Prefabricated part hoisting equipment and control system

Abstract

The invention is applicable to the technical field of building machinery, and provides prefabricated part hoisting equipment and a control system, and the prefabricated part hoisting equipment control system comprises a counterweight control module, a dynamic state observation module, a control module and a control module, and is characterized in that the counterweight control module is connected with the dynamic state observation module; the processor is configured to process the initial height, the real-time swing amplitude, the real-time swing angular velocity and a preset stable threshold value based on a preset counterweight lowering distance control model so as to generate and output a target lowering distance of the counterweight mechanism; wherein the target lowering distance is used for driving the executing mechanism to adjust the vertical position of the balance weight mechanism on the lifting rope so as to restrain swinging of the prefabricated part in the lifting and moving process. According to the prefabricated part hoisting equipment control system, the counterweight control module can be tightly matched with the dynamic state observation module, and fine and self-adaptive adjustment of the position of the counterweight mechanism is achieved through real-time and accurate swing data provided by the counterweight control module.

Description

Technical Field

[0001] This invention belongs to the field of construction machinery technology, and in particular relates to a precast component hoisting equipment and control system. Background Technology

[0002] In the process of industrialized construction, the hoisting of prefabricated components is a core aspect of prefabricated building construction, involving the handling and installation of large components such as prefabricated wall panels, floor slabs, beams, and columns. Existing hoisting equipment mainly relies on traditional machinery such as tower cranes, crawler cranes, or gantry cranes. Their working principle involves a winding mechanism that raises and lowers the hoisting rope to control the lifting and lowering of the components, while a drive mechanism simultaneously moves the boom or winding mechanism to achieve horizontal displacement. However, such equipment faces significant challenges in practical applications: Because the components are suspended by ropes to form a pendulum-like system, inertia can easily induce continuous swaying of the components when the equipment starts, brakes, changes speed, or turns. Especially in high-altitude operations or long-distance horizontal movements, the swaying amplitude increases, which not only prolongs the operation cycle but also makes it easier for the components to collide with surrounding structures, threatening construction safety.

[0003] Furthermore, prefabricated components exhibit significant differences in their physical properties. For instance, slender components have lower bending stiffness and are prone to bending deformation during hoisting; components with their center of gravity off-center from the hoisting point have poor balance stability; and components with larger windward areas are more severely affected by wind disturbances. These differences in characteristics lead to varying instability tendencies in the components, while existing equipment lacks the dynamic adaptability to these characteristics. Simultaneously, external environmental factors such as changes in wind speed at the construction site and fluctuations in equipment starting and braking acceleration further exacerbate the uncontrollability of swaying, especially in high-rise building construction where the impact of high-altitude wind speeds is particularly pronounced. Summary of the Invention

[0004] The purpose of this invention is to provide a precast component hoisting equipment and control system to solve the above-mentioned problems.

[0005] The present invention is implemented as follows: a precast component hoisting device includes a boom, the boom being fixedly connected to a horizontal drive, the horizontal drive being connected to a winding mechanism, the horizontal drive being able to drive the winding mechanism to move horizontally, the winding mechanism being wound with a hoisting rope, and the hoisting rope being connected to a counterweight mechanism.

[0006] In a further technical solution, the counterweight mechanism includes a connecting seat, which is sleeved on the outside of the suspension rope. A counterweight block is fixedly connected to the connecting seat, and two motors are fixedly connected to the connecting seat. The output shafts of the motors are each fixedly connected to meshing gears, and the two meshing gears press against both sides of the suspension rope.

[0007] like Figure 3 As shown, a control system for precast component hoisting equipment, applied to the aforementioned precast component hoisting equipment, includes: The component condition assessment module is configured to process the weight, stiffness coefficient, center of gravity deviation rate, and windward area based on a preset component condition assessment model to generate and output a component condition assessment index that characterizes the component's own instability tendency. The lifting device condition assessment module is configured to process the length of the lifting rope, the height of the boom, and the vertical angle of the sling based on a preset lifting device condition assessment model, so as to generate and output a lifting device condition assessment index that characterizes the stiffness characteristics of the lifting system. The dynamic state observation module is connected to the component state evaluation module and the lifting device state evaluation module respectively, and is configured to process the external wind force, starting and braking acceleration, component state evaluation index and lifting device state evaluation index based on the preset dynamic state observation model, so as to generate and output the real-time swing amplitude and real-time swing angular velocity of the prefabricated component at the current moment. The counterweight control module, connected to the dynamic state observation module, is configured to: process the initial height, real-time swing amplitude, real-time swing angular velocity, and preset stability threshold based on a preset counterweight lowering distance control model, so as to generate and output the target lowering distance of the counterweight mechanism; The target lowering distance is used to drive the actuator to adjust the vertical position of the counterweight mechanism 4 on the hoisting rope, so as to suppress the swaying of the prefabricated component during the hoisting and moving process.

[0008] In a further technical solution, the component condition assessment index in the component condition assessment module is obtained through the following methods: The component weight index, component windward area index, and component bending stiffness index are each exponentially calculated using their corresponding positive influence coefficients. The center of gravity deviation distance index is multiplied by the preset center of gravity deviation influence coefficient and then 1 is added. The results of the above four calculations are multiplied together and finally multiplied by the comprehensive adjustment coefficient to obtain the component condition assessment index. Each index is calculated by the ratio of the measured value to the reference benchmark value.

[0009] Further technical solutions, in the component condition assessment model: The component weight index is obtained by dividing the actual weight of the component by the reference weight benchmark value. The windward area index of a component is obtained by dividing the windward area of ​​the component by the reference area benchmark value. The center of gravity deviation distance index is obtained by dividing the distance from the center of gravity projection to the geometric center of the lifting point by the length of the longest side of the available component. The bending stiffness index of a component is obtained by dividing the bending stiffness of the component by the reference stiffness benchmark value.

[0010] In a further technical solution, the spreader condition assessment index in the spreader condition assessment module is obtained in the following way: The first factor is obtained by multiplying the square of the ratio of boom height to rope length by the preset slenderness ratio influence coefficient and adding 1. The second factor is obtained by exponentiating the reciprocal of the cosine of the vertical angle of the sling with a preset nonlinear exponent for the angle. Multiply the first factor by the second factor to obtain the spreader condition assessment index.

[0011] In a further technical solution, the real-time oscillation amplitude and real-time oscillation angular velocity in the dynamic state observation module are obtained in the following way: Obtain the preset reference amplitude and reference angular velocity respectively; Calculate the ratio of the product of the current component status assessment index and the lifting device status assessment index to the product of the preset component index benchmark and the lifting device index benchmark, and take the square root of this ratio to obtain the basic scaling factor. Multiply the base scaling factor by (1 plus the wind index) and (1 plus the acceleration index) respectively to obtain the comprehensive scaling factor; Multiply the reference amplitude and reference angular velocity by the comprehensive scaling factor to obtain the real-time swing amplitude and real-time swing angular velocity.

