A method, device, equipment and medium for linkage control of a holding pole posture

Abstract

This invention relates to the field of pole posture linkage control technology, and particularly to a pole posture linkage control method, device, equipment, and medium. The invention determines the pole posture prediction step size and posture penalty weight by acquiring the pole's posture parameters, the posture parameters of each guy wire, and the pole's height and climbing speed. Based on the pole's posture prediction step size, posture parameters, and the speed increment sequences of M candidate control motors, it determines the M sets of pole posture prediction values ​​and calculates the trade-off between the posture prediction correction accuracy and energy loss for the M poles. Finally, it selects the smallest trade-off from the M trade-offs and uses its corresponding control motor speed increment sequence as the optimal speed sequence, outputting the motor speed control commands for each guy wire device at the next moment. This achieves automatic adjustment of the pole posture, reduces the uncertainty of human factors, and improves both the accuracy and stability of pole posture control while increasing construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of pole-mounting attitude linkage control technology, and in particular to a pole-mounting attitude linkage control method, device, equipment and medium. Background Technology

[0002] Traditionally, the method for controlling the attitude of the gantry crane during the gantry erection process involves a commander visually observing the tilt angle of the gantry and communicating with four winch operators via walkie-talkie. Four guy wires at the top of the gantry are pulled diagonally to the ground in four directions (i.e., external guy wires) and secured by winches (i.e., guy wire devices) on the ground. Winch operators independently adjust the tension of the guy wires in that direction by controlling the winch's forward rotation (tightening the guy wires) or reverse rotation (loosening the guy wires). When the gantry attitude needs adjustment, the commander instructs the four winch operators via walkie-talkie on the timing and speed of the winch's forward or reverse rotation, ensuring that all four guy wires are loosened simultaneously and at a consistent speed to adjust the gantry attitude. However, in actual operation, this method is greatly affected by subjective factors, relies on the construction experience of construction personnel, has a response lag problem, and each guy wire is operated independently, making it difficult to monitor changes in internal stress such as the load-bearing state of the pole. The observed pole tilt angle deviates significantly from the actual pole tilt angle, resulting in problems of inadequate or excessive correction. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, device, equipment and medium for linkage control of pole holding posture, so as to solve the technical problems of poor coordination and poor adjustment effect caused by independent operation of pole holding external cable.

[0004] Firstly, a method for linkage control of pole-holding posture is provided, the method comprising:

[0005] Step 100: Obtain the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire.

[0006] Step 200: Based on the climbing speed of the pole, the preset basic step length for pole attitude prediction, and the preset sensitivity coefficient for pole attitude prediction, determine the pole attitude prediction step length, which is used to characterize the time period segmentation of the target pole attitude prediction. Each step length in the attitude prediction step length corresponds to each time period within the segmented time period.

[0007] Step 300: Determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires.

[0008] Step 400: Based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size, and the speed increment sequence of each of the M candidate control motors, determine the attitude prediction values ​​of the M groups of the pole corresponding to each step size in the attitude prediction step size, where M is a positive integer greater than one.

[0009] Step 500: Based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M groups of poles, the speed increment sequence of each of the M groups of control motors, and the preset energy weight of each of the control motors, determine the balance between the attitude prediction correction accuracy of the M poles and the energy loss of all the M control motors.

[0010] Step 600: Select the smallest trade-off from the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Output the target speed control command of each of the pull wire devices at the next moment according to the optimal speed sequence to realize the adjustment of the pole posture.

[0011] Secondly, a pole-holding posture linkage control device is provided, the pole-holding posture linkage control device comprising:

[0012] The data acquisition module is used to acquire the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire.

[0013] The attitude prediction step length determination module is used to determine the attitude prediction step length of the pole based on the climbing speed of the pole, the preset attitude prediction base step length of the pole, and the preset attitude prediction sensitivity coefficient of the pole. It is used to characterize the time period of attitude prediction of the target pole. Each step length in the attitude prediction step length corresponds to each time period within the time period.

[0014] The posture penalty weight determination module is used to determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires.

[0015] The attitude prediction value calculation module is used to determine the attitude prediction values ​​of the M groups of the pole corresponding to each step in the attitude prediction step, based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size and the speed increment sequence of each of the M candidate control motors, where M is a positive integer greater than one.

[0016] The trade-off calculation module is used to determine the trade-off between the attitude prediction correction accuracy of the M poles and the energy loss of the M control motors based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M poles, the speed increment sequence of each of the M control motors, and the preset energy weight of each of the control motors.

[0017] The target speed control command output module is used to select the smallest trade-off among the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Based on the optimal speed sequence, it outputs the target speed control command of each of the control motors of the cable pulling device at the next moment, so as to realize the adjustment of the pole holding posture.

[0018] Thirdly, an electronic device is provided, comprising a processor and a memory, wherein,

[0019] Memory, used to store computer programs;

[0020] The processor is used to execute the program stored in the memory to implement the pole-holding attitude linkage control method described in the first aspect above.

[0021] Fourthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the pole-holding attitude linkage control method described in the first aspect.

[0022] The beneficial effects of this invention compared to existing technologies are as follows: First, by acquiring the attitude parameters of the boom, the attitude parameters of each guy wire of the boom, the speed increment of the control motor of each guy wire device, and the height and climbing speed of the boom, the attitude prediction step size and attitude penalty weight of the boom are determined; second, based on the attitude prediction step size, attitude parameters, and the speed increment sequence of each control motor in the candidate M groups, the attitude prediction value of the M groups of booms corresponding to each step size in the attitude prediction step size is determined, and a forward prediction model is constructed, realizing the transformation of boom attitude adjustment from independent, manual operation to collaborative, automatic optimization; third, based on the attitude prediction values ​​of the M groups of booms and the attitude penalty weight of the boom... The speed increment sequence of each control motor in the M groups and the preset energy weight of each control motor are used to determine the trade-off between the attitude prediction and correction accuracy and energy loss of the M gantry cranes. Finally, the smallest trade-off is selected from the M trade-offs, and the speed increment sequence of each control motor corresponding to it is taken as the optimal speed sequence. Based on the optimal speed sequence, the motor speed control command of each guy wire device at the next moment is output, and the tightening or loosening of all external guy wires is controlled synchronously to realize the automatic adjustment and linkage control of the gantry crane attitude. This ensures the consistency and coordination of the operation of each guy wire device, reduces the uncertainty of human factors, and improves the construction efficiency while improving the gantry crane attitude control accuracy and stability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of an application environment for a pole-holding posture linkage control method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart illustrating a pole-holding posture linkage control method provided in Embodiment 1 of the present invention;

[0026] Figure 3 This is a three-dimensional simulation diagram of the field equipment layout for a pole-holding attitude linkage control method provided in Embodiment 1 of the present invention;

[0027] Figure 4 This is a control block diagram of a pole-holding posture linkage control method provided in Embodiment 2 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of a pole-holding posture linkage control device provided in Embodiment 8 of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 9 of the present invention. Detailed Implementation

[0030] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] The pole-holding posture linkage control method provided in Embodiment 1 of this invention can be applied to, for example... Figure 1 In this application environment, the control unit, the cable-operated device, and the inertial measurement unit communicate with each other. The control unit includes, but is not limited to, handheld computers, desktop computers, laptops, ultra-mobile personal computers (UMPCs), netbooks, cloud terminal devices, and personal digital assistants (PDAs). The cable-operated device consists of a force sensor, a control motor, a rotary encoder, and an electric grinding disc. The inertial measurement unit includes, but is not limited to, measurement units such as gyroscopes and accelerometers.

[0032] The pole-holding posture linkage control method provided in Embodiment 1 of this invention can be applied to, for example... Figure 3 In the three-dimensional simulation model shown, guy wires (1), (2), (3), and (4) are the external guy wires of the gantry, used to control the attitude of the gantry; traction rope (5) is the traction rope of the gantry, used to control the force and speed of hoisting the tower components; control rope (6) is the control rope of the gantry, used to control the aerial attitude of the tower components and prevent rotation or collision; guy wire device (1), guy wire device (2), guy wire device (3), and guy wire device (4) are used to control the four external guy wires of the gantry, and traction device (5) is used to control the traction rope and control rope of the gantry.

[0033] See Figure 2 This is a flowchart illustrating a pole-holding attitude linkage control method provided in Embodiment 1 of the present invention. The above-described pole-holding attitude linkage control method can be applied to... Figure 1 The control terminal, whose corresponding terminal device connects to the target database via a pre-defined Application Programming Interface (API), generates corresponding task logs when the target data is driven to perform corresponding tasks. These task logs can be collected through the API. For example... Figure 2 As shown, the pole-holding attitude linkage control method may include the following steps:

[0034] Step 100: Obtain the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire.

