Continuous rapid pushing control method and system for overweight large-span bridge

Abstract

The invention discloses a continuous rapid pushing control method and system for an overweight large-span bridge, and the method comprises the steps: obtaining the information of a beam body, setting a motion equation when the beam body is presumed, and monitoring the motion condition of the beam body when the beam body is pushed; information of a pushing driving device is obtained, and a control equation for pushing a beam body is set and used for controlling the driving force provided by the pushing driving device; and according to the beam body information, a beam body counter-acting force equation is set and used for monitoring the counter-acting force of the beam body when the beam body is pushed, and driving force provided by a pushing driving device is adjusted through the control equation when the beam body is pushed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of bridge construction, and more particularly relates to a continuous rapid jacking control method and system for super heavy-span bridge. BACKGROUND

[0002] At present, the erection of highway and railway bridges is mostly achieved by jacking method. The jacking method refers to a construction method in which the beam body is poured or assembled section by section at the bridge head, and the beam body is placed in position by longitudinal jacking with a jack, so that the beam body passes through the temporary support surface of each pier top. When the bridge crosses a deep valley, an uninterrupted transportation line, a building difficult to remove, and an area with strict restrictions on construction noise, the jacking construction method is undoubtedly an ideal method to complete the crossing operation from the air.

[0003] In the erection construction of a railway bridge of a certain project, the beam body is 400T heavy and the span reaches 60m, and the daily construction window given by the railway bureau is only 120 minutes, so the construction time is short. The existing jacking methods include: (1) a pulling jacking method, which adopts continuous jacks to pull and drag the sliding block, and through the steps of pulling and dragging, sliding block conversion, cyclic pulling and dragging, beam falling, etc., the bridge is jacked to the designed bridge position, but in the jacking process, it is difficult to observe and control the jacking force of each temporary pier, and if a large support reaction force appears in the jacking process, it is almost impossible to adjust, and there is impact force due to inertial force when starting and stopping, which is not conducive to the stress of the main structure, and the jacking speed is only 12m / h; (2) a walking jacking method, which adopts jacking cylinders and jacking cylinders to work alternately, and the force is stable and uniform, and through the steps of jacking, longitudinal pushing, descending, and retracting, etc., the bridge is jacked to the designed bridge position, but in the jacking process, the jacking speed is slow; the equipment is complex, the cost is high, the degree of mechanization is high, the control operation is complex, the equipment maintenance cost is high, and the failure time is long; the jacking speed is only 5m / h; (3) a rail clamping jacking method, which adopts a rail clamping device to realize the reciprocating jacking movement of the jacking cylinder, and through the steps of jacking, pushing, retracting, pushing, and falling, etc., the bridge is jacked to the designed bridge position, and in the jacking process, the speed is relatively fast compared with the walking jacking method, the beam body can be jacked once to prevent the beam body from arching, but the equipment is complex, the hydraulic control system is complex, and various cylinders including jacking, jacking, and holding are included, and since the beam body is jacked step by step, the jacking speed is limited, and the comprehensive speed is only 15m / h.

[0004] Therefore, according to the conventional jacking method, it is impossible to achieve the purpose of quickly and safely placing the beam body of a large-span and large-tonnage bridge. Therefore, there is an urgent need for a continuous rapid jacking equipment for super heavy-span bridge, which can quickly and accurately and stably jacking the beam body to the designed bridge position.

[0005] At the same time, how to realize the automatic control of the continuous rapid jacking equipment for super heavy-span bridge is also a technical problem to be solved. SUMMARY

[0006] To solve the above technical problems, the present application provides a continuous and rapid pushing control method for super heavy long-span bridge, comprising:

[0007] acquiring beam body information, setting motion equation during pushing beam body, for monitoring motion of beam body during pushing beam body;

[0008] acquiring pushing driving device information, setting control equation during pushing beam body, for controlling driving force provided by pushing driving device;

[0009] setting beam body reaction force equation according to the beam body information, for monitoring reaction force of beam body during pushing beam body, and adjusting driving force provided by pushing driving device through the control equation during pushing beam body.

