Control method and device suitable for double-pier-column bent cap rotating device
By monitoring and adjusting the inclination angle and stress data of the double pier columns in real time, the stability and synchronization of the girder rotation process were achieved, solving the problem of uneven stress during the girder rotation process and improving the quality and safety of the project.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-11
- Publication Date
- 2026-03-10
AI Technical Summary
During bridge construction, it is difficult to maintain a smooth and synchronous rotation of the cap beam, resulting in uneven stress during the rotation process, which affects the quality and safety of the project.
By monitoring multiple tilt angles and force data of the twin piers, the spatial posture and force changes during the rotation process are obtained in real time. Combined with the target angle of the tilt state, the hydraulic pressure and tension are adjusted in real time to ensure the stability and synchronization of the rotation process.
Real-time control of the bridge girder rotation process was achieved, ensuring the smoothness and stress balance of the rotation process. This avoided problems such as bridge axis deviation caused by delayed intervention in traditional methods, thus improving the quality and safety of the project.
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Figure CN121629862A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of this application relate to the field of bridge assembly, and in particular to a control method and device applicable to a double-pier column cap beam rotation device. Background Technology
[0002] The statements herein are provided merely as background information in connection with this application and do not necessarily constitute prior art.
[0003] During bridge construction, situations may arise where the bridge needs to cross obstacles such as railways and rivers. These obstacles should not be interrupted. To avoid affecting existing traffic or the environment, piers need to be built on both sides of the obstacle, and a rotation center is set at the bottom of the pier. After the cap beam is poured, the cap beam is slowly rotated along the rotation center by a traction system to fix the bridge structure.
[0004] During the rotation of the cap beam, the cap beam needs to rotate smoothly without tilting. Therefore, it is necessary to precisely control the tension during the rotation process to synchronize the rotation speed on both sides of the cap beam and ensure the safety of the force during the rotation process. Summary of the Invention
[0005] A brief overview of this application is provided below to offer a basic understanding of certain aspects thereof. It should be understood that this overview is not an exhaustive summary of the application. It is not intended to identify key or essential parts of the application, nor is it intended to limit its scope. Its purpose is merely to present certain concepts in a simplified form as a prelude to the more detailed description that follows.
[0006] This application provides a control method applicable to a double-pier cap beam rotation device, comprising the following steps: monitoring multiple inclination angle data at different positions of the double piers; determining the overall inclination angle data of the double piers based on the multiple inclination angle data; monitoring the force data of different components of the double-pier cap beam rotation device and the force data of different positions of the double piers; determining the overall force data of the double-pier cap beam rotation device and the overall force data of the double piers based on the force data of different components and the force data of different positions; and determining the overall force data of the double-pier cap beam rotation device and the overall force data of the double piers based on the overall force data of the double-pier cap beam rotation device and the force data of different positions. The overall stress data of the double pier columns are used to determine the stress balance of the double pier column cap beam rotation device; the tension elongation rate of the double pier column cap beam rotation device is monitored, and the real-time rotation speed of the double pier column cap beam rotation device is determined based on the tension elongation rate; the target angle for controlling the tilt state of the double pier columns is determined, and the hydraulic adjustment amount of the actuator of the double pier column cap beam rotation device is determined based on the target angle, the tilt angle of the double pier columns, and the stress balance; the target rotation speed of the double pier column cap beam rotation device is determined; and the tension adjustment amount of the double pier column cap beam rotation device is determined based on the real-time rotation speed and the target rotation speed.
[0007] This application, in another aspect, provides a control device suitable for a double-pier column cap beam rotation device, comprising: multiple sensors configured to monitor multiple inclination angle data at different positions of the double pier columns, force data of different components of the double-pier column cap beam rotation device, force data at different positions of the double pier columns, and the tensile elongation rate of the double-pier column cap beam rotation device; and a processor configured to communicate with the sensors and with the actuator of the double-pier column cap beam rotation device. The processor performs the following processing based on the data obtained from the sensors: determining the overall inclination angle data of the double pier columns based on the multiple inclination angle data; and determining the overall inclination angle data of the double-pier column cap beam rotation device based on the force data of different components and the force data at different positions. The system generates force data and overall force data for the double pier columns. Based on the overall force data of the double pier column cap beam rotation device and the double pier columns, the system determines the force balance of the double pier column cap beam rotation device. Based on the tension elongation rate, the system determines the real-time rotation speed of the double pier column cap beam rotation device. The system determines the target angle for controlling the tilt state of the double pier columns. Based on the target angle, the tilt angle of the double pier columns, and the force balance, the system determines the hydraulic adjustment amount of the actuator of the double pier column cap beam rotation device. The system determines the target rotation speed of the double pier column cap beam rotation device. Based on the real-time rotation speed and the target rotation speed, the system determines the tension adjustment amount of the double pier column cap beam rotation device. The processor controls the actuator of the double pier column cap beam rotation device based on the determined hydraulic adjustment amount and tension adjustment amount.
