Configuration optimization method and equipment of rope traction suspension derrick tower assembly system and medium

Abstract

The invention discloses a configuration optimization method and equipment for a rope traction suspension derrick tower assembly system and a medium, and belongs to the technical field of electric power facility construction. The method comprises the following steps: S1, establishing a local coordinate system and a world coordinate system to describe the pose state of the suspension derrick; s2, determining geometric parameters and structural parameters of the system, and establishing a kinematic equation, a kinetic equation and a static balance equation; s3, defining a torque feasible space and proposing a force distribution algorithm; step S4, providing three related optimization indexes; s5, converting multi-objective optimization into a unified index by using an ideal point method, and carrying out optimization modeling to obtain an optimization equation; and S6, selecting parameters to be optimized according to needs, selecting an optimization algorithm to solve the optimization equation to obtain optimal parameters, and realizing configuration optimization. According to the method, the anti-interference capability of the system can be improved, and on the basis of improving the mechanization level of the whole system, the configuration of the rope traction suspension derrick tower assembly system is optimized.

Description

Technical Field

[0001] This invention relates to the field of power facility construction technology, and in particular to a configuration optimization method for an eight-cable traction suspended gantry hoisting device used for erecting iron towers. Background Technology

[0002] With the continuous growth of electricity load, the demand for long-distance, high-capacity power transmission is also increasing. Correspondingly, the voltage levels of transmission lines are constantly being upgraded, and transmission towers play a crucial role in this process. Transmission line engineering is an important component of power grid construction; however, traditional tower construction methods suffer from low automation and high reliance on manual labor. Construction sites often require a large number of workers to perform high-altitude operations, which are complex, time-consuming, and dangerous, resulting in low overall efficiency and failing to meet the requirements of modern large-scale power grid construction.

[0003] In complex environments such as high mountains and difficult transportation, construction mainly adopts a suspended gantry tower assembly method. The suspended gantry, suspended and fixed above the tower by ropes, is a commonly used hoisting device capable of adapting to complex terrain; hereinafter referred to as the suspended gantry tower assembly system. This system mainly consists of a base frame and a slender suspended gantry. Eight retractable traction ropes are driven by a winch-motor system and connected to the upper and lower ends of the gantry. The other ends of the four ropes at the lower end of the gantry are connected to the tower frame, and the four ropes at the upper end of the gantry can also be connected to the frame or fixed to the ground. The gantry connected to the frame is called an inner suspended inner guyed gantry, and the gantry fixed to the ground is called an inner suspended outer guyed gantry. Under the coordinated tension of the eight ropes, the suspended gantry can achieve six degrees of freedom of movement in space.

[0004] Improving the mechanization and automation level of transmission line construction (especially in the tower erection phase) has become an urgent need, and the degree of mechanization has become an important indicator of the level of modern power construction. Since the suspended gantry tower erection system is essentially a rope-driven structure, combining relevant research on rope-driven parallel mechanisms may offer some improvements to this system. Traditional suspended gantry tower erection systems cannot accurately control the cable tension, thus failing to guarantee that the cable tension remains within the system's required limits at all times. Therefore, manual monitoring is still necessary to mitigate potential risks. Furthermore, due to uncertainties in the actual model and external disturbances during outdoor operations, the system needs a certain level of anti-interference capability. How to improve the system's anti-interference capability through configuration optimization before operation is a problem that needs to be solved.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a method, equipment, and medium for optimizing the configuration of a rope-driven suspended gantry tower system. This method optimizes the configuration of the rope-driven suspended gantry tower system based on the anti-interference requirements of the system during outdoor operations, while improving the overall mechanization level of the system, thereby solving the aforementioned technical problems in the prior art.

[0007] The objective of this invention is achieved through the following technical solution: A method for optimizing the configuration of a rope-traction suspended gantry tower system includes: Step S1: Establish the corresponding local coordinate system and world coordinate system based on the connection relationship between the tower frame and the suspended gantry of the rope-traction suspended gantry tower assembly system; Step S2: Determine the geometric and structural parameters of the suspended mast and tower frame of the rope-traction suspended mast tower assembly system based on the coordinate system established in Step S1. Based on the determined geometric and structural parameters, establish the kinematic equation, dynamic equation and static equilibrium equation of the rope-traction suspended mast tower assembly system. Step S3: Based on the Jacobian matrix obtained from the kinematic equations in step S2, and with the help of the dynamic equations, determine the six-dimensional moment feasible space of the rope-traction suspended pole tower system, and obtain the solution space of the rope force according to the desired six-dimensional moment, and obtain the rope force according to the selected algorithm for obtaining the force distribution of the rope force. Step S4: With the goal of improving the system's anti-interference capability, combining the static balance equation of step S2, the six-dimensional moment feasible space determined in step S3, and the obtained rope force, optimization indicators related to capacity margin, stiffness, and distance between ropes are selected as indicators for optimizing the configuration of the rope-traction suspended gantry tower system, and the optimization equations corresponding to the optimization indicators related to capacity margin, stiffness, and distance between ropes are determined respectively. Step S5: All the optimization indices selected in step S4 are processed uniformly to form an optimization equation that transforms multi-objective optimization into single-objective optimization. Step S6: Combine the preset reference trajectory point set to determine the set of configuration parameters that need to be optimized, set the feasible range of variables, select the corresponding optimization algorithm to solve the optimization equation constructed in step S5, and obtain the optimal configuration parameter values ​​as the configuration optimization result of the rope-traction suspended gantry tower system.

[0008] Preferably, in the above method, the rope-traction suspended pole-mounting tower system includes: The tower frame, the suspended support pole, and eight ropes; The eight retractable ropes are connected to the upper and lower ends of the suspended mast via a winch-motor mechanism. The four ropes connected to the lower end of the suspended mast are the upper tension cables that bear the vertical force of the mast and the load. The other end of the four ropes is connected to the top of the tower frame of the transmission tower. The four ropes connected to the upper end of the suspended mast are pull cables that tighten, position and stabilize the structure. The other end of the four ropes are connected to the tower frame of the transmission tower to form an internally suspended internal guyed mast configuration or fixed to the ground to form an internally suspended external guyed mast configuration. With the combined effect of the tension of eight ropes, the suspended pole can complete six degrees of freedom motion in space.

[0009] Each set of upper cable pulling mechanism and each set of lower cable pulling mechanism have the same composition, consisting of a winch mechanism, rope, servo motor, encoder and rope anchor point.

[0010] Preferably, in step S1 of the above method, the world coordinate system and local coordinate system of the system are established according to the connection relationship between the tower frame and the suspended mast of the suspended mast tower assembly system in the following manner: Establish a world coordinate system at the center of the plane where the tower frame contacts the ground. ; With the center of mass of the suspended mast as the origin of the body coordinate system. Establish a local coordinate system ; When the suspended mast remains vertical, the world coordinate system and the local coordinate system remain parallel.

[0011] Preferably, in step S2 of the above method, the geometric and structural parameters of the levitation mast and tower frame of the rope-traction levitation mast tower assembly system are determined according to the coordinate system established in step S1 in the following manner: In the world coordinate system Below, the pose vector of the suspended boom is represented as a six-dimensional state vector. ,in It is an attitude vector. It is an Euler angle vector representing the attitude. It is the Euler angle of the precession angle. It is the Euler angle of the nutation angle. If the Euler angles are spin angles, then the local coordinate system... Relative to the world coordinate system rotation matrix Represented as: (1); In a rope-traction suspended gantry tower system Let i represent the point where the rope of the i-th rope on the tower frame originates. The coordinates in the world coordinate system are ; This represents the rope connection point between the i-th rope and the suspended pole. The coordinates in the local coordinate system are , .