[0010] Further, the motion equation during pushing beam body comprises:

[0011]

[0012] wherein m is mass of beam body, is acceleration of beam body at time t, F extemal (t) is force applied on beam body from outside, x(t) is displacement of beam body at time t, D is damping coefficient, is rate of change of velocity of beam body at time t, K is stiffness coefficient of beam body, E is deformation coefficient of beam body, δ(t) is structural deformation of beam body at time t.

[0013] Further, the displacement x(t) of beam body at time t and the rate of change of velocity of beam body at time t during pushing beam body comprise:

[0014]

[0015]

[0016] wherein x0 is initial displacement of beam body, v0 is initial velocity of beam body.

[0017] Further, the control equation during pushing beam body comprises:

[0018] u(t) = u(t) + Δu(t)

[0019] Δu(t) = arg min[J(u(t))]

[0020] wherein u(t) is driving force provided by pushing driving device at time t, Δu(t) is change amount of driving force provided by pushing driving device at time t, J(u(t)) is driving force control cost function, for describing performance measurement of pushing driving device.

[0021] Further, the control cost function J(u(t)) comprises:

[0022]

[0023] Wherein, x(t) is the displacement of the beam at time t, x ref (t) is the expected displacement of the beam at time t, u ref (t) is the expected driving force provided by the pushing driving device at time t, T is the running time of the pushing driving device.

[0024] Further, the beam reaction force equation comprises:

[0025]

[0026] Wherein, F structural (t) is the beam reaction force during the movement of the beam, K is the stiffness coefficient of the beam, c is the damping coefficient during the movement of the beam, and E is the deformation coefficient of the beam.

[0027] The application further provides a continuous and rapid pushing control system for super heavy and long-span bridges, comprising:

[0028] A motion condition monitoring module is configured to acquire beam information, set a motion equation during the pushing of the beam, and monitor the motion condition of the beam during the pushing of the beam.

[0029] A driving force control module is configured to acquire pushing driving device information, set a control equation during the pushing of the beam, and control the driving force provided by the pushing driving device.

[0030] A driving force adjustment module is configured to set a beam reaction force equation according to the beam information, monitor the reaction force of the beam during the pushing of the beam, and adjust the driving force provided by the pushing driving device through the control equation during the pushing of the beam.

[0031] Further, the motion equation during the pushing of the beam comprises:

[0032]

[0033] Wherein, m is the mass of the beam, is the acceleration during the pushing of the beam at time t, F extemal (t) is the force applied on the beam from outside, x(t) is the displacement of the beam at time t, D is the damping coefficient, is the rate of change of the speed of the beam during the pushing of the beam with time t, K is the stiffness coefficient of the beam, E is the deformation coefficient of the beam, and δ(t) is the structural deformation of the beam at time t.

[0034] Further, the displacement x(t) of the beam body at time t and the rate of change of the velocity of the jacking beam body with time t comprising:

[0035]

[0036]

[0037] wherein x0 is the initial displacement of the beam body, and v0 is the initial velocity of the beam body.

[0038] Further, the control equation of the jacking beam body includes:

[0039] u(t) = u(t) + Δu(t)

[0040] Δu(t) = arg min [J(u(t))]

[0041] wherein u(t) is the driving force provided by the jacking driving device at time t, Δu(t) is the change amount of the driving force provided by the jacking driving device at time t, and J(u(t)) is a driving force control cost function used to describe the performance metric of the jacking driving device.

[0042] Compared with the prior art, the above technical scheme of the present application has the following beneficial effects:

[0043] The present application obtains beam body information, sets a motion equation of the beam body at the time of jacking, and is used to monitor the motion of the beam body at the time of jacking; obtains jacking driving device information, sets a control equation of the jacking beam body, and is used to control the driving force provided by the jacking driving device; according to the beam body information, a beam body reaction force equation is set, which is used to monitor the reaction force of the beam body at the time of jacking, and the driving force provided by the jacking driving device is adjusted through the control equation of the jacking beam body. Through the above technical scheme, the present application can accurately control a kind of super heavy span bridge continuous rapid jacking device, thereby improving the efficiency of jacking. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a flowchart of example 1;