[0035] Among them, "pole" refers to a special lifting and bearing device used for high-altitude structural installation construction such as the erection of transmission line towers; "pole height" refers to the vertical distance between the center point of the pole's top and the horizontal ground where the pole is located, i.e., the vertical distance of the pole's top relative to the ground; "pole climbing speed" refers to the rate of change of the pole's height in the vertical direction; "pole attitude parameters" refers to the set of physical quantities used to quantitatively describe the orientation state and changing trend of the pole in space, including the pole's tilt angle and angular velocity; "guerre wires" refers to the four external guy wires that radiate outward from the top of the pole to the ground anchor point, used to control the pole's attitude, such as... Figure 3 As shown, guy wires (1), (2), (3), and (4) are the outer guy wires of the boom; the attitude parameters of each guy wire refer to the set of physical quantities used to describe the tension of a single guy wire and the geometric angle between a single guy wire and the horizontal plane. The tension refers to the physical tension value borne by each guy wire that maintains the balance of the boom; each guy wire device refers to the mechatronic actuator that realizes the tightening and loosening of a single guy wire, including a control motor (such as a servo motor), a transmission mechanism (such as an electric grinding disc), a tension sensor, a displacement sensor, and a local controller, such as Figure 3 The pull wire devices shown are (1), (2), (3), and (4). The speed increment refers to the change in the speed of the control motor of each pull wire device compared to the speed of the previous sampling period. A positive value corresponds to the tightening of the pull wire, and a negative value corresponds to the loosening of the pull wire. The absolute value represents the magnitude of the speed change. The tilt angle of the gantry is an angular parameter used to quantitatively describe the spatial deviation of the gantry axis relative to the standard vertical line, that is, the offset angle of the gantry relative to the vertical line in three-dimensional space. The angular velocity of the gantry refers to the rate of change of the offset angle of the gantry relative to the vertical line in three-dimensional space, reflecting the instantaneous rate and trend of the gantry attitude change.

[0036] For example, the relative lengths of each guy wire extension and retraction are obtained by rotary encoders installed on each control motor, thereby determining the real-time height of the boom; by obtaining the current real-time height of the boom and the historical height of the boom from the previous sampling period, the difference between the real-time height and the historical height of the boom is divided by a preset sampling period to calculate the boom's climbing speed; the tilt angle and angular velocity of the boom are obtained in real time by a high-precision inertial measurement unit installed at the top of the boom, which includes, but is not limited to, gyroscopes and accelerometers; the geometric angle between each guy wire and the horizontal plane is obtained by tilt sensors installed near the grounding ends of each guy wire; the real-time tension of each guy wire is obtained by tension sensors installed near the grounding ends of each guy wire; and the speed increment of the control motor of each guy wire device is determined by obtaining the current speed of each control motor and the speed of each control motor from the previous sampling period by rotary encoders installed on the control motors of each guy wire device.

[0037] Step 200: Based on the climbing speed of the pole, the preset basic step length for pole attitude prediction, and the preset sensitivity coefficient for pole attitude prediction, determine the pole attitude prediction step length, which is used to characterize the time period segmentation of the target pole attitude prediction. Each step length in the attitude prediction step length corresponds to each time period within the segmented time period.

[0038] The preset base step size for pole attitude prediction refers to the total time covered by the model predictive control algorithm in one forward prediction under static or standard low-speed conditions. It is a baseline value pre-set based on the pole's dynamic characteristics and the computational capability of the pole attitude linkage controller. The preset pole attitude prediction sensitivity coefficient is an adjustment factor used to dynamically correct the sensitivity of the prediction step size to the pole's motion state, measured in seconds per minute (s / m). The pole attitude prediction step size refers to the length of the time window for predicting future pole attitude. This involves dividing a finite future time period (prediction time domain) into multiple consecutive control cycles at the current control moment and performing rolling predictions of the pole attitude within these control cycles, excluding the current moment. By calculating the pole's climbing speed, the specific operating condition of the pole can be accurately identified, providing multi-dimensional decision support for the precise matching of the linkage control strategy for pole attitude.

[0039] For example, the attitude prediction step N of the pole gripping device. p Expressed as a formula:

[0040] ,

[0041] In the formula, N p N represents the predicted step size for the pole-holding posture; baseThis represents the preset base step size for pole attitude prediction; γ represents the preset sensitivity coefficient for pole attitude prediction, in s / m; v represents the pole's ascent speed, in m / s; round(·) represents the rounding function. Simultaneously, the minimum value N for pole attitude prediction step size is set. min The maximum step size N for attitude prediction of the pole holding position max When the calculated attitude prediction step size N of the pole is... p Not satisfied with N min ≤N p ≤N max When the pole's climbing speed is faster, the attitude prediction step size is smaller. Shortening the attitude prediction step size can improve the speed of pole attitude prediction and reduce computation time. By dynamically mapping the pole's climbing speed to the pole's attitude prediction wavelength, a deep match between the pole's attitude linkage control and the actual working conditions of the pole is achieved.

[0042] For example, when the attitude prediction step size N of the pole is... min The maximum step size N for the attitude prediction of the pole is 5. max Given a base step size of 15 for pole climbing attitude prediction and a preset sensitivity coefficient of 0.5 s / m, assuming a climbing speed of 0.9 m / s, the pole climbing attitude prediction step size N is... p =round[15÷(1+0.5×0.9)]≈11, satisfying N min ≤N p ≤N max That is, the attitude prediction step size N of the pole holding device. p The value is 11; assuming the climbing speed of the pole is 5.0 m / s, the predicted attitude step size N of the pole is 11. p =round[15÷(1+0.5×5.0)]≈4, which does not satisfy N min ≤N p ≤N max And the calculated attitude prediction step size N of the pole is... p A posture closer to the pole-holding position predicts a more minimum step size N. min Therefore, the predicted step size N for the pole-holding posture is... p It is 5.

[0043] Step 300: Determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires.

[0044] The reference tension of each guy wire refers to the theoretical standard tension value that each guy wire should achieve to ensure the boom is in an ideal posture (such as a vertical state or a preset safe working position). This value is usually pre-calibrated or calculated based on the boom's structural parameters, material mechanical properties, and design working conditions. The boom's posture penalty weight refers to the weighting coefficient used to constrain the boom's tilt, which is updated in real time according to the boom's working state. The larger the boom's posture penalty weight value, the lower the tolerance of the boom's tilt to the boom's posture linkage control, thus prompting the boom's posture linkage controller to issue a stronger boom posture correction command.

[0045] Step 400: Based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size, and the speed increment sequence of each of the M candidate control motors, determine the attitude prediction values ​​of the M groups of the pole corresponding to each step size in the attitude prediction step size, where M is a positive integer greater than one.

[0046] Among them, the speed increment sequence of each control motor in the M groups refers to the set of M different, selectable speed control commands pre-constructed at the beginning of each control cycle in order to cope with various possible pole posture deviations in the future during the pole posture linkage control process; the pole posture prediction value of the M groups refers to the pole posture prediction value corresponding to each step in the posture prediction time step, calculated based on the current pole posture parameters and height, as well as the speed increment sequence of each control motor in the candidate M groups.

[0047] Step 500: Based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M groups of poles, the speed increment sequence of each of the M groups of control motors, and the preset energy weight of each of the control motors, determine the balance between the attitude prediction correction accuracy of the M poles and the energy loss of all the M control motors.

[0048] Among them, the preset energy weight of each control motor refers to the weight of the target speed increment of each control motor in the optimization process, reflecting the degree of suppression of control motor energy consumption by the pole attitude linkage control; the attitude prediction and correction accuracy of the pole refers to the cumulative degree of deviation of the pole from the target attitude within the attitude prediction step under a given control scheme, and the smaller the value, the higher the control accuracy; the energy loss of the control motor refers to the total energy consumption of all control motors within the attitude prediction step when the control motor executes a specific speed command; the trade-off degree is a comprehensive scalar index, which is obtained by adding the attitude prediction and correction accuracy of the pole to the energy loss of all control motors, and is used to evaluate and compare the overall advantages and disadvantages of different control schemes in terms of performance and cost, and the smaller the value, the better the overall trade-off.

