Control method and system for cooperative walking of double cable-crossing cranes in suspension bridge construction

Abstract

The invention provides a control method and system for cooperative walking of double cable-crossing cranes in suspension bridge construction, and belongs to the technical field of suspension bridge construction. According to the method, an included angle alpha 1 between a main cable at the position of a main cable-span crane and the horizontal plane and an included angle alpha 2 between a main cable at the position of a slave cable-span crane and the horizontal plane, which are measured by an angle monitoring module, are substituted into an inclination angle-speed compensation model to compensate the speed of the slave cable-span crane; the horizontal distance L, monitored by the distance monitoring module, between the two cable-crossing cranes is substituted into the distance-deviation correction model to correct the speed of the slave cable-crossing crane, and the speed of the slave cable-crossing crane is controlled to enable the two cable-crossing cranes to operate in a coordinated and synchronous mode. The influence of the dip angle change of the main cable and the change of the horizontal distance between the two cable-crossing cranes on the hoisting process is eliminated, it is ensured that the box girder segment is always in the initial leveling horizontal state in the hoisting process and is not influenced by the elevation positions of the two cable-crossing cranes and the strong wind environment, and the hoisting precision of the box girder segment is improved.

Description

Technical Field

[0001] This invention belongs to the field of suspension bridge construction technology, and relates to box girder hoisting technology, specifically a control method and system for the coordinated movement of two cross-cable cranes in suspension bridge construction. Background Technology

[0002] The hoisting of box girder segments is a crucial step in the construction of suspension bridges, as the smoothness of the hoisting process directly affects the quality and precision of the suspension bridge installation. Current technologies mostly employ the vertical lifting method for hoisting box girder segments. This method utilizes a cable-stayed crane (or cable-mounted crane) erected on the main cable to vertically lift the box girder segments from transport ships or placed on the ground to the design elevation. However, for long-span suspension bridges (main spans typically exceeding 1000 meters, even 2000 meters), due to the extremely large span, the size and weight of the box girder segments, as the main load-bearing components, also increase significantly. A single box girder segment can weigh hundreds of tons. When using the vertical lifting method, the lifting capacity and stability of a traditional single cable-stayed crane are no longer sufficient for hoisting such box girder segments.

[0003] To meet the requirements for hoisting large-tonnage box girder segments, see [reference needed]. Figure 3 During construction, two parallel cable cranes can be used to lift box girder segments in cooperation, thereby improving the lifting capacity and wind resistance stability of the box girder segments during the hoisting process.

[0004] During the hoisting process, the box girder segments need to be on the same plane. However, the cross-cable crane is erected on the main cable, which is a drooping arc-shaped structure. This results in the two cross-cable cranes being at different elevations. In addition, since it is a high-altitude hoisting, strong winds can cause instability in the hoisting process, affecting the hoisting accuracy of the box girder segments. Summary of the Invention

[0005] In response to the technical problems described in the background section above, when two cross-cable cranes are used to lift box girder segments in the prior art, the two cross-cable cranes will be at different elevations due to the drooping arc structure of the main cable, and the lifting will be unstable in windy conditions. In order to address this technical problem, the present invention proposes a control method and system for the coordinated movement of two cross-cable cranes in the construction of suspension bridges.

[0006] This invention uses the speed of the main cable crane as a benchmark and controls the speed of the secondary cable crane through an inclination-speed compensation model and a spacing-deviation correction model. This enables the two cable cranes to operate in a coordinated and synchronous manner, eliminating the influence of changes in the inclination angle of the main cable and the horizontal spacing between the two cable cranes on the hoisting process. This ensures that the box girder segments are always in the initially leveled horizontal state during the hoisting process, unaffected by the elevation position of the two cable cranes or strong wind conditions, thus improving the hoisting accuracy of the box girder segments.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction includes the following steps:

[0009] S1: Install a spacing monitoring module and an angle monitoring module on the cross-cable crane. The spacing monitoring module is used to monitor the horizontal spacing L between the two cross-cable cranes in real time, and the angle monitoring module is used to monitor the angle α1 between the main cable and the horizontal plane at the position of the main cross-cable crane and the angle α2 between the main cable and the horizontal plane from the position of the cross-cable crane.