[0045] Figure 2 is a system structure diagram of example 2;

[0046] Figure 3 is a schematic diagram of the overall structure of a super heavy span bridge continuous rapid jacking device according to an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of the overall structure of a super heavy span bridge continuous rapid jacking device according to an embodiment of the present application;

[0048] Figure 5 It is an overall structure plan view of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0049] Figure 6 It is an overall structure side view of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0050] Figure 7 It is a split schematic view of an overall structure of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0051] Figure 8 It is a schematic view of a pushing driving device of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0052] Figure 9 It is a side view of a pushing driving device of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0053] Figure 10 It is a plan view of a pushing driving device of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0054] Figure 11 It is a schematic view of a rolling support device of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0055] Figure 12 It is a schematic view of a guiding and rectifying device of a continuous rapid pushing device for an ultra-heavy large-span bridge according to an embodiment of the present application.

[0056] In all the drawings, the same reference signs represent the same technical features, specifically: 1-bridge support structure, 11-permanent pier, 12-temporary steel support pier, 13-temporary support, 2-pushing beam body, 21-box girder, 22-front guide beam, 23-rear guide beam, 3-pushing driving device, 31-motor, 32-reduction machine, 33-driving gear, 34-rack, 35-sliding wheel, 36-fixed frame, 37-floating frame, 38-rack support frame, 39-hinge, 4-rolling support device, 41-beam body steel plate, 42-rolling wheel, 43-rolling wheel support frame, 5-guiding and rectifying device, 51-rectifying support frame, 52-rectifying wheel, 53-thrust cylinder. DETAILED DESCRIPTION

[0057] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings of the specification and specific embodiments.

[0058] The method provided by the application can be implemented in a terminal environment, which can include one or more of the following components: a processor, a storage medium and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0059] The processor can include one or more processing cores. The processor connects various parts in the entire terminal through various interfaces and lines, executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0060] The storage medium can include random access memory (RAM) and read-only memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets or instructions.

[0061] The display screen is used to display the user interface of various application programs.

[0062] All subscripts in the formula of the application are only used to distinguish parameters and have no actual meaning.

[0063] In addition, those skilled in the art can understand that the structure of the terminal described above does not constitute a limitation on the terminal, and the terminal can include more or fewer components, or combine certain components, or different component arrangements. For example, the terminal also includes radio frequency circuit, input unit, sensor, audio circuit, power supply and other components, which are not described here.

[0064] For example, the terminal can include a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply and the like. Figures 3-7As shown, the embodiment of the present application provides a continuous and fast pushing device for super heavy span bridge, which comprises a bridge support structure 1 for supporting the whole upper beam structure, a pushing beam body 2 arranged on the bridge support structure 1, a pushing driving device 3 arranged on both sides of the pushing beam body 2, a rolling support device 4 arranged between the bridge support structure 1 and the pushing beam body 2 for supporting the upper beam structure, and a guiding and rectifying device 5 arranged on both sides of the top end of the bridge support structure 1. The driving force provided by the pushing driving device 3 is used to drive the pushing beam body 2 to move fast, and the guiding and rectifying device 5 is used to guide the pushing beam body 2 in real time, so that the lateral deviation of the pushing beam body 2 during the pushing process is always kept within the error allowable range. Meanwhile, the rolling support device 4 supports the pushing beam body 2 and converts the frictional force generated during the pushing process of the pushing beam body 2 into rolling friction, which greatly reduces the friction between the pushing beam body 2 and the support structure and improves the pushing efficiency of the upper beam structure. The motor drives the gear and rack transmission, and the rolling support is used to transport the beam body, which realizes the continuous pushing of the bridge beam body, reduces the frictional force during the pushing process, speeds up the pushing speed, avoids the damage to the bridge pier caused by the fast pushing, and ensures the safety of the bridge in the later use.

