain coefficient is a dimensionless control, with an initial value greater than 1. Its specific value can be optimized and adjusted during the system debugging phase based on the actual response characteristics. This setting is crucial to the design, ensuring the target damping power. It must be higher than the current net energy flow. ;optimization This value is used to strike a balance between the response speed of energy dissipation and the smoothness of the control process; specifically, a larger value... A higher value can make the oscillation converge faster, but may cause overshoot or oscillation in the control command, affecting the smoothness of the system; a lower value... The value is relatively slow to respond; in practical applications, it is usually recommended that the value be in the range of [1.1, 2.0], and fine-tuned through simulation or field experiments to achieve the best balance.

[0126] This embodiment introduces a control gain coefficient greater than 1. This ensures the generated target damping power. Not only with the current net energy flow It is proportional to the system vibration energy and always has redundancy in value; this excess dissipation design ensures that the system vibration energy can be absorbed quickly and effectively, so that the vibration state can be quickly converged, which greatly improves the response speed and robustness of the control system in the face of sudden strong winds.

[0127] Example 7:

[0128] The process of generating the damping pressure command is as follows:

[0129] Based on the real-time movement speed, local damping coefficient, and preset effective working area of ​​each hydraulic support unit, the total target dissipation power benchmark is calculated.

[0130] The global control gain is obtained based on the target damping power and the total target dissipation power;

[0131] Under the condition that the net energy flow is greater than zero, the damping pressure command is obtained based on the global control gain, the local damping coefficient of the corresponding hydraulic cylinder and the real-time movement speed.

[0132] The damping pressure command is zero when the net energy flow is not greater than zero.

[0133] This embodiment details the process of generating damping pressure commands; its underlying logic lies in using the target damping power generated in the previous step. Through a sophisticated algorithm, the control logic is precisely transformed into specific and executable pressure control commands for each hydraulic actuator, thereby closing the gap between the global target and the local execution.

[0134] Calculate the total target power dissipation benchmark The purpose of this benchmark is to evaluate how much power dissipation the system can theoretically generate at the current moment, according to preset damping parameters. The calculation formula is as follows:

[0135]

[0136] in: Indicates the first The real-time movement speed of each hydraulic support unit, with dimensions of Its source is obtained by performing real-time differential calculations on the signals from high-precision displacement sensors;

[0137] Represented as the first The local damping coefficient of a hydraulic cylinder in the current control cycle, its dimension is Pa·s / m, and its initial value is... This is a preset parameter that can be set differently based on the different positions and importance of the hydraulic cylinder in the structure. This coefficient will be dynamically updated by the adaptive correction unit during system operation. ; this initial parameter The setting can be based on the modal analysis results of the structure, making it consistent with the first... The displacement or participation coefficient at each hydraulic cylinder position under the dominant vibration mode is proportional to the initial damping applied at the location of most significant vibration; a specific calculation method is as follows: ,in For a basic damping coefficient set based on experience (e.g.) ), For the first Point in dominant resonance mode The normalized mode displacement.

[0138] Indicates the first The effective working area of ​​a hydraulic cylinder, its dimension is Its source is the design parameters of the hydraulic cylinder;

[0139] Calculate global control gain The purpose of this gain is to uniformly scale all local control commands to ensure that the total power dissipation generated by all units is exactly equal to the global target. Its calculation formula is as follows:

[0140]

[0141] in: The target damping power is defined and calculated as described in the implementation method of Example 6;

[0142] It is a tiny positive number set to prevent the denominator from being zero, and its dimension is W; the introduction of this parameter ensures that when the instantaneous velocity of the structure is zero ( When ), global control gain It will not tend to infinity, thus ensuring the robustness of the algorithm;

[0143] This represents the global control gain, which is dimensionless and is obtained by recalculation in each control cycle.

[0144] To further ensure the stability of the control system and avoid the impact of an extremely small total target power dissipation reference. This leads to global control gain. If it is too large, the calculated value can be affected. Set a reasonable upper limit. That is, if the calculated Then let , The value of can be determined in advance through simulation or experiment based on the maximum output capacity and system stability requirements of the hydraulic system. This limiting measure can effectively prevent excessive output of control commands and enhance the robustness of the system under extreme working conditions.