[0008] The control method for a double-pier cap beam rotation device provided in this application monitors and acquires the tilt angle and force data of the double piers, obtains the spatial posture and force changes of the double piers in real time during the rotation process, and, combined with the target angle of the tilt state of the double piers, can identify the offset of the double piers in real time. The hydraulic adjustment amount of the rotation actuator determined thereby can correct the tilt of the double piers and ensure the stability of the double piers during the rotation process. The real-time rotation speed of the rotation device is obtained by monitoring the tension elongation rate and comparing it with the target speed, so that the tension adjustment amount determined thereby can correct the tension force in real time during the rotation process and ensure the rotation speed is stable. Compared with the traditional method that intervenes in the rotation control only after the rotation monitoring data exceeds the threshold, the method provided in this application realizes the overall reflection of the force status of the double piers and the rotation device through multi-dimensional monitoring data, so as to correct the tilt trend of the double piers and correct the tension force of the rotation device in real time. This realizes the real-time linkage between monitoring data and the rotation control process, making the rotation control more stable and precise.
[0009] The control device for a double-pier cap beam rotation device provided in this application uses multiple sensors to monitor and acquire the tilt angle and force data of the double piers. It acquires real-time data on the spatial posture and force changes of the double piers during rotation, and, combined with the target angle of the double piers' tilt state, can identify the offset of the double piers. Then, through the hydraulic adjustment amount determined by the processor, the tilt of the double piers is corrected in real-time, ensuring the stability of the double piers during rotation. The device also monitors the tension elongation rate to acquire the real-time rotation speed of the rotation device and compares it with the target speed. The processor then determines the tension adjustment amount, achieving real-time correction of the tension during rotation to ensure stable rotation speed. Compared to the traditional mechanism of intervening in rotation control only after the rotation monitoring data exceeds a threshold, the device provided in this application uses multiple sensors to acquire multi-dimensional monitoring data, achieving a holistic reflection of the force status of the double piers and the rotation device. This allows for real-time correction of the tilt trend of the double piers and adjustment of the tension of the rotation device, realizing real-time linkage between monitoring data and the rotation control process, making the rotation control smoother and more precise. Attached Figure Description
[0010] To further illustrate the above and other advantages and features of this application, the specific embodiments of this application will be described in more detail below with reference to the accompanying drawings. The drawings, together with the following detailed description, are included in and form a part of this specification. Elements having the same function and structure are indicated by the same reference numerals. It should be understood that these drawings only depict typical examples of this application and should not be considered as limiting the scope of this application.
[0011] Figure 1 This is a schematic plan view of the rotating structure of a double-pier column cap beam rotating device controlled by the method and apparatus provided in the embodiments of this application; Figure 2 This is a schematic elevation view of the rotating structure of a double-pier column cap beam rotating device controlled by the method and apparatus provided in the embodiments of this application.
[0012] Explanation of reference numerals in the attached figures: 1. Sensor first position; 10. Pier; 2. Sensor second position; 20. Cap beam; 3. Sensor third position; 4. Hydraulic adjustment block; 5. Processor. Detailed Implementation
[0013] Exemplary embodiments of this application will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the development of any such actual embodiment to achieve the developer's specific goals, such as complying with constraints related to the system and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the content of this application.
[0014] It should also be noted that, in order to avoid obscuring this application with unnecessary details, only the equipment structure and / or processing steps closely related to the solution according to this application are shown in the accompanying drawings, while other details that are not closely related to this application are omitted.