[0012] Preferably, in step S2 of the above method, the kinematic equations, dynamic equations, and static equilibrium equations of the rope-traction suspended gantry tower system are established based on the determined geometric and structural parameters in the following manner: Based on the vector loop equation, the kinematic equations of the rope-traction suspended gantry tower system, relating the length vector of the rope to the pose of the moving platform, are expressed as follows: (2); in, This represents the length of the i-th rope; This represents the direction vector of the rope; The representation of the rope connection points of the suspended mast in the world coordinate system; It is a local coordinate system The origin relative to the world coordinate system The direction vector; ; Taking the derivatives of both sides of equation (2) with respect to time, the relationship between the velocity of the rope and the velocity of the suspended pole is obtained as follows: (3); in, It is a Jacobian matrix that satisfies: (4); It is the velocity of the levitating mast relative to the world coordinate system. and characterize the speed of the suspended mast. The following conditions must be met: (5); in, It is an interaction matrix, expressed as: (6); (7); In the above interaction matrix, It is a three-dimensional identity matrix; It is a three-dimensional zero matrix; It is used to characterize the angular velocity of the suspension mast itself. With Euler angular velocity The relational Jacobian matrix is ​​the velocity. and speed The main differences are in their composition; According to the Newton-Euler formula, the dynamic equation of the suspended mast in the workspace is expressed as: (8); In the above formula (8), and These are the acceleration vector and velocity vector of the pose, respectively; It is the inertial matrix of the rope-traction suspended pole-mounted tower system; It is the Coriolis matrix of the rope-traction suspended pole-mounted tower system; It is the gravity vector; It is a combination of the Jacobian matrix and the interaction matrix; It is an eight-dimensional force vector, where the expressions for the inertia matrix and the Coriolis matrix are as follows: (9); (10); in, It is the inertia matrix of the rope-traction suspended pole-mounted tower system; It is the mass of the suspended mast; Represents the Euler angular velocity vector; express The antisymmetric matrix of a vector; Based on the relationship between force balance and torque conservation, the static equilibrium equation of the rope-traction suspended gantry tower system is obtained as follows: (11); in, It is an external disturbance.

[0013] Preferably, in step S3 of the above method, the Jacobian matrix is ​​obtained from the kinematic equations obtained in step S2, and the six-dimensional moment feasible space of the rope-traction suspended gantry tower system is determined using the dynamic equations. The solution space of the rope force is obtained based on the desired six-dimensional moment, and the rope force is obtained according to the selected algorithm for obtaining the force distribution of the rope force, including: The right-hand side of the dynamic equation (8) obtained in step S2 is provided by the controller of the winch-motor system. After measuring the attitude error and velocity error of the rope-traction suspended mast tower system, the attitude error and velocity error are fed into the controller. The controller will generate a corresponding control quantity to control the movement of the winch-motor system driving the suspended mast. The control quantity is the desired six-dimensional torque. Let represent the desired six-dimensional torque, and let Given the system's structure matrix, the following equation can be obtained: (12); make and Let represent the upper limit and lower limit of the force on the i-th rope, respectively. Then the force on the rope... satisfy ,make and Let the lower limit set and the upper limit set of cable forces be represented respectively. The resulting six-dimensional feasible space of torques is: (13); in, It is a structure matrix The i-th column vector, and: (14); (15); The force distribution of the eight ropes driving the suspended mast is obtained by equation (12). Then the structure matrix With a two-dimensional null space, the solution to equation (12) is expressed as: (16); in, It is a structure matrix The zero space; It is a structure matrix The false rebellion, and Let be any parameter vector, let Combining the upper and lower limits of the rope's tension, we obtain: (17); The final solution space for the rope force is a two-dimensional convex polygon, as follows: (18); The force distribution is determined by the selected geometric method, and the corresponding force is searched in the solution space equation (18) according to the cable force characteristics specified in the actual requirements. Choosing one of the force distributions involves selecting the coordinates of a point at the weighted centroid of the convex polygon. Combined, the rope force is calculated by substituting into equation (16); Alternatively, the corresponding solution can be searched in the solution space equation (18) using a selected optimization method. According to the selected The rope force is calculated by substituting the combined formula (16).

[0014] Preferably, in step S4 of the above method, with the goal of improving the system's anti-interference capability, and combining the six-dimensional moment feasible space determined in step S3 and the static equilibrium equation in step S2, optimization indices related to capacity margin, stiffness, and the distance between ropes are selected as indices for optimizing the configuration of the rope-traction suspended gantry tower system. The optimization equations corresponding to the optimization indices related to capacity margin, stiffness, and the distance between ropes are determined, including: To improve the system's anti-interference capability, it is necessary to simulate a series of motion trajectories of the suspended boom, starting from a given initial position. and finish line and the time interval between trajectory points Then, the corresponding trajectory is decomposed into n trajectory points, which can be written in the form of the following set: (19); The goal of improving the system's anti-interference capability is to optimize the connection points between the ropes on the suspended derrick and the tower frame, or the connection points on the ground, when constructing a rope-traction suspended derrick tower system. These connection point locations are denoted as... Since there are eight ropes, there are a maximum of 24 variables that need to be optimized. Based on the actual needs, select the variables that need optimization, and uniformly represent the set of variables to be optimized as follows: (20); make and Let represent the minimum and maximum values ​​of the z-th variable, respectively. Therefore, the total range of optimization variables can be expressed as: (twenty one); The selected optimization index related to capacity margin is determined as follows: the expression for another hyperplane of the six-dimensional moment feasible space obtained in step S3 (13) is: (twenty two); in, (twenty three); (twenty four); here With structure matrix The n-1 columns are orthogonal, and the structure matrix is... Each column has n elements. If the matrix formed by these n-1 column vectors is of full rank, then it has one and only one null space. It is the null space vector of the matrix consisting of n-1 columns, with the reverse part included. It has a total of indivual ; make and for Subsets of, respectively defined and ,but Represented as: (25); The capacity margin s is defined as: (26); Where r represents the r-th hyperplane in the current pose; The optimization metric related to capacity margin is set as follows: , of which S v Let v be the trajectory point, and the optimization equation related to this optimization index is: (27); The selected stiffness-related optimization indices are determined as follows: the expression for the stiffness matrix is ​​determined by combining the static equilibrium equation (11) satisfied by the suspension strut with the physical meaning of stiffness: (28); in, It is the active matrix, the size of which is affected by the system configuration and the magnitude of the cable forces. It is a passive matrix, let The expressions for the active matrix and the passive matrix are as follows: (29); (30); in, and Let represent the Young's modulus of the i-th rope and the cross-sectional area of ​​the rope, respectively. This represents the coordinate vector of the i-th rope connection point on the suspended mast in the world coordinate system. ; and They are and Antisymmetric matrix form of a vector; merge and Obtain the overall stiffness matrix. The diagonal elements of the stiffness matrix satisfy the following expression: (31); in, It is an infinitesimally small external disturbance The j-th element; It is the infinitesimal displacement of the suspended pole. The j-axis component; Choose the smallest diagonal element As an optimization metric, this value is expressed as: (32); The stiffness-related optimization index is set as the minimum diagonal element of the stiffness matrix, and the mean corresponding to this minimum diagonal element is denoted as: The optimization equation related to this optimization index is: (33); The optimization indices related to the distance between the selected ropes were determined as follows: This rope-traction suspended gantry tower system has eight ropes, totaling... Given a combination of ropes, these distances can be expressed as a set: (34); make This represents the distance between the k-th rope and the i-th rope, combined with... Definition and Definition of distance The expression is represented as: (35); Where k satisfies: (36); To ensure the anti-interference capability of the rope-traction suspended gantry tower system, the optimal shortest distance between the ropes is selected. minimum value : (37); Based on the minimum value The optimization metric related to the distance between ropes is set as the minimum rope spacing, and the mean value corresponding to this minimum rope spacing is denoted as... The optimization equation related to this optimization index is: (38).