[0049] For example, to achieve pole posture correction while ensuring safety, safety constraints need to be injected during the calculation of tradeoffs. This includes setting the maximum speed variation of the control motor and setting a safety threshold for the tension of the guy wire to limit mechanical impact and prevent wire breakage or slack. The mechanical impact constraint can be represented as |∆u k,m |≤∆u max , where ∆u k This represents the speed increment of the m-th control motor corresponding to the k-th pole attitude prediction time step, where k = 0, 1, ..., N. p -1, N p Indicates the predicted step size for the pole-holding attitude; ∆u max This represents the preset maximum change in the control motor's speed. The tension safety constraint is represented by T. i (k)≤T max T i (k) The tension of the i-th guy wire corresponding to the k-th pole-holding posture prediction time step; T max This indicates the preset safety threshold for the tension of the guy wire.

[0050] Step 600: Select the smallest trade-off from the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Output the target speed control command of each of the pull wire devices at the next moment according to the optimal speed sequence to realize the adjustment of the pole posture.

[0051] Among them, the optimal speed sequence refers to the set of control motor speed increment sequences with the smallest trade-off after comprehensive evaluation among the speed increment sequences of each of the candidate M groups of control motors. It clarifies the optimal speed adjustment plan for each motor within the attitude prediction step and obtains the relatively optimal solution under a specific optimization objective. The target speed control command refers to the direct execution signal calculated based on the first increment step in the optimal speed sequence, which is used to control each motor to reach the target speed at the next moment. By cyclically executing the optimization-first step-execution rolling time domain control strategy, such commands are continuously output, thereby realizing the real-time closed-loop adjustment of the pole posture.

[0052] After obtaining the optimal speed sequence, only the first target speed command at the current moment is sent to the servo motor controller of each cable pulling device. After achieving the rolling optimization solution, it is necessary to compare the real-time collected pole holding posture parameters with the preset target pole holding posture to correct the pole holding posture prediction deviation and achieve closed-loop dynamic correction of the pole holding posture. If the pole shifts eastward by 0.5° and is in a high-position rapid climbing state, the pole holding posture linkage control will instantaneously generate and issue precise commands to the west side cable pulling device to take in the line and the east side cable pulling device to release the line, based on the dynamically increased posture penalty weight of the pole.

[0053] For example, assuming the attitude prediction step size N is determined in the current control cycle. p =3, meaning the prediction is for the next 3 control cycles, and the total number of controlled motors K=4, such as Figure 3 As shown, the four control motors of the pull wire device (1), pull wire device (2), pull wire device (3), and pull wire device (4) are used to control the external pull wire of the pole. The speed increment sequence of the four candidate control motors is divided into two groups. The speed increment sequence of the four control motors in the first group is expressed as follows: Where k represents the k-th attitude prediction step size; the speed increment sequence of the four control motors in the second group is represented as... Furthermore, the trade-off degree of the first group of schemes is 0.37, and that of the second group of schemes is 0.52. Among them, the dynamic matching degree of the first group of schemes is higher, and the trade-off degree is lower, which meets the requirements of the lever control for rapid response when the deviation is large and fine adjustment when approaching the target; at the same time, the action trends of each motor are consistent, the speed increment of the control motors of the pull wire device (1) and the pull wire device (3) increases, and the speed increment of the control motors of the pull wire device (2) and the pull wire device (4) decreases, forming a coordinated tension distribution. Therefore, the first group of schemes is selected as the optimal speed increment sequence, and the increment of the first time step is extracted as the target speed increment, that is Based on the current motor speed, the specific control signal required to achieve the above increment is calculated. For example, when the current speed of the control motor of the wire pulling device (1) is 100 r / min and the target speed is 105 r / min, the target speed increment is +5 r / min. The target speed increment +5 r / min needs to be converted into voltage or pulse width modulation command and sent to the servo motor controller of the wire pulling device (1) to adjust the working state of the electric grinding disc of the wire pulling device (1) to tighten the wire (1) and change the posture of the rod. At the beginning of the next cycle, the sensor measures the new posture of the rod, regenerates two new schemes, compares the trade-offs again, and continues to take the first step.

[0054] The pole-holding attitude linkage control method in this embodiment first determines the pole's attitude prediction step size and attitude penalty weight by acquiring the pole's attitude parameters, the attitude parameters of each guy wire, the speed increment of the control motors of each guy wire device, the pole's height, and climbing speed. Second, based on the pole's attitude prediction step size, attitude parameters, and the speed increment sequences of the candidate M groups of control motors, the attitude prediction values ​​of the M groups of poles corresponding to each step size are determined. Third, based on the M groups of pole attitude prediction values, the attitude penalty weight, the speed increment sequences of the M groups of control motors, and the preset energy weights of each control motor, the trade-off between the attitude prediction correction accuracy and energy loss for the M poles is determined. Finally, the smallest trade-off is selected from the M trade-offs, and its corresponding speed increment sequence of each control motor is taken as the optimal speed sequence. Based on the optimal speed sequence, the motor speed control commands for each guy wire device at the next moment are output to adjust the pole's attitude. Compared to existing technologies, this invention acquires multi-dimensional attitude parameters of the pole and guy wire in real time and introduces attitude prediction step size to construct a forward prediction model. This enables the transformation of pole attitude adjustment from independent, manual operation to collaborative, linkage control. Furthermore, it can find the global optimal balance between precise and rapid correction and smooth, energy-saving control, eliminating the lag of manual command and ensuring that the verticality deviation of the pole remains at an extremely low level throughout the entire height range. This improves the accuracy and stability of pole attitude linkage control while enhancing construction efficiency.

[0055] In Embodiment 2, step 500 includes:

[0056] Step 510: Based on the attitude prediction step length of the pole, the attitude penalty weight of the pole, and the M sets of attitude prediction values ​​of the pole, determine the cumulative values ​​of the M sets of attitude deviations of the pole from the target attitude corresponding to all steps in the attitude prediction step length.

[0057] The cumulative value of the boom's attitude deviation from the target attitude refers to the instantaneous deviation between the attitude prediction value and the target attitude for each control cycle within the attitude prediction step, calculated for each of the M sets of attitude prediction values. This deviation sequence is then accumulated to obtain a single scalar index used to quantify the overall attitude deviation of the boom within the attitude prediction step for the M sets of control schemes. The target attitude refers to the reference attitude that the boom is expected to achieve or maintain during operation, including but not limited to a preset ideal attitude trajectory, the commanded attitude given by the upper-level controller, or a target position sequence planned in real time according to the task. Attitude prediction step N p The cumulative value J of the attitude deviation of the m groups of poles corresponding to all step lengths from the target attitude. 1,m The calculation formula is:

[0058] ,

[0059] In the formula, N p J represents the attitude prediction step size for the pole gripping action; k represents the k-th attitude prediction step size for the pole gripping action; 1,m N represents the attitude prediction step size. p The cumulative value of the deviation of the m-th group of pole-holding postures from the target posture for all step lengths; X m,k X represents the attitude prediction deviation matrix of the pole corresponding to the k-th attitude prediction step in the m-th group of pole attitude prediction results; T m,k represents the transpose of the attitude prediction deviation matrix of the pole corresponding to the k-th attitude prediction step in the m-th group of pole attitude prediction results; q represents the attitude penalty weight matrix of the pole.

[0060] For example, suppose the attitude prediction step size N for the pole is... p =5, the pole attitude prediction values ​​are 2 sets (M=2), the preset target attitude has a tilt angle of 0° and an angular velocity of 0° / s. The deviation between the normalized pole attitude prediction value and the preset target attitude is represented by a matrix, i.e., X. m,k =[Δθ m,k ,Δθ' m,k ] T X m,k Let Δθ represent the attitude prediction deviation matrix of the pole corresponding to the k-th attitude prediction step in the m-th group of pole attitude prediction results. m,k Δθ' represents the tilt angle prediction deviation of the pole corresponding to the k-th attitude prediction step in the m-th pole attitude prediction results. m,k This represents the angular velocity prediction deviation of the pole corresponding to the k-th attitude prediction step in the m-th group of pole attitude prediction results. The pole attitude penalty weight is represented by a matrix. .