[0012] In a further technical solution, the target lowering distance in the counterweight control module is obtained in the following way: Calculate the ratio of the real-time swing amplitude to the swing amplitude stability threshold, multiply it by the preset proportional control coefficient, and obtain the proportional control term; Calculate the ratio of the real-time oscillation angular velocity to the angular velocity stability threshold, multiply it by the preset differential control coefficient, and obtain the differential control term; Summing the proportional control term and the derivative control term, and then multiplying by the baseline lowering distance, yields the initial lowering distance; The initial drop distance is compared with the maximum allowed drop distance, and the smaller of the two is taken as the target drop distance.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: This application effectively solves the problem of existing counterweight mechanisms lacking a reliable and adjustable fixing mechanism during hoisting, making real-time position adjustment difficult. The counterweight mechanism achieves precise vertical position adjustment and reliable fixation on the hoisting ropes. This adjustable fixing mechanism allows the counterweight mechanism to dynamically adjust its position on the hoisting ropes based on the real-time observed swing amplitude and angular velocity of the precast component during hoisting and movement. By changing the vertical position of the counterweight mechanism, the equivalent pendulum length and inertia of the hoisting system can be changed in real time, thereby optimizing the dynamic characteristics of the hoisting system and effectively suppressing the swing of the precast component. This not only improves the efficiency of hoisting operations and reduces waiting time caused by swing, but also significantly reduces the risk of collision between the precast component and surrounding structures, thus enhancing the stability and safety of the entire hoisting process.

[0014] The precast component hoisting equipment control system of this application effectively solves the problems in the prior art, such as the tendency of precast components to sway during hoisting and movement, the different instability tendencies caused by differences in the physical properties of the components themselves, the difficulty in controlling the impact of external environmental factors on hoisting stability, and the influence of the stiffness characteristics of the hoisting system on the sway frequency and amplitude. Specifically, the component state assessment module quantifies the instability tendency of the component itself, enabling the system to adaptively control the characteristics of different components, avoiding a "one-size-fits-all" control strategy. The lifting device state assessment module reflects the stiffness changes of the hoisting system in real time, ensuring an accurate grasp of the sway dynamics. The dynamic state observation module comprehensively considers the component, the lifting device, and external disturbances, realizing accurate observation of the real-time sway state of the precast component, providing a reliable basis for subsequent sway suppression. Based on these real-time observation data, the counterweight control module intelligently adjusts the vertical position of the counterweight mechanism on the hoisting rope, thereby actively and in real time suppressing the sway of the component.

[0015] In the precast component hoisting equipment control system of this application, the counterweight control module can work closely with the dynamic state observation module to achieve precise and adaptive adjustment of the counterweight mechanism position using the real-time and accurate swing data it provides. This allows the swing of the precast component to be quickly and effectively suppressed during hoisting and movement, significantly improving the stability and safety of the hoisting operation, reducing the risk of collision between the component and the surrounding structure, and improving the overall hoisting efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the prefabricated component hoisting equipment in this invention; Figure 2 This is a structural schematic diagram of the counterweight mechanism in a precast component hoisting equipment; Figure 3 This is a schematic diagram of the control system for the precast component hoisting equipment.

[0017] In the attached diagram: 1. boom; 2. horizontal drive; 3. winding mechanism; 4. counterweight mechanism; 41. connecting seat; 42. counterweight block; 43. motor; 44. meshing gear. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0020] like Figures 1-2 As shown, a precast component hoisting device provided in one embodiment of the present invention includes a boom 1, a horizontal driver 2 fixedly connected to the boom 1, a winding mechanism 3 connected to the horizontal driver 2, the horizontal driver 2 being able to drive the winding mechanism 3 to move horizontally, the winding mechanism 3 being wound with a hoisting rope, and the hoisting rope being connected to a counterweight mechanism 4.

[0021] In this embodiment, the horizontal actuator 2 is a mechanical device capable of generating horizontal driving force. Its function is to drive the components connected to it to move horizontally, thereby adjusting the position of the precast component on the horizontal plane. The horizontal actuator 2 can employ various driving methods, such as threaded drive. The winding mechanism 3 is a device for controlling the length of the lifting rope. Its main function is to adjust the lifting height of the precast component by winding or releasing the lifting rope. The winding mechanism 3 typically includes components such as a drum, a motor, and a reducer; by controlling the rotation of the motor, the length of the lifting rope is adjusted.

[0022] When the precast wall panel needs to be moved horizontally, the horizontal actuator 2 is activated. The horizontal actuator 2 is fixedly connected to the boom 1 and is connected to the winding mechanism 3. The horizontal actuator 2 can drive the winding mechanism 3 and the suspended precast wall panel to move smoothly in the horizontal direction. For example, when the precast wall panel accelerates from the starting point, it will tend to swing backward due to inertia. At this time, the counterweight mechanism 4 connected to the suspension rope comes into play. The counterweight mechanism 4 changes the overall center of gravity and moment of inertia of the suspension system through its own mass. When the precast wall panel begins to swing, the counterweight mechanism 4 can be adjusted to its vertical position on the suspension rope. For example, by lowering the counterweight mechanism 4, the equivalent length of the suspension system can be effectively increased, thereby reducing the system's natural swing frequency, or by increasing the system's damping effect, the swing amplitude of the precast wall panel can be quickly suppressed.

[0023] This embodiment provides a solution for actively suppressing the swaying of precast components by connecting a counterweight mechanism 4 to the hoisting rope and combining it with the ability of the horizontal drive 2 to drive the winding mechanism 3 to move horizontally. For example, during the hoisting process of the aforementioned precast wall panel, when the precast wall panel sways due to acceleration or braking, the counterweight mechanism 4 can change the dynamic characteristics of the hoisting system by adjusting its mass and position. This design allows the hoisting equipment to actively intervene and adjust the stability of the system, rather than passively bearing the swaying of the component.

[0024] Specifically, the introduction of the counterweight mechanism 4 gives the suspension system adjustable inertial characteristics. When the component swings, adjusting the vertical position of the counterweight mechanism 4 on the suspension rope can change the system's equivalent pendulum length and damping, thereby effectively shortening the swing decay time and reducing the swing amplitude. This technical concept overcomes the limitations of existing technologies that rely solely on operational experience or fixed counterweight schemes, providing a new technical approach for the stable hoisting of precast components.

[0025] like Figures 1-2 As shown, in a preferred embodiment of the present invention, the counterweight mechanism 4 includes a connecting seat 41, which is sleeved on the outside of the suspension rope. A counterweight block 42 is fixedly connected to the connecting seat 41. Two motors 43 are fixedly connected to the connecting seat 41. The output shafts of the motors 43 are all fixedly connected to meshing gears 44, and the two meshing gears 44 are pressed against both sides of the suspension rope.

[0026] In this embodiment, the connecting seat 41 is the main structure of the counterweight mechanism 4, used to support the counterweight block 42 and the motor 43, and to allow it to be fitted onto the outside of the lifting rope. The counterweight block 42 is the core functional component of the counterweight mechanism 4, and its function is to provide additional mass, thereby affecting the swing frequency and amplitude of the prefabricated component by changing the overall center of gravity and inertial characteristics of the suspension system.

[0027] The motor 43 is the power source that drives the counterweight mechanism 4 to move and fix its position on the suspension rope. A stepper motor can be used, and its precise rotation angle can be controlled by pulse signals to achieve fine adjustment of the counterweight mechanism 4's position. The meshing gears 44 are key components that realize the transmission and fixing function between the counterweight mechanism 4 and the suspension rope. Driven by the motor 43, the two meshing gears 44 are pressed against both sides of the suspension rope with a certain pressure.