[0015] Preferably, in step S5 of the above method, all optimization indices selected in step S4 are uniformly processed in the following manner to transform multi-objective optimization into single-objective optimization equations, including: The optimization index related to capacity margin selected in step S4 Stiffness-related optimization indices And optimization metrics related to the distance between ropes The maximum and minimum values ​​of a single optimization index are obtained according to the optimization equations of the capacity margin related optimization index in Equation (27), Equation (33), and Equation (38) related optimization index to the distance between ropes, respectively. The ideal point method is used to normalize the maximum and minimum values ​​of each optimization index according to the following normalization expressions: (41); (42); (43); Wherein, the subscripts max and min represent the maximum and minimum values ​​of the corresponding indicators, respectively; After the above processing is completed, calculate the normalized distance from the current solution to the ideal point using the following formula. Normalized distance from the current solution to the antiideal point : (44); (45); Based on the normalized distance from the current solution to the ideal point Normalized distance from the current solution to the antiideal point Determined objective function for: (46); Based on the objective function, the following final optimization equation is determined, expressed as: (47); The following first constraint in equation (48) of the optimization equation (47) is treated as a penalty function and added to the objective function (46); (48); The constraint function of the rope-to-rope contact, which serves as the second constraint, is expressed as a penalty function. for: (49); in, It is a very large positive penalty factor, usually taking a value more than three orders of magnitude greater than the maximum absolute value of equation (46), and is used as a soft constraint to eliminate configurations that violate the constraint; and The initial value is 0. Regarding the force distribution related to the first constraint, if no feasible solution is found for the force distribution, then let the force distribution at that trajectory point be... Similarly, Then, associate the second constraint to set a lower limit for the distance between the ropes. If the lower limit is violated at a certain trajectory point, then... .

[0016] A processing apparatus, comprising: At least one memory for storing one or more programs; At least one processor is capable of executing one or more programs stored in the memory, such that when the processor executes one or more programs, the processor can implement the method of the present invention.

[0017] A readable storage medium storing a computer program that, when executed by a processor, enables the implementation of the methods described in this invention.

[0018] Compared with the prior art, the configuration optimization method, equipment and medium of the rope-traction suspended pole-mounted tower system provided by the present invention have the following beneficial effects: First, a coordinate system is established based on the connection relationship between the tower frame and the suspended derrick of the rope-traction suspended derrick tower assembly system. The geometric and structural parameters of the system are then determined, and based on this, the kinematic, dynamic, and static equilibrium equations of the system are established. The six-dimensional moment feasible space of the system is determined using the kinematic and dynamic equations, and the rope force is calculated using an algorithm to determine the force distribution of the rope force. Combining the six-dimensional moment feasible space, the static equilibrium equations, and the rope force, with the goal of improving the system's anti-interference capability, optimization indices related to capacity margin, stiffness, and the distance between ropes are selected as indicators for optimizing the configuration of the rope-traction suspended derrick tower assembly system. Using the ideal point method, all optimization indices are uniformly processed, transforming the multi-objective optimization problem into a single-objective optimization problem. Based on the required configuration parameters, the optimal result is obtained by solving the optimization equations, thus achieving system configuration optimization. This method improves the overall mechanization level of the system while enabling rapid and accurate optimization of the configuration of the rope-traction suspended derrick tower assembly system according to the anti-interference capability requirements during outdoor operations, thereby improving the quality and efficiency of power facility construction. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the configuration optimization method for a rope-traction suspended pole-mounted tower assembly system provided in an embodiment of the present invention.

[0021] Figure 2 An equivalent schematic diagram of the geometric parameters and coordinate axes of the rope-traction suspended gantry tower system determined in the optimization method provided in the embodiments of the present invention.

[0022] Figure 3This is a schematic diagram of a commonly used rope-traction internal suspension internal pull type suspended gantry tower system that can be optimized by the method of this embodiment of the invention.

[0023] Figure 4 This is a schematic diagram of a commonly used rope-traction internal suspension and external pulling type suspended gantry tower assembly system that can be optimized by the method of this embodiment of the invention.

[0024] The component names corresponding to each mark in the diagram are: 1-Lower cable; 2-Winding mechanism; 3-Motor; 4-Suspension mast; 5-Tower frame; 6-Upper cable; 7-Rope winch-motor mechanism; 8-Traction rope; 9-Ground pulley; 10-Lifting pulley block; 11-Lifting component; 12-Control rope; 13-Suspension mast guy wire ground anchor and winch-motor mechanism; 14-Powered ground anchor and winch-motor mechanism. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific content of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments, which do not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0026] First, the following explanations are provided for the terms that may be used in this article: The term "and / or" means that either or both can be achieved simultaneously. For example, X and / or Y means that it includes both "X" or "Y" as well as the three cases of "X and Y".

[0027] The terms "comprising," "including," "containing," "having," or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.) should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0028] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0029] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0030] When concentration, temperature, pressure, size, or other parameters are expressed as numerical ranges, such ranges should be understood to specifically disclose all ranges formed by any pairing of upper limits, lower limits, or preferred values ​​within that range, regardless of whether the range is explicitly stated; for example, if the numerical range "2 to 8" is stated, then that range should be interpreted to include ranges such as "2 to 7", "2 to 6", "5 to 7", "3 to 4 and 6 to 7", "3 to 5 and 7", "2 and 5 to 7", etc. Unless otherwise stated, the numerical ranges described herein include both their endpoints and all integers and fractions within that range.

[0031] The terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience and simplification of description and do not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this document.

[0032] The solution provided by this invention will be described in detail below. Contents not described in detail in the embodiments of this invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of this invention, they shall be performed according to conventional conditions in the art or conditions recommended by the manufacturer. Reagents or instruments used in the embodiments of this invention whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0033] like Figure 1 As shown, this invention provides a configuration optimization method for a rope-traction suspended gantry tower system, comprising the following steps: Step S1: Establish a corresponding local coordinate system based on the connection relationship between the suspended gantry and the tower frame of the transmission tower in the rope-traction suspended gantry tower assembly system (hereinafter referred to as the system or suspended gantry tower assembly system). and world coordinate system ; Step S2: Determine the geometric and structural parameters describing the suspended strut and outer frame based on the local and world coordinate systems established in Step S1, and establish the corresponding kinematic equations, dynamic equations and static equilibrium equations based on these parameters. Step S3: Based on the Jacobian matrix obtained from the kinematic equations in step S2, and with the help of the dynamic equations, determine the six-dimensional moment feasible space of the rope-traction suspended pole tower system, and obtain the solution space of the rope force according to the desired six-dimensional moment, and obtain the rope force according to the selected algorithm for obtaining the force distribution of the rope force. Step S4: From the perspective of improving the system's anti-interference capability, select reasonable optimization indicators. First, transform the six-dimensional moment feasible space obtained in step S3 into a hyperplane form, and calculate the first optimization indicator—capacity margin—based on this. Second, use the system's static equilibrium equation to obtain the system's stiffness matrix, and select the degree of freedom with the minimum stiffness as the second optimization indicator. Finally, considering the potential collision risk between ropes, select the minimum rope spacing as the third optimization indicator. Step S5: The three indicators obtained in step S4 are processed in a unified manner, transforming multi-objective optimization into single-objective optimization, and an optimization equation is established accordingly. Step S6: Based on the preset reference trajectory point set, determine the set of configuration parameters that need to be optimized and set the feasible range of the variables. Select an appropriate optimization algorithm to solve the optimization equations constructed in step S5, and finally obtain the optimal configuration parameter values, providing a decision basis for the optimized installation of the suspended mast tower system.

[0034] See Figure 2 , Figure 3 and Figure 4 Preferably, the main optimization object in the above method, namely the rope-traction suspended gantry tower system, mainly includes: a tower frame 5 and a slender suspended gantry 4, which is connected to the upper and lower ends of the suspended gantry 4 by eight retractable traction ropes driven by a winch-motor mechanism 7 or 13. The four ropes connected to the lower end of the suspended mast 4 are upper tension cables 6, also called support cables, used to bear the vertical force of the suspended mast 4 and the lifting component 11. They consist of upper tension cables 6 and a rope winch-motor mechanism 7. The other end of the upper tension cable 6 is connected to the vicinity of the top of the tower frame 5. The four ropes at the upper end of the suspended mast 4 are lower tension cables 1, which are used to tighten, position and stabilize the structure. The other end of the lower tension cable 1 can be connected to the tower frame 5 and consists of lower tension cables 1 and a rope winch-motor mechanism 7. Alternatively, it can be fixed to the ground. Fixing to the ground requires the use of ground anchors. Therefore, this part consists of lower tension cables 1, suspended mast guy wires, ground anchors and winch-motor mechanism 13. The configuration connected to the tower frame 5 is called an inner suspended inner guy wire mast, while the configuration fixed to the ground is called an inner suspended outer guy wire mast. Encoders are also installed in their respective winch-motor mechanisms. Under the coordinated action of the tension of the eight ropes, the suspended mast can complete six degrees of freedom of spatial motion.