[0010] S2: Establish the tilt angle-velocity compensation model and the spacing-deviation correction model;

[0011] S3: Substitute the angle α1 between the main cable and the horizontal plane at the location of the main cable crane and the angle α2 between the main cable and the horizontal plane at the location of the secondary cable crane into the tilt angle-velocity compensation model, and determine the speed of the secondary cable crane based on the speed of the main cable crane;

[0012] S4: Substitute the horizontal distance L between the two cross-cable cranes into the distance-deviation correction model, calculate the distance deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane based on the distance deviation ΔL and the speed of the main cross-cable crane;

[0013] S5: Repeat steps S3 and S4 continuously to control the coordinated movement of the two cross-cable cranes during the hoisting of box girder segments.

[0014] Further defining the tilt angle-velocity compensation model is as follows:

[0015]

[0016] V2=V1+ΔV q

[0017] In the formula, V1 is the speed of the main cable crane, in m / min; α1 is the angle between the main cable and the horizontal plane at the location of the main cable crane, in °; α2 is the angle between the main cable and the horizontal plane at the location of the main cable crane, in °; ΔV q V1 is the difference in tilt velocity, in m / min; V2 is the speed from the cable crane, in m / min.

[0018] Further defining the spacing-deviation correction model is as follows:

[0019] ΔL=L-L0

[0020] ΔV q =K×V2'

[0021] V2=V2'+ΔV q

[0022] L is the horizontal distance between the two cable-stayed cranes, in meters; L0 is the distance between two lifting points on the box girder segment, in meters; ΔL is the distance deviation between the two cable-stayed cranes, in meters; K is a proportionality coefficient, dimensionless, K = ΔL / L; ΔV q V1 represents the speed difference between the spans, in m / min; V2' represents the speed of the cross-cable crane at the previous moment, in m / min; V2 represents the speed of the cross-cable crane, in m / min.

[0023] Further specifying, step S4 specifically involves the following steps during the hoisting of box girder segments: if |ΔL>2%L0|, then the horizontal distance L between the two cross-cable cranes is substituted into the distance-deviation correction model to calculate the distance deviation ΔL between the two cross-cable cranes, and the speed of the secondary cross-cable crane is corrected based on the distance deviation ΔL and the speed of the main cross-cable crane; otherwise, step S5 is executed directly.

[0024] Further specifying, step S5 also includes: setting a safety threshold for the inclination angle of the main cable, and determining whether the difference between the included angle α1 and the included angle α2 exceeds the safety threshold for the inclination angle of the main cable during the hoisting of the box girder segment according to the included angle threshold judgment condition;

[0025] If the limit is exceeded, stop hoisting; otherwise, continue hoisting.

[0026] Further, the included angle threshold judgment condition is: |α1-α2|≥Δα, where Δα is the tilt angle safety threshold of the main cable.

[0027] Further specifying, in step S1, there are two spacing monitoring modules, which are respectively installed on the top crossbeam of the main span cable crane or the top crossbeam of the secondary span cable crane, or one of them is installed on the crossbeam of the main span cable crane and the other is installed on the crossbeam of the secondary span cable crane; wherein, the horizontal spacing L between the two span cable cranes is the average value of the monitoring values ​​of the two spacing monitoring modules.

[0028] There are two angle monitoring modules, one installed at the connection point between the main span crane and the main cable, and the other at the connection point between the secondary span crane and the main cable.

[0029] The control system for coordinated movement of two cable-stayed cranes in suspension bridge construction, based on the aforementioned control method for coordinated movement of two cable-stayed cranes in suspension bridge construction, includes:

[0030] Model building module: used to build tilt angle-velocity compensation model and spacing-deviation correction model;

[0031] Angle Determination Module: This module is used to input the angle α1 between the main cable and the horizontal plane at the location of the main span crane and the angle α2 between the main cable and the horizontal plane at the location of the secondary span crane into the tilt angle-velocity compensation model, and determine the speed of the secondary span crane based on the speed of the main span crane. The angles α1 and α2 between the main cable and the horizontal plane at the location of the main span crane and the secondary span crane are obtained in real time by the angle monitoring module installed on the span crane.

