Module butt joint I-steel three-degree-of-freedom small deformation adjusting method

Abstract

The invention discloses a module butt joint I-shaped steel three-degree-of-freedom small-deformation adjusting method, which comprises the following steps of: arranging a vertical displacement sensor, a horizontal displacement sensor and an attitude sensor at the free end of a cantilever I-shaped steel beam to acquire vertical, horizontal and spatial attitude information in real time; and the vertical bending deflection, the horizontal bending deflection and the overall deflection angle are calculated by the industrial personal computer. And the industrial personal computer outputs a thrust instruction through a control algorithm according to the deviation between the detection result and the design reference, the digital hydraulic oil cylinders are driven to conduct automatic correction in the vertical direction, the horizontal direction and the torsion direction, closed-loop control is formed, and the beam end position and posture deviation enters the set error threshold value range. According to the method, rapid and high-precision adjustment of butt joint of the I-shaped steel modules can be achieved in ocean engineering, and the assembly precision and the construction efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to a method for adjusting the precision of steel structures in modular assembly of marine engineering, and more particularly to a three-degree-of-freedom adjustment method for cantilever I-beams. Background Technology

[0002] Modular assembly of marine equipment typically involves the docking of multiple large steel structure modules at a port terminal. The I-beams at the docking ends are often cantilevered and fixed to the main structure, which can easily lead to the following deviations during transportation, hoisting, welding, and under external loads: Vertical bending deflection: along the strong axis (corresponding to the moment of inertia of the I-beam section) The bending deformation that occurs in the direction of the largest axis (parallel to the web plane), that is, the vertical displacement of the free end of the I-beam when the web of the I-beam is set vertically and one end is fixed, is the bending deformation that occurs in the direction of the largest axis (parallel to the web plane).

[0003] Horizontal bending deflection: weak axis direction (corresponding to the moment of inertia of the I-beam section) The direction of the smaller axis (perpendicular to the web plane), that is, in the case of a cantilever beam where the web of the I-beam is set vertically and one end is fixed, the free end of the I-beam will shift laterally in the horizontal direction. This displacement manifests as a lateral shift of the axis of symmetry between the upper and lower flanges relative to the initial position.

[0004] Overall deflection angle: refers to the spatial rotation of an I-beam as a whole around its longitudinal centroidal axis (the longitudinal centroidal axis is the axis along the length of the beam and passing through the centroid of the cross section) during the assembly or stress process. During the spatial rotation, the cross-sectional shape of the web and flange of the I-beam remains unchanged, but the orientation of the cross section in space changes, causing the mating surface of the free end to have an angular deviation relative to the design reference.

[0005] The aforementioned deformations will cause a decrease in docking accuracy, failing to meet the high-precision assembly requirements of marine engineering. Existing manual lifting or coarse hydraulic adjustment methods cannot quickly and accurately complete three-degree-of-freedom corrections in a marine environment. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a method for adjusting the three degrees of freedom of small deformation of I-beams in modular docking that can achieve precise correction of deviations.