[0015] The following disclosure provides several different implementations or examples for carrying out this application. To simplify the disclosure of this application, specific examples of components and methods are described below. Of course, these are merely examples and are not intended to limit this application. In the description of the embodiments of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0016] Traditional bridge rotation construction monitoring and control are separate systems. Monitoring uses a calculated threshold as the upper limit, and no adjustments are made as long as the monitoring data falls below this threshold. Similarly, construction control continues according to the existing plan when the monitoring data falls below the upper limit. This disconnects the tension force from the actual dynamic conditions during the rotation process, making it impossible to dynamically adjust based on real-time changes in friction, synchronization deviation, etc., leading to problems such as bridge axis misalignment and affecting the project's quality and durability.
[0017] To address the aforementioned problems, one embodiment of this application provides a control method applicable to a double-pier column cap beam rotation device, comprising the following steps: monitoring multiple inclination angle data at different positions of the double pier columns; determining the overall inclination angle data of the double pier columns based on the multiple inclination angle data; monitoring the force data of different components of the double-pier column cap beam rotation device and the force data of different positions of the double pier columns; determining the overall force data of the double-pier column cap beam rotation device and the overall force data of the double pier columns based on the force data of different components and the force data of different positions; and determining the overall force data of the double-pier column cap beam rotation device based on the overall force data of the double-pier column cap beam rotation device. The stress data, including the overall stress data of the two piers, are used to determine the stress balance of the double pier cap beam rotation device; the tension elongation rate of the double pier cap beam rotation device is monitored, and the real-time rotation speed of the device is determined based on the tension elongation rate; the target angle for controlling the tilt state of the two piers is determined, and the hydraulic adjustment amount of the actuator of the double pier cap beam rotation device is determined based on the target angle, the tilt angle of the two piers, and the stress balance; the target rotation speed of the device is determined; and the tension adjustment amount of the device is determined based on the real-time rotation speed and the target rotation speed.
[0018] The control method for a double-pier cap beam rotation device provided in this application monitors and acquires the tilt angle and force data of the double piers, obtains the spatial posture and force changes of the double piers in real time during the rotation process, and, combined with the target angle of the tilt state of the double piers, can identify the offset of the double piers in real time. The hydraulic adjustment amount of the rotation actuator determined thereby can correct the tilt of the double piers and ensure the stability of the double piers during the rotation process. The real-time rotation speed of the rotation device is obtained by monitoring the tension elongation rate and comparing it with the target speed, so that the tension adjustment amount determined thereby can correct the tension force in real time during the rotation process and ensure the rotation speed is stable. Compared with the traditional method that intervenes in the rotation control only after the rotation monitoring data exceeds the threshold, the method provided in this application realizes the overall reflection of the force status of the double piers and the rotation device through multi-dimensional monitoring data, so as to correct the tilt trend of the double piers and correct the tension force of the rotation device in real time. This realizes the real-time linkage between monitoring data and the rotation control process, making the rotation control more stable and precise.
[0019] In some embodiments, the monitored tilt angle data of the double-pier cap beam rotation device includes multiple lateral tilt angle data and multiple longitudinal tilt angle data at multiple locations of the double piers. Based on the multiple lateral and longitudinal tilt angle data, the overall tilt angle data of the piers is determined. By combining the lateral and longitudinal tilt angle data from multiple locations of the double piers, the tilting trajectory of the double piers in three-dimensional space can be accurately reflected. Compared with monitoring tilt angle data in a single direction, this method can more promptly identify and correct the tilting trend of the double piers.
[0020] In some embodiments, the overall tilt angle data of multiple lateral tilt angle data, multiple longitudinal tilt angle data, and the tilt state of the double piers satisfies the following expression: ; ;in, This represents multiple lateral tilt angle data at multiple positions of the double pier columns at time t; This represents multiple longitudinal inclination angles of the double pier columns at time t; This represents the overall lateral tilt angle of the double pier columns at time t; This represents the overall longitudinal inclination angle of the double pier columns at time t; , This is the tilt angle data fusion function. The above expression can convert the discrete tilt angle data collected by monitoring into continuous tilt angle values that reflect the overall tilt state of the pier.