[0028] When the motor 43 drives the meshing gear 44 to rotate, the friction or mechanical meshing force between the gear and the suspension rope can move the counterweight mechanism 4 up and down along the suspension rope. When it is necessary to fix the position of the counterweight mechanism 4, the motor 43 can maintain the continuous compression of the suspension rope by the meshing gear 44, thereby providing sufficient clamping force to prevent the counterweight mechanism 4 from shifting under the action of gravity or swing inertia. The surface of the meshing gear 44 can be designed with anti-slip texture or made of a high-friction coefficient material to enhance the gripping force with the suspension rope.

[0029] The counterweight mechanism 4 proposed in this application, through its ingenious structural design, achieves reliable and adjustable vertical position control on the suspension rope. The counterweight block 42 is fixedly connected to the connecting seat 41, providing the necessary mass for the entire counterweight mechanism 4 to alter the dynamic characteristics of the suspension system, thereby effectively suppressing the swaying of the precast components. During operation, when the vertical position of the counterweight mechanism 4 needs adjustment, the two motors 43 can simultaneously drive the two meshing gears 44 to rotate in opposite directions, thereby causing the connecting seat 41, counterweight block 42, and motors 43 to move up and down along the suspension rope. Once the counterweight mechanism 4 has moved to the target position, the motors 43 can maintain the continuous compression of the suspension rope by the meshing gears 44, utilizing the friction or mechanical meshing force between the gears and the suspension rope to form a reliable clamping action, thus stably fixing the counterweight mechanism 4 in that vertical position. This design enables the counterweight mechanism 4 to dynamically and precisely adjust its position on the hoisting rope according to the real-time swing state of the precast component, thereby changing the equivalent swing length and inertia of the hoisting system, thus optimizing the dynamic response of the hoisting system and effectively suppressing the swing of the precast component during hoisting and movement.

[0030] like Figure 3 As shown, a control system for precast component hoisting equipment is characterized by comprising: The component condition assessment module is configured to process the weight, stiffness coefficient, center of gravity deviation rate, and windward area based on a preset component condition assessment model to generate and output a component condition assessment index that characterizes the component's own instability tendency. The lifting device condition assessment module is configured to process the length of the lifting rope, the height of the boom 1, and the vertical angle of the sling based on a preset lifting device condition assessment model, so as to generate and output a lifting device condition assessment index that characterizes the stiffness characteristics of the lifting system. The dynamic state observation module is connected to the component state evaluation module and the lifting device state evaluation module respectively, and is configured to process the external wind force, starting and braking acceleration, component state evaluation index and lifting device state evaluation index based on the preset dynamic state observation model, so as to generate and output the real-time swing amplitude and real-time swing angular velocity of the prefabricated component at the current moment. The counterweight control module, connected to the dynamic state observation module, is configured to: process the initial height, real-time swing amplitude, real-time swing angular velocity, and preset stability threshold based on a preset counterweight lowering distance control model, so as to generate and output the target lowering distance of the counterweight mechanism 4; The target lowering distance is used to drive the actuator to adjust the vertical position of the counterweight mechanism 4 on the hoisting rope, so as to suppress the swaying of the prefabricated component during the hoisting and moving process.

[0031] In this embodiment, the component condition assessment module aims to quantify the instability tendency of prefabricated components during hoisting due to their physical characteristics (such as weight, stiffness, center of gravity position, and windward area). It processes these physical parameters and outputs a comprehensive assessment index reflecting the inherent stability of the component under different working conditions. This module can be implemented using an embedded controller or industrial PC, which pre-stores the component condition assessment model. Before hoisting, operators or sensors input data such as the component's weight, stiffness coefficient, center of gravity deviation rate, and windward area. The controller then runs the model to calculate and output the component condition assessment index. Alternatively, it can be implemented using a cloud-based remote server. Field equipment uploads component parameters to the cloud, the cloud server performs complex component condition assessment model calculations, and sends the assessment index back to the field control system.

[0032] The lifting equipment condition assessment module is used to evaluate the stiffness characteristics of the lifting system (including the lifting rope, boom 1, and slings), which directly affect the sway frequency and amplitude of the precast components. By processing parameters such as the lifting rope length, boom 1 height, and sling vertical angle, an assessment index characterizing the stiffness characteristics of the lifting system is generated. This module can be implemented using a microprocessor integrated into the lifting equipment control system. The microprocessor receives data from sensors (such as the lifting rope length sensor, boom 1 height sensor, and angle sensor) and calculates the index based on a pre-defined lifting equipment condition assessment model, outputting the lifting equipment condition assessment index. Alternatively, it can be implemented using a separate sensor fusion unit. This unit collects various lifting equipment parameters and uses internal algorithms or lookup tables to quickly generate the lifting equipment condition assessment index, which is then sent to the main control system.

[0033] The dynamic state observation module is responsible for real-time monitoring of the dynamic swaying behavior of precast components, specifically their sway amplitude and angular velocity. It comprehensively considers external disturbances (such as wind force and starting / braking acceleration) as well as the characteristics of the component itself and the lifting system (through component state evaluation indices and lifting system state evaluation indices), thereby accurately predicting or observing the real-time swaying state of the component. This module can be implemented using a high-performance real-time controller. This controller receives indices from wind speed sensors, acceleration sensors, and the aforementioned two evaluation modules, runs a preset dynamic state observation model, and calculates and outputs the component's sway amplitude and angular velocity in real time. Alternatively, it can be implemented using state estimation algorithms based on Kalman filtering or extended Kalman filtering. By fusing multi-source sensor data and the dynamic model, a more accurate real-time estimation of the component's swaying state can be achieved.

[0034] The counterweight control module is the core execution and decision-making part of the entire control system. Based on the observed real-time swing state (amplitude and angular velocity) of the component and a preset stability threshold, combined with the initial height, it calculates the target distance that the counterweight mechanism 4 needs to be lowered. This target distance is then used to drive the actuator to adjust the vertical position of the counterweight mechanism 4 on the suspension rope to actively suppress the swing of the component. This module can be implemented using a PID controller or a fuzzy logic controller. The controller receives the real-time swing amplitude and angular velocity, compares them with the preset stability threshold, and calculates the target lowering distance based on the counterweight lowering distance control model. This distance signal is then sent to the drive motor of the counterweight mechanism 4. Alternatively, a model predictive control strategy can be used. This strategy can predict the future swing trend of the component and optimize the lowering distance of the counterweight mechanism 4 accordingly. The target lowering distance is the output of the counterweight control module, which instructs the actuator to precisely adjust the vertical position of the counterweight mechanism 4 on the suspension rope. By changing the position of the counterweight mechanism 4, the equivalent pendulum length and inertial characteristics of the suspension system can be altered, thereby changing the inherent oscillation frequency of the component or generating a reaction torque to counteract or suppress the oscillation of the component. The actuator can be a servo motor-driven hoisting system that precisely controls the up-and-down movement of the counterweight mechanism 4 along the suspension rope via gear or belt transmission. Alternatively, it can be a hydraulically or pneumatically driven linear actuator directly connected to the counterweight mechanism 4, which precisely controls the lifting and lowering of the counterweight mechanism 4 by controlling the opening of the hydraulic or pneumatic valve.