[0065] As shown, Figure 3 The bridge support structure 1 comprises permanent piers 11, temporary steel support piers 12 arranged between adjacent permanent piers 11, and temporary supports 13 arranged between the permanent piers 11 and the temporary steel support piers 12. The permanent piers 11 are reinforced concrete structures and are the main support structure of the whole bridge body. The temporary steel support piers 12 are steel support structures and are constructed between the permanent piers 11, which reduces the span of the upper beam structure erection, reduces the influence of the installation difficulty caused by the large span between the permanent piers 11, and the longitudinal beams are arranged on both sides of the temporary steel support piers 12, which connects all the temporary steel support piers 12 into a whole, the pushing force is transmitted to all the temporary steel support piers 12 during the pushing process, the stress is uniform, the structure is stable, and the single stress is avoided. The temporary supports 13 are steel frame structures and are erected between the permanent piers 11 and the temporary steel support piers 12, which provide support for the installation of other structures and provide horizontal force to the permanent piers 11 and the temporary steel support piers 12, so as to avoid that the permanent piers 11 are subjected to horizontal pushing force during the pushing process of the upper beam structure, which causes the structure to be damaged and the fatigue strength to be reduced due to stress concentration, improves the stability of the subsequent use, prolongs the service life of the bridge, and ensures the safety during use. Moreover, the temporary steel support piers 12 and the temporary supports 13 are only used during installation and are removed after the bridge installation is completed.

[0066] As shown, Figure 3As shown, the pushing beam body 2 includes a box girder 21 to be erected, a front guide beam 22 arranged at the front end of the box girder 21 in the pushing direction, a rear guide beam 23 arranged at the rear end of the box girder 21 in the pushing direction, a safety cable 24 arranged above the box girder 21, and a stand column 25 arranged above the box girder 21. The box girder 21 is a precast girder segment to be installed. The front guide beam 22 is a steel structure, which supports the beam body load after the box girder 21 is pushed across the line, and prevents the beam body from overturning. The rear guide beam 23 is used to install other necessary structures. The safety cable 24 is a steel cable structure, which is fixed to the front end of the front guide beam 22 and the rear end of the rear guide beam 23, and enhances the connection stability between the front guide beam 22, the rear guide beam 23 and the box girder 21. The stand column 25 is a steel pipe structure, which is fixed to the box girder 21, connects the other ends of all the safety cables 24, and provides a force point for the safety cables 24. The temporary additional structure makes the box girder 21 more easily pushed forward, and protects the main structure of the box girder 21 from being damaged, thereby ensuring the safety in later use.

[0067] As shown, Figures 8-10 As shown, the pushing driving device 3 is at least two sets used symmetrically, which includes a fixed frame 36 fixed to the side of the pushing beam body 2, a floating frame 37 arranged in the middle of the fixed frame 36, a hinge 39 for connecting the fixed frame 36 and the floating frame 37, a sliding wheel 35 fixed to the inner side below the floating frame 37, a speed reducer 32 arranged in the floating frame 37, a motor 31 connected to the input end of the speed reducer 32, a driving gear connected to the output end of the speed reducer 32, a rack 34 engaged with the driving gear 33, and a rack support frame 38 fixed to the temporary steel support pier 12. The motor 31 is a double motor arrangement, one for use and one for standby. When the motor 31 in operation fails, the standby motor is started immediately to provide driving force for the device, thereby preventing the equipment from failing to operate normally due to the failure of the motor 31 in operation, and delaying the construction period. The motor 31 is a variable frequency motor, which is controlled by a PLC terminal. The pushing speed can be adjusted arbitrarily within the designed range, and the speeds of the left and right motors can be adjusted individually to control the advancing direction of the beam body. The speed reducer 32 is a double-input speed reducer, which is used to satisfy the common use of one speed reducer by two motors 31, and to achieve the purpose of quick switching without affecting the pushing action. The driving gear 33 is connected to the outlet end of the speed reducer 32. The driving force generated by the motor 31 is transmitted to the driving gear 33 after passing through the speed reducer, and acts on the outside, thereby making the pushing beam body 2 advance forward.