[0021] In some embodiments, the force data of different components, the force data of different locations, the overall force data of the double-pier cap beam rotation device, and the overall force data of the double pier columns satisfy the following expression: ; ; This represents the overall stress data of the double pier columns at time t. This represents the force data at different locations, where, This represents the force data of the double pier columns at time t. This represents the force data at the connection node between the cap beam and the pier at time t. This represents the force data of the supporting block extension load-bearing steel component at time t; This represents the overall force data of the double-pier column cap beam rotation device at time t. These represent the force data of different components at time t, where... This indicates the reaction force at the contact surface between the support slider and the slide rail of the double-pier cap beam rotation device. This indicates the force data of the traction device of the double-pier column cap beam rotation device. Let be the integrated force function for the double pier columns. This is the force integration function for the double-pier column cap beam rotation device. The above expression integrates structural force data and component force data collected from different locations into a total force characterization value that can be used for subsequent analysis.
[0022] In some embodiments, the overall stress data of the double-pier cap beam rotation device, the overall stress data of the double piers, and the stress balance of the double piers satisfy the following expression: ; This indicates the degree of force balance in the double pier columns. This represents the overall force data of the double-pier column cap beam rotation device at time t. This represents the overall stress data of the double pier columns at time t. This represents the force integration function of the twin piers. By determining the force balance, the overall force equilibrium state of the twin piers and the rotation device can be quantitatively assessed. The larger the value, the more uneven the force distribution and the higher the risk of overturning.
[0023] In some embodiments, the tensile elongation rate and the real-time rotational speed of the double-pier cap beam rotation device satisfy the following expression: ;in, Let t represent the tensioning elongation rate of the double-pier column cap beam rotation device, k be the transmission ratio of the rotation device, and θ represent the angle of rotation of the device after stretching a unit distance. This represents the real-time rotational speed of the double-pier column cap beam rotation device at time t. This represents the velocity conversion function. The above expression can convert tensioning process parameters into rotation velocity parameters.
[0024] In some embodiments, the target angle, the overall tilt angle of the double piers, the stress balance, and the hydraulic adjustment amount of the actuator of the double pier cap beam rotation device satisfy the following relationship: ;in, This indicates the hydraulic adjustment amount of the actuator of the double-pier column cap beam rotation device; Indicates the overall tilt angle of the double piers; The target angle indicating the tilt state of the double piers; Indicates the degree of force balance. This represents the hydraulic adjustment function. Determining the hydraulic adjustment of the actuator of the rotating device using the above expression provides a data basis for real-time correction of the tilting trend of the double piers.
[0025] In some embodiments, the real-time rotation speed, the target rotation speed, and the tension adjustment amount of the double-pier cap beam rotation device satisfy the following expression: ;in, This indicates the adjustment amount of the tension force in the double-pier column cap beam rotation device; It represents the speed regulation gain coefficient, which reflects the intensity of the rotating device's response to speed deviation; Indicates real-time rotational speed; Indicates the target rotational speed; Indicates the coefficient of friction; Let represent the friction compensation function, and t represent time. The above expression determines the additional tension required to counteract the current friction effects. Adjusting the actuator based on this additional tension ensures stable rotational speed of the rotating body.
[0026] In some embodiments, the coefficient of friction It can be set to estimate the tension based on historical tension and rotation speed, which can improve the calculation speed compared to measurement, and quickly obtain the tension adjustment amount.
[0027] Another embodiment of this application provides a control device suitable for a double-pier column cap beam rotation device. Figure 1 This is a schematic plan view of the rotating structure of the double-pier column cap beam rotating device controlled by the method and apparatus provided in the embodiments of this application, as shown below. Figure 1 As shown, the control device for the double-pier cap beam rotation device includes: multiple sensors configured to monitor multiple inclination angle data at different positions of the double piers 10, monitor the force data of different components of the double-pier cap beam rotation device, monitor the force data at different positions of the double piers, and monitor the tensile elongation rate of the double-pier cap beam rotation device; and a processor 5 configured to communicate with the sensors and with the actuator of the double-pier cap beam rotation device. The processor 5 performs the following processing based on the data obtained from the sensors: determining the overall inclination angle data of the double piers based on the multiple inclination angle data; determining the overall force data of the double-pier cap beam rotation device based on the force data of different components and the force data at different positions. The processor 5 obtains the overall stress data of the double pier columns; based on the overall stress data of the double pier column cap beam rotation device and the overall stress data of the double pier columns, it determines the stress balance of the double pier column cap beam rotation device; based on the tension elongation rate, it determines the real-time rotation speed of the double pier column cap beam rotation device; it determines the target angle for controlling the tilt state of the double pier columns, and based on the target angle, the tilt angle of the double pier columns, and the stress balance, it determines the hydraulic adjustment amount of the actuator of the double pier column cap beam rotation device; it determines the target rotation speed for controlling the rotation of the double pier column cap beam rotation device; based on the real-time rotation speed and the target rotation speed, it determines the tension adjustment amount of the double pier column cap beam rotation device; the processor 5 controls the actuator of the double pier column cap beam rotation device according to the determined hydraulic adjustment amount and tension adjustment amount.