[0035] The control system for this precast component hoisting equipment, through its modular design, enables real-time perception, assessment, and active suppression of swaying during the hoisting process. Its overall operational logic is as follows: First, the component status assessment module receives inherent physical parameters of the precast component, such as weight, stiffness coefficient, center of gravity deviation rate, and windward area. Based on a pre-set component status assessment model, it generates a quantified component status assessment index, providing fundamental information about the inherent stability of the component for subsequent dynamic analysis. Simultaneously, the lifting device status assessment module acquires geometric parameters of the hoisting system, such as the length of the lifting rope, the height of the boom 1, and the vertical angle of the slings. Based on a pre-set lifting device status assessment model, it generates a lifting device status assessment index characterizing the stiffness of the hoisting system, providing fundamental information about the dynamic response characteristics of the hoisting system for subsequent dynamic analysis. Subsequently, the dynamic state observation module, as the core perception and analysis unit, comprehensively receives external environmental factors (such as external wind force and starting / braking acceleration) as well as the component status assessment index and lifting device status assessment index output by the aforementioned two assessment modules. This module, based on a preset dynamic state observation model, processes all input data in real time to accurately generate and output the real-time swing amplitude and angular velocity of the precast component at the current moment. This process enables comprehensive and real-time observation of the component's swing state, providing an accurate basis for swing suppression. Finally, the counterweight control module connects to the dynamic state observation module. It receives the real-time swing amplitude, real-time swing angular velocity, and a preset stability threshold, and calculates based on a preset counterweight lowering distance control model, combined with the initial height. The core function of this module is to intelligently determine the target lowering distance of the counterweight mechanism 4 based on the component's real-time swing state. This target lowering distance is then sent to the actuator, driving it to precisely adjust the vertical position of the counterweight mechanism 4 on the hoisting rope. By dynamically adjusting the position of the counterweight mechanism 4, the dynamic characteristics of the hoisting system can be changed, thereby effectively suppressing the swing of the precast component during hoisting and movement. This control system works in conjunction with the precast component hoisting equipment, achieving intelligent and proactive suppression of the precast component's swing through comprehensive perception and real-time response to the component's own characteristics, the hoisting system's state, and external disturbances.

[0036] In a preferred embodiment of the present invention, the component status assessment model in the component status assessment module is as follows: ; in This is the comprehensive adjustment coefficient. The influence coefficient of center of gravity deviation. The weight influence coefficient. The windward area influence coefficient. This is the stiffness influence coefficient. , , , , , The component weight index. The windward area index of the component. The centroid deviation distance index, The bending stiffness index of the component. This is a component condition assessment index.

[0037] In this embodiment, the component state assessment model achieves precise quantification of the instability tendency of the precast component by introducing multiple adjustable coefficients and indices. Among them, the comprehensive adjustment coefficient... It is used to make overall adjustments to the entire component condition assessment model. Its function is to adjust the component condition assessment index output by the model according to the actual application scenario or specific component type. The scale should be uniformly adjusted to better reflect actual instability assessment needs. For example, in hoisting operations where stability requirements are extremely high, the scale can be appropriately increased. The coefficient is set to a value that more sensitively reflects the instability risk of the component; while in routine operations, a standard value can be used. The coefficient ranges from (0.5, 2), allowing for flexible adjustment of the model's sensitivity within a certain range.

[0038] Center of gravity deviation influence coefficient This coefficient is used to quantify the impact of the component's center of gravity deviation from the geometric center of the lifting point on the component's instability tendency. The farther the component's center of gravity deviates from the lifting point, the greater the risk of swaying or overturning during lifting. The coefficient ranges from (2, 10), indicating that the center of gravity deviation has a significant and non-linear impact on the instability tendency; higher values ​​indicate a greater risk. The value more strongly highlights the negative effect of center of gravity deviation on stability. Weight Influence Coefficient This coefficient characterizes the effect of component weight on instability tendency. Generally, the greater the component weight, the greater its inertia, and the greater the amplitude or period of swaying it may experience when subjected to external disturbances, thus increasing the risk of instability. This coefficient acts exponentially on the component weight index. Its value ranges from (0.5, 2), allowing adjustment of its contribution weight to instability tendency based on the weight characteristics of different components. Windward area influence coefficient. This coefficient characterizes the effect of a component's windward area on its instability tendency. Components with larger windward areas are more susceptible to wind forces, generating greater wind loads and thus exacerbating the component's sway. This coefficient acts exponentially on... Its value range is It can flexibly adjust the contribution weight of the windward area to the instability tendency.

[0039] Stiffness Influence Coefficient This coefficient characterizes the effect of a member's bending stiffness on its tendency to buckle. Members with lower bending stiffness are more prone to deformation during hoisting, thus reducing their overall stability. This coefficient acts exponentially on the member's bending stiffness index. Its value range is It can adjust the contribution weight of a component to the tendency to instability based on the stiffness characteristics of the component.

[0040] Among them, the comprehensive adjustment coefficient Weight influence coefficient Windward area influence coefficient Stiffness influence coefficient and the influence coefficient of center of gravity deviation The acquisition methods include any one or more combinations of the following: experience calibration method, which pre-sets fixed values ​​for specific types or batches of precast components based on historical hoisting data and expert experience; experimental identification method, which collects component swing data under different working conditions through on-site hoisting experiments and obtains the values ​​by reverse solving using system identification or parameter optimization algorithms (such as least squares method, genetic algorithm, etc.); adaptive adjustment method, which dynamically updates the values ​​of each coefficient online using adaptive control algorithms (such as model reference adaptive control, recursive least squares method, etc.) based on the real-time observed component swing response during hoisting to optimize the model's adaptability to the current component; and table lookup method, which pre-establishes a correspondence table between different component types, specifications and the values ​​of each coefficient, and obtains the values ​​directly from the table based on the current component's classification information during hoisting.

[0041] Component weight index This is a standardized or normalized value of the component's actual weight, used to quantify the component's mass attribute in the model. Component windward area index. This is a standardized or normalized value of the actual windward area of ​​a component, used to quantify the degree to which the component is affected by wind in the model. Center of gravity deviation distance index This is a standardized or normalized value representing the distance from the component's center of gravity projection to the geometric center of the suspension point, used to quantify the component's equilibrium stability in the model. Component bending stiffness index This is a standardized or normalized value of the actual bending stiffness of a component, used to quantify the component's ability to resist deformation in the model. Component State Assessment Index This index is a comprehensive value calculated using the aforementioned model, used to characterize the tendency of precast components to become unstable during hoisting. The higher the index value, the greater the tendency of the component to become unstable, and the more aggressive measures are needed to suppress swaying.