[0068] The fixed frame 36 is fixed to the sides of the front and rear guide beams 22 and 23, welded into a square frame with a hollow center, and has multiple hinge mounting holes on the inner sides of two opposite sides; the floating frame 37 is a square thick steel plate, smaller than the size of the hollow center of the fixed frame 36, has a circular hole in the center, and has multiple hinge mounting holes on the outer sides of two opposite sides, corresponding to the positions of the hinge mounting holes reserved on the fixed frame 36; the speed reducer 32 is fixed in the center circular hole of the floating frame 37, so that the speed reducer 32 is always synchronized with the floating frame. The hinges 39 are multiple, mounted on the hinge mounting holes of the fixed frame 36 and the floating frame 37, so that the two are movably connected, so that the floating frame 37 can adapt to the shaking amplitude of the jacking beam body 2 during jacking and make corresponding floating, ensuring that the driving gear 33 and the rack 34 always remain in a self-adaptive meshing state, ensuring stable operation of the device. Gear and rack transmission greatly improves transmission accuracy and jacking efficiency, and the movement is stable during jacking, enabling the bridge to be self-locked at any position during jacking and enabling forward and reverse jacking. In the event of an accident during construction, the bridge can also be prevented from moving uncontrollably, avoiding safety accidents in any situation.

[0069] The pressure angle and module of the rack 34 are consistent with those of the driving gear 33, the rack 34 is meshed with the driving gear 33, when the gear acts force on the rack 34, the rack 34 provides a counterforce to the driving gear 33, so that the jacking beam body 2 obtains a forward driving force; at the same time, the rack 34 is fixed to the rack support frame 38 by bolts, so that it has sufficient positional stability and generates sufficient counter thrust on the jacking beam body 2. The rack support frame 38 is a strip-shaped steel plate, fixed to the longitudinal beams on both sides of the temporary steel support pier 12, and adjusts the linearity and parallelism of the rack 34 through the rack support frame 38, ensuring the installation accuracy of the rack 34 and the position during operation will not deviate; and the horizontal force received by the rack 34 during jacking is dispersed on all temporary supports, the horizontal force on a single temporary pier is small, and at the same time, the permanent pier 11 is not stressed, ensuring safety during jacking. The length of the rack 34 and the rack support frame 38 is the same, and the length is greater than the overall length of the jacking beam body 2, and the rack 34 cannot cross the line, ensuring that the jacking drive device 3 always operates normally during the entire jacking process.

[0070] The sliding wheel 35 is installed below the inner side of the floating frame 37 and contacts the rack 34. The driving gear 33 and the sliding wheel 35 are both fixed on the floating frame, and the relative position is fixed in any case. The rack 34 is clamped between the driving gear 33 and the sliding wheel 35, so that the driving gear 33 and the rack 34 can be engaged at any time during the shaking of the pushing process, and the pushing process is not hindered. The pushing speed and quality of the jacking beam body 2 are ensured.

[0071] The jacking driving device 3 is installed on the front guide beam 22 and the rear guide beam 23 at least one set. Avoiding the problem that the single setting on the front guide beam 22 causes the beam body to be subjected to tension, which has certain limitations on the stress structure of the beam body, and the single setting on the rear guide beam 23 causes the front end of the beam body to be easily deviated laterally. It has good guiding performance while ensuring that the beam body has good stress condition.

[0072] As shown in Figure 11 The rolling support device 4 is a plurality of devices, including a beam body steel plate 41 fixed on the bottom of the box girder 21, a roller support frame 43 fixed on the temporary steel support pier 12, and a roller 42 installed on the roller support frame 43. The roller support frame 43 is directly fixed on the temporary steel support pier 12 and is the direct support structure of the entire device, which supports the entire beam body structure. It is made of high-strength steel plate and has very high strength and stability. The roller 42 is composed of a hub and a wheel surface. The hub is made of high-strength metal material and has high strength and hardness, which can provide good support and transmission performance. The wheel surface is made of vulcanized rubber and has high wear resistance and impact resistance. The roller 42 and the roller support frame 43 are connected through bearings to ensure good rotation performance. The surface of the beam body steel plate 41 is smooth and flat, contacts the roller 42 during pushing, and slides on the roller 42. The frictional force of the jacking beam body 2 during pushing is greatly reduced, and the pushing efficiency of the motor is improved.