[0007] The method for adjusting the small deformation of a three-degree-of-freedom I-beam in modular docking according to the present invention includes the following steps: Step 1: Collect deformation state information of the free end of the I-beam and output the collected measurement signals to the industrial control computer through the acquisition module. The industrial control computer preprocesses the deformation state information to obtain preprocessed measurement data. The deformation state information includes vertical displacement, horizontal displacement and overall spatial attitude information. The preprocessed measurement data includes the current vertical displacement value, current horizontal displacement value and current overall attitude parameters of the free end of the I-beam. Step 2: The industrial control computer compares the current vertical displacement value, current horizontal displacement value, and current overall attitude parameters obtained in Step 1 with the original design vertical position value, original design horizontal position value, and original design attitude parameters pre-stored in the industrial control computer, and calculates the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle ; Step 3: Based on the vertical bending deflection, horizontal bending deflection, and overall deflection angle, the industrial control computer calculates the corresponding thrust control data through a control algorithm. The control algorithm of the industrial computer is as follows: For cantilevered I-beams, the vertical bending deflection of the I-beam needs to be corrected. Under the operating conditions: the industrial control computer calculates the vertical bending deflection based on the measured value. Substitute data into formula The thrust value required to be applied upward by the first digital hydraulic cylinder is calculated. At this time, the first digital hydraulic cylinder 1 is arranged below the free beam end of the I-beam, and the push rod of the first digital hydraulic cylinder, which is set in the vertical direction, outputs an upward thrust to correct the vertical bending deflection. In the formula, : Elastic modulus of steel for I-beams (Pa); : strong axial moment of inertia of the cross section, (m) 4 ); : The horizontal distance (m) from the fixed end of the I-beam to the point of action of the push rod of the first digital hydraulic cylinder on the flange of the I-beam. Total length of the I-beam (m); For cantilevered I-beams, the horizontal bending deflection of the I-beams needs to be corrected. Under the following working conditions: The industrial control computer calculates the horizontal bending deflection based on the measurements. Data, through formulas The thrust value required to be applied by the second and third digital hydraulic cylinders is calculated. At this time, steel columns are welded to the upper and lower flange plates of the free end of the I-beam respectively. According to the horizontal bending direction, the second and third digital cylinders are symmetrically arranged on the same side. The push rods of the second and third digital cylinders set in the horizontal direction push the corresponding steel columns in the same direction to correct the horizontal bending deflection. In the formula: : Elastic modulus of steel for I-beams (Pa); Moment of inertia of the weak axis of the cross section, (m) 4 ); The horizontal distance (m) from the fixed end of the I-beam to the point of action of the push rods of the second and third digital hydraulic cylinders on the corresponding steel columns. Total length of the I-beam (m); The vertical distance (m) from the weak axis to the point of action of the push rod of the second or third digital hydraulic cylinder on the corresponding steel column; : The vertical distance (m) from the connection between the flange and web of the I-beam to the weak axis; For cantilevered I-beams, the overall deflection angle of the I-beams needs to be corrected. Under the operating conditions, the industrial control computer uses the measured overall deflection angle data of the free end of the I-beam. And through the formula The thrust value required to be applied by the fourth and fifth digital hydraulic cylinders is calculated. At this time, the push rods of the fourth and fifth digital hydraulic cylinders, arranged horizontally, act on the steel columns symmetrically welded to the top wall of the upper flange and the bottom wall of the lower flange of the I-beam, respectively, pushing the steel columns outward. The two points of action formed by the push rods of the fourth and fifth digital hydraulic cylinders on the steel columns are symmetrically arranged vertically relative to the centroid of the cross-section to form pure torque. The vertical distance from the points of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns to the longitudinal centroidal axis is... With equal thrust, they twist around the longitudinal centroidal axis; In the formula, Shear modulus (Pa); : Elastic modulus of steel (Pa); Poisson's ratio of steel; Torsional constant (m) 4 ); The vertical distance (m) from the longitudinal centroidal axis to the point of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns. Step 4: The industrial control computer sends the thrust control data to the corresponding digital hydraulic cylinders, driving them to apply adjustment to the I-beam. During the adjustment process, the industrial control computer continuously executes the closed-loop control algorithm, repeating steps 1 and 2 in real time to calculate the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle If vertical bending deflection Horizontal bending deflection and overall deflection angle If the error falls within the set error threshold range, the industrial control computer will output a stop signal to the corresponding digital hydraulic cylinder to stop the adjustment.