[0032] Spacing determination module: This module is used to substitute the horizontal spacing L between the two cross-cable cranes into the spacing-deviation correction model, calculate the spacing deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane based on the spacing deviation ΔL and the speed of the main cross-cable crane. The horizontal spacing L between the two cross-cable cranes is obtained in real time by the spacing monitoring module installed on the cross-cable crane.

[0033] And a control module: used to control the coordinated movement of the two cross-cable cranes during the hoisting of box girder segments, based on the angle determination module and the spacing determination module.

[0034] Furthermore, the control system for the coordinated movement of the two cross-cable cranes during the construction of the suspension bridge also includes a remote monitoring platform. The remote monitoring platform is signal-connected to the angle determination module, the spacing determination module, and the control module. The remote monitoring platform displays in real time the status of the box girder segment hoisting process, the angle α1 between the main cable and the horizontal plane at the position of the main cross-cable crane, the angle α2 between the main cable and the horizontal plane at the position of the secondary cross-cable crane, the horizontal spacing L between the two cross-cable cranes, the speed of the main cross-cable crane, and the speed of the secondary cross-cable crane.

[0035] A computer storage medium includes a program file that is executed to implement program instructions formed by the control method for the coordinated movement of two cross-cable cranes in the construction of a suspension bridge.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] 1. The present invention relates to a control method for the coordinated movement of two cross-cable cranes during suspension bridge construction. This method involves installing a spacing monitoring module and an angle monitoring module on the cross-cable cranes. The angle monitoring module measures the angle α1 between the main cable and the horizontal plane at the main cross-cable crane position and the angle α2 between the main cable and the horizontal plane at the secondary cross-cable crane position. These angles are then substituted into an inclination-velocity compensation model to compensate for the speed of the secondary cross-cable crane. The horizontal distance L between the two cross-cable cranes, monitored by the spacing monitoring module, is substituted into a spacing-deviation correction model to correct the speed of the secondary cross-cable crane. Using the speed of the main cross-cable crane as a benchmark, controlling the speed of the secondary cross-cable crane ensures coordinated and synchronous operation of the two cranes. This eliminates the influence of changes in the main cable inclination angle and the horizontal distance between the two cranes on the hoisting process, ensuring that the box girder segments remain in their initial leveled horizontal state during hoisting, unaffected by the elevation positions of the two cranes or strong winds, thus improving the hoisting accuracy of the box girder segments.

[0038] 2. The present invention relates to a control method for the coordinated movement of two cross-cable cranes in the construction of suspension bridges. By using two cross-cable cranes to operate in coordination, the method can meet the requirements for hoisting large-tonnage box girder segments, thereby improving both the accuracy and efficiency of hoisting.

[0039] 3. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction of this invention, during the hoisting process, also determines whether the difference between the included angles α1 and α2 exceeds the safety threshold of the main cable's inclination angle based on the included angle threshold judgment condition; if it exceeds, the hoisting is stopped; otherwise, the hoisting continues. Through this judgment process, the risk of box girder segment instability or collision with other structures during hoisting is avoided, increasing the safety of the hoisting process.

[0040] 4. The control system for coordinated movement of two cross-cable cranes in the construction of a suspension bridge, as described in this invention, includes a model building module, an angle determination module, a spacing determination module, and a control module, as well as a remote monitoring platform. The remote monitoring platform allows construction personnel to monitor in real time the status of the box girder segments during hoisting, the angle α1 between the main cable and the horizontal plane at the position of the main cross-cable crane, the angle α2 between the main cable and the horizontal plane at the position of the secondary cross-cable crane, the horizontal spacing L between the two cross-cable cranes, the speed of the main cross-cable crane, and the speed of the secondary cross-cable crane. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the control method for synchronous movement of double-span cable cranes during suspension bridge construction according to the present invention;