[0042] The component condition assessment model proposed in this application is based on a nonlinear product approach that weights, windward area, center of gravity deviation, and bending stiffness of the component, weighted by their respective influence coefficients, to generate a comprehensive component condition assessment index. Specifically, the overall adjustment coefficient in the model As a global adjustment factor, the evaluation results can be calibrated based on the overall lifting environment or component type. Component weight index and the windward area index of components By index respectively and By applying weighting, this exponential form can more sensitively reflect the nonlinear effects of weight and frontal area on instability tendency; for example, a small increase in weight or frontal area can lead to a significant increase in instability tendency. Center of gravity deviation distance index Then through the influence coefficient Perform linear weighting, where The higher value range (2, 10) highlights the crucial role of center of gravity deviation in the equilibrium stability of the component; that is, the farther the center of gravity deviates from the lifting point, the more drastically the risk of instability increases. Component bending stiffness index Through index The weighting reflects the contribution of the component's own resistance to deformation to the overall stability. This model transforms these physical quantities into dimensionless exponents and combines them in a product form, allowing the influence of various factors to couple rather than simply superimpose, thus more realistically simulating the instability tendency of components in complex lifting environments. For example, a heavy but stiff component may have a different instability tendency than a light but large center-of-gravity deviation component; the model can capture this difference by adjusting the corresponding coefficients. In this way, the component condition assessment module can output a more accurate and reliable component condition assessment index. This precise The values ​​are then passed to the dynamic state observation module as one of its input parameters to more accurately observe the real-time swing amplitude and real-time swing angular velocity of the precast component. Compared with the coarse estimation of component instability tendency in traditional methods, the refined assessment provided by this model enables subsequent dynamic observation and counterweight control to make decisions based on more realistic data, thereby significantly improving the suppression effect of the entire precast component hoisting equipment control system on component swing and the safety of hoisting operations.

[0043] In a preferred embodiment of the present invention, the component state evaluation model includes: The calculation method is as follows: the actual weight of the component is divided by the reference weight benchmark value; The calculation method is as follows: the windward area of ​​the component is divided by the reference area benchmark value; The calculation method is as follows: the distance from the center of gravity projection to the geometric center of the lifting point is divided by the length of the longest side of the available component. The calculation method is as follows: the bending stiffness of the component is divided by the reference stiffness benchmark value.

[0044] In this embodiment, The calculation method involves dividing the actual weight of the component by a reference weight benchmark. The actual weight of the component refers to its true mass, which can be obtained through weighing sensors, design drawings, or material density calculations. The reference weight benchmark is a reference quantity used to normalize the component's weight; it can be set based on the lifting equipment's load-bearing capacity, the weight range of typical components, or industry standards. In this way, components of different weights can be uniformly quantified in the evaluation model, facilitating comparison and processing.

[0045] The calculation method involves dividing the windward area of ​​the component by a reference area benchmark. The windward area refers to the projected area of ​​the component in the windward direction, which can be calculated using 3D modeling software or obtained through actual measurement. The reference area benchmark is a reference value used to normalize the windward area; it can be set based on the maximum windward area of ​​a component that the hoisting equipment can handle, the average windward area of ​​a specific component type, or wind tunnel test data. This normalization helps eliminate the interference of component size differences on the wind force impact assessment.

[0046] The calculation method is to divide the distance from the center of gravity projection to the geometric center of the lifting point by the length of the longest possible side of the component. The distance from the center of gravity projection to the geometric center of the lifting point refers to the distance between the projection point of the component's center of gravity on the horizontal plane and the geometric center of the connection point of the suspension rope on the component. This distance reflects the degree of off-center loading on the component. The length of the longest possible side of the component is a reference quantity used to normalize the center of gravity deviation distance. It can be set to the actual maximum geometric dimension of the component, such as length, width, or diagonal length, or the maximum possible dimension preset according to the component type. In this way, the center of gravity deviation index can be dimensionless, more accurately reflecting the balance and stability of the component.

[0047] The calculation method involves dividing the member's bending stiffness by a reference stiffness benchmark. Member bending stiffness refers to a member's ability to resist bending deformation, which can be obtained through calculations using mechanics of materials formulas, finite element analysis, or experimental testing. The reference stiffness benchmark is a reference quantity used to normalize the member's bending stiffness; its setting can be based on the member's material properties, cross-sectional dimensions, industry standards, or minimum design stiffness requirements. This normalization process makes members with different stiffness characteristics comparable in the evaluation model, thus more accurately reflecting their deformation tendency during hoisting.

[0048] The solution proposed in this application ensures that the key input parameters in the component condition assessment model have uniform dimensions and comparability when input into the model by standardizing the calculations. Through the standardized calculation method proposed in this application, the actual weight, windward area, center of gravity deviation distance, and bending stiffness of the component are converted into dimensionless exponents, eliminating the absolute differences in physical dimensions and properties between different components. This allows the component condition assessment model to more accurately and stably assess the component's instability tendency.

[0049] In a preferred embodiment of the present invention, the lifting device status assessment model in the lifting device status assessment module is as follows: ; in The coefficient representing the influence of slenderness ratio. , The nonlinear exponent of the included angle, , The height of boom 1 This refers to the length of the hoisting rope. The vertical angle of the sling. This is the lifting gear condition assessment index.

[0050] In this embodiment, the lifting device state assessment model is a mathematical expression used to quantify the stiffness characteristics of the lifting system during the hoisting of prefabricated components. Its function is to transform the physical parameters of the lifting system (such as the height of boom 1, the length of the lifting rope, and the vertical angle of the slings) into a unified and comparable index, enabling subsequent modules to perform precise dynamic analysis and control decisions based on this index. This model can be integrated into the controller as a software module, for example, implemented using programming languages ​​(such as C++ or Python), or accelerated using dedicated hardware (such as FPGA or DSP).

[0051] Slenderness ratio influence coefficient The slenderness ratio is used to characterize the influence of the slenderness ratio of a suspension system on its overall stiffness characteristics. The slenderness ratio typically refers to the ratio of the boom height (1) to the rope length, reflecting the impact of the suspension system's geometry on stability. The value range is within (0.1,1). It can be calibrated or optimized according to the type of actual hoisting equipment, component characteristics and empirical data. For example, it can be determined by experimental testing of the system response under different slenderness ratios, or by simulation analysis.

[0052] nonlinear index of included angle This describes the nonlinear characteristics that affect the stiffness of a suspension system by influencing the vertical angle of the slings. A larger vertical angle generally results in lower lateral stiffness of the suspension system and makes the components more prone to swaying. The value range is within (1,3). It can be set empirically based on the specific design of the hoisting equipment, the characteristics of the sling material, and the actual working conditions, or optimized through system identification methods, such as by performing regression analysis on the swing response data under different angles.

[0053] Height of boom 1 The height of the end (or lifting point) of boom 1 relative to the ground or a reference plane. This parameter is one of the key factors affecting the geometry and stiffness of the suspension system. (Height of boom 1) The height can be obtained in real time through a height sensor (such as a laser rangefinder or ultrasonic sensor) installed on boom 1, or calculated by the control system of the hoisting equipment based on the elevation angle and length of boom 1. (Helping rope length) This refers to the effective length of the suspension rope from the lifting point to the precast component's hanging point. The rope length directly affects the swing period and stiffness of the suspension system. The rope length can be measured in real-time by an encoder or length sensor (e.g., a wire-type displacement sensor) on the winding mechanism 3, or estimated by calculating the winding and unwinding amount of the winding mechanism 3. The vertical angle of the sling... The vertical angle between the sling and the vertical direction. This angle reflects the degree of horizontal offset of the precast component and has a significant impact on the lateral stiffness of the suspension system. The vertical angle of the sling can be obtained in real time through tilt sensors installed on the lifting point or component, visual measurement systems (such as image recognition-based angle measurement), or geometric calculations by measuring the horizontal displacement of the component and the length of the sling. Lifting Equipment Condition Assessment Index It is the output of the spreader condition assessment model, which quantifies the overall stiffness characteristics of the current suspension system. A higher value generally indicates a "softer" suspension system, making it more prone to swaying; conversely, a lower value indicates a "rigider" system with better stability. This index serves as input to the subsequent dynamic state observation module, used to more accurately predict the real-time sway amplitude and angular velocity of the precast components.