[0028] The control device for a double-pier cap beam rotation device provided in this application uses multiple sensors to monitor and acquire the tilt angle and force data of the double piers. It acquires the spatial posture and force changes of the double piers in real time during rotation, and, combined with the target angle of the double piers' tilt state, can identify the offset of the double piers. Then, through the hydraulic adjustment amount of the rotation actuator determined by the processor 5, the tilt of the double piers is corrected in real time to ensure the stability of the double piers during rotation. It also monitors the tension elongation rate to acquire the real-time rotation speed of the rotation device and compares it with the target speed. The processor 5 then determines the tension adjustment amount, achieving real-time correction of the tension during rotation to ensure stable rotation speed. Compared to the traditional mechanism of intervening in rotation control only after the rotation monitoring data exceeds a threshold, the device provided in this application uses multiple sensors to acquire multi-dimensional monitoring data to achieve a holistic reflection of the force status of the double piers and the rotation device. This allows for real-time correction of the tilt trend of the double piers and adjustment of the tension of the rotation device, realizing real-time linkage between monitoring data and the rotation control process, making the rotation control smoother and more precise.
[0029] In some embodiments, such as Figure 1 As shown, some sensors can be set at sensor first position 1. Sensor first position 1 can be set around each pier 10 to monitor the force change of pier 10 during the rotation process, thereby directly reflecting the stability and safety of pier 10.
[0030] Figure 2 This is a schematic elevation view of the rotating structure of a double-pier column cap beam rotating device controlled by the method and apparatus provided in the embodiments of this application. In some embodiments, such as... Figure 2 As shown, some sensors can also be set at sensor second position 2 and sensor third position 3. Sensor second position 2 can be set as the connection node between cap beam 20 and pier column 10, and sensor third position 3 can be set as key parts where stress may be concentrated, such as load-bearing steel components that support the outward extension of the slider, so as to monitor the stress changes inside the double pier columns and the entire rotation device during the rotation process, and provide data for evaluating the overall performance of the double pier columns and the rotation device.
[0031] In some embodiments, some sensors may also be installed on the load-bearing steel component directly above the contact surface between the support slider or the support foot and the slide rail to monitor the support reaction force at each support point in real time. By comparing the force values at each point, the processor 5 can accurately determine whether the double piers and the entire rotating device are in a horizontal and balanced stress state, serving as complementary feedback for tilt angle control.
[0032] By setting multiple sensors at sensor position 1, sensor position 2 and sensor position 3 to acquire force data, the mechanical force transmission path during the rotation process is covered, and the force state of the double piers and the entire rotation device can be comprehensively monitored during the rotation process.
[0033] In some embodiments, such as Figure 2 As shown, the sensor first position 1 can also be set in the middle of each pier 10, and a wireless communication module is set inside to collect the longitudinal and transverse tilt angle data of the pier 10 respectively, and send them to the processor 5 through wireless signals. After the data is averaged, the overall tilt angle information is output.
[0034] In some embodiments, some sensors may be configured to connect to the tensioning structure in the rotating device to collect tensioning rate data and transmit it to the processor 5 to calculate the rotation angle and rotation speed.
[0035] In some embodiments, the processor 5 may be equipped with a high-performance wireless communication unit, for example, supporting simultaneous connection of multiple devices and communication latency of less than or equal to 100ms.
