Self-adaptive driving method and system for large-span curved steel box girder continuous jacking

Abstract

This invention discloses an adaptive drive method and system for continuous jacking of large-span curved steel box girders. The method includes: R100, starting the jacking drive assembly to jack the main girder; R200, monitoring the advancing speed and acceleration based on the curvature change of the main girder and transmitting this data to the controller to adjust the output power of the jacking drive assembly; R300, controlling the output power of the jacking drive assemblies on both sides according to the offset direction and angle of the main girder to balance the jamming caused by the offset; R400, while the guide correction assembly corrects the main girder, predicting the impact of the correction force on the drive and changing the output power of the jacking drive assembly to balance it; R500, adjusting the power of the jacking drive assembly according to the weight of the newly added segment to keep its advancing speed consistent with the set speed; R600, taking emergency braking measures if an unexpected situation affects the operation during the jacking process. By adaptively adjusting the drive, construction efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of bridge construction technology, and more specifically, relates to an adaptive driving method and system for continuous jacking of long-span curved steel box girders. Background Technology

[0002] In an era of rapid development in construction engineering, jacking technology is widely used in bridge and building construction. During jacking operations, due to the inherent height differences in the curved surfaces of bridges and building structures, shims are installed beneath the jacks to ensure their horizontal position. However, the jacks are heavy, and the space available for their installation under the bridge to be jacked is limited, making it difficult for workers to move them and requiring constant shimming during construction. Existing equipment uses two lifting devices in conjunction with a horizontal pushing device for jacking, but this still has the following shortcomings: when the lifting device connected to the horizontal pushing device moves to push the bridge, its stability is poor, posing a safety hazard.

[0003] Chinese Patent Publication No. CN111910532A discloses a jacking method for bridge erection jacking construction, comprising: S1, placing the jacking equipment between a temporary pier distribution beam and the bridge to be jacked, such that the support seat is placed on the temporary pier distribution beam; S2, activating the second electric telescopic rod, causing the support block to contact the bridge to be jacked and support it; S3, activating the two first electric telescopic rods, causing the arc-shaped support member to move and support it on the bridge to be jacked; S4, controlling the second electric telescopic rod to shorten, causing the support block to detach from the bridge to be jacked; S5. Start the motor to drive the worm gear to rotate. The worm gear drives the drive gear to rotate through the worm wheel it meshes with. When the drive gear rotates, it drives the first electric telescopic rod and the arc-shaped support connected to it to rotate through the driven gear it meshes with, thereby creating a relative position for the bridge to be pushed. S6. After the bridge to be pushed has moved relative to the other side, start the second electric telescopic rod again so that the support block contacts the bridge to be pushed. Then, control the first electric telescopic rod to shorten and start motor 3 to control the arc-shaped support to reset. S7. Repeat S3-S6 until the bridge to be pushed has moved to the set position.

[0004] Chinese patent CN111910532A describes alternating supports for bridges to be jacked, effectively improving construction efficiency. However, it cannot address the issue of inconsistent power requirements caused by the curvature of curved beams during jacking. Therefore, an adaptive driving method and system for continuous jacking of large-span curved steel box girders is needed. This method should automatically adjust the drive according to the working conditions at different times during the jacking process of the curved beam, ensuring a smooth and safe completion of the construction. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an adaptive drive method and system for continuous jacking of large-span curved steel box girders. By real-time monitoring of the advancing speed and acceleration of the main girder's front end and combining this with data analysis of curvature changes, the invention achieves refined control of the jacking process, effectively addressing resistance fluctuations caused by curvature changes and ensuring smooth movement of the main girder under various working conditions. This improves construction efficiency and safety. By monitoring the main girder's positional offset and adjusting the output power of the jacking drive components on both sides according to the offset direction and angle, the invention effectively corrects structural offsets, preventing the main girder from deviating from the predetermined trajectory and avoiding jamming problems caused by offsets, thus ensuring structural safety during construction. Adaptive adjustment of the drive reduces the need for manual adjustments and improves construction efficiency.

[0006] To achieve the above objectives, according to a first aspect of the present invention, an adaptive driving method for continuous jacking of a long-span curved steel box girder is provided, comprising the following steps:

[0007] R100. Install and secure the jacking drive assembly, and start the jacking drive assembly to begin jacking the main beam at the set speed.

[0008] R200, combined with the curvature change of the main beam, monitors the propulsion speed and acceleration data of its front end and transmits them to the controller. After analyzing the data, the controller controls the jacking drive component to adjust the output power.

[0009] When the position of the main beam is detected to be offset, the output power of the jacking drive components on both sides is controlled according to the direction and angle of the offset. The difference in driving force on both sides is used to balance the jamming caused by the offset.

[0010] While the R400 guide correction assembly corrects the main beam, it monitors the applied correction force, predicts the impact of the correction force on the drive, and balances the impact by changing the output power of the jacking drive assembly.

[0011] After continuously adding segments to the R500 main beam, adjust the power of the jacking drive assembly according to the weight of the newly added segments to keep its jacking speed consistent with the set speed.

[0012] During the R600 jacking process, if an emergency occurs that affects the operation, take emergency braking measures, slowly reduce the speed until it stops completely, and after troubleshooting, start the jacking drive assembly to complete the jacking.

[0013] Furthermore, step R200 also includes the following steps:

[0014] R210 continuously acquires the velocity and acceleration data of the front end of the main beam and transmits the acquired data to the controller in real time;

[0015] R220: Analyze and process the data to identify the motion characteristics at the current moment, and combine the curvature information and center of gravity position of the main beam to predict the impact during the subsequent propulsion process;

[0016] R230. Based on the predicted impact, adjust the drive power of the jacking drive assembly in advance to balance the increase or decrease of resistance.

[0017] Furthermore, in step R220, it is necessary to calculate the resistance encountered by the main beam during propulsion, and then calculate the driving force of the jacking drive assembly using this resistance.

[0018] The total resistance F encountered by the main beam during propulsion r :

[0019] F r =F f +F c +F a +F e ,

[0020] Among them, F f For friction,

[0021] F c This is due to the additional force caused by curvature.

[0022] F a For air resistance,

[0023] F e The resistance caused by the elastic deformation of the structure;

[0024] The additional force F caused by curvature c for:

[0025]

[0026] Where m is the mass of the main beam.

[0027] v is the velocity at the front end of the main beam.

[0028] R is the radius of curvature of the main beam at the current point;

[0029] The air resistance F a for:

[0030]

[0031] Among them, C d This