[0042] Figure 2 This is a schematic diagram of the control system for the synchronous movement of double-span cable cranes during suspension bridge construction according to the present invention;

[0043] Figure 3 Schematic diagram of box girder hoisting using a double-span cable crane. Figure 1 ;

[0044] Figure 4 Schematic diagram of box girder hoisting using a double-span cable crane. Figure 2 ;

[0045] Figure 5 For the display interface of the remote monitoring platform Figure 1 ;

[0046] Figure 6 For the display interface of the remote monitoring platform Figure 2 ;

[0047] Explanation of reference numerals in the attached figures:

[0048] 1-Main cable, 2-Main span cable crane, 3-Secondary span cable crane, 4-Box girder segment, 5-Spacing monitoring module, 6-Cable clamp. Detailed Implementation

[0049] The technical solution of the present invention will be further explained and described below with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the embodiments described below.

[0050] See Figure 3 and Figure 4 In the construction of a long-span suspension bridge, the present invention employs two parallel cable cranes to hoist a large-tonnage box girder segment 4, which is a steel box girder segment. One of the two cable cranes is the main cable crane 2, and the other is the secondary cable crane 3. Both ends of the main cable crane 2 and the secondary cable crane 3 are respectively erected on the main cables 1 on both sides of the box girder.

[0051] This invention installs a spacing monitoring module 5 and an angle monitoring module on the cable crane. There are two spacing monitoring modules 5, which are respectively installed on the top crossbeam of the main cable crane 2 or the top crossbeam of the secondary cable crane 3, or one of them is installed on the crossbeam of the main cable crane 2 and the other is installed on the crossbeam of the secondary cable crane 3. The horizontal spacing L between the two cable cranes is the average value of the monitoring values ​​of the two spacing monitoring modules 5. There are two angle monitoring modules, which are respectively installed at the connection position between the main cable crane 2 and the main cable 1 and at the connection position between the secondary cable crane 3 and the main cable 1.

[0052] In a preferred embodiment of the present invention, GNSS positioning components are installed on the box girder segment 4 and on the already installed box girder plane. Before the box girder segment 4 is hoisted, the box girder segment 4 is leveled using the position data measured by the GNSS positioning components on the box girder segment 4 and the already installed box girder plane. This leveling refers to the construction personnel controlling the lifting force of two cross-cable cranes to make the box girder segment 4 on a horizontal plane based on the position data measured by the GNSS positioning components, ensuring that the initial hoisting state of the box girder segment 4 is horizontal.

[0053] See Figure 1 This invention proposes a control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction, comprising the following steps:

[0054] S1: Install a spacing monitoring module 5 and an angle monitoring module on the cross-cable crane. The spacing monitoring module 5 is used to monitor the horizontal spacing L between the two cross-cable cranes in real time, and the angle monitoring module is used to monitor the angle α1 between the main cable 1 and the horizontal plane at the position of the main cross-cable crane 2 and the angle α2 between the main cable 1 and the horizontal plane from the position of the cross-cable crane 3.

[0055] S2: Establish the tilt angle-velocity compensation model and the spacing-deviation correction model;

[0056] The tilt angle-velocity compensation model is as follows:

[0057]

[0058] V2=V1+ΔV q

[0059] In the formula, V1 is the speed of the main cable crane 2, in m / min; α1 is the angle between the main cable 1 and the horizontal plane at the position of the main cable crane 2, in °; α2 is the angle between the main cable 1 and the horizontal plane at the position of the main cable crane 3, in °; ΔV q V1 is the difference in tilt velocity, in m / min; V2 is the velocity from the cross-cable crane 3, in m / min.

[0060] The spacing-deviation correction model is as follows:

[0061] ΔL=L-L0

[0062] ΔV q =K×V2'

[0063] V2=V2'+ΔV q

[0064] L is the horizontal distance between the two cable-stayed cranes, in meters; L0 is the distance between the two lifting points on box girder segment 4, in meters; ΔL is the distance deviation between the two cable-stayed cranes, in meters; K is a proportionality coefficient, dimensionless, K = ΔL / L; ΔV q V2' is the speed difference between the two cable cranes, in m / min; V2' is the speed of the cable crane 3 at the previous moment, in m / min; V2 is the speed of the cable crane 3, in m / min.