[0061] because Assume X 1,1 =[0.50, 0.10] T X 1,2 =[0.55, 0.20] T X 1,3 =[0.65, 0.30] T X 1,4 =[0.80, 0.40] T X 1,5 =[1.00, 0.50] T X 2,1 =[0.20, 0.10] T X 2,2 =[0.25, 0.20] T X 2,3 =[0.35, 0.30]T X 2,4 =[0.50, 0.40] T X 2,5 =[0.70, 0.50] T Therefore, the cumulative value J of the first group of pole-holding attitude deviation from the target attitude can be obtained. 1,1 =5.78; The cumulative value J of the second group's pole-holding attitude deviation from the target attitude. 1,2 =2.48, meaning the cumulative deviation of the first group's pole-holding posture from the target posture is 5.78, and the cumulative deviation of the second group's pole-holding posture from the target posture is 2.48.

[0062] Similarly, the attitude prediction step size N for the pole can be obtained. p =5, the attitude prediction value for the pole is 2 sets (M=2), and the attitude prediction step size N is 5° when the tilt angle is 5° and the angular velocity is 1° / s in the preset target attitude. p =5 is the cumulative value of the deviation of the two sets of pole postures from the target posture for all step lengths.

[0063] Step 520: Based on the posture prediction step length of the pole, the speed increment sequence of each of the control motors in the M groups, and the preset energy weight of the control motor, determine the cumulative energy consumption value of all the control motors in the M groups corresponding to all the step lengths of the speed increment of the control motor.

[0064] Here, the control step size refers to the length of the time window for the speed increment sequence of each of the candidate M groups of controlled motors. That is, at the current control moment, a finite future time period (control time domain) is divided into multiple consecutive control cycles, and the speed increment sequence of each controlled motor within these control cycles is preset, including the current moment. The cumulative energy consumption value of the controlled motor refers to the total energy consumption of the motors within the control step size, used to measure the speed increment control scheme of each group of controlled motors. The cumulative energy consumption value J of all controlled motors in the m groups corresponding to all control step sizes is also included. 2,m The calculation formula is:

[0065] ,

[0066] In the formula, N p N represents the attitude prediction step size for the pole gripping action; k represents the k-th attitude prediction step size for the pole gripping action; p -1 indicates the step size for controlling the motor's speed increment; J 2,m Indicates the control step size N p The cumulative energy consumption value of the m-th speed increment control scheme corresponding to all step sizes in -1; u m,k This represents the speed increment vector of the controlled motor corresponding to the k-th control step in the m-th speed increment control scheme; u Tm,k R represents the transpose of the speed increment vector of the control motor corresponding to the kth control step in the m-th speed increment control scheme; R represents the preset energy weight matrix of the control motor.

[0067] For example, suppose the attitude prediction step size N for the pole is... p If = 5, then the speed increment control step size N of the motor is controlled. p -1=4, there are 2 sets of incremental speed control schemes for controlling the motors, and the total number of motors controlled is 4. Figure 3 As shown, the four control motors of the pull wire device (1), pull wire device (2), pull wire device (3), and pull wire device (4) are used to control the external pull wire of the pole. The preset energy weight matrix of the control motors is expressed as follows: The normalized result U of the speed increment control scheme for the first group of motors 1,k Represented as U 1,0 =[0.2, 0.1, 0.0, 0.1] T U 1,1 =[0.3, 0.2, 0.1, 0.2] T U 1,2 =[0.2, 0.2, 0.1, 0.1] T U 1,3 =[0.1, 0.1, 0.0, 0.0] T The normalized result U of the speed increment control scheme for the second group of motors 2,k Represented as U 2,0 =[0.1, 0.0, 0.0, 0.0] T U 2,1 =[0.1, 0.1, 0.0, 0.0] T U 2,2 =[0.0, 0.0, 0.0, 0.0] T U 2,3 =[0.0, 0.0, 0.0, 0.0] T .

[0068] Therefore, the cumulative energy consumption value J of the speed increment control scheme for the first group of controlled motors can be obtained. 2,1 =0.036; The cumulative energy consumption value J of the speed increment control scheme for the second group of motors. 2,2 =0.003, meaning the cumulative energy consumption of the speed increment control scheme for the first group of motors is 0.036, and the cumulative energy consumption of the speed increment control scheme for the second group of motors is 0.003.

[0069] Step 530: Sum the cumulative value of the deviation of the pole's attitude from the target attitude with the cumulative energy consumption value of the control motor to determine the trade-off between the M pole's attitude prediction and correction accuracies and the energy losses of the M control motors.

[0070] Among them, the balance degree achieves a balance optimization between the attitude correction accuracy of the boom and the energy consumption of the control motor through the synergistic effect of the attitude penalty weight of the boom and the preset energy weight of the control motor.

[0071] For example, if the calculated cumulative deviation of the first group of booms from the target attitude is 5.78, and the cumulative deviation of the second group of booms from the target attitude is 2.48; and the cumulative energy consumption of the speed increment control scheme of the first group of control motors is 0.046, and the cumulative energy consumption of the speed increment control scheme of the second group of control motors is 0.053, then the trade-off between the attitude prediction and correction accuracy of the first group of booms and the energy loss of the first group of control motors is 5.78 + 0.046 = 5.826, and the trade-off between the attitude prediction and correction accuracy of the second group of booms and the energy loss of the second group of control motors is 2.48 + 0.053 = 2.533.

[0072] like Figure 4 As shown, the pole-holding attitude linkage controller implements steps 1000 to 6000 in Embodiment 1. Based on the target speed control commands of the control motors for each cable-holding device, it obtains the target speed increment of the electric grinding disc for each control motor. Subsequently, it controls the servo motor controller to adjust the working state of the electric grinding disc, thereby achieving the tightening and loosening of each cable. For example, when tightening the cable, the output target speed increment of the electric grinding disc is positive, and the electric grinding disc rotates forward to tighten the corresponding cable; when loosening the cable, the output target speed increment of the electric grinding disc is negative, and the electric grinding disc rotates in reverse to loosen the corresponding cable. After adjusting each cable, the inertial measurement unit located at the top of the pole remeasures the pole's attitude parameters and sends the measured real-time pole attitude to the pole-holding attitude linkage controller. The pole-holding attitude linkage controller compares the received real-time pole attitude with the preset target pole attitude to correct the pole attitude prediction deviation, achieving closed-loop dynamic correction of the pole attitude.

[0073] The pole-holding attitude linkage control method in this embodiment first calculates the cumulative deviation of the pole's attitude from the target attitude corresponding to M sets of attitude prediction values ​​within the attitude prediction step length, the attitude penalty weight of the pole, and the attitude prediction value of the pole. Second, it calculates the cumulative energy consumption of all M sets of control motors within the control step length using the attitude prediction step length, the speed increment sequence of each of the candidate M sets of control motors, and the preset energy weights of the control motors. Finally, it sums the calculated cumulative deviation of the pole's attitude from the target attitude corresponding to the M sets of attitude prediction values ​​and the cumulative energy consumption of all M sets of control motors to obtain the trade-off between the attitude prediction correction accuracy of the M poles and the energy loss of all M control motors, which is used to evaluate the balance between the pole's attitude correction accuracy and the energy loss of the control motors. Compared with the prior art, this invention incorporates attitude control accuracy and motor energy consumption into the same quantitative optimization framework and adopts independently adjustable attitude penalty weight matrices and motor energy weight matrices, which to a certain extent improves the pole's attitude prediction adaptive decision-making capability under multiple operating conditions.

[0074] In Embodiment 3, step 510 includes:

[0075] Step 511: Determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole.

[0076] Among them, the tilt angle penalty weight is a weighting coefficient used to quantify the importance of the tilt angle deviation of the boom in the cumulative value of attitude deviation. The larger the coefficient, the higher the requirement for the ability to suppress the tilt angle deviation of the boom, and the more the control strategy will tend to prioritize reducing the angle error. The angular velocity penalty weight is a weighting coefficient used to quantify the importance of the tilt angular velocity deviation of the boom in the cumulative value of attitude deviation. The larger the coefficient, the higher the requirement for the ability to suppress angular velocity fluctuations (i.e., attitude change rate), and the more the control strategy will tend to prioritize suppressing jitter and oscillation.

[0077] Step 512: Based on the attitude prediction step length of the pole, the attitude penalty weight of the pole, and the M sets of attitude prediction values ​​of the pole, determine the cumulative value of the attitude deviation of the pole from the target attitude for all steps in the attitude prediction step length.