[0036] In some embodiments, after receiving sensor data, the processor 5 can generate control commands based on preset thresholds (e.g., tilt angle safety range, rotation speed set to 1~2° / min to maintain a uniform speed state) through built-in tilt angle conversion, rotation speed control and other algorithms, and then send them wirelessly to the actuators of the rotating device.
[0037] In some embodiments, in addition to threshold judgment, processor 5 can also perform data fusion analysis. For example, combining the force on the support point with the overall tilt angle data can more accurately determine the risk of overturning; combining the traction force with the rotational speed can more accurately calculate and predict changes in the coefficient of friction.
[0038] In some embodiments, the actuator of the rotating device may include a support slider, a hydraulic adjustment block 4, and an anti-overturning slider. The hydraulic adjustment block 4 may be disposed below the anti-overturning slider and is equipped with a wireless receiving unit and a drive circuit to perform a telescopic movement (adjustment accuracy can reach ±0.1mm) after receiving the tilt correction command from the processor 5, so as to correct the tilt state of the pier 10. By setting multiple sensors at the first sensor position 1 to obtain tilt angle data and force data, and dynamically correcting the tilt through the hydraulic adjustment block 4, the tilt angle control can be more precise, and the force imbalance can be corrected in time, effectively avoiding the risk of structural imbalance.
[0039] In some embodiments, the actuator of the rotating device may include a traction device, which is wirelessly connected to the processor 5 to receive tension adjustment commands determined based on speed deviation and friction compensation. The traction device precisely controls the oil supply flow through a proportional valve to achieve dynamic, stepless adjustment of the tension (e.g., control accuracy can reach ±2%), and feeds back the current tension value collected by sensors mounted on it to the processor 5 in real time. Combining dynamic friction coefficient compensation with real-time tension adjustment reduces speed deviation, ensuring the rotating device always maintains the predetermined design speed, making the start-stop control of the rotating device more precise, and solving the problems of over-rotation or inaccurate positioning in traditional manual control.
[0040] In some embodiments, the processor 5 can accurately collect, transmit and store key parameters based on the stress state of the double piers and the overall rotating device, thereby achieving traceability of the entire process data from the start of the rotation to the splicing of the cap beam. This provides data basis for a comprehensive evaluation of the overall performance of the structure (piers and cap beam) and the technical condition of the rotating device and the execution structure after the rotation is completed.
[0041] Regarding the embodiments of this application, it should also be noted that, without conflict, the embodiments of this application and the features in the embodiments can be combined with each other to obtain new embodiments.
[0042] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. The scope of protection of this application shall be determined by the scope of the claims.
Claims
1. A control method suitable for a double-pier bent cap swivel device, characterized by, It comprises the following steps: monitoring a plurality of inclination data of different positions of the double pier column; determining the overall inclination data of the inclination state of the double pier column according to the plurality of inclination data; monitoring force data of different components of the double pier column cap beam swivel device and force data of different positions of the double pier column; determining the overall force data of the double pier column cap beam swivel device and the overall force data of the double pier column according to the force data of the different components and the force data of the different positions; determining the force balance degree of the double pier column cap beam swivel device according to the overall force data of the double pier column cap beam swivel device and the overall force data of the double pier column; monitoring the tension elongation rate of the double pier column cap beam swivel device, determining the real-time rotation speed of the swivel of the double pier column cap beam swivel device according to the tension elongation rate; determining the target angle of controlling the inclination state of the double pier column, determining the hydraulic adjustment amount of the actuator of the double pier column cap beam swivel device according to the target angle, the inclination angle of the double pier column and the force balance degree; determining the target rotation speed of controlling the swivel of the double pier column cap beam swivel device; determining the tension force adjustment amount of the double pier column cap beam swivel device according to the real-time rotation speed and the target rotation speed.
2. The method according to claim 1, wherein the monitored inclination data of the double pier column cap beam swivel device includes a plurality of lateral inclination data and a plurality of longitudinal inclination data of a plurality of positions of the double pier column, the overall inclination data of the inclination state of the pier column is determined according to the plurality of lateral inclination data and the plurality of longitudinal inclination data.
3. The method according to claim 2, wherein the plurality of lateral inclination data, the plurality of longitudinal inclination data and the overall inclination data of the inclination state of the double pier column satisfy the following expression: ； ； wherein, a plurality of lateral inclination data representing a plurality of positions of the twin piers at time t; a plurality of longitudinal inclination data representing a plurality of positions of the twin piers at time t; a lateral inclination of the twin piers as a whole at time t; a longitudinal inclination of the twin piers as a whole at time t; , is an inclination data fusion function.