[0145] Generated damping pressure command This command is sent to the hydraulic servo valve and incrementally superimposed on the original static support pressure command. The calculation formula is as follows:

[0146]

[0147] When the net energy flow is greater than zero ( )hour, The value is 1, at which point the global control gain is set to 1. Corresponding hydraulic cylinder Local damping coefficient Its real-time motion speed Multiply them and take their opposites to obtain a non-zero damping pressure command;

[0148] When the net energy flow is not greater than zero ( When the damping pressure command is zero, it is achieved through a logic switching function. The function is defined as follows: when the net energy flow... hour, ;when hour, This function ensures that active damping is activated only when there is a net inflow of energy into the system, i.e. when the system truly needs to suppress vibration, thus avoiding unnecessary reverse control actions when the system is stable.

[0149] This embodiment introduces a global gain. and total target power dissipation benchmark The intermediate calculation stage solves the problem of how to calculate a single target damping power. This addresses the technical challenge of rationally allocating power to multiple execution units in different states; the mechanism ensures that the total power dissipated by all hydraulic support units working together can accurately track the dynamically changing target damping power. Meanwhile, logic switching functions The introduction of active damping makes the intervention and withdrawal of active damping smooth and natural, avoiding hypersensitive reactions in the control system and achieving efficient, accurate and stable power dissipation control.

[0150] Example 8:

[0151] The generation process of relative performance error is as follows:

[0152] Obtain the target damping power set in the previous control cycle, and obtain the measured control power in the current cycle;

[0153] The power difference is calculated based on the target damping power and the control power;

[0154] The relative performance error is generated based on the power difference and the target damping power.

[0155] This embodiment details the generation process of relative performance error; the purpose of this design is to quantify the deviation between the control effect of the previous control cycle and the preset target, providing a precise, dimensionless feedback signal for subsequent adaptive correction; relative performance error The calculation method is as follows:

[0156]

[0157] in: This represents the target damping power set in the previous control cycle, and its dimensions are... Its source is calculated and stored by the target damping generation unit in the previous cycle;

[0158] This represents the absolute value of the control power calculated in real time by the control behavior modeling unit in the current cycle. Its dimension is W. When evaluating the performance of active damping control, this value represents the absolute value of the actual energy dissipation rate.

[0159] Relative performance error is generated based on the power difference and the target damping power. By dividing by the target value itself, the absolute error is converted into a relative error, making it a dimensionless percentage deviation, which facilitates subsequent unified parameter adjustment.

[0160] this A positive value indicates that the actual energy dissipated is insufficient. If the value is negative, it indicates excessive dissipation.

[0161] By defining and calculating the dimensionless relative performance error This embodiment establishes a standardized feedback index that can accurately measure control precision; it eliminates the influence of target damping power. The inherent fluctuations in the system's magnitude affect the error assessment, ensuring that a normalized performance evaluation can be obtained regardless of the system's vibration level. This provides a stable and reliable input for subsequent adaptive correction algorithms, which is crucial for achieving long-term high-performance operation of the system.

[0162] Example 9:

[0163] The correction process for the local damping coefficient is as follows:

[0164] A correction factor is generated based on the relative performance error and the preset learning rate;

[0165] Based on the correction factor and the local damping coefficient of the current cycle, an updated local damping coefficient is obtained for the next control cycle.

[0166] This embodiment details the correction process for the local damping coefficient; the purpose of this design is to utilize the relative performance error calculated in the previous cycle to correct the core parameter in the control model, namely the local damping coefficient. Closed-loop, iterative optimization is performed to achieve the system's adaptive capability. The correction rule is defined as an iterative update mechanism based on error feedback. In this description, the local damping coefficient for the current period is expressed as... Its initial value at t=0 ,0 is determined by the method described in Example 7:

[0167]

[0168] in: The relative performance error is defined and calculated in the implementation method of Example 8;

[0169] The learning rate is dimensionless and originates from a preset parameter. This value is determined through simulation testing to achieve faster convergence while ensuring the stability of the adaptive process. It is used to control the step size of parameter adjustments. Since γ is dimensionless, it is also dimensionless. This correction factor is also dimensionless, and... The dimensions remain Pa⋅s / m after multiplication; learning rate The value of needs to be balanced between convergence speed and adjustment stability; an excessively large value will lead to parameter... Oscillations and non-convergence may occur during the iteration process. If the value is too small, the adaptive speed will be too slow, and it will be unable to respond to changes in system characteristics in a timely manner. In practical applications, this value is usually recommended to be within a certain range. Within the specified range, fine-tuning can be achieved through simulation or on-site experiments to reach the best results;