[0073] As shown in Figure 12As shown, there are multiple guiding and correcting devices 5, symmetrically fixed on both sides of the temporary support 13, located outside the two racks 34 on the left and right. Each device includes a correcting bracket 51 that fixes the entire guiding and correcting device 5, correcting wheels 52 fixed inside the correcting bracket 51, and a thrust cylinder 53 fixed at the center of the inner side of the correcting bracket 51. The correcting bracket 51 is a five-sided enclosed box structure, with both sides of the opening partially sealed and the center open, and is welded from steel plates. Two correcting wheels 52 are arranged in each group, connected by bearings to the semi-sealed plates on both sides of the opening of the correcting bracket 51. The thrust cylinder 53 is fixed at the center of the correcting bracket 51, and the top of the thrust rod of the thrust cylinder 53 is fitted with rubber. During installation, the top surface of the thrust rod is lower than the top surface of the correcting wheel 52. When the beam's lateral deviation exceeds a set value, the thrust cylinder 53 operates, pushing the beam laterally back to the design value range. During the advancement process, it plays a guiding role for the beam body, further controlling the position of the jacking beam body 2 during jacking, and avoiding deviations beyond the range.

[0074] Preferably, multiple sensors of different types are installed at necessary locations on this device to form a monitoring and control system. When the equipment is in operation, the system monitors the coordinates, displacement, velocity, and acceleration values ​​of multiple points on the beam in real time, thereby monitoring the beam's attitude and the stress on various parts of the beam. The real-time monitoring data is input from the sensors to the central processing system, compared with the set data, and fed back to the control system to control the jacking action and correction actions of the beam. By summarizing, analyzing, and organizing the various information collected by the bridge displacement, velocity, acceleration, internal stress, and other sensors through an industrial control computer, the system achieves integrated dynamic monitoring and intelligent control during the bridge jacking process, and realizes automatic correction, automatic positioning, and overload alarm protection.

[0075] Example 1

[0076] like Figure 1 As shown, this invention proposes a continuous and rapid jacking control method for ultra-large span bridges, used to control a continuous and rapid jacking device for ultra-large span bridges, comprising:

[0077] Step 101: Obtain beam information and set the motion equations for the estimated beam, which are used to monitor the movement of the beam during the jacking process.

[0078] Specifically, the equations of motion for estimating the beam include:

[0079]

[0080] Where m is the mass of the beam. F is the acceleration of the beam being pushed at time t. external(t) is a force externally applied to the beam body, x(t) is a displacement of the beam body at time t, D is a damping coefficient, is a rate of change of velocity of the beam body with respect to time t when the beam body is jacked, K is a stiffness coefficient of the beam body, E is a deformation coefficient of the beam body, and δ(t) is a structural deformation of the beam body at time t.

[0081] Specifically, the displacement x(t) of the beam body at time t and the rate of change of velocity of the beam body with respect to time t when the beam body is jacked comprise:

[0082]

[0083]

[0084] wherein x0 is an initial displacement of the beam body, and v0 is an initial velocity of the beam body.

[0085] Step 102, acquiring jacking driving device information, setting a jacking beam body control equation for controlling a driving force provided by a jacking driving device;

[0086] Specifically, the jacking beam body control equation comprises:

[0087] u(t) = u(t) + Δu(t)

[0088] Δu(t) = arg min[J(u(t))]

[0089] wherein u(t) is a driving force provided by the jacking driving device at time t, Δu(t) is a driving force change amount provided by the jacking driving device at time t, and J(u(t)) is a driving force control cost function for describing a performance metric of the jacking driving device.

[0090] Specifically, the control cost function J(u(t)) comprises:

[0091]

[0092] wherein x(t) is a displacement of the beam body at time t, x ref (t) is an expected displacement of the beam body at time t, u ref (t) is an expected driving force expected to be provided by the jacking driving device at time t, and T is an operation time of the jacking driving device.

[0093] Step 103, setting a beam body reaction force equation according to the beam body information, for monitoring a reaction force of the beam body when the beam body is jacked, and adjusting the driving force provided by the jacking driving device through the jacking beam body control equation.