[0054] The solution proposed in this application, by introducing a lifting device condition assessment model, can accurately quantify the stiffness characteristics of the lifting system, thereby generating a more accurate lifting device condition assessment index. This model comprehensively considers key parameters such as the length of the lifting rope, the height of the boom 1, and the vertical angle of the slings, transforming the stiffness characteristics of the lifting system into a calculable index through mathematical formulas. Specifically, the first term in the model... This parameter aims to reflect the influence of the ratio of boom height to rope length (i.e., slenderness ratio) on the stiffness of the suspension system. When the boom height is relatively large compared to the rope length, the overall flexibility of the system may increase, and the value of this parameter will increase accordingly. This is measured using the slenderness ratio influence coefficient. Adjustments were made to ensure adaptability to scenarios with different aspect ratios. The second term in the model... This is used to capture the nonlinear effect of the vertical angle of the sling on the system stiffness. When the vertical angle of the sling... When it increases, Reduced, leading to The increase accurately reflects the physical phenomenon of reduced lateral stiffness of the suspension system as the included angle increases, as demonstrated by the nonlinear exponent of the included angle. This nonlinear effect was further refined. Finally, by integrating these parameters, the model generated a spreader condition assessment index. This index, as an output, directly quantifies the overall stiffness characteristics of the hoisting system. As a core component of the hoisting condition assessment module within the precast component hoisting equipment control system, this hoisting condition assessment model can receive information about the boom height 1 from sensors or the control system. Length of the suspension rope Angle with the vertical of the sling Real-time data is collected, and the pre-set slenderness ratio influence coefficient is used. and the nonlinear exponent of the included angle Calculations are performed to output an accurate spreader condition assessment index. This index is then passed to the dynamic state observation module as one of its input parameters, working together with the component state assessment index, external wind force, and starting and braking acceleration to predict the real-time sway amplitude and real-time sway angular velocity of the precast component. In this way, the lifting device state assessment module no longer simply acquires physical parameters, but transforms these parameters into a comprehensive index with physical meaning through an optimized mathematical model. This makes the assessment of the dynamic characteristics of the lifting system more scientific and accurate, providing a more reliable decision-making basis for the subsequent counterweight control module, thereby effectively suppressing the swaying of the precast component during lifting and movement.

[0055] In a preferred embodiment of the present invention, the dynamic state observation model in the dynamic state observation module is as follows: ; ; in For reference range, , For reference angular velocity, , As a benchmark for component index, As a benchmark for spreader index, Wind force index For acceleration index, For real-time swing amplitude, This refers to the real-time angular velocity of the oscillation.

[0056] In this embodiment, the aforementioned dynamic state observation model is a mathematical expression used to quantify and predict the dynamic behavior of prefabricated components during hoisting. Its core function is to comprehensively consider and accurately calculate various influencing factors, including the characteristics of the component itself, the state of the hoisting system, external wind force, and acceleration caused by equipment operation, in order to output the real-time swing amplitude and real-time swing angular velocity of the component.

[0057] Among them, real-time swing amplitude This refers to the maximum horizontal displacement of a precast component relative to its equilibrium position at the current moment, and is a key indicator for measuring the severity of the component's oscillation. Real-time oscillation angular velocity. This refers to the angular velocity of the precast component's oscillation at the current moment, and is a key indicator for measuring the component's oscillation speed and trend. These two parameters can be obtained directly as measured values, for example, through laser rangefinders, visual recognition systems, or inertial measurement units, or they can be calculated and predicted using the dynamic state observation model proposed in this application.

[0058] Reference range and reference angular velocity These refer to the reference swing amplitude and reference swing angular velocity of the precast component under specific standard or ideal working conditions. They provide the model with an initial, adjustable swing reference point. These reference values ​​can be set based on historical data and empirical values, for example, by experimental measurements under ideal conditions such as windless and uniform speed hoisting, or preset according to industry standards and safety regulations.

[0059] Component condition assessment index Characterizing the instability tendency of precast components, this index is generated by the component condition assessment module based on parameters such as the component's weight, stiffness coefficient, center of gravity deviation rate, and windward area. (Lifting Gear Condition Assessment Index) The stiffness characteristics of the suspension system are represented by parameters such as the length of the sling, the height of boom 1, and the vertical angle of the slings, generated by the lifting device condition assessment module. These two indices are proportionally adjusted in the model using a square root term, reflecting the influence of the component's own characteristics and the state of the suspension system on the sway.

[0060] Component Index Benchmark and spreader index benchmark These are used to standardize component condition assessment indices and lifting device condition assessment indices, respectively. They are typically set as component condition assessment indices for a typical or standard component and lifting device condition assessment indices for a typical or standard lifting system configuration, to ensure that the impact of different components and lifting system configurations can be uniformly measured and compared.

[0061] Wind index This refers to a quantitative indicator of the impact of external wind force on the swaying of precast components. It can be calculated based on parameters such as wind speed, wind direction, and the windward area of ​​the component. For example, it can be characterized by the product of the wind pressure coefficient and the square of the wind speed, or it can be obtained directly from a wind speed sensor and normalized.

[0062] Acceleration Index This refers to a quantitative indicator of the impact of the starting and braking acceleration of hoisting equipment on the swaying of precast components. It can be calculated based on the acceleration sensor data of the horizontal drive 2 or the winding mechanism 3 of the hoisting equipment. For example, it can be characterized by the ratio of the actual acceleration of the equipment to the acceleration due to gravity, or it can be directly obtained from the acceleration sensor and normalized.

[0063] The solution in this application achieves accurate calculation of the real-time sway amplitude and angular velocity of precast components by introducing the aforementioned specific dynamic state observation model into the dynamic state observation module. This model receives component state evaluation indices generated by the component state evaluation module. and the spreader condition assessment index generated from the spreader condition assessment module These indices quantify the instability tendency of the component itself and the stiffness characteristics of the suspension system, respectively. The model also directly incorporates external wind force indices. and braking acceleration index This is to comprehensively reflect the impact of the external environment and equipment operation on the component's sway.

[0064] Specifically, the model uses a preset reference range. and reference angular velocity Based on this, adjustments are made using a scaling factor. This scaling factor is determined by the component condition assessment index. and spreader condition assessment index Relative to its benchmark value and The product of the square root is used to construct the model, which enables the model to adapt to changes in the weight, stiffness, center of gravity deviation, rope length, and boom height of different components.