[0035] The above-mentioned part is the structure of the part that drives the suspended mast 4 to move in the suspended mast tower assembly system, which is the object that needs to be optimized in the method of the present invention. In addition, structurally, each mast is equipped with a set of lifting pulleys 10 at the top and a ground pulley 9 at the bottom of the tower frame 5. With the help of these mechanisms, the traction rope 8 can transport the lifting parts 11 through the power anchor and the power provided by the winch-motor mechanism 14 to assemble the tower frame 5 of the transmission tower. When transporting the lifting parts 11, a control rope 12 also needs to be fixed on the lifting parts 11.

[0036] This invention optimizes only the part that drives the movement of the suspended boom, and not the part that transports the lifting components.

[0037] See Figure 2 Preferably, in step S1 of the above optimization method, the world coordinate system of the system is established according to the connection relationship between the tower frame and the suspended mast of the suspended mast tower assembly system in the following manner. and local coordinate system ,include: A world coordinate system is established at the center of the plane where the tower frame contacts the ground. ; With the center of mass of the suspended mast as the origin of the body coordinate system. Establish the local coordinate system of the system ; When the suspended mast remains vertical, the world coordinate system and the local coordinate system remain parallel.

[0038] Preferably, in step S2 of the above optimization method, the geometric and structural parameters of the suspended gantry tower system of the rope traction parallel mechanism are determined according to the coordinate system established in step S1 in the following manner: In the world coordinate system Below, the pose vector of the suspended boom can be expressed as: This is a six-dimensional state vector, where It is a position vector representing the attitude. These are Euler angle vectors representing attitude, and thus the local coordinate system Relative to the world coordinate system rotation matrix It can be represented as: (1); After specifying the required state variables, Let be the point where the i-th rope originates from the tower frame. Its coordinates in the global coordinate system can be represented as: , Let be the connection point between the i-th rope and the suspended pole, and its coordinates in the local coordinate system can be expressed as: All i satisfy .

[0039] See Figure 4 According to the vector loop equation, the relationship between the length vector of the rope and the pose of the moving platform can be expressed as: (2); in, This represents the length of the i-th rope. The direction vector of the rope. This represents the rope connection points of the suspended mast in the world coordinate system. Coordinate system The origin relative to the coordinate system The direction vector.

[0040] Taking the derivatives of both sides of equation (2) with respect to time, the relationship between the velocity of the rope and the velocity of the suspended pole is obtained as follows: (3); in, It is a Jacobian matrix that satisfies: (4); It is the velocity of the levitating mast relative to the world coordinate system. and characterize the speed of the suspended mast. The following conditions must be met: (5); in It is an interaction matrix, and its specific expression is: (6); (7); In the above interaction matrix, It is a three-dimensional identity matrix. It is a three-dimensional zero matrix. It is the relational Jacobian matrix, used to characterize the angular velocity of the suspension mast itself. With Euler angular velocity The relationship is speed and speed The main differences lie in their composition.

[0041] Equation (2) above is the kinematic model of the rope-traction suspended gantry tower system. According to the Newton-Euler formula, the dynamic model of the suspended gantry in the workspace can be expressed as: (8); In the above formula (8), and These are the acceleration vector and velocity vector of the hovering pole, respectively; It is the inertia matrix of the tower system; It is the Coriolis matrix of the rope-traction suspended pole-mounted tower system; It is the gravity vector. It is a combination of the Jacobian matrix and the interaction matrix. It is an eight-dimensional force vector, where the expressions for the inertia matrix and the Coriolis matrix are as follows: (9); (10); in, It is the inertia matrix of the rope-traction suspended pole-mounted tower system; It is the mass of the suspended mast; Represents the Euler angular velocity vector; express The antisymmetric matrix of a vector.

[0042] Based on the relationship between force balance and torque conservation, the static equilibrium equation of the system can be obtained as follows: (11); Here It is an external disturbance.

[0043] Preferably, in step S3 of the above method, the right-hand side of the dynamic equation obtained in step S2 is generally provided by the controller. After measuring the attitude error and velocity error of the rope-traction suspended mast tower system, the attitude error and velocity error are input into the controller. The controller will generate a corresponding control quantity to control the movement of the winch-motor system driving the suspended mast. The control quantity is the desired six-dimensional torque, which can be used... Let represent the desired six-dimensional torque, and let We can obtain the following equation: (12); make and Let these represent the upper limit and lower limit of the cable force of the i-th rope, respectively. Therefore, the cable force of the rope... satisfy , can make and Let the lower limit set and the upper limit set of cable forces be represented respectively. The six-dimensional feasible space of torques can then be obtained as follows: (13); in, It is a structure matrix The i-th column vector, and: (14); (15); The force distribution of the eight ropes driving the suspended mast can be obtained using equation (12), since Therefore, the structure matrix Since there is a two-dimensional null space, the solution to equation (12) can be expressed as: (16); in, It is a structure matrix Zero space, It is a structure matrix The false rebellion, and Let be any parameter vector Combining the upper and lower limits of cable force: (17); The solution space of the cable force is: (18); The solution space for this cable force is a two-dimensional convex polygon, and the corresponding solution can be obtained based on the required cable force characteristics. The optimization time varies greatly depending on the force distribution used. Currently, the most commonly used force distribution methods are the geometric method and the optimization method. The geometric method prioritizes finding the intersection points of straight lines. Feasible The range can be determined by selecting the appropriate cable tension characteristics as needed. This method is relatively fast. However, the optimization method requires a desired cable force value, the corresponding solver to solve it, and a cable force vector to start the search. Therefore, if the vector is not provided appropriately, it will increase the computational load and naturally lengthen the optimization time.

[0044] Preferably, in step S4 of the above optimization method, from the perspective of improving the anti-interference capability during the movement of the suspended pole, three indicators are selected to optimize the system configuration. First, because it is necessary to simulate a series of motion trajectories of the suspended pole, given the initial... and end and the intervals between trajectory points The corresponding trajectory can then be decomposed into n trajectory points, which can be written in the form of the following set: (19); The main objective of this invention is to optimize the connection points between the ropes on the suspended mast and the frame or ground when constructing a suspended mast tower system. As previously explained, the positions of these connection points can be represented as follows: Since there are eight ropes in total, there are a maximum of 24 variables that can be optimized. The variables to be optimized can be selected based on actual needs. Here, the set of variables to be optimized is uniformly represented as: (20); make and Let represent the minimum and maximum values ​​of the z-th variable, respectively. Therefore, the total range of optimization variables can be expressed as: (twenty one); After preprocessing these variables, the following three relevant optimization metrics are presented: First, the first relevant metric can be called capacity margin. The six-dimensional moment feasible space equation (13) obtained in step S3 above also has another expression for the hyperplane: (twenty two); in, (twenty three); (twenty four); here With structure matrix The n-1 columns are orthogonal because Each column of the matrix has n elements, so if the matrix composed of these n-1 column vectors is of full rank, then it has exactly one-dimensional null space. It's the null space vector of the matrix consisting of n-1 columns, with the reversed part included, so there are a total of indivual .