[0094] Specifically, the beam body reaction force equation comprises:

[0095]

[0096] wherein, F structural (t) is the reaction force of the beam body during movement, K is the stiffness coefficient of the beam body, c is the damping coefficient during movement of the beam body, and E is the deformation coefficient of the beam body.

[0097] Embodiment 2

[0098] As Figure 2 shown, the application further provides a continuous rapid pushing control system for an ultra-heavy long-span bridge, comprising:

[0099] A motion condition monitoring module is configured to acquire beam body information, set a motion equation for the beam body during pushing, and monitor the motion condition of the beam body during pushing of the beam body.

[0100] Specifically, the motion equation for the beam body during pushing comprises:

[0101]

[0102] wherein, m is the mass of the beam body, is the acceleration of the beam body at time t during pushing, F extemal (t) is the force applied on the beam body from outside, x(t) is the displacement of the beam body at time t, D is the damping coefficient, is the rate of change of the speed of the beam body with time t during pushing, K is the stiffness coefficient of the beam body, E is the deformation coefficient of the beam body, and δ(t) is the structural deformation of the beam body at time t.

[0103] Specifically, the displacement x(t) of the beam body at time t and the rate of change of the speed of the beam body with time t during pushing comprise:

[0104]

[0105]

[0106] wherein, x0 is the initial displacement of the beam body, and v0 is the initial speed of the beam body.

[0107] A driving force control module is configured to acquire pushing driving device information, set a control equation for pushing of the beam body, and control the driving force provided by the pushing driving device.

[0108] Specifically, the control equation for pushing of the beam body comprises:

[0109] u(t) = u(t) + Δu(t)

[0110] Δu(t) = arg min [J(u(t))]

[0111] Where u(t) is the driving force provided by the jacking drive device at time t, Δu(t) is the change in driving force provided by the jacking drive device at time t, and J(u(t)) is the driving force control cost function, which is used to describe the performance metric of the jacking drive device.

[0112] Specifically, the control cost function J(u(t)) includes:

[0113]

[0114] Where x(t) is the displacement of the beam at time t, x ref (t) represents the expected displacement of the beam at time t, u ref (t) represents the desired driving force provided by the jacking drive device at time t, where T is the operating time of the jacking drive device.

[0115] The driving force adjustment module is used to set the beam reaction force equation according to the beam information, to monitor the beam reaction force when the beam is pushed, and to adjust the driving force provided by the pushing drive device through the control equation when the beam is pushed.

[0116] Specifically, the equations for the reaction forces of the beam include:

[0117]

[0118] Among them, F structural (t) represents the reaction force of the beam during its movement, K is the stiffness coefficient of the beam, c is the damping coefficient of the beam during its movement, and E is the deformation coefficient of the beam.

[0119] Example 3

[0120] This invention also proposes a storage medium storing multiple instructions for implementing the aforementioned continuous and rapid jacking control method for ultra-large span bridges.

[0121] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0122] Optionally, in this embodiment, the storage medium is configured to store program code for performing the steps of the method of Embodiment 1.

[0123] Example 4

[0124] This invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to execute a continuous and rapid jacking control method for ultra-large span bridges.

[0125] Specifically, the electronic device in this embodiment can be a computer terminal, which may include one or more processors and a storage medium.

[0126] The storage medium can be used to store software programs and modules, such as the program instructions / modules in the continuous rapid jacking control method for ultra-large span bridges in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, thus realizing the aforementioned continuous rapid jacking control method for ultra-large span bridges. The storage medium may include high-speed random access storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely configured relative to the processor, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0127] The processor can use the transmission system to call the information and application stored in the storage medium to execute the steps of the method in Embodiment 1.

[0128] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0129] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only storage media (ROM), random access storage media (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0134] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for continuous and rapid jacking control of ultra-large span bridges, characterized in that, include: Obtain beam information and set the motion equations when estimating the beam to monitor the movement of the beam during jacking. Obtain information about the jacking drive device and set the control equations for jacking the beam to control the driving force provided by the jacking drive device; Based on the beam information, a beam reaction force equation is set to monitor the beam reaction force during jacking, and the driving force provided by the jacking drive device is adjusted through the beam jacking control equation.