[0065] S3: Substitute the angle α1 between the main cable 1 and the horizontal plane at the position of the main cable crane 2 and the angle α2 between the main cable 1 and the horizontal plane at the position of the secondary cable crane 3 into the tilt angle-velocity compensation model, and determine the speed of the secondary cable crane 3 based on the speed of the main cable crane 2.

[0066] S4: During the hoisting of box girder segment 4, determine whether the spacing deviation ΔL between the two cross-cable cranes is greater than the warning threshold (2%L0), i.e., determine |ΔL>2%L0|. If it exceeds, substitute the horizontal spacing L between the two cross-cable cranes into the spacing-deviation correction model, calculate the spacing deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane 3 based on the spacing deviation ΔL and the speed of the main cross-cable crane 2; otherwise, directly execute step S5.

[0067] S5: Repeat steps S3 and S4 continuously, and set the tilt angle safety threshold for main cable 1. During the hoisting of box girder segment 4, determine whether the difference between the included angle α1 and included angle α2 exceeds the tilt angle safety threshold of main cable 1 according to the included angle threshold judgment condition. If it exceeds, stop hoisting; otherwise, continue hoisting, thereby controlling the coordinated movement of the two cross-cable cranes during the hoisting of box girder segment 4. The included angle threshold judgment condition is: |α1-α2|≥Δα, where Δα is the tilt angle safety threshold of main cable 1.

[0068] As a preferred embodiment of the present invention, the control method for the coordinated movement of two cross-cable cranes in the construction of a suspension bridge further includes S6: during the hoisting process, the status of the box girder segment 4 during hoisting, the angle α1 between the main cable 1 and the horizontal plane at the position of the main cross-cable crane 2, the angle α2 between the main cable 1 and the horizontal plane at the position of the secondary cross-cable crane 3, the horizontal distance L between the two cross-cable cranes, the speed of the main cross-cable crane 2, and the speed of the secondary cross-cable crane 3 are displayed in real time; at the same time, remote alarms can be issued based on the results of the angle threshold judgment.

[0069] In one embodiment of the present invention, during the upward lifting phase along the main cable 1, with the main cable crane 2 in front and the secondary cable crane 3 behind, at a certain moment, the angle monitoring module monitors the included angles α1 = 10° and α2 = 12°. At this moment, the speed of the main cable crane 2 is 3 m / min. The tilt velocity difference ΔV is calculated according to the tilt angle-velocity compensation model. q =0.02m / min, then based on the difference in tilt velocity ΔV q The speed V1 of the main span cable crane 2 is calculated to determine the speed V2 of the secondary span cable crane 3 as 3.02 m / min. The motors driving the main span cable crane 2 and the secondary span cable crane 3 are driven at speeds of 3 m / min and 3.02 m / min respectively. The two cable cranes travel along the main cable 1. The spacing monitoring module 5 collects the horizontal spacing L between the two cable cranes every 0.2 seconds. The spacing between the two lifting points on the box girder segment 4 is 20 m. If at a certain moment |L-L0=ΔL>2%L0|, and at that moment the horizontal spacing L between the two cable cranes is 19.5 m, then the spacing deviation ΔL between the two cable cranes is 0.5 m. Substituting the horizontal spacing L=19.5 m between the two cable cranes into the spacing-deviation correction model, the spacing speed difference ΔV is calculated. q =0.25m / min, then adjust the speed of the cable crane 3 to V2 = 3.02 + 0.25 = 3.25m / min, until the horizontal distance L between the two cable cranes is restored to a reasonable distance of 20 ± 0.1m.

[0070] During the hoisting process, it is necessary to determine in real time whether the difference between the included angle α1 and the included angle α2 exceeds the safety threshold of the inclination angle of the main cable 1. If it exceeds the threshold, the hoisting is stopped and a remote alarm is sent to remind the construction personnel to use the two cross-cable cranes to adjust the box girder segment 4 so that the box girder segment 4 is in a horizontal state, and then the two cross-cable cranes are restarted to continue operation; otherwise, the hoisting continues.