[0045] make and for Subsets of, respectively defined and Correspondingly, It can be represented as: (25); Therefore, the capacity margin s can be defined as: (26); Here, the subscript 'r' refers to the r-th hyperplane in the current pose, and the positive capacity margin indicates the six-dimensional torque required by the system. Within the torque feasible working space (13), i.e., equation (12) has a solution, and the relatively large capacity margin indicates the six-dimensional torque required by the system. Since the system is far from the feasible torque boundary, meaning it can withstand relatively large external disturbances, capacity margin is an important indicator of its anti-interference capabilities and a crucial factor in whether the system can operate normally. Therefore, the corresponding optimization metric can be set as follows: Here, the subscript v represents the v-th trajectory point, and the related optimization equation can be written in the following form: (27); Next is the second indicator, which is related to the system's stiffness. Based on the static equilibrium equation (11) satisfied by the suspended strut above, and combined with the physical meaning of stiffness: the ability of an object to resist deformation under external disturbance, the expression for the stiffness matrix can be written as follows: (28); Here It is the active matrix, and its size is affected by the system configuration and the magnitude of the cable forces. It is a passive matrix; for convenience, let... Below are the specific expressions for the two stiffness matrices: (29); (30); in, and Let represent the Young's modulus and the cross-sectional area of ​​the i-th rope, respectively. This represents the coordinate vector of the i-th rope connection point on the suspended mast in the world coordinate system. ,and and They are respectively and The antisymmetric matrix form of a vector.

[0046] Final merger and The overall stiffness matrix can then be obtained. From the expression for the stiffness matrix, we know that its diagonal elements satisfy: (31); in, It is an infinitesimally small external disturbance The j-th element, It is the infinitesimal displacement of the suspended pole. The j-axis component. This relationship implies that a larger... The j-th degree of freedom corresponding to the suspension strut exhibits stronger resistance to deformation, indicating higher stiffness in that degree of freedom, which is an important characteristic. Therefore, the smallest diagonal element can be selected. As an optimization metric, this value represents the weakest degree of freedom in terms of the stiffness of the suspension strut, and can be expressed as: (32); Referring to the selection of the previous optimization index, the optimization index related to stiffness can be set as follows: The related optimization equation can be written in the following form: (33); The last indicator relates to the distance between the ropes. Because the levitation mast is a slender rod, collisions between ropes are likely to occur during positional changes, such as the straightening process. Furthermore, when disturbed, the levitation mast may undergo displacement, causing changes in the distance between the ropes. Therefore, it's crucial to ensure that the distance between the ropes is sufficiently large. For a platform with eight ropes, there are a total of... The rope pairs, these distances can be written in set form as: (34); make This represents the distance between the k-th rope and the i-th rope, combined with... Definition and The definition of distance here The expression can be represented as: (35); Where k satisfies: (36); To ensure the system has a certain degree of anti-interference capability, the shortest rope distance can be optimized. minimum value : (37); Yes Then, the optimization metrics related to rope distance can be set to... The optimization equation related to this index can be written as: (38).

[0047] Having selected the above three indicators, in step S5, the ideal point method is used to transform the optimization of these three indicators into a comprehensive indicator for further optimization.

[0048] Preferably, in step S5 of the above method, three indicators to be optimized were proposed in step S4: , and Next, the ideal point method is used to uniformly process these three indicators, the purpose of which is to transform the multi-objective optimization problem into a single-objective optimization problem. Since they are all maximization indicators (the larger the value, the better), they already meet the requirements of the ideal point method for indicator direction, so no additional direction adjustment is needed.

[0049] The ideal point method requires normalization of optimization variables with different dimensions. Before normalization, the maximum and minimum values ​​of individual indicators are calculated according to equations (27), (33), and (38), and marked with the subscripts "max" and "min". For example, its maximum value satisfies: (39); The minimum value satisfies: (40); After determining the maximum and minimum values ​​of all optimization metrics, the following normalization expressions are then applied: (41); (42); (43); After processing, calculate and : (44) (45) here and These are the normalized distances from the current solution to the ideal point and the anti-ideal point, respectively. Therefore, the objective function... It can be designed as follows: (46) The final optimization equation can be expressed as: (47); In the ideal point method, each index must first be assigned an "ideal" target value, and these target values ​​together constitute the ideal point. The algorithm searches within the feasible region F to minimize the overall distance between candidate solutions and the ideal point in the normalized index space. In this way, the multi-objective optimization problem can be transformed into a single-objective form, and the optimization objective can be given an intuitive and easily interpretable geometric meaning.

[0050] Because the optimization problem (47) contains constraints, and particle swarm optimization algorithms cannot handle constrained optimization problems, this invention treats the known constraints as penalty functions and adds them to the objective function (46) as part of the objective function. This invention handles a total of two constraints, one of which is: (48); Another issue stems from the design of the rope distance parameter. Because the distance between ropes is always a positive number, it's impossible to determine whether the ropes will come into contact during the movement. Therefore, a constraint function is also required, hence the penalty function. It can be represented as: (49); in It is a relatively large penalty factor. and The initial value is 0. Regarding the force distribution related to the first constraint, when no feasible solution is found for the force distribution, we can set the force distribution at that trajectory point... Similarly, Then, by associating the second constraint, a lower limit can be set for the distance between ropes. If a certain trajectory point violates this lower limit, then it can be set as follows: .

[0051] Preferably, in step S6 of the above method, during practical application, the set of configuration parameters to be optimized is determined by combining a preset set of reference trajectory points, and the feasible range of the variables is set. The particle swarm optimization method based on the Levy flight mechanism is selected to solve the optimization equations constructed in step S5, ultimately obtaining the optimal configuration parameter values, providing a decision-making basis for the optimized installation of the rope-traction suspended gantry tower system.

[0052] This invention also provides a processing apparatus, comprising: At least one memory for storing one or more programs; At least one processor is capable of executing one or more programs stored in the memory, such that when the processor executes one or more programs, the processor can implement the methods described above.

[0053] The present invention further provides a readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0054] In summary, the optimization method of the present invention can improve the overall mechanization level of the system and, based on the anti-interference capability requirements of the rope-traction suspended gantry tower system during outdoor operations, quickly and accurately optimize the configuration of the rope-traction suspended gantry tower system, thereby improving the quality and efficiency of power facility construction.

[0055] To more clearly demonstrate the technical solution and its effects provided by the present invention, the following detailed description of the solution provided by the embodiments of the present invention is provided with reference to specific examples.

[0056] Example 1 like Figure 1 As shown, this embodiment provides a configuration optimization method for a rope-traction suspended gantry tower system, including the following steps: Step S1: Establish the world coordinate system of the system based on the connection relationship between the tower frame and the suspended mast of the rope-traction suspended mast tower assembly system. and local coordinate system See Figure 2 ,include: A world coordinate system is established at the center of the plane where the tower frame contacts the ground. ; With the center of mass of the suspended mast as the origin of the body coordinate system. Establish the local coordinate system of the system ; When the suspended mast remains vertical, the world coordinate system and the local coordinate system remain parallel.

[0057] Step S2: Determine the geometric and structural parameters of the suspended gantry tower system, which serves as the rope traction parallel mechanism, based on the coordinate system established in Step S1, and establish the corresponding kinematic, dynamic, and static equilibrium equations, including: In the world coordinate system Below, the pose vector of the suspended boom can be expressed as: This is a six-dimensional state vector, where It is an attitude vector. These are Euler angle vectors representing attitude, and thus the local coordinate system Relative to the world coordinate system rotation matrix It can be represented as: (1); After specifying the required state variables, Let be the point where the i-th rope originates from the tower frame. Its coordinates in the global coordinate system can be represented as: , Let be the connection point between the i-th rope and the pole, and its coordinates in the local coordinate system can be expressed as: All i satisfy .

[0058] See Figure 4 According to the vector loop equation, the relationship between the length vector of the rope and the pose of the moving platform can be expressed as: (2); in, This represents the length of the i-th rope. The direction vector of the rope. This represents the rope connection point of the pole in the world coordinate system. Coordinate system The origin relative to the coordinate system The direction vector.

[0059] Taking the derivatives of both sides of equation (2) with respect to time, we obtain the relationship between the velocity of the rope and the velocity of the pole: (3); Among them It is a Jacobian matrix that satisfies: (4); It is the velocity of the pole relative to the world coordinate system. and characterize the speed of the suspended mast. The following conditions must be met: (5) Among them It is an interaction matrix, and its specific expression is: (6); (7); In the above interaction matrix, It is a three-dimensional identity matrix. It is a three-dimensional zero matrix. It is the relational Jacobian matrix, used to characterize the angular velocity of the pole itself. With Euler angular velocity The relationship.