2. The continuous and rapid jacking control method for ultra-long span bridges as described in claim 1, characterized in that, The equations of motion for the estimated beam include: Where m is the mass of the beam. F is the acceleration of the beam being pushed at time t. external x(t) represents the external force applied to the beam, x(t) represents the displacement of the beam at time t, and D is the damping coefficient. δ(t) represents the rate of change of velocity of the beam over time t during jacking, K is the stiffness coefficient of the beam, E is the deformation coefficient of the beam, and δ(t) is the structural deformation of the beam at time t.

3. The continuous and rapid jacking control method for ultra-long span bridges as described in claim 2, characterized in that, The displacement x(t) of the beam at time t and the rate of change of velocity of the jacking beam with time t. include: Where x0 is the initial displacement of the beam and v0 is the initial velocity of the beam.

4. The continuous and rapid jacking control method for ultra-long span bridges as described in claim 1, characterized in that, The governing equations for the jacking of the beam include: u(t) = u(t) + Δu(t) Δu(t)=arg min[J(u(t))] Where u(t) is the driving force provided by the jacking drive device at time t, Δu(t) is the change in driving force provided by the jacking drive device at time t, and J(u(t)) is the driving force control cost function, which is used to describe the performance metric of the jacking drive device.

5. The continuous and rapid jacking control method for ultra-long span bridges as described in claim 4, characterized in that, The control cost function J(u(t)) includes: J(u(t))=∫0 T (||x(t)-x ref (t)|| 2 +||u(t)-u ref (t)|| 2 )dt Where x(t) is the displacement of the beam at time t, x ref (t) represents the expected displacement of the beam at time t, u ref (t) represents the desired driving force provided by the jacking drive device at time t, where T is the operating time of the jacking drive device.

6. The continuous and rapid jacking control method for ultra-long span bridges as described in claim 1, characterized in that, The equations for the beam reaction forces include: Among them, F structural (t) represents the reaction force of the beam during its movement, K is the stiffness coefficient of the beam, c is the damping coefficient of the beam during its movement, and E is the deformation coefficient of the beam.

7. A continuous and rapid jacking control system for ultra-large span bridges, characterized in that, include: The motion monitoring module is used to acquire beam information, set the motion equations when proposing the beam, and monitor the motion of the beam when it is launched. The driving force control module is used to acquire information from the push drive device, set the control equations when pushing the beam, and control the driving force provided by the push drive device. The driving force adjustment module is used to set the beam reaction force equation according to the beam information, to monitor the beam reaction force when the beam is pushed, and to adjust the driving force provided by the pushing drive device through the control equation when the beam is pushed.

8. The continuous and rapid jacking control system for ultra-long span bridges as described in claim 7, characterized in that, The equations of motion for the estimated beam include: Where m is the mass of the beam. F is the acceleration of the beam being pushed at time t. external x(t) represents the external force applied to the beam, x(t) represents the displacement of the beam at time t, and D is the damping coefficient. δ(t) represents the rate of change of velocity of the beam over time t during jacking, K is the stiffness coefficient of the beam, E is the deformation coefficient of the beam, and δ(t) is the structural deformation of the beam at time t.

9. A continuous and rapid jacking control system for ultra-large span bridges as described in claim 8, characterized in that, The displacement x(t) of the beam at time t and the rate of change of velocity of the jacking beam with time t. include: Where x0 is the initial displacement of the beam and v0 is the initial velocity of the beam.

10. A continuous and rapid jacking control system for ultra-long span bridges as described in claim 7, characterized in that, The governing equations for the jacking of the beam include: u(t) = u(t) + Δu(t) Δu(t)=arg min[J(u(t))] Where u(t) is the driving force provided by the jacking drive device at time t, Δu(t) is the change in driving force provided by the jacking drive device at time t, and J(u(t)) is the driving force control cost function, which is used to describe the performance metric of the jacking drive device.

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