[0008] The beneficial effects of this invention are: The method of this invention processes the deflection and deflection angle data measured by the sensor through an industrial control computer, and achieves precise correction of three types of deviations through calculation and hydraulic execution. It is applicable to the precise correction of beam end position and attitude deviations during the docking process of marine equipment modules. Attached Figure Description

[0009] Figure 1-1 A front view of the vertical bending adjustment structure and cylinder layout; Figure 1-2 for Figure 1-1 The right view of the structure shown; Figure 2-1 Top view of the horizontal bending adjustment structure and cylinder layout; Figure 2-2 for Figure 2-1 The right view of the structure shown; Figure 3-1 Top view of the overall deflection adjustment structure and cylinder layout; Figure 3-2 for Figure 3-1 The right view of the structure shown is a schematic diagram of how the hydraulic cylinder lifts the I-beam so that the free end of the I-beam rotates counterclockwise as a whole. Detailed Implementation

[0010] The invention will now be described in detail with reference to the accompanying drawings.

[0011] The method for adjusting the small deformation of a three-degree-of-freedom I-beam for module docking according to the present invention, as shown in the attached figure, includes the following steps: Step 1: Collect deformation state information of the free end of the I-beam 4 and output the collected measurement signals to the industrial control computer 6 through the acquisition module. The industrial control computer preprocesses the deformation state information to obtain preprocessed measurement data. The deformation state information includes vertical displacement, horizontal displacement, and overall spatial attitude information. The preprocessed measurement data includes the current vertical displacement value, current horizontal displacement value, and current overall attitude parameters of the free end of the I-beam. The preprocessing includes removing outliers, averaging multiple measurement results, and signal filtering.

[0012] The deformation state information can be obtained through different methods. For example, the process of collecting the deformation state information of the free end of the I-beam 4 by arranging multiple sensors at the free end of the I-beam 4 is as follows: Sensors are installed at the free end of the I-beam 4 to collect the deformation state information. Specifically, for the vertical displacement measurement of the I-beam 4, a laser displacement sensor is arranged vertically and aligned with the measurement point on the bottom surface of the free end of the I-beam 4. The laser displacement sensor is fixedly set on a reference structure that is relatively stationary with respect to the I-beam and is used to measure the current position of the measurement point in the vertical direction, thereby obtaining the current vertical displacement value of the free end of the I-beam. For measuring the horizontal displacement of the I-beam 4, a laser displacement sensor is arranged along the horizontal deflection direction of the I-beam 4. Feature points for displacement measurement are set on the outer edge of the flange or the side of the web at the free end of the I-beam. The laser displacement sensor uses the feature points as the measurement target, and its measurement direction is consistent with the weak axis direction of the I-beam, so as to obtain the current horizontal displacement value of the free end of the I-beam. For the attitude measurement of the free end of the I-beam 4, an optical attitude sensor is securely mounted on the top or bottom surface of the flange of the free end of the cantilever I-beam, with its mounting reference surface aligned with the horizontal mid-plane of the I-beam cross-section. The three-axis measurement directions of the device correspond to the strong axis, weak axis, and longitudinal centroidal axis of the I-beam, respectively. This device is used to measure the real-time attitude parameters of the free end in space, including information on the rotational angle change relative to the longitudinal centroidal axis.