[0060] Equation (2) above is the kinematic model of the rope-traction suspended gantry tower system. According to the Newton-Euler formula, the dynamic model of the suspended gantry in the workspace can be expressed as: (8); In the above formula, and These are the acceleration vector and velocity vector of the pose, respectively; It is the system's inertia matrix. It is the Coriolis matrix of the system. It is the gravity vector. It is a combination of the Jacobian matrix and the interaction matrix. It is an eight-dimensional cable force vector, and the expressions for the remaining matrices are as follows: (9); (10); in, It is the system's inertia matrix. It is the mass of the suspension mast. This represents the Euler angular velocity vector. express The antisymmetric matrix of a vector.

[0061] Based on the relationship between force balance and torque conservation, the static equilibrium equation of the system can be obtained as follows: (11); Here It is an external disturbance.

[0062] Step S3: Based on the dynamic equation obtained in step S2, the right-hand side is generally provided by the controller and can be used... Let represent the desired six-dimensional torque, and let We can obtain the following equation: (12); make and Let these represent the upper limit and lower limit of the cable force of the i-th rope, respectively. Therefore, the cable force of the rope... satisfy , can make and Let the lower limit set and the upper limit set of cable forces be represented respectively. The six-dimensional feasible space of torques can then be obtained as follows: (13); in It is a structure matrix The i-th column vector, and: (14); (15); The force distribution of the eight ropes driving the suspended mast can be obtained using equation (12), since Therefore, the structure matrix Since there is a two-dimensional null space, the solution to equation (12) can be expressed as: (16) in It is a structure matrix Zero space, It is a structure matrix The false rebellion, and Let be any parameter vector Combined with the upper and lower limits of cable tension: (17); The solution space of the cable force is: (18); This is a two-dimensional convex polygon, and the corresponding value can be obtained based on the required cable force characteristics. The optimization time varies greatly depending on the force distribution used. Currently, the most commonly used force distribution methods are the geometric method and the optimization method. The geometric method prioritizes finding the intersection points of straight lines. Feasible The range can be determined by selecting the appropriate cable tension characteristics as needed. This method is faster. However, the optimization method requires a desired cable force value, calls the corresponding solver to solve it, and also provides the cable force vector to start the search. Therefore, if the vector is not provided appropriately, it will increase the computational load and naturally lengthen the optimization time.

[0063] Step S4: From the perspective of improving the anti-interference capability during the movement of the suspended pole, three indicators were selected to optimize the system configuration. First, because it is necessary to simulate a series of motion trajectories of the suspended pole, given the initial... and end and the intervals between trajectory points The corresponding trajectory can then be decomposed into n trajectory points, which can be written in the form of the following set: (19); The main objective of this invention is to optimize the connection points between the ropes on the suspended mast and the frame or ground when constructing a suspended mast tower system. As previously explained, the positions of these connection points can be represented as follows: Since there are eight ropes in total, there are a maximum of 24 variables that can be optimized. The variables to be optimized can be selected based on actual needs. Here, the set of variables to be optimized is uniformly represented as: (20); make and Let represent the minimum and maximum values ​​of the z-th variable, respectively. Therefore, the total range of optimization variables can be expressed as: (twenty one); After preprocessing these variables, the following three relevant optimization metrics are presented: First, the first relevant metric can be called capacity margin. The six-dimensional moment feasible space of equation (13) obtained in step S3 above also has another expression for the hyperplane: (twenty two); in, (twenty three); (twenty four); here With structure matrix The n-1 columns are orthogonal because Each column of the matrix has n elements, so if the matrix composed of these n-1 column vectors is of full rank, then it has exactly one-dimensional null space. It's the null space vector of the matrix consisting of n-1 columns, with the reversed part included, so there are a total of indivual .

[0064] make and for Subsets of, respectively defined and Correspondingly, It can be represented as: (25); Therefore, the capacity margin s can be defined as: (26); Here, the subscript 'r' refers to the r-th hyperplane in the current pose, and the positive capacity margin indicates the six-dimensional torque required by the system. Within the torque feasible working space (13), i.e., equation (12) has a solution, and the relatively large capacity margin indicates the six-dimensional torque required by the system. Since the system is far from the feasible torque boundary, meaning it can withstand relatively large external disturbances, capacity margin is an important indicator of its anti-interference capabilities and a crucial factor in whether the system can operate normally. Therefore, the corresponding optimization metric can be set as follows: Here, the subscript v represents the v-th trajectory point, and the related optimization equation can be written in the following form: (27); Next is the second indicator, which is related to the system's stiffness. Based on the static equilibrium equation (11) satisfied by the suspended strut above, and combined with the physical meaning of stiffness: the ability of an object to resist deformation under external disturbance, the expression for the stiffness matrix can be written as follows: (28); Here It is the active matrix, and its size is affected by the system configuration and the magnitude of the cable forces. It is a passive matrix; for convenience, let... Below are the specific expressions for the two stiffness matrices: (29); (30); in, and Let represent the Young's modulus and the cross-sectional area of ​​the i-th rope, respectively. This represents the coordinate vector of the i-th rope connection point on the suspended mast in the world coordinate system. ,and and They are respectively and The antisymmetric matrix form of a vector.

[0065] Final merger and The overall stiffness matrix can then be obtained. From the expression for the stiffness matrix, we know that its diagonal elements satisfy: (31); in, It is an infinitesimally small external disturbance The j-th element, It is the infinitesimal displacement of the suspended pole. The j-axis component. This relationship implies that a larger... The j-th degree of freedom corresponding to the suspension strut exhibits stronger resistance to deformation, indicating higher stiffness in that degree of freedom, which is an important characteristic. Therefore, the smallest diagonal element can be selected. As an optimization metric, this value represents the weakest degree of freedom in terms of the stiffness of the suspension strut, and can be expressed as: (32); Referring to the selection of the previous optimization index, the optimization index related to stiffness can be set as follows: The related optimization equation can be written in the following form: (33); The last indicator relates to the distance between the ropes. Because the levitation boom is a slender rod, collisions between the ropes are likely to occur during positional changes, such as the straightening process. Furthermore, when disturbed, the boom may shift, causing changes in the distance between the ropes. Therefore, it's crucial to ensure that the distance between the ropes is sufficiently large. For a platform with eight ropes, there are a total of... Given a combination of ropes, these distances can be expressed as a set: (34); make This represents the distance between the k-th rope and the i-th rope, combined with... Definition and The definition of distance here The expression can be represented as: (35); Where k satisfies: (36); To ensure the system has a certain degree of anti-interference capability, the shortest rope distance can be optimized. minimum value : (37); Yes Then, the optimization metrics related to rope distance can be set to... The optimization equation related to this index can be written as: (38); With the above three indicators, in step S5, the ideal point method is used to transform the optimization of these three indicators into a comprehensive indicator for further optimization.

[0066] Step S5: In step S4, three metrics were identified as areas for optimization. , and Next, the ideal point method is used to uniformly process these three indicators, the purpose of which is to transform the multi-objective optimization problem into a single-objective optimization problem. Since they are all maximization indicators (the larger the value, the better), they already meet the requirements of the ideal point method for indicator direction, so no additional direction adjustment is needed.

[0067] The ideal point method requires normalization of optimization variables with different dimensions. Before normalization, the maximum and minimum values ​​of individual indicators are calculated according to the expressions (27), (33), and (38), and marked with the subscripts "max" and "min". For example, its maximum value satisfies: (39); The minimum value satisfies: (40); After determining the maximum and minimum values ​​of all optimization indices, the following normalization expressions are then applied: (41); (42); (43); After processing, calculate and : (44); (45); here and These are the normalized distances from the current solution to the ideal point and the anti-ideal point, respectively. Therefore, the objective function... It can be designed as follows: (46); The final optimization equation can be expressed as: (47); In the ideal point method, each indicator must first be assigned an "ideal" target value; these target values ​​collectively constitute the ideal point. The algorithm then operates within the feasible region... The internal search minimizes the overall distance between the candidate solution and the ideal point in the normalized index space, thus transforming the multi-objective optimization problem into a single-objective form and giving the optimization objective an intuitive and easily interpretable geometric meaning.