[0065] Based on this, the model is further multiplied by and This approach directly incorporates the disturbance effect of external wind force and the inertial effect of braking acceleration. This mathematical synthesis is based on the following physical considerations and engineering feasibility analysis: A1. Independence in physical mechanisms: Wind force and acceleration have different mechanisms of action on component sway (continuous lateral force vs. transient inertial impact). Under the premise of small-amplitude sway, the effects of the two can be regarded as approximately linear superposition. Using a product form can effectively simulate the physical tendency of disturbance being amplified when the two coexist, avoiding complex nonlinear coupling modeling; A2. Simplicity in engineering practice: Introducing coupling terms requires additional coupling coefficients, which are difficult to calibrate and reduce the model's generalization ability. The current product form (equivalent to 1+F+Acc+F*Acc) implicitly includes the basic first-order interaction term, ensuring engineering accuracy while avoiding over-parameterization of the model; A3. Real-time control requirements: This method requires only simple multiplication and addition operations, resulting in low computational load and meeting the stringent real-time requirements of industrial controllers. Furthermore, wind force and acceleration indices can be calibrated independently by the sensors, without interference, facilitating system debugging and calibration. Therefore, adopt and The form is a reasonable simplification that strikes a balance between physical fidelity, model complexity, and engineering real-time performance, and can effectively support the real-time decision-making of the counterweight control module.

[0066] Based on the above working principle, the dynamic state observation module can organically integrate multi-dimensional information such as the component's own characteristics, the state of the hoisting system, external environmental disturbances, and equipment operation dynamics to form a comprehensive and quantitative description of the precast component's swaying state. This provides high-precision input data for the subsequent counterweight control module, enabling it to generate a more reasonable and effective counterweight lowering distance based on accurate swaying state information, thereby achieving precise suppression of the precast component's swaying during hoisting and movement. This synergistic effect significantly improves the intelligence level and control precision of the entire precast component hoisting equipment control system.

[0067] In a preferred embodiment of the present invention, the counterweight lowering distance control model in the counterweight control module is as follows: ; in This is the proportional control coefficient. , The differential control coefficient, , To the maximum allowable drop-down distance, As the baseline for the downward deployment distance, For real-time swing amplitude, To stabilize the swing amplitude threshold, The angular velocity stability threshold, For real-time oscillation angular velocity, The distance to the target.

[0068] In this embodiment, the model solves the problem of accurately calculating the target lowering distance by introducing a specific counterweight lowering distance control model, thereby effectively suppressing the swaying of precast components. This model dynamically adjusts the counterweight position based on real-time sway status, ensuring rapid response to sway changes under different working conditions. Specifically, the model uses a proportional control coefficient and the ratio of real-time sway amplitude to a stability threshold, combined with a differential control coefficient and the ratio of real-time sway angular velocity to an angular velocity stability threshold, to generate an adjustment value. This adjustment value is multiplied by the baseline lowering distance and then minimized by the maximum allowable lowering distance, ensuring that the output target lowering distance is within a safe range.

[0069] Among them, the proportional control coefficient This value measures the system's response strength to the current sway amplitude error. Its range is (0.5, 2), and it can be adjusted according to the characteristics of the precast components, the hoisting environment, and the desired control response speed. For example, when faster sway suppression is required, it can be appropriately increased. Value; when a smoother control effect is required, it can be appropriately reduced. The value. This coefficient is usually determined through empirical tuning, simulation optimization, or adaptive control algorithms.

[0070] Differential control coefficient This value measures the system's response to the rate of change of oscillation angular velocity, i.e., predicting future oscillation trends and suppressing them in advance. Its value ranges from (0.2, 1) and can be adjusted according to the oscillation system's inertia, damping characteristics, and overshoot requirements. For example, when the oscillation system has high inertia or requires rapid oscillation decay, it can be appropriately increased. Value; when the system is sensitive to noise or needs to avoid over-response, it can be appropriately reduced. The value. This coefficient can also be determined through empirical debugging, simulation optimization, or adaptive control algorithms.

[0071] Maximum allowed drop-down distance This is the maximum safe distance that the counterweight mechanism 4 can move downwards on the hoisting rope. This parameter is set to prevent the counterweight mechanism 4 from being lowered too far, resulting in excessively long hoisting ropes, the counterweight mechanism 4 touching the top of the component, or exceeding the safe operating range of the equipment. The determination of this distance is typically based on the structural limitations of the hoisting equipment, the effective length of the hoisting rope, the height of the prefabricated component, and safety regulations.

[0072] Baseline drop-down distance This is a reference value used to convert the weighted sum of the proportional and derivative control terms into the actual lowering distance. It can be understood as the reference distance that the counterweight mechanism 4 needs to be lowered under standard swing conditions. This value can be preset according to the model of the lifting equipment, the mass of the counterweight mechanism 4, and the desired swing suppression effect. For example, it can be set as the typical lowering distance required for the counterweight mechanism 4 to suppress slight swings, or a base distance that can effectively change the dynamic characteristics of the system can be determined experimentally.

[0073] Real-time swing amplitude This refers to the maximum swing displacement of a precast component relative to its equilibrium position at the current moment. This parameter can be calculated and output in real time by the dynamic state observation module. For example, the component's position can be monitored in real time by an inertial measurement unit or laser rangefinder installed on the component, and the swing amplitude can be calculated using a filtering algorithm; or the swing amplitude can be obtained by analyzing the image of the component through a visual recognition system.

[0074] Swing amplitude stability threshold This is a preset, acceptable upper limit for the sway amplitude of prefabricated components. When the real-time sway amplitude... Below this threshold, the component is considered to be in a relatively stable state. This threshold can be set according to the safety requirements of the hoisting operation, the size of the component, the installation accuracy, and environmental conditions. For example, for components requiring high-precision installation, a smaller threshold can be set. Value; for extensive operations that allow for some oscillation, a larger value can be set. value.

[0075] Real-time oscillation angular velocity This refers to the oscillation velocity of the precast component at the current moment. This parameter is also calculated and output in real time by the dynamic state observation module. For example, the angular velocity can be directly measured by an inertial measurement unit, or by measuring the real-time oscillation amplitude. Estimation is performed by time differentiation.

[0076] Angular velocity stability threshold This is a preset, acceptable upper limit for the angular velocity of the prefabricated component's swing. When the real-time angular velocity... Below this threshold, the component's swaying tendency is considered to be within a controllable range. This threshold can be set according to the dynamic stability requirements of the hoisting operation, the component's inertia, and the response speed of the control system. For example, it can be set as the angular velocity value when the component is about to stop swaying or when the swaying energy is low.

[0077] Target drop distance This distance is calculated by the counterweight control module based on the current swing state, representing the vertical movement distance of the counterweight mechanism 4 on the suspension rope that needs to be adjusted by driving the actuator. This distance is the output of the control model and is directly used to guide the action of the counterweight mechanism 4 in order to suppress the swing of the precast component.