[0013] Step 2: The industrial control computer 6 compares the current vertical displacement value, current horizontal displacement value, and current overall attitude parameters obtained in Step 1 with the original design vertical position value, original design horizontal position value, and original design attitude parameters pre-stored in the industrial control computer 6, and calculates the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle ; Step 3: Based on the vertical bending deflection, horizontal bending deflection, and overall deflection angle, the industrial control computer 6 calculates the corresponding thrust control data through a control algorithm. The control algorithm of the industrial computer is as follows: For the cantilevered I-beam, the vertical bending deflection of I-beam 4 is corrected. Under the operating conditions: the industrial control computer obtains the vertical bending deflection based on measurements (such as those from a laser displacement sensor). Substitute data into formula The thrust value required to be applied upward by the first digital hydraulic cylinder is calculated. At this time, the first digital hydraulic cylinder 1 is arranged below the free beam end of the I-beam, and the push rod of the first digital hydraulic cylinder, which is set in the vertical direction, outputs an upward thrust to correct the vertical bending deflection. In the formula, : Elastic modulus of steel for I-beams (Pa); : strong axial moment of inertia of the cross section, (m) 4 (This information can be found in Appendix A of GB / T 11263–2024, "Hot-rolled H-beams and Split T-beams," published by China Standards Press in 2024.) The horizontal distance (m) from the fixed end of the I-beam to the point of action of the push rod of the first digital hydraulic cylinder on the flange plate (i.e., the contact point between the central axis of the push rod and the flange plate). Total length of the I-beam (m); Formulas in this step The derivation process is as follows: As shown in Figure 1, in the vertical bending adjustment structure, the cantilevered I-beam has a fixed end on the left and a free end on the right. The first digital hydraulic cylinder is located at a distance from the fixed end. A concentrated force is applied upward below the cross-section at that point. Derivation (segmented method for cantilever beams in mechanics of materials):

[0014] Thrust back calculation:

[0015] For the cantilevered I-beam, the horizontal bending deflection of I-beam 4 is corrected. Under the following working conditions: The industrial control computer calculates the horizontal bending deflection based on measurements (such as those from a laser displacement sensor). Data, through formulas The thrust value required to be applied by the second digital cylinder 2 and the third digital cylinder 3 is calculated. At this point, steel columns 5 are welded to the upper and lower flanges of the free end of the I-beam, respectively. A second digital hydraulic cylinder 2 and a third digital hydraulic cylinder 3 are symmetrically arranged on the same side, according to the horizontal bending direction. The push rods of the second digital hydraulic cylinder 2 and the third digital hydraulic cylinder 3, positioned horizontally, push the corresponding steel columns in the same direction to correct the horizontal bending deflection. .

[0016] In the formula: : Elastic modulus of steel for I-beams (Pa); Moment of inertia of the weak axis of the cross section, (m) 4 (This information can be found in Appendix A of GB / T 11263–2024, "Hot-rolled H-beams and Split T-beams," published by China Standards Press in 2024.) The horizontal distance (m) from the fixed end of the I-beam to the point of action of the push rods of the second and third digital hydraulic cylinders on the corresponding steel columns (i.e., the contact point between the central axis of the push rod and the corresponding steel column). Total length of the I-beam (m); The vertical distance (m) from the weak axis to the point of action of the push rod of the second or third digital hydraulic cylinder on the corresponding steel column; The vertical distance (m) from the connection point between the flange and web of an I-beam to the weak axis; Figure 2-1 , 2-2 As shown, the derivation of the horizontal bending deflection adjustment formula in this step is as follows: The second and third digital hydraulic cylinders, 2 and 3, operate simultaneously. Formula for calculating the horizontal bending deflection of the cantilever beam:

[0017] in This is an equivalent concentrated force (acting on the bending plane containing the weak axis (i.e., the bending surface along the weak axis direction)). Consideration is given to correcting for the actual height of the cylinder's point of application. Final thrust formula:

[0018] For cantilevered I-beams, the overall deflection angle of the I-beams needs to be corrected. Under operating conditions, the industrial control computer calculates the overall deflection angle data of the free end of the I-beam based on measurements (such as those output by an optical attitude sensor). And through the formula The thrust value required to be applied by the fourth and fifth digital hydraulic cylinders is calculated. At this time, the push rods of the fourth and fifth digital hydraulic cylinders 7 and 8, which are set horizontally, act on the steel columns 5, which are symmetrically welded to the top wall of the upper flange of the I-beam 4 and the bottom wall of the lower flange of the I-beam 4, respectively, pushing the steel columns outward. The two points of action formed by the push rods of the fourth and fifth digital hydraulic cylinders on the steel columns (i.e., the contact points between the central axis of the push rod and the corresponding steel column) are symmetrically arranged vertically with respect to the centroid of the cross-section (symmetrical about the horizontal mid-plane of the centroid of the cross-section) to form pure torque. The vertical distance from the points of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns to the longitudinal centroidal axis (the longitudinal centroidal axis is the axis along the length of the I-beam, passing through the centroid of the cross-section; this axis is perpendicular to both the strong axis and the weak axis of the I-beam cross-section) is as follows: With equal thrust, the cross-section rotates along the longitudinal centroidal axis, which is a pure torsional deformation. The cross-sectional shape remains unchanged, and the boundary fibers are mainly subjected to shear.