[0078] The boom attitude linkage control method in this embodiment first constructs an attitude penalty weight matrix using tilt angle penalty weights and angular velocity penalty weights to quantify the importance of angle deviation and angular velocity fluctuation in the control target. Finally, based on the attitude prediction step size, attitude penalty weights, and M sets of attitude prediction values, the cumulative value of each scheme's deviation from the target attitude within the future prediction step size is calculated as a quantitative indicator of attitude correction accuracy. Compared with the prior art, this invention decouples the boom attitude penalty weights into independent tilt angle penalty weights and angular velocity penalty weights, enabling the boom attitude linkage control to dynamically adjust the focus of boom attitude control according to the lifting process. It can adapt to different operating scenarios without modifying the control algorithm kernel, thus improving the efficiency of boom attitude linkage control to a certain extent.

[0079] In Embodiment 4, step 511 includes:

[0080] Step 5111: Determine the height sensitivity of the boom based on the ratio of the boom's height to the preset maximum working height of the boom;

[0081] The maximum working height of the gantry refers to the geometric extension limit that the gantry can reach during lifting operations, typically limited by the gantry's mechanical structure, guy wire system layout, and safety regulations. The gantry's height sensitivity is a dynamic weighted coefficient generated based on the ratio of its current height to its maximum working height. This coefficient characterizes the impact of gantry height changes on attitude control priority or energy dispatch strategies. A ratio closer to 1 indicates that the gantry is closer to its height limit, and the control strategy will prioritize safety margins and disturbance rejection capabilities. Calculating the gantry's height sensitivity allows for precise identification of its specific operating conditions, providing multi-dimensional decision support for accurate matching of gantry attitude linkage control.

[0082] For example, the height sensitivity of the pole is expressed as η = H ÷ H max Where η represents the height sensitivity of the boom, and H represents the real-time height of the boom. max This indicates the preset maximum working height of the boom. When the real-time height of the boom is 5m and the preset maximum working height is 30m, the boom height sensitivity is 18÷30≈0.6.

[0083] Step 5112: Determine the tension imbalance of the pole based on the absolute value of the difference between the tension of each of the pull wires and the average value of the tension of each of the pull wires, and the preset reference tension of each of the pull wires.

[0084] Among them, the tension imbalance of the gantry crane is a comprehensive index used to quantify the degree of non-uniformity in the tension distribution among the various guy wires of the gantry crane. The greater the tension imbalance, the more significant the difference in the force on each guy wire, and the more prone the gantry crane is to eccentric loading, lateral bending, or even overturning and instability. By calculating the tension imbalance of the gantry crane, the specific working condition of the gantry crane can be accurately identified, providing multi-dimensional decision support for the precise matching of the gantry crane attitude linkage control.

[0085] For example, the tension imbalance of the pole can be expressed by the formula:

[0086] ,

[0087] Where δ represents the tension imbalance of the gantry; I represents the total number of guy wires on the gantry; i represents the i-th guy wire on the gantry; T i T represents the tension of the i-th guy wire on the pole; T' represents the average tension of the I guy wires on the pole; T ref This refers to the preset reference tension of I pull wires, and all pull wires have the same reference tension.

[0088] like Figure 3 As shown, there are four guy wires: guy wire (1), guy wire (2), guy wire (3), and guy wire (4) are external guy wires used to control the pole's posture. Assume that the four guy wires have the same preset reference tension T. ref =1000N, and the real-time measured tensile forces are T1=980N, T2=1020N, ​​T3=950N, and T4=1050N, respectively. Therefore, the average tensile force of the four guy wires is T'=1000N, and the tension imbalance of the pole is δ={[(|T1-T'|)÷T ref ]+[(|T2-T'|)÷T ref ]+[(|T3-T'|)÷T ref ]+[(|T4-T'|)÷T ref ]}÷4=0.035, that is, the unbalance of the tension of the pole is.

[0089] Step 5113: Determine the tilt angle penalty weight of the pole based on the height sensitivity of the pole, the tension imbalance of the pole, the preset tilt angle base weight of the pole, the preset height risk coefficient of the pole, and the preset coupling coefficient of the pole.

[0090] Among them, the preset tilt angle base weight of the boom refers to the benchmark weighting coefficient used to quantify the importance of the boom tilt angle deviation in the cumulative value of attitude deviation under ideal working conditions (moderate height, balanced tension of the guy wires); the preset height risk coefficient of the boom refers to the amplification coefficient used to characterize the additional penalty imposed on the tilt angle deviation due to the increased center of gravity, decreased stiffness, and increased risk of instability when the current height of the boom is close to the maximum working height; the preset coupling coefficient of the boom refers to the weighting factor used to characterize the degree of coupling influence of the unbalanced state of the boom tension on the tilt angle control requirements.

[0091] For example, the tilt angle penalty weight q of the pole. θ It can be represented as q θ =q0×(1+ω1×η+ω2×η×δ), where q θ Let q0 represent the preset tilt angle penalty weight of the boom, ω1 represent the preset height risk coefficient of the boom, ω2 represent the preset coupling coefficient of the boom, η represent the height sensitivity of the boom, and δ represent the tension imbalance of the boom. The product of the preset height risk coefficient and the height sensitivity of the boom is the height correction value, and the product of the preset coupling coefficient, the height sensitivity, and the tension imbalance of the boom is the coupling correction value. Understandably, even if the tension of the boom is in a balanced state, the tilt angle penalty weight of the boom will still increase with the increase of the boom height, forcing the boom attitude linkage controller to correct the deviation more quickly when the boom is in a high position. By dynamically mapping the height sensitivity and tension imbalance of the boom to the tilt angle penalty weight of the boom, a deep match between the boom attitude linkage control and the actual working conditions of the boom is achieved.

[0092] When the preset tilt angle base weight q0 of the gantry is 2.0, the preset height risk coefficient ω1 of the gantry is 0.8, the preset coupling coefficient ω2 of the gantry is 1.2, the height sensitivity η of the gantry is 0.6, and the tension imbalance of the gantry is 0.068, the tilt angle penalty weight q of the gantry is... θ =2.0×(1+0.8×0.6+1.2×0.6×0.068)=3.058, which is the weight q of the pole tilt angle penalty. θ It is 3.058.

[0093] Step 5114: Determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole.

[0094] For example, the tilt angle penalty weight q of the pole. θ When the value is 3.058, assuming the preset angular velocity penalty weight for the boom is 1.000, the attitude penalty weight for the boom can be represented by a matrix as follows: .

[0095] The pole-holding attitude linkage control method in this embodiment first calculates the height sensitivity based on the ratio of the pole's real-time height to its maximum working height, and then calculates the tension imbalance based on the measured values ​​of the tension of each guy wire. Secondly, based on the height sensitivity, tension imbalance, and preset tilt angle base weights, height risk coefficients, and coupling coefficients, the tilt angle penalty weight is dynamically determined. Finally, combining the tilt angle penalty weight and the preset angular velocity penalty weight, an attitude penalty weight matrix is ​​constructed to quantify the importance of the pole's tilt angle deviation in the cumulative attitude deviation value. Compared to existing technologies, this invention dynamically maps the pole's height sensitivity and tension imbalance to the tilt angle penalty weight, achieving a deep match between the pole-holding attitude linkage control and the actual working conditions of the pole. It can proactively enhance the penalty for tilt angle deviation when the pole is at a high working point or under tension imbalance conditions, improving the pole's proactive safety protection capability under dangerous working conditions. Simultaneously, it independently adjusts the angular velocity penalty weight, enhancing the pole-holding attitude linkage control's adaptability to working conditions and its risk prediction capability.

[0096] In Example 5, step 200 includes:

[0097] Step 210: Obtain the height of the pole at the current time and in the previous sampling period;

[0098] The sampling period refers to the time interval between two consecutive data acquisitions by the control system; the height of the pole refers to the vertical distance between the top of the pole and the reference ground.

[0099] Step 220: Determine the climbing speed of the pole based on the current time, the height of the pole in the previous sampling period, and the preset sampling period;

[0100] The climbing speed of the boom refers to the rate of change of vertical displacement at the top of the boom within a preset sampling period, used to characterize the speed of boom lifting operations. The climbing speed v of the boom can be expressed as v = [H(t) - H(t-1)] ÷ T s Where v represents the climbing speed of the pole, H(t) represents the current height of the pole, H(t-1) represents the height of the pole in the previous sampling period, and T s This indicates the preset sampling period.

[0101] For example, when the preset sampling period T s =0.5s, the current height of the pole is H(t) = 12.6m, and when the height of the pole in the previous sampling period was H(t-1) = 12.0m, the climbing speed of the pole was v = (12.6-12.0) ÷ 0.5 = 1.2m / s, that is, the climbing speed of the pole is 1.2m / s.