[0078] The counterweight lowering distance control model comprehensively considers the real-time swing amplitude of the precast components. and real-time oscillation angular velocity The target lowering distance of the counterweight mechanism 4 is dynamically calculated. Specifically, the model first measures the real-time swing amplitude. With the preset swing amplitude stability threshold Performing a ratio calculation yields a normalized amplitude error term, which is then multiplied by the proportional control coefficient. This is used to reflect the degree to which the current oscillation deviates from a stable state. Simultaneously, the real-time oscillation angular velocity... With the preset angular velocity stability threshold Performing a ratio calculation yields a normalized angular velocity error term, which is then multiplied by the differential control coefficient. This is used to reflect the trend and speed of the oscillation changes. The weighted sum of the proportional control term and the derivative control term forms a comprehensive control signal, which is multiplied by the reference downward distance. This is then converted into a preliminary suggested deployment distance. Finally, to ensure operational safety and system stability, this suggested value will be compared with the maximum permissible deployment distance. Compare the two values ​​and take the minimum value as the final target drop distance. This means that no matter how large the calculated recommended value is, the actual lowering distance of the counterweight mechanism 4 will not exceed the preset safety limit. The ingenuity of this solution lies in its application of traditional PID control principles to the vertical position adjustment of the counterweight mechanism 4. (Proportional term) This ensures that the lowering distance of the counterweight mechanism 4 is proportional to the current swing amplitude; the greater the swing, the more weight is lowered, thus providing a greater restraining force. (Differential term) This makes the lowering distance of the counterweight mechanism 4 related to the rate of change of the swing angular velocity, enabling prediction of swing trends and early intervention, effectively reducing swing overshoot and decay time. In this way, the counterweight control module can accurately calculate the required lowering distance of the counterweight based on the swing amplitude and angular velocity output in real time by the dynamic state observation module, thereby driving the actuator to adjust the vertical position of the counterweight mechanism 4 on the lifting rope. This model works closely with the component state assessment module, the lifting device state assessment module, and the dynamic state observation module. The dynamic state observation module, based on the component state assessment index and the lifting device state assessment index, as well as external wind force, starting and braking acceleration, etc., accurately observes and outputs the real-time swing amplitude of the precast component. and real-time oscillation angular velocity These precise real-time data serve as input to the counterweight lowering distance control model, enabling the counterweight control module to make fine adjustments based on the current specific sway state, rather than a preset fixed strategy. This real-time, dynamic, and adaptive control strategy significantly improves the suppression of precast component sway, making the hoisting process smoother, more efficient, and safer.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A precast component hoisting device, characterized in that, Includes a boom (1), the boom (1) is fixedly connected to a horizontal driver (2), the horizontal driver (2) is connected to a winding mechanism (3), the horizontal driver (2) can drive the winding mechanism (3) to move horizontally, the winding mechanism (3) is wound with a lifting rope, and the lifting rope is connected to a counterweight mechanism (4).

2. The precast component hoisting equipment according to claim 1, characterized in that, The counterweight mechanism (4) includes a connecting seat (41), which is sleeved on the outside of the hoisting rope. The connecting seat (41) is fixedly connected to a counterweight block (42), and the connecting seat (41) is fixedly connected to two motors (43). The output shafts of the motors (43) are all fixedly connected to meshing gears (44), and the two meshing gears (44) are pressed against both sides of the hoisting rope.

3. A control system for precast component hoisting equipment, applied to the precast component hoisting equipment according to any one of claims 1-2, characterized in that, include: The component condition assessment module is configured to process the weight, stiffness coefficient, center of gravity deviation rate, and windward area based on a preset component condition assessment model to generate and output a component condition assessment index that characterizes the component's own instability tendency. The lifting device status assessment module is configured to process the length of the lifting rope, the height of the boom (1) and the vertical angle of the sling based on the preset lifting device status assessment model, so as to generate and output the lifting device status assessment index that characterizes the stiffness characteristics of the lifting system. The dynamic state observation module is connected to the component state evaluation module and the lifting device state evaluation module respectively, and is configured to process the external wind force, starting and braking acceleration, component state evaluation index and lifting device state evaluation index based on the preset dynamic state observation model, so as to generate and output the real-time swing amplitude and real-time swing angular velocity of the prefabricated component at the current moment. The counterweight control module, connected to the dynamic state observation module, is configured to: process the initial height, real-time swing amplitude, real-time swing angular velocity and preset stability threshold based on the preset counterweight lowering distance control model, so as to generate and output the target lowering distance of the counterweight mechanism (4); The target lowering distance is used to drive the actuator to adjust the vertical position of the counterweight mechanism 4 on the hoisting rope, so as to suppress the swaying of the prefabricated component during the hoisting and moving process.

4. The control system for precast component hoisting equipment according to claim 3, characterized in that, In the component condition assessment module, the component condition assessment index is obtained in the following way: The component weight index, component windward area index, and component bending stiffness index are each exponentially calculated using their corresponding positive influence coefficients. The center of gravity deviation distance index is multiplied by the preset center of gravity deviation influence coefficient and then 1 is added. The results of the above four calculations are multiplied together and finally multiplied by the comprehensive adjustment coefficient to obtain the component condition assessment index. Each index is calculated by the ratio of the measured value to the reference benchmark value.

5. The control system for precast component hoisting equipment according to claim 4, characterized in that, In the component condition assessment model: The component weight index is obtained by dividing the actual weight of the component by the reference weight benchmark value. The windward area index of a component is obtained by dividing the windward area of ​​the component by the reference area benchmark value. The center of gravity deviation distance index is obtained by dividing the distance from the center of gravity projection to the geometric center of the lifting point by the length of the longest side of the available component. The bending stiffness index of a component is obtained by dividing the bending stiffness of the component by the reference stiffness benchmark value.

6. The control system for precast component hoisting equipment according to claim 3, characterized in that, In the spreader condition assessment module, the spreader condition assessment index is obtained in the following way: Multiply the square of the ratio of the height of the boom (1) to the length of the suspension rope by the preset slenderness ratio influence coefficient and add 1 to obtain the first factor; The second factor is obtained by exponentiating the reciprocal of the cosine of the vertical angle of the sling with a preset nonlinear exponent for the angle. Multiply the first factor by the second factor to obtain the spreader condition assessment index.

7. The control system for precast component hoisting equipment according to claim 3, characterized in that, In the dynamic state observation module, the real-time oscillation amplitude and real-time oscillation angular velocity are obtained in the following ways: Obtain the preset reference amplitude and reference angular velocity respectively; Calculate the ratio of the product of the current component status assessment index and the lifting device status assessment index to the product of the preset component index benchmark and the lifting device index benchmark, and take the square root of this ratio to obtain the basic scaling factor. Multiply the base scaling factor by (1 plus the wind index) and (1 plus the acceleration index) respectively to obtain the comprehensive scaling factor; Multiply the reference amplitude and reference angular velocity by the comprehensive scaling factor to obtain the real-time swing amplitude and real-time swing angular velocity.

8. The control system for precast component hoisting equipment according to claim 3, characterized in that, In the counterweight control module, the target lowering distance is obtained in the following way: Calculate the ratio of the real-time swing amplitude to the swing amplitude stability threshold, multiply it by the preset proportional control coefficient, and obtain the proportional control term; Calculate the ratio of the real-time oscillation angular velocity to the angular velocity stability threshold, multiply it by the preset differential control coefficient, and obtain the differential control term; Summing the proportional control term and the derivative control term, and then multiplying by the baseline lowering distance, yields the initial lowering distance; The initial drop distance is compared with the maximum allowed drop distance, and the smaller of the two is taken as the target drop distance.

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