[0019] In the formula, Overall deflection angle (rotation angle of the free end relative to the longitudinal centroidal axis along the length of the I-beam, in rad); Shear modulus (Pa); : Elastic modulus of steel (Pa); Poisson's ratio of steel; Torsional constant (m) 4 (This can be calculated or looked up in the table from Part 2, "Calculation Formula for Torsional Constant J of Open Thin-Walled Sections," of the 6th edition of the "Steel Structure Design Manual" published by China Architecture & Building Press in 2023). The vertical distance (m) from the longitudinal centroidal axis to the point of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns. In this embodiment, the main deformation at the free end is overall torsional deformation around the longitudinal centroidal axis. Since the I-beam is structurally a cantilever arrangement with one end fixed and the other free, and the fourth and fifth digital hydraulic cylinders act symmetrically and simultaneously at the free end, forming a pure torque load, the stress on each layer of fibers in the cross-section is primarily shear. Simultaneously, the upper and lower flanges are continuously connected by a web, which significantly constrains the warping of the cross-section. The end warping deformation is suppressed by both structural geometry and loading symmetry. Under this suppression condition, the warping normal stress has minimal impact on the overall deflection angle. Therefore, the influence of constrained torsion and warping normal stress can be ignored in the thrust calculation, and the thrust value is calculated using pure torsion theory to simplify the control process.

[0020] As shown in Figure 3, the derivation of the overall deflection adjustment formula in this step is as follows: With respect to the centroid of the cross-section arranged symmetrically (symmetric about the horizontal mid-plane of the centroid), to achieve pure torque and equal but opposite thrust from both cylinders: the fourth and fifth digital hydraulic cylinders simultaneously push the steel column outward. The torque generated by each cylinder is:

[0021] Total torque: Formula for the overall torsion angle of the free end of a cantilever beam:

[0022] Thrust back calculation formula:

[0023] Step 4: The industrial control computer sends the thrust control data to the corresponding digital hydraulic cylinders, driving them to apply adjustment to the I-beam. During the adjustment process, the industrial control computer continuously executes the closed-loop control algorithm, repeating steps 1 and 2 in real time to calculate the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle If vertical bending deflection Horizontal bending deflection and overall deflection angle If the error falls within the set error threshold range (preferably, the threshold is set to a displacement error of 0 to 0.5 mm or an angle error of 0 to 0.05°), the industrial control computer outputs a stop signal to the corresponding digital hydraulic cylinder to stop the adjustment.