[0102] Step 230: Determine the attitude prediction step size of the pole based on the product of the climbing speed of the pole and the preset attitude prediction sensitivity coefficient of the pole, as well as the preset attitude prediction base step size of the pole.

[0103] The pole-lifting attitude linkage control method in this embodiment first calculates the pole's climbing speed in real time by using the ratio of the pole's height difference between adjacent sampling periods to the sampling period, serving as a dynamic characteristic quantity representing the intensity of the lifting operation. Then, the climbing speed is multiplied by a preset attitude prediction sensitivity coefficient, and the pole's attitude prediction step size is dynamically determined using the attitude prediction base step size and a rounding function. Compared to existing technologies, this invention incorporates the pole's climbing speed into the dynamic decision-making of the prediction step size, enabling real-time matching between the prediction time domain and the operation intensity. During high-speed climbing, the prediction step size is automatically extended, enhancing the system's ability to anticipate inertial motion and suppressing speed fluctuations and end-effector sway. During low-speed or stationary periods, the prediction step size is automatically shortened, reducing ineffective computational load and improving the response agility and computational resource utilization of the pole-lifting attitude linkage controller.

[0104] In Example 6, step 520 includes:

[0105] Step 521: Based on the predicted step size of the posture of the pole, determine the control step size of the speed increment of the control motor;

[0106] Step 522: Based on the control step size of the speed increment of the control motor, the speed increment sequence of each of the M groups of control motors, and the preset energy penalty coefficient of each of the control motors, determine the cumulative energy consumption value of all the M groups of control motors corresponding to all the control step sizes.

[0107] Among them, the energy penalty coefficient of the control motor refers to a dynamic parameter determined by the power of the control motor and the mechanical stiffness of the pole-holding system. In order to balance the attitude correction accuracy of the pole-holding system with the service life of the control motor of the cable-stayed device, the preferred reference value of the energy penalty coefficient is 1.

[0108] The boom attitude linkage control method in this embodiment first determines the speed increment control step size of the control motor based on the attitude prediction step size, achieving length matching between the prediction time domain and the control time domain. Then, based on the control step size, M candidate motor speed increment sequences, and preset energy penalty coefficients for each motor, the cumulative energy consumption value of each control scheme within the control step size is calculated. Compared to existing technologies, this invention explicitly embeds energy consumption costs into the boom attitude linkage control evaluation system, enabling the boom attitude linkage controller to actively identify and suppress high-energy-consuming control behaviors when selecting the best among multiple schemes. This is particularly suitable for differentiated energy-saving control scenarios in hoisting operations where the lifting motor has a high weight and the number of external cable motors is large.

[0109] In Example 7, step 400 includes:

[0110] Step 410: Obtain the mass of the pole and the relative lengths of the extension and retraction of each of the guy wires at the current moment;

[0111] The mass of the gantry refers to the total mass of the gantry body (including the auxiliary lifting mechanism); the relative length of each guy wire at the current moment refers to the change in the actual length of each guy wire at the current moment relative to the initial installation length (or zero-position calibration length).

[0112] Step 420: Determine the height of the pole at the current moment based on the relative length of each guy wire extension and retraction, the preset initial length of each guy wire, and the preset horizontal distance between each guy wire anchor.

[0113] The preset initial length of each guy wire refers to the geometric length of each guy wire from the top guy wire reel of the pole to the corresponding ground anchor point when the pole is in the vertical installation zero position; the preset horizontal distance of each guy wire ground anchor refers to the fixed horizontal distance between the projection position of each guy wire ground anchor point on the horizontal plane and the bottom of the pole (base rotation center).

[0114] For example, such as Figure 3 As shown, there are 4 guy wires. Guy wire (1), guy wire (2), guy wire (3) and guy wire (4) are external guy wires used to control the posture of the pole. The height of the pole is calculated using the parameters of guy wire (1), guy wire (2), guy wire (3) and guy wire (4). The initial length of these 4 guy wires is 30.0m, the horizontal distance between the ground anchors is 25.0m, and the relative lengths of the extension and retraction are +0.5m, +0.6m, +0.4m and +0.5m, respectively. Therefore, the actual lengths of these 4 guy wires are 30.5m, 30.6m, 30.4m and 30.5m, respectively. When the pole is vertical, the height of the pole corresponding to the four guy wires can be obtained using the Pythagorean theorem: H1=17.47m, H2=17.65m, H3=17.30m, and H4=17.47m. The current height of the pole is taken as the arithmetic mean of the calculation results of the four guy wires. The height of the pole can be calculated as H=(17.47+17.65+17.30+17.47)÷4≈17.47m, that is, the current height of the pole is 17.47m.

[0115] Step 430: Determine the attitude prediction system matrix of the pole based on the height of the pole, the mass of the pole, the gravitational acceleration, and the preset system damping coefficient of the pole.

[0116] The preset system damping coefficient of the pole refers to an inherent parameter used to characterize the energy dissipation characteristics of the pole system during motion; the attitude prediction system matrix of the pole refers to a discrete state transition matrix used to describe the attitude evolution law of the pole in multiple future control cycles.

[0117] For example, the attitude prediction system matrix of the pole can be expressed by the formula:

[0118] ,

[0119] In the formula, A represents the attitude prediction system matrix of the pole; g represents the gravitational acceleration, with a value of 9.8 m / s². 2 L represents the equivalent pendulum length of the boom at the current moment, which is equal to the current height H of the boom; c represents the preset system damping coefficient; O represents the moment of inertia of the boom, O≈ (m×H) 2 )÷3, where m is the mass of the pole and H is the current height of the pole.

[0120] Step 440: Determine the attitude prediction control matrix of the pole based on the height of the pole, the mass of the pole, the geometric angle between each of the guy wires and the horizontal plane, the relative length of each guy wire extension and retraction, and the preset winch drum radius of each of the control motors.

[0121] Among them, the preset winch drum radius of each control motor refers to the geometric radius value of the drum equipped with each winch motor used for winding and releasing the wire in the wire pulling device; the attitude prediction control matrix of the boom refers to a mathematical model established based on the boom's current structural parameters (height, mass), mechanical state (angle between the wire and the horizontal plane), geometric changes (wire extension and retraction length), and physical characteristics of the actuator (drum radius).

[0122] For example, such as Figure 3 As shown, there are four guy wire devices used to control the external guy wires of the boom. Each of the four guy wire devices contains a winch motor, and the radius of the winch drum is preset. Therefore, the attitude prediction and control matrix of the boom can be expressed by the formula:

[0123] ,

[0124] In the formula, B represents the attitude prediction control matrix of the boom; r1 represents the radius of the pre-set winch drum of the cable pulling device (1); r2 represents the radius of the pre-set winch drum of the cable pulling device (2); r3 represents the radius of the pre-set winch drum of the cable pulling device (3); r4 represents the radius of the pre-set winch drum of the cable pulling device (4); O represents the moment of inertia of the boom, O≈(m×H) 2 )÷3, where m represents the mass of the pole, H represents the current height of the pole; k1 represents the lever arm coefficient of the guy wire (1) at the real-time height of the pole; k2 represents the lever arm coefficient of the guy wire (2) at the real-time height of the pole; k3 represents the lever arm coefficient of the guy wire (3) at the real-time height of the pole; k4 represents the lever arm coefficient of the guy wire (4) at the real-time height of the pole. i =H×cosαi k i α represents the lever arm coefficient of guy wire i at the real-time height of the pole (i=1, 2, ..., 4), H represents the current height of the pole, and α i This represents the geometric angle between the string i and the horizontal plane.

[0125] Step 450: Summate the product of the attitude prediction system matrix of the boom and the attitude parameters of the boom, and the product of the attitude prediction control matrix of the boom and the speed increment sequence of each of the candidate M groups of control motors, to determine the attitude prediction values ​​of the boom in the M groups.

[0126] For example, the predicted attitude value of the pole can be expressed by the formula:

[0127] ,

[0128] ,

[0129] In the formula, k represents the attitude prediction step size of the kth pole, k = 1, 2, ..., N p X'(k) represents the rate of change of the attitude parameters of the pole at the k-th attitude prediction time step; X(k) represents the predicted attitude value of the pole at the k-th attitude prediction time step; U m (k) represents the sequence of speed increments of each of the m-th candidate control motors at the k-th attitude prediction time step; X(k+1) represents the attitude prediction value of the boom at the (k+1)-th attitude prediction time step; T s A represents the preset pole attitude prediction period; B represents the pole attitude prediction system matrix; and C represents the pole attitude prediction control matrix.