[0068] Because there are constraints in the optimization equation (47), and the particle swarm optimization algorithm for solving the optimization equation (47) cannot handle constrained optimization problems, this invention treats the known constraints as penalty functions and adds them to the objective function (46) as part of the objective function. This invention handles a total of two constraints, one of which is: (48); Another issue stems from the design of the rope distance parameter. Because the distance between ropes is always a positive number, it's impossible to determine whether the ropes will come into contact during the movement. Therefore, a constraint function is also required, hence the penalty function. It can be represented as: (49); in It is a relatively large penalty factor. and The initial value is 0. Regarding the force distribution related to the first constraint, when no feasible solution is found for the force distribution, we can set the force distribution at that trajectory point... Similarly, Then, by associating the second constraint, a lower limit can be set for the distance between ropes. If a certain trajectory point violates this lower limit, then it can be set as follows: .

[0069] Step 6: Based on the preset reference trajectory point set, determine the set of configuration parameters that need to be optimized, and set the feasible range of the variables. Select an appropriate optimization algorithm to solve the optimization equations constructed in step S5, and finally obtain the optimal configuration parameter values, providing a decision-making basis for the installation of the rope-traction suspended gantry tower optimization system.

[0070] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0071] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. The information disclosed in the background section is intended only to enhance the understanding of the overall background technology of the present invention and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art.

Claims

1. A configuration optimization method of a rope-towed suspended boom assembly tower system, characterized by, The method comprises the following steps: Step S1, a local coordinate system and a world coordinate system are established according to the connection relationship between the tower body frame and the suspension boom of the rope-pulling suspension boom group tower system; Step S2, the geometric parameters and structural parameters of the suspension boom and the tower body frame of the rope-pulling suspension boom group tower system are determined according to the coordinate system established in step S1, and the kinematics equation, the dynamics equation and the static balance equation of the rope-pulling suspension boom group tower system are established based on the determined geometric parameters and structural parameters; Step S3, the Jacobian matrix obtained from the kinematics equation in step S2 is determined, and the six-dimensional moment feasible space of the rope-pulling suspension boom group tower system is determined by means of the dynamics equation, and the rope force solution space is calculated according to the expected six-dimensional moment, and the rope force is calculated according to the selected algorithm for calculating the rope force distribution; Step S4, in order to improve the anti-interference ability of the system, the static balance equation in step S2, the six-dimensional moment feasible space determined in step S3 and the calculated rope force are combined, the optimization index related to the capacity margin, the stiffness and the distance between the ropes is selected as the index for optimizing the configuration of the rope-pulling suspension boom group tower system, and the optimization equation corresponding to the optimization index related to the capacity margin, the stiffness and the distance between the ropes is determined; Step S5, all the optimization indexes selected in step S4 are uniformly processed to convert the multi-objective optimization into a single-objective optimization equation; Step S6, in combination with the preset reference trajectory point set, the configuration parameter set to be optimized is determined, the feasible range of the variable is set, the corresponding optimization algorithm is selected to solve the optimization equation constructed in step S5, and the optimal configuration parameter value is obtained as the configuration optimization result of the rope-pulling suspension boom group tower system.

2. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 1, characterized in that, The rope-pulling suspension boom group tower system comprises: a tower body frame, a suspension boom and eight ropes; The eight ropes can be retracted and released and are connected to the upper and lower ends of the suspension boom through a winch-motor mechanism; The four ropes connected to the lower end of the suspension boom are upper pull ropes for bearing the vertical force of the boom and the load, and the other ends of the four ropes are connected to the top of the tower body frame of the transmission tower; The four ropes connected to the upper end of the suspension boom are lower pull ropes for tensioning, positioning and stabilizing the structure, and the other ends of the four ropes are connected to the tower body frame of the transmission tower to form an inner suspension inner pull wire boom configuration or are fixed to the ground to form an inner suspension outer pull wire boom configuration; Under the synergistic action of the tension of the eight ropes, the suspension boom can complete six-dimensional spatial motion; Each set of upper pull rope mechanism and each set of lower pull rope mechanism are composed of a winch mechanism, a rope, a servo motor, an encoder and a rope anchor point.

3. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 1 or 2, characterized in that, In step S1, the world coordinate system and the local coordinate system of the system are established according to the connection relationship between the tower body frame and the suspension boom of the suspension boom group tower system in the following manner, comprising: Establish a world coordinate system in the center of the plane in which the tower frame is in contact with the ground ; The center of mass of the suspended boom is taken as the origin of the body coordinate system A local coordinate system is established ; When the suspension boom remains in a vertical state, the world coordinate system and the local coordinate system remain parallel.

4. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 3, characterized in that, In step S2, the geometric parameters and structural parameters of the suspension boom and the tower body frame of the rope-pulling suspension boom group tower system are determined according to the coordinate system established in step S1 in the following manner, comprising: In the world coordinate system The pose of the suspended boom is represented by a six-dimensional state vector where is the attitude vector, is the Euler angle vector representing the attitude, is the Euler angle of the precession angle, is the Euler angle of the nutation angle, is the Euler angle of the spin angle, the local coordinate system is rotated relative to the world coordinate system by the rotation matrix is represented as: (1)； In the rope-pulling suspension boom group tower system, represents the rope exit point of the i-th rope on the tower body frame, The coordinates in the world coordinate system are ; represents the rope connection point of the i-th rope and the suspension boom, The coordinates in the local coordinate system are , .

5. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 4, characterized in that, In the step S2, the kinematic equation, the dynamic equation and the static equilibrium equation of the cable-suspended tower system are established based on the determined geometric parameters and structural parameters in the following manner, comprising: According to the vector ring equation, the relationship between the length vector of the cable and the pose of the moving platform in the cable-suspended tower system, the kinematic equation of the cable-suspended tower system is expressed as: (2)； wherein, represents the rope length of the i-th rope; represents the direction vector of the rope; represents the representation of the rope connection point of the suspended boom in the world coordinate system; is the origin of the local coordinate system with respect to the direction vector of the world coordinate system ; ; Taking the derivative of both ends of the formula (2) with respect to time, the relationship between the velocity of the cable and the velocity of the suspended tower is obtained as: (3)； wherein is the Jacobian matrix satisfying: (4)； is the velocity of the floating boom with respect to the world coordinate system, which velocity and the velocity of the floating boom is characterized by satisfies: (5)； wherein is the interaction matrix, expressed as: (6)； (7)； In the above interaction matrix, is a three-dimensional identity matrix; is a three-dimensional zero matrix; is a relationship Jacobian matrix used to represent the angular velocity of the suspended boom itself and the Euler angular velocity is the relationship Jacobian matrix of the velocity and the velocity the main difference in the composition; According to the Newton-Euler formula, the dynamic equation of the suspended tower in the workspace is expressed as: (8)； In the above formula (8), and are the acceleration vector of the pose and the velocity vector of the pose, respectively; is the inertia matrix of the rope-hauled suspended boom cluster tower system; is the Coriolis matrix of the rope-hauled suspended boom cluster tower system; is the gravity vector; is the combination of the Jacobian matrix and the interaction matrix; is the eight-dimensional cable force vector, wherein the expressions of the inertia matrix and the Coriolis matrix are respectively: (9)； (10)； wherein, is the inertia matrix of the rope-hauled suspended boom group tower system; is the mass of the suspended boom; denotes the Euler angular velocity vector; denotes the skew-symmetric matrix of the vector According to the relationship between force balance and torque conservation, the static equilibrium equation of the cable-suspended tower system is obtained as: (11)； wherein is an external disturbance.

6. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 5, characterized in that, In the step S3, the Jacobian matrix obtained from the kinematic equation in the step S2 is used to determine the six-dimensional torque feasible space of the cable-suspended tower system, and the dynamic equation is used to determine the solution space of the cable force according to the expected six-dimensional torque, and the cable force is determined according to the selected algorithm for calculating the force distribution of the cable force, comprising: The right-hand side of the dynamic equation (8) obtained in step S2 is provided by the controller of the winch-motor system. After measuring the attitude error and velocity error of the rope-traction suspended mast tower system, the attitude error and velocity error are fed into the controller. The controller will generate a corresponding control quantity to control the movement of the winch-motor system driving the suspended mast. The control quantity is the desired six-dimensional torque. Let represent the desired six-dimensional torque, and let Given the system's structure matrix, the following equation can be obtained: (12)； Let and denote the upper and lower bound of the cable force of the i-th cable, respectively, then the cable force satisfies Let and denote the set of lower and upper bounds of the cable force, respectively, the resulting six-dimensional moment feasible space is: (13)； wherein is the i-th column vector of the structure matrix and: (14)； (15)； The force distribution of the eight ropes driving the suspended boom is found by solving equation (12). Since the structure matrix has a two-dimensional null space, the solution of equation (12) is represented as (16)； wherein is the null space of the structure matrix ; is the pseudo-inverse of the structure matrix , and is an arbitrary parameter vector, such that , in combination with the upper and lower cable force limits of the cable, yields: (17)； The solution space of the cable force is finally obtained as a two-dimensional convex polygon: (18)； The force distribution is obtained by the selected geometry method, and the corresponding force distribution is searched in the solution space formula (18) according to the specified cable force characteristics according to actual requirements , and one of the force distributions is to select the point coordinates at the weighted centroid of the convex polygon as the selected Combination, and the cable force is calculated by formula (16); or by a selected optimization method in the solution space of equation (18) to find the corresponding , according to the selected combination into equation (16) to calculate the cable force.

7. The method of configuration optimization of a rope-towed suspended boom-lifting tower system according to claim 6, characterized in that, In the step S4, in order to improve the anti-interference ability of the system, the six-dimensional torque feasible space determined in the step S3 and the static equilibrium equation in the step S2 are combined, the optimization index related to the capacity margin, the stiffness and the distance between the cables is selected as the index for optimizing the configuration of the cable-suspended tower system, and the optimization equation corresponding to the optimization index related to the capacity margin, the stiffness and the distance between the cables is determined, comprising: To improve the anti-interference ability of the system, a series of motion trajectories of the suspended boom are simulated, and the trajectories are decomposed into n trajectory points after the given starting position and the ending position and the time interval between the trajectory points are given are given. The corresponding trajectories can be written in the following set form: (19)； The goal of improving the anti-interference ability of the system is to optimize the position of the connection point between the tower frame and the rope on the floating pole or the position of the connection point on the ground when the tower system is built by the rope-pulling floating pole group, which is represented as Since there are eight ropes, there are at most 24 variables to be optimized. According to the actual needs, select the variables to be optimized, and uniformly represent the set of variables to be optimized as: (20)； Let and denote the minimum and maximum of the z-th variable, respectively, whereby the total optimization variable range is denoted as: (21)； The selected optimization index related to the capacity margin is determined in the following manner, and another expression of the six-dimensional torque feasible space of the formula (13) obtained in the step S3 is: (22)； Wherein, (23)； (24)； here With structure matrix The n-1 columns are orthogonal, and the structure matrix is... Each column has n elements. If the matrix formed by these n-1 column vectors is of full rank, then it has one and only one null space. It is the null space vector of the matrix consisting of n-1 columns, with the reverse part included. It has a total of indivual ; Let and be subsets of respectively, define and then is represented as: （25）； The s of the capacity margin is defined as: （26）； Wherein, r represents the rth hyperplane under the current pose; The optimization index related to the capacity margin is set as wherein S v represents the vth track point, and an optimization equation related to the optimization index is as follows: (27)； The selected optimization index related to the stiffness is determined in the following manner, and the expression of the stiffness matrix is determined according to the static equilibrium equation of the formula (11) satisfied by the suspended tower and the physical meaning of the stiffness: (28)； wherein, is an active matrix, the size of which is affected by the configuration of the system and the magnitude of the tension force; is a passive matrix, such that The expressions of the active matrix and the passive matrix are as follows, respectively. (29)； (30)； wherein, and respectively denote the Young's modulus of the i-th rope and the cross-sectional area of the rope; denotes the coordinate vector of the i-th rope connection point on the suspended boom in the world coordinate system, i.e. ; and are respectively and the anti-symmetric matrix form of the vectors; Combining and resulting in the total stiffness matrix The diagonal elements of the stiffness matrix are determined from the expression of the stiffness matrix to satisfy: (31)； wherein, is an infinitesimal external disturbance is the jth element of is an infinitesimal displacement of the suspended boom is the j-axis component of selecting the smallest diagonal element As an optimization criterion, this value is expressed as: (32)； The stiffness-related optimization index is set as the minimum diagonal element of the stiffness matrix, and the mean value corresponding to the minimum diagonal element of the stiffness matrix is expressed as The optimization equation related to the optimization index is: (33)； The optimization index related to the distance between the selected ropes is determined in the following manner, the rope-pulling suspension pole group tower system has eight ropes, and there are a rope combination, and these distances are written in the form of a set as follows: (34)； make This represents the distance between the k-th rope and the i-th rope, combined with... Definition and Definition of distance The expression is represented as: (35)； where k satisfies: (36); To ensure the anti-interference ability of the rope suspension pole group tower system, the shortest distance between the ropes is selected and optimized, and the minimum value is taken in the middle : (37)； According to the minimum value The optimization index related to the distance between the ropes is set to a minimum rope spacing, and the mean value corresponding to the minimum rope spacing is represented as The optimization equation related to the optimization index is: (38)。 8. The configuration optimization method of a rope-towed suspended boom-clamp tower system according to claim 7, characterized in that, In the step S5, all the optimization indexes selected in the step S4 are uniformly processed in the following manner to process them into the optimization equation for converting the multi-objective optimization into the single-objective optimization, comprising: the optimization index selected in step S4 related to the capacity margin the optimization index related to the stiffness and the optimization index related to the distance between the ropes the maximum and minimum values of the single optimization index are found from the optimization equation of the optimization index related to the capacity margin according to equation (27), the optimization equation of the optimization index related to the stiffness according to equation (33), and the optimization equation of the optimization index related to the distance between the ropes according to equation (38), respectively; The maximum value and the minimum value of each optimization index are normalized in the following normalization expression by using the ideal point method, and each expression is: (41)； (42)； (43)； Wherein, the subscripts max and min represent the maximum value and the minimum value of the corresponding index respectively; After the above processing, the normalized distance of the current solution to the ideal point is calculated as follows the normalized distance of the current solution to the anti-ideal point : (44)； (45)； the normalized distance of the current solution to the ideal point the normalized distance of the current solution to the anti-ideal point the determined objective function is: (46)； According to the objective function, the following final optimization equation is determined, which is expressed as: (47)； The following first constraint of the formula (48) in the optimization equation (47) is processed into a penalty function and added to the objective function formula (46); (48)； The constraint function of the contact between the ropes as the second constraint is expressed as a penalty function is: (49)； where is a large positive penalty factor, usually taking a value of three orders of magnitude above the maximum absolute value of the function (46) as a soft constraint to eliminate configurations violating the constraint; and The initial value of is 0, is associated with the first constraint on the force distribution, when the force distribution does not find a feasible solution, then let the force distribution at the trajectory point Similarly, is associated with the second constraint, setting a lower limit for the distance between the ropes After a certain trajectory point violates the lower limit, let .

9. A processing device, characterized by Comprising: At least one memory for storing one or more programs; At least one processor capable of executing one or more programs stored in the memory, so that the processor can implement the method of any one of claims 1-8 when the processor executes the one or more programs.

10. A readable storage medium, storing a computer program, characterized in that, The computer program can implement the method of any one of claims 1-8 when executed by the processor.

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