[0170] When the previous cycle's dissipation was insufficient When the dissipation is excessive, the factor is greater than 1; when the dissipation is excessive, When this factor is less than 1;

[0171] This indicates the local damping coefficient used in the current cycle;

[0172] This represents the updated and optimized local damping coefficient used in the next control cycle;

[0173] This embodiment establishes a local damping coefficient. With relative performance error The closed-loop adaptive correction mechanism enables the system to self-correct. When the system detects that its actual energy dissipation effect deviates from the target, it can automatically adjust its internal model parameters and compensate in the next control cycle. This continuous self-optimization can effectively overcome the model parameter drift problem caused by factors such as hydraulic oil temperature changes and seal wear, ensuring that the system's control behavior can always accurately achieve the preset power dissipation target under constantly changing actual working conditions, thereby maintaining optimal vibration suppression performance.

[0174] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A hydraulic creeping form construction intelligent control system, characterized in that, include: The energy input evaluation unit is used to generate resonant power based on the acquired measured acceleration signal; The control behavior modeling unit is used to generate control power based on the collected hydraulic system data; The system stability decision unit is used to generate a net energy flow based on the resonant power and control power, and compare the net energy flow with a preset safety threshold to generate an active damping control signal or a conventional synchronization mode signal. The target damping generation unit is used to generate target damping power based on net energy flow in response to active damping control signals; The control command execution unit is used to generate a damping pressure command in response to the active damping control signal, based on the target damping power and the collected real-time motion speed; The adaptive correction unit is used to generate a relative performance error based on the target damping power and the control power, and to correct the local damping coefficient based on the relative performance error. 2.The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The specific process by which the system stability decision unit performs the comparison is as follows: When the net energy flow exceeds the safety threshold, an active damping control signal is generated; When the net energy flow does not exceed the safety threshold, a normal synchronization mode signal is generated.

3. The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The process of generating the resonant power is as follows: The collected measured acceleration signals were processed by Fast Fourier Transform to determine the acceleration amplitude at the characteristic resonant frequency. Resonant power is generated based on the acceleration amplitude and preset sensor calibration coefficients.

4. The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The hydraulic system data includes instantaneous pressure difference and instantaneous flow rate; based on the instantaneous pressure difference and instantaneous flow rate, the product of all units is summed to generate control power.

5. The intelligent control system for hydraulic climbing formwork construction according to claim 1, characterized in that, The process of generating the net energy flow is as follows: The weighted resonant power is obtained based on the resonant power and the preset external excitation weighting coefficients; The weighted control power is obtained based on the control power and the preset internal control weight coefficient; Net energy flow is generated based on weighted resonant power and weighted control power.

6. The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The process of generating the target damping power is as follows: The target damping power is generated based on the net energy flow and the preset control gain coefficient. The control gain coefficient is a preset value greater than 1.

7. The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The process of generating the damping pressure command is as follows: Based on the real-time movement speed, local damping coefficient, and preset effective working area of ​​each hydraulic support unit, the total target dissipation power benchmark is calculated. The global control gain is obtained based on the target damping power and the total target dissipation power; Under the condition that the net energy flow is greater than zero, the damping pressure command is obtained based on the global control gain, the local damping coefficient of the corresponding hydraulic cylinder and the real-time movement speed. The damping pressure command is zero when the net energy flow is not greater than zero. 8.The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The process of generating the relative performance error is as follows: Obtain the target damping power set in the previous control cycle, and obtain the measured control power in the current cycle; The power difference is calculated based on the target damping power and the control power; The relative performance error is generated based on the power difference and the target damping power. Relative performance error The calculation method is as follows: in: This represents the target damping power set in the previous control cycle, and its dimensions are... Its source is calculated and stored by the target damping generation unit in the previous cycle; Pabs represents the absolute value of the control power calculated in real time by the control action modeling unit for the current period, with dimension W, and represents the absolute value of the energy dissipation rate actually achieved when evaluating the performance of the active damping control. This is positive, indicating that the actual dissipated energy is insufficient ( ); is negative, indicating that dissipation is excessive. 9.The hydraulic creeping form construction intelligent control system according to claim 1, characterized in that, The correction process for the local damping coefficient is as follows: A correction factor is generated based on the relative performance error and the preset learning rate; Based on the correction factor and the local damping coefficient of the current cycle, an updated local damping coefficient is obtained for the next control cycle.

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