[0130] Assuming the pole attitude prediction period is T s The attitude prediction step N of the pole is 0.1s. p It consists of 3 steps, with a gravitational acceleration g of 9.8 m / s². 2 The mass m of the mast is 2000 kg, the current height H of the mast is 30 m, the system damping coefficient c of the mast is 2000 N·m·s, and the moment of inertia O of the mast is 600000 kg·m. 2 Therefore, after normalizing the data, the attitude prediction system matrix A of the pole is obtained as follows: Assuming the drum radii of the four guy wire devices are r1=0.2m, r2=0.2m, r3=0.2m, and r4=0.2m respectively, and the geometric angles between the four guy wires and the horizontal plane are α1=2°, α2=3°, α3=4°, and α4=1° respectively, then after normalizing the data, the attitude prediction control matrix B of the pole is obtained as follows: .

[0131] Meanwhile, assume there are two sets of normalized speed increment sequences for the control motor, denoted as follows: , Assume the current attitude parameters of the pole are X(0) = [0.02, 0.01]. T The predicted attitude values ​​of the boom corresponding to the normalized speed increment sequence of the control motor in the first group are calculated as X1(1)=[0.0210, 0.0193]. T X1(2) = [0.0229, 0.0276] T X1(3) = [0.0257, 0.0339] T The predicted attitude values ​​of the boom corresponding to the normalized speed increment sequence of the control motor in the second group are X2(1)=[0.0210, 0.0294]. T X2(2) = [0.0239, 0.0488] T X2(3) = [0.0288, 0.0681] T .

[0132] In this embodiment, the pole-holding attitude linkage control method is established based on the small angle assumption linearization and is applicable to working conditions where the pole tilt angle is less than 5°. In actual construction, if the pole tilt angle exceeds or is greater than 5° due to strong winds or sudden disturbances, the pole-holding attitude linkage controller will automatically switch to emergency correction mode and use the preset maximum safe speed to quickly correct the tilt. When the pole tilt angle is less than 5°, the pole-holding attitude linkage control method of this embodiment will be activated again.

[0133] The pole-mounted attitude linkage control method of this embodiment first calculates the real-time height of the pole using the extension length of each guy wire, the mass of the pole, and the preset initial length of the pole and the distance to the ground anchor. Second, it obtains the pole's attitude prediction system matrix using the real-time height, mass, gravitational acceleration, and system damping coefficient of the pole. Third, it obtains the pole's attitude control matrix using the real-time height of the pole, the geometric angles between each guy wire and the horizontal plane, and the preset winch drum radii of each control motor. Finally, it sums the product of the pole's attitude prediction system matrix and the pole's attitude parameters, and the product of the pole's attitude prediction control matrix and the speed increment sequences of the candidate M groups of control motors, to obtain the M groups of predicted pole attitude values. Compared with existing technologies, this invention integrates geometric and dynamic models, transforming the force control of physical entities into a computable mathematical problem, thereby achieving coordinated control of the boom's attitude. By comparing the prediction effects of multiple sets of speed increment sequences, the evolution trend of the boom's attitude can be predicted, avoiding boom overshoot or instability, and improving the boom's wind resistance and eccentric load resistance.

[0134] In embodiment eight, a pole-holding posture linkage control device 40 is provided; please refer to [reference needed]. Figure 5 ,include:

[0135] The data acquisition module 410 is used to acquire the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire.

[0136] The attitude prediction step length determination module 420 is used to determine the attitude prediction step length of the pole based on the climbing speed of the pole, the preset attitude prediction base step length of the pole, and the preset attitude prediction sensitivity coefficient of the pole. It is used to characterize the time period of attitude prediction of the target pole. Each step length in the attitude prediction step length corresponds to each time period within the time period.

[0137] The posture penalty weight determination module 430 is used to determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires.

[0138] The attitude prediction calculation module 440 is used to determine the attitude prediction values ​​of the M groups of the pole corresponding to each step in the attitude prediction step based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size and the speed increment sequence of each of the M candidate control motors, where M is a positive integer greater than one.

[0139] The trade-off calculation module 450 is used to determine the trade-off between the attitude prediction correction accuracy of the M poles and the energy loss of the M control motors based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M poles, the speed increment sequence of each of the M control motors, and the preset energy weight of each of the control motors.

[0140] The target speed control command output module 460 is used to select the smallest trade-off among the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Based on the optimal speed sequence, it outputs the target speed control command of each of the control motors of the cable pulling device at the next moment, so as to realize the adjustment of the pole holding posture.

[0141] Optionally, the aforementioned trade-off calculation module 450 includes:

[0142] The cumulative value calculation submodule for attitude deviation from target attitude is used to determine the cumulative value of attitude deviation from target attitude of the M groups corresponding to all steps in the attitude prediction step based on the attitude prediction step size of the pole, the attitude penalty weight of the pole, and the attitude prediction values ​​of the M groups of the pole.

[0143] The cumulative energy consumption value calculation submodule for the control motor is used to determine the cumulative energy consumption value of all the control motors in the M groups corresponding to all the control steps in the control step of the speed increment of the control motor based on the posture prediction step of the pole, the speed increment sequence of each of the M groups of control motors and the preset energy weight of the control motor.

[0144] The trade-off calculation submodule is used to sum the cumulative value of the deviation of the pole's attitude from the target attitude and the cumulative energy consumption value of the control motor, and determine the trade-off between the attitude prediction and correction accuracy of M poles and the energy loss of M control motors.

[0145] Optionally, the above-mentioned submodule for calculating the cumulative value of attitude deviation from the target attitude includes:

[0146] The attitude penalty weight calculation unit is used to determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole.

[0147] The cumulative value output module for attitude deviation from target attitude is used to determine the cumulative values ​​of attitude deviation from target attitude of the M groups corresponding to all steps in the attitude prediction step, the attitude penalty weight of the pole, and the attitude prediction values ​​of the M groups of the pole.

[0148] Optionally, the above-mentioned attitude penalty weight calculation unit includes:

[0149] The height sensitivity calculation subunit is used to determine the height sensitivity of the boom based on the ratio of the boom's height to a preset maximum working height of the boom.

[0150] The tension imbalance calculation subunit is used to determine the tension imbalance of the gantry rod based on the absolute value of the difference between the tension of each of the guy wires and the average value of the tension of each of the guy wires, and the preset reference tension of each of the guy wires.

[0151] The tilt angle penalty weight calculation subunit is used to determine the tilt angle penalty weight of the pole based on the height sensitivity of the pole, the tension imbalance of the pole, the preset tilt angle base weight of the pole, the preset height risk coefficient of the pole, and the preset coupling coefficient of the pole.

[0152] The attitude penalty weight calculation subunit is used to determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole.

[0153] Optionally, the attitude prediction step size determination module 420 includes:

[0154] The height measurement submodule is used to obtain the height of the pole at the current moment and in the previous sampling period;

[0155] The climbing speed calculation submodule is used to determine the climbing speed of the pole based on the current time, the height of the pole in the previous sampling period, and the preset sampling period.

[0156] The attitude prediction step length calculation submodule is used to determine the attitude prediction step length of the pole based on the product of the pole's climbing speed and the preset attitude prediction sensitivity coefficient of the pole, as well as the preset attitude prediction base step length of the pole.

[0157] Optionally, the above-mentioned submodule for calculating the cumulative energy consumption of the controlled motor includes:

[0158] The control step size determination unit is used to predict the step size based on the posture of the boom and determine the control step size of the speed increment of the control motor.

[0159] The cumulative energy consumption value output unit for the control motor is used to determine the cumulative energy consumption value of all the control motors in the M groups corresponding to all the control steps in the control step, based on the control step size of the speed increment of the control motor, the speed increment sequence of each of the M groups of control motors, and the preset energy penalty coefficient of each of the control motors.

[0160] Optionally, the attitude prediction calculation module 440 mentioned above includes:

[0161] The pole mass and guy wire extension length measurement submodule is used to obtain the mass of the pole and the relative extension length of each guy wire at the current moment;

[0162] The height acquisition submodule is used to determine the height of the pole at the current moment based on the relative length of each guy wire extension and retraction, the preset initial length of each guy wire, and the preset horizontal distance between each guy wire anchor.

[0163] The attitude prediction system matrix calculation submodule is used to determine the attitude prediction system matrix of the pole based on the height of the pole, the mass of the pole, the gravitational acceleration, and the preset system damping coefficient of the pole.