[0071] In this invention, the spacing monitoring module 5 is a laser rangefinder, and the angle monitoring module is an angle sensor.

[0072] This invention compensates for the speed of the secondary cable crane 3 by adjusting the speed of the main cable crane 2, and compensates for the speed of the secondary cable crane 3 by adjusting the distance deviation between the two cable cranes. Based on the speed-to-speed compensation, the elevation difference between the main cable crane 2 and the secondary cable crane 3 is made up, thereby adjusting the horizontal distance between the main cable crane 2 and the secondary cable crane 3 to ensure that the horizontal distance between the main cable crane 2 and the secondary cable crane 3 is consistent with the length of the box girder segment 4.

[0073] It should be noted that the main span cable crane 2 and the secondary span cable crane 3 in this invention are driven by corresponding hydraulic pulling jacks installed on cable clamps 6 (clips 6 are fixed on the main cable 1), which pull the wire ropes on the main span cable crane 2 and the secondary span cable crane 3, thereby enabling the main span cable crane 2 and the secondary span cable crane 3 to move on the main cable 1. The wire ropes are fixed at the front end of the main span cable crane 2 and the secondary span cable crane 3. Specifically, two hydraulic pulling jacks are arranged on the same cable clamp 6, and the hydraulic pulling jacks provide the power source for the main span cable crane 2 and the secondary span cable crane 3.

[0074] This invention uses the speed of the main cable crane 2 as a benchmark and controls the speed of the secondary cable crane 3 to enable the two cable cranes to operate in a coordinated and synchronous manner. This eliminates the influence of changes in the inclination angle of the main cable 1 and changes in the horizontal distance between the two cable cranes on the hoisting process, ensuring that the box girder segment 4 is always in the initial leveled horizontal state during the hoisting process, unaffected by the elevation position of the two cable cranes or the wind environment, thereby improving the hoisting accuracy of the box girder segment 4.

[0075] See Figure 2 The present invention also proposes a control system for the coordinated movement of two cable cranes in the construction of a suspension bridge. It is based on the control method for the coordinated movement of two cable cranes in the construction of a suspension bridge, and includes a model building module, an angle determination module, a spacing determination module and a control module.

[0076] Model building module: used to build tilt angle-velocity compensation model and spacing-deviation correction model;

[0077] Angle Determination Module: This module is used to input the angle α1 between the main cable 1 and the horizontal plane at the position of the main cable crane 2 and the angle α2 between the main cable 1 and the horizontal plane at the position of the secondary cable crane 3 into the tilt angle-velocity compensation model, and determine the speed of the secondary cable crane 3 based on the speed of the main cable crane 2. The angle α1 between the main cable 1 and the horizontal plane at the position of the main cable crane 2 and the angle α2 between the main cable 1 and the horizontal plane at the position of the secondary cable crane 3 are obtained in real time by the angle monitoring module installed on the cable crane.

[0078] Spacing determination module: This module is used to substitute the horizontal spacing L between the two cross-cable cranes into the spacing-deviation correction model, calculate the spacing deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane 3 based on the spacing deviation ΔL and the speed of the main cross-cable crane 2. The horizontal spacing L between the two cross-cable cranes is obtained in real time by the spacing monitoring module 5 installed on the cross-cable crane.

[0079] Control module: Used to control the coordinated movement of the two cross-cable cranes during the hoisting of box girder segment 4, based on the angle and spacing determination modules. The control module is an industrial-grade PLC, model Siemens S7-1200.

[0080] As a preferred embodiment of the present invention, see Figure 5 and Figure 6 The control system for coordinated movement of two cross-cable cranes during suspension bridge construction, as described in this invention, also includes a remote monitoring platform. This platform is signal-connected to the angle determination module, the spacing determination module, and the control module. The remote monitoring platform displays in real-time the status of the box girder segment 4 during hoisting, the angle α1 between the main cable 1 and the horizontal plane at the position of the main cross-cable crane 2, the angle α2 between the main cable 1 and the horizontal plane at the position of the secondary cross-cable crane 3, the horizontal spacing L between the two cross-cable cranes, the speed of the main cross-cable crane 2, and the speed of the secondary cross-cable crane 3. It can also issue remote alarms based on the angle threshold judgment results. The remote monitoring platform is an HMI13.