4. The method according to claim 1, wherein the force data of the different components, the force data of the different positions, the overall force data of the double pier column cap beam swivel device and the overall force data of the double pier column satisfy the following expression: ； ； force data of the whole of the double pier at t moment, force data of the different positions, wherein, force data of the double pier at t moment, force data of the cap beam and pier connecting node at t moment, force data of the support slider extension load-bearing steel member at t moment; represents the force data of the whole of the double-pier cap beam swivel device at time t, respectively represents the force data of different components at time t, wherein, represents the support sliding block and sliding way contact surface counterforce of the double-pier cap beam swivel device, represents the force data of the traction device of the double-pier cap beam swivel device, is a force integration function of the double pier, is a force integration function of the double-pier cap beam swivel device.
5. The method according to claim 1, wherein the overall force data of the double pier column cap beam swivel device, the overall force data of the double pier column and the force balance degree of the double pier column satisfy the following expression: ； representing the stress balance degree of the double pier, representing the stress data of the whole of the double pier cap beam swivel device at t moment, representing the stress data of the whole of the double pier at t moment, representing the stress integration function of the double pier.
6. The method according to claim 1, wherein the tension elongation rate and the real-time rotation speed of the swivel of the double pier column cap beam swivel device satisfy the following expression: ； wherein, represents the tension elongation rate of the double-pier cap beam swivel device at time t, k is the transmission ratio of the swivel of the double-pier cap beam swivel device, represents the real-time rotation speed of the swivel of the double-pier cap beam swivel device at time t, represents a speed conversion function.
7. The method according to claim 1, wherein the target angle, the overall inclination angle of the double pier column, the force balance degree and the hydraulic adjustment amount of the actuator of the double pier column cap beam swivel device satisfy the following relationship: ； wherein, represents a hydraulic adjustment amount of an actuator of the double-pier cap beam swivel device; represents an inclination angle of the entire double pier; represents a target angle of the inclination state of the double pier; represents the force balance degree, represents a hydraulic adjustment amount function.
8. The method according to claim 1, wherein the real-time rotation speed, the target rotation speed and the tension force adjustment amount of the double pier column cap beam swivel device satisfy the following expression: ； wherein, represents the tension adjustment amount of the double-pier bent cap swivel device; represents the rotational speed adjustment gain coefficient; represents the real-time rotational speed; represents the target rotational speed; represents the friction coefficient; represents the friction compensation function, and t represents the time.
9. The method according to claim 8, wherein The friction coefficient is set to be determined according to historical tension force and rotation speed estimation.
10. A control device suitable for a double pier bent turnabout device, characterized by, It comprises: a plurality of sensors arranged to monitor a plurality of inclination data of different positions of the double-pier, to monitor force data of different components of the double-pier cap beam swivel device, to monitor force data of different positions of the double-pier, and to monitor tension elongation rate of the double-pier cap beam swivel device; a processor arranged in communication connection with the sensors and arranged in communication connection with actuators of the double-pier cap beam swivel device, the processor processes the data obtained from the sensors as follows: determines inclination data of the overall inclination state of the double-pier according to the plurality of inclination data, determines force data of the overall double-pier cap beam swivel device and force data of the overall double-pier according to the force data of the different components and the force data of the different positions, determines force balance degree of the double-pier cap beam swivel device according to the force data of the overall double-pier cap beam swivel device and the force data of the overall double-pier, determines real-time rotation speed of the swivel of the double-pier cap beam swivel device according to the tension elongation rate, determines target angle for controlling the inclination state of the double-pier, determines hydraulic adjustment amount of the actuators of the double-pier cap beam swivel device according to the target angle, the inclination angle of the double-pier, and the force balance degree, determines target rotation speed for controlling the swivel of the double-pier cap beam swivel device, determines tension force adjustment amount of the double-pier cap beam swivel device according to the real-time rotation speed and the target rotation speed, the processor controls the actuators of the double-pier cap beam swivel device according to the determined hydraulic adjustment amount and the tension force adjustment amount.