[0164] The attitude prediction control matrix calculation submodule is used to determine the attitude prediction control matrix of the pole based on the height of the pole, the mass of the pole, the geometric angle between each of the guy wires and the horizontal plane, the relative length of each guy wire extension and retraction, and the preset winch drum radius of each of the control motors.

[0165] The attitude prediction calculation submodule is used to sum the product of the attitude prediction system matrix of the boom and the attitude parameters of the boom, and the product of the attitude prediction control matrix of the boom and the speed increment sequence of each of the candidate M groups of control motors, to determine the attitude prediction values ​​of the boom in the M groups.

[0166] Specific limitations regarding the pole-holding attitude linkage control device can be found in the limitations of the pole-holding attitude linkage control method described above, and will not be repeated here. Each module in the aforementioned pole-holding attitude linkage control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independently of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0167] In embodiment nine, an electronic device 50 is provided; please refer to [reference needed]. Figure 6 It includes a memory 510 and a processor 520, wherein the memory 510 is used to store computer programs; the processor 520 is used to execute the programs stored in the memory 510 to implement the pole-holding attitude linkage control method described in any embodiment of this application.

[0168] In Embodiment 10, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the pole-holding attitude linkage control method described in any embodiment of this application.

[0169] In this application, "multiple" refers to two or more.

[0170] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0171] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0172] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0173] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0174] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for linkage control of pole-holding posture, characterized in that, The pole-holding attitude linkage control method includes: Step 100: Obtain the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire. Step 200: Based on the climbing speed of the pole, the preset basic step length for pole attitude prediction, and the preset sensitivity coefficient for pole attitude prediction, determine the pole attitude prediction step length, which is used to characterize the time period segmentation of the target pole attitude prediction. Each step length in the attitude prediction step length corresponds to each time period within the segmented time period. Step 300: Determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires. Step 400: Based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size, and the speed increment sequence of each of the M candidate control motors, determine the attitude prediction values ​​of the M groups of the pole corresponding to each step size in the attitude prediction step size, where M is a positive integer greater than one. Step 500: Based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M groups of poles, the speed increment sequence of each of the M groups of control motors, and the preset energy weight of each of the control motors, determine the balance between the attitude prediction correction accuracy of the M poles and the energy loss of all the M control motors. Step 600: Select the smallest trade-off from the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Output the target speed control command of each of the pull wire devices at the next moment according to the optimal speed sequence to realize the adjustment of the pole posture.

2. The pole-holding attitude linkage control method according to claim 1, characterized in that, Step 500 includes: Step 510: Based on the attitude prediction step length of the pole, the attitude penalty weight of the pole, and the M sets of attitude prediction values ​​of the pole, determine the cumulative values ​​of the M sets of attitude deviations of the pole from the target attitude corresponding to all steps in the attitude prediction step length. Step 520: Based on the posture prediction step length of the pole, the speed increment sequence of each of the control motors in the M groups, and the preset energy weight of the control motor, determine the cumulative energy consumption value of all the control motors in the M groups corresponding to all the step lengths of the speed increment of the control motor. Step 530: Sum the cumulative value of the deviation of the pole's attitude from the target attitude with the cumulative energy consumption value of the control motor to determine the trade-off between the M pole's attitude prediction and correction accuracies and the energy losses of the M control motors.

3. The pole-holding attitude linkage control method according to claim 2, characterized in that, Step 510 includes: Step 511: Determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole. Step 512: Based on the attitude prediction step length of the pole, the attitude penalty weight of the pole, and the M sets of attitude prediction values ​​of the pole, determine the cumulative value of the attitude deviation of the pole from the target attitude for all steps in the attitude prediction step length.

4. The pole-holding attitude linkage control method according to claim 3, characterized in that, Step 511 includes: Step 5111: Determine the height sensitivity of the boom based on the ratio of the boom's height to the preset maximum working height of the boom; Step 5112: Determine the tension imbalance of the pole based on the absolute value of the difference between the tension of each of the pull wires and the average value of the tension of each of the pull wires, and the preset reference tension of each of the pull wires. Step 5113: Determine the tilt angle penalty weight of the pole based on the height sensitivity of the pole, the tension imbalance of the pole, the preset tilt angle base weight of the pole, the preset height risk coefficient of the pole, and the preset coupling coefficient of the pole. Step 5114: Determine the attitude penalty weight of the pole based on the tilt angle penalty weight of the pole and the preset angular velocity penalty weight of the pole.

5. The pole-holding attitude linkage control method according to claim 1, characterized in that, Step 200 includes: Step 210: Obtain the height of the pole at the current time and in the previous sampling period; Step 220: Determine the climbing speed of the pole based on the current time, the height of the pole in the previous sampling period, and the preset sampling period; Step 230: Determine the attitude prediction step size of the pole based on the product of the climbing speed of the pole and the preset attitude prediction sensitivity coefficient of the pole, as well as the preset attitude prediction base step size of the pole.

6. The pole-holding attitude linkage control method according to claim 2, characterized in that, Step 520 includes: Step 521: Based on the predicted step size of the posture of the pole, determine the control step size of the speed increment of the control motor; Step 522: Based on the control step size of the speed increment of the control motor, the speed increment sequence of each of the M groups of control motors, and the preset energy penalty coefficient of each of the control motors, determine the cumulative energy consumption value of all the M groups of control motors corresponding to all the control step sizes.

7. The pole-holding attitude linkage control method according to claim 1, characterized in that, Step 400 includes: Step 410: Obtain the mass of the pole and the relative lengths of the extension and retraction of each of the guy wires at the current moment; Step 420: Determine the height of the pole at the current moment based on the relative length of each guy wire extension and retraction, the preset initial length of each guy wire, and the preset horizontal distance between each guy wire anchor. Step 430: Determine the attitude prediction system matrix of the pole based on the height of the pole, the mass of the pole, the gravitational acceleration, and the preset system damping coefficient of the pole. Step 440: Determine the attitude prediction control matrix of the pole based on the height of the pole, the mass of the pole, the geometric angle between each of the guy wires and the horizontal plane, the relative length of each guy wire extension and retraction, and the preset winch drum radius of each of the control motors. Step 450: Summate the product of the attitude prediction system matrix of the boom and the attitude parameters of the boom, and the product of the attitude prediction control matrix of the boom and the speed increment sequence of each of the candidate M groups of control motors, to determine the attitude prediction values ​​of the boom in the M groups.

8. A pole-holding posture linkage control device, characterized in that, The pole-holding attitude linkage control device includes: The data acquisition module is used to acquire the current height of the pole, the climbing speed of the pole, the attitude parameters of the pole, the attitude parameters of each guy wire of the pole, and the speed increment of the control motor of each guy wire device. The attitude parameters of the pole include the tilt angle and the angular velocity of the pole. The attitude parameters of each guy wire include the geometric angle between each guy wire and the horizontal plane and the tension of each guy wire. The attitude prediction step length determination module is used to determine the attitude prediction step length of the pole based on the climbing speed of the pole, the preset attitude prediction base step length of the pole, and the preset attitude prediction sensitivity coefficient of the pole. It is used to characterize the time period of attitude prediction of the target pole. Each step length in the attitude prediction step length corresponds to each time period within the time period. The posture penalty weight determination module is used to determine the posture penalty weight of the pole based on the height of the pole, the tension of each of the guy wires, the preset maximum working height of the pole, and the preset reference tension of each of the guy wires. The attitude prediction value calculation module is used to determine the attitude prediction values ​​of the M groups of the pole corresponding to each step in the attitude prediction step, based on the attitude parameters of the pole, the height of the pole, the attitude prediction step size and the speed increment sequence of each of the M candidate control motors, where M is a positive integer greater than one. The trade-off calculation module is used to determine the trade-off between the attitude prediction correction accuracy of the M poles and the energy loss of the M control motors based on the attitude prediction step size, the attitude penalty weight of the pole, the attitude prediction values ​​of the M poles, the speed increment sequence of each of the M control motors, and the preset energy weight of each of the control motors. The target speed control command output module is used to select the smallest trade-off among the M trade-offs, and take the speed increment sequence of each of the control motors corresponding to it as the optimal speed sequence. Based on the optimal speed sequence, it outputs the target speed control command of each of the control motors of the cable pulling device at the next moment, so as to realize the adjustment of the pole holding posture.

9. An electronic device, characterized in that, Including processor and memory, among which, Memory, used to store computer programs; A processor is used to execute a program stored in a memory to implement the pole-holding attitude linkage control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the pole-holding attitude linkage control method according to any one of claims 1-7.

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