[0081] As a preferred embodiment of the present invention, the control system for the coordinated movement of two cross-cable cranes in the construction of a suspension bridge also includes a data storage module. The data storage module is connected to a remote monitoring platform and is used to store data in the remote monitoring platform to facilitate subsequent traceability of construction quality.

[0082] The control system for coordinated movement of two cable-stayed cranes in the construction of a suspension bridge in this invention corresponds to the control method for coordinated movement of two cable-stayed cranes in the construction of a suspension bridge described above. The specific contents of the model building module, angle determination module, spacing determination module, and control module are described in the section on the control method for coordinated movement of two cable-stayed cranes in the construction of a suspension bridge, and will not be repeated here.

[0083] This invention also proposes a computer storage medium, including a program file stored thereon, which is executed to implement the control method for the coordinated movement of two cable-stayed cranes in suspension bridge construction described above. Specifically, the control method for the movement of the two cable-stayed crane system in suspension bridge construction is described above.

[0084] The computer storage medium in this invention may specifically include random access memory (RAM), main memory, read-only memory (ROM), programmable ROM, erasable programmable ROM, registers, hard disk, removable disk, or CD-ROM. It should be noted that those skilled in the art can select the form and type of storage medium according to actual usage needs, and this invention does not impose further specific limitations.

[0085] The above description is only used to illustrate the technical solutions of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing, those skilled in the art should understand that modifications can still be made to the technical solutions described above, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction, characterized in that... Includes the following steps: S1: Install a spacing monitoring module (5) and an angle monitoring module on the cross-cable crane. The spacing monitoring module (5) is used to monitor the horizontal spacing L between the two cross-cable cranes in real time. The angle monitoring module is used to monitor the angle α1 between the main cable (1) and the horizontal plane at the position of the main cross-cable crane (2) and the angle α2 between the main cable (1) and the horizontal plane at the position of the cross-cable crane (3). S2: Establish the tilt angle-velocity compensation model and the spacing-deviation correction model; S3: Substitute the angle α1 between the main cable (1) and the horizontal plane at the position of the main cable crane (2) and the angle α2 between the main cable (1) and the horizontal plane at the position of the secondary cable crane (3) into the tilt angle-velocity compensation model, and determine the speed of the secondary cable crane (3) based on the speed of the main cable crane (2); S4: Substitute the horizontal distance L between the two cross-cable cranes into the distance-deviation correction model, calculate the distance deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane (3) based on the distance deviation ΔL and the speed of the main cross-cable crane (2); S5: Repeat steps S3 and S4 continuously to control the coordinated movement of the two cross-cable cranes during the hoisting of the box girder segment (4).

2. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 1, characterized in that, The tilt angle-velocity compensation model is as follows: V2=V1+ΔV q In the formula, V1 is the speed of the main cable crane (2), in m / min; α1 is the angle between the main cable (1) and the horizontal plane at the position of the main cable crane (2), in °; α2 is the angle between the main cable (1) and the horizontal plane at the position of the main cable crane (3), in °; ΔV q V1 is the difference in tilt velocity, in m / min; V2 is the velocity from the cross-cable crane (3), in m / min.

3. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 1, characterized in that, The spacing-deviation correction model is as follows: ΔL=L-L0 ΔV q = K×V2' V2=V2‘+ΔV q L is the horizontal distance between the two cable cranes, in meters (m). L0 is the distance between the two lifting points on the box girder segment (4), in meters; ΔL is the spacing deviation between the two cross-cable cranes, in meters; K is a proportionality constant, dimensionless, K = ΔL / L; ΔV q V2' is the speed difference between the two points, in m / min; V2' is the speed of the cross-cable crane (3) at the previous moment, in m / min; V2 is the speed of the cross-cable crane (3), in m / min.

4. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 3, characterized in that, Specifically, in the process of hoisting the box girder segment (4), if |ΔL>2%L0|, the horizontal distance L between the two cross-cable cranes is substituted into the distance-deviation correction model to calculate the distance deviation ΔL between the two cross-cable cranes. The speed of the secondary cross-cable crane (3) is corrected according to the distance deviation ΔL and the speed of the main cross-cable crane (2); otherwise, step S5 is executed directly.

5. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 1, characterized in that, Step S5 further includes: setting the tilt angle safety threshold of the main cable (1), and determining whether the difference between the included angle α1 and the included angle α2 exceeds the tilt angle safety threshold of the main cable (1) during the hoisting process of the box girder segment (4). If the limit is exceeded, stop hoisting; otherwise, continue hoisting.

6. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 5, characterized in that, The included angle threshold judgment condition is: |α1-α2|≥Δα, where Δα is the tilt angle safety threshold of the main cable (1).

7. The control method for the coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 1, characterized in that, In step S1, there are two spacing monitoring modules (5), which are respectively installed on the top crossbeam of the main span cable crane (2) or the top crossbeam of the secondary span cable crane (3), or one of them is installed on the crossbeam of the main span cable crane (2) and the other is installed on the crossbeam of the secondary span cable crane (3); wherein, the horizontal spacing L between the two span cable cranes is the average value of the monitoring values ​​of the two spacing monitoring modules (5); There are two angle monitoring modules, which are installed at the connection between the main span cable crane (2) and the main cable (1) and at the connection between the secondary span cable crane (3) and the main cable (1), respectively.

8. A control system for the coordinated movement of two cable-stayed cranes in suspension bridge construction, based on the control method for coordinated movement of two cable-stayed cranes in suspension bridge construction as described in claim 1, is characterized in that... include: Model building module: used to build tilt angle-velocity compensation model and spacing-deviation correction model; Angle determination module: used to substitute the angle α1 between the main cable (1) and the horizontal plane at the position of the main cable crane (2) and the angle α2 between the main cable (1) and the horizontal plane at the position of the secondary cable crane (3) into the tilt angle-velocity compensation model, and determine the speed of the secondary cable crane (3) according to the speed of the main cable crane (2); wherein, the angle α1 between the main cable (1) and the horizontal plane at the position of the main cable crane (2) and the angle α2 between the main cable (1) and the horizontal plane at the position of the secondary cable crane (3) are obtained in real time by the angle monitoring module installed on the cable crane; Spacing determination module: used to substitute the horizontal spacing L between the two cross-cable cranes into the spacing-deviation correction model, calculate the spacing deviation ΔL between the two cross-cable cranes, and correct the speed of the slave cross-cable crane (3) based on the spacing deviation ΔL and the speed of the main cross-cable crane (2); wherein, the horizontal spacing L between the two cross-cable cranes is obtained in real time by the spacing monitoring module (5) installed on the cross-cable crane; And the control module: used to control the coordinated movement of the two cross-cable cranes during the hoisting of the box girder segment (4) based on the angle determination module and the spacing determination module.

9. The control system for coordinated movement of two cable-stayed cranes during suspension bridge construction according to claim 8, characterized in that, The control system for the coordinated movement of the two cross-cable cranes during the construction of the suspension bridge also includes a remote monitoring platform. The remote monitoring platform is connected to the angle determination module, the spacing determination module and the control module. The remote monitoring platform displays in real time the status of the box girder segment (4) during the hoisting process, the angle α1 between the main cable (1) and the horizontal plane at the position of the main cross-cable crane (2), the angle α2 between the main cable (1) and the horizontal plane at the position of the secondary cross-cable crane (3), the horizontal spacing L between the two cross-cable cranes, the speed of the main cross-cable crane (2) and the speed of the secondary cross-cable crane (3).

10. A computer storage medium, characterized in that, It includes a program file that is executed to implement program instructions formed by the control method for the coordinated movement of two cross-cable cranes in the construction of a suspension bridge as described in any one of claims 1-7.

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