Claims

1. A method for adjusting the small deformation of a three-degree-of-freedom I-beam in modular docking, characterized in that... Includes the following steps: Step 1: Collect deformation state information of the free end of the I-beam and output the collected measurement signals to the industrial control computer through the acquisition module. The industrial control computer preprocesses the deformation state information to obtain preprocessed measurement data. The deformation state information includes vertical displacement, horizontal displacement and overall spatial attitude information. The preprocessed measurement data includes the current vertical displacement value, current horizontal displacement value and current overall attitude parameters of the free end of the I-beam. Step 2: The industrial control computer compares the current vertical displacement value, current horizontal displacement value, and current overall attitude parameters obtained in Step 1 with the original design vertical position value, original design horizontal position value, and original design attitude parameters pre-stored in the industrial control computer, and calculates the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle ; Step 3: Based on the vertical bending deflection, horizontal bending deflection, and overall deflection angle, the industrial control computer calculates the corresponding thrust control data through a control algorithm. The control algorithm of the industrial computer is as follows: For cantilevered I-beams, the vertical bending deflection of the I-beam needs to be corrected. Under the operating conditions: the industrial control computer calculates the vertical bending deflection based on the measured value. Substitute data into formula The thrust value required to be applied upward by the first digital hydraulic cylinder is calculated. At this time, the first digital hydraulic cylinder 1 is arranged below the free beam end of the I-beam, and the push rod of the first digital hydraulic cylinder, which is set in the vertical direction, outputs an upward thrust to correct the vertical bending deflection. In the formula, : Elastic modulus of steel for I-beams (Pa); : strong axial moment of inertia of the cross section, (m) 4 ); : The horizontal distance (m) from the fixed end of the I-beam to the point of action of the push rod of the first digital hydraulic cylinder on the flange of the I-beam. Total length of the I-beam (m); For cantilevered I-beams, the horizontal bending deflection of the I-beams needs to be corrected. Under the following working conditions: The industrial control computer calculates the horizontal bending deflection based on the measurements. Data, through formulas The thrust value required to be applied by the second and third digital hydraulic cylinders is calculated. At this time, steel columns are welded to the upper and lower flange plates of the free end of the I-beam respectively. According to the horizontal bending direction, the second and third digital cylinders are symmetrically arranged on the same side. The push rods of the second and third digital cylinders set in the horizontal direction push the corresponding steel columns in the same direction to correct the horizontal bending deflection. In the formula: The elastic modulus of steel for I-beams; Moment of inertia of the weak axis of the cross section The horizontal distance between the point of action of the push rods of the second and third digital hydraulic cylinders on the corresponding steel columns and the fixed end of the I-beam. Total length of the I-beam; The vertical distance from the weak axis to the point of action of the push rod of the second or third digital hydraulic cylinder on the corresponding steel column; The vertical distance from the connection point between the flange and web of an I-beam to the weak axis. For cantilevered I-beams, the overall deflection angle of the I-beams needs to be corrected. Under the operating conditions, the industrial control computer uses the measured overall deflection angle data of the free end of the I-beam. And through the formula The thrust value required to be applied by the fourth and fifth digital hydraulic cylinders is calculated. At this time, the push rods of the fourth and fifth digital hydraulic cylinders, arranged horizontally, act on the steel columns symmetrically welded to the top wall of the upper flange and the bottom wall of the lower flange of the I-beam, respectively, pushing the steel columns outward. The two points of action formed by the push rods of the fourth and fifth digital hydraulic cylinders on the steel columns are symmetrically arranged vertically relative to the centroid of the cross-section to form pure torque. The vertical distance from the points of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns to the longitudinal centroidal axis is... With equal thrust, they twist around the longitudinal centroidal axis; In the formula, Shear modulus ; : Elastic modulus of steel; Poisson's ratio of steel; Torsional constant; The vertical distance from the longitudinal centroidal axis to the point of action of the push rods of the fourth and fifth digital hydraulic cylinders on the corresponding steel columns; Step 4: The industrial control computer sends the thrust control data to the corresponding digital hydraulic cylinders, driving them to apply adjustment to the I-beam. During the adjustment process, the industrial control computer continuously executes the closed-loop control algorithm, repeating steps 1 and 2 in real time to calculate the current vertical bending deflection of the I-beam. Horizontal bending deflection and overall deflection angle If vertical bending deflection Horizontal bending deflection and overall deflection angle If the error falls within the set error threshold range, the industrial control computer will output a stop signal to the corresponding digital hydraulic cylinder to stop the adjustment.

2. The method for adjusting the small deformation of a three-degree-of-freedom I-beam in modular docking according to claim 1, characterized in that: The deformation status information is identified by arranging sensors at multiple points on the free end of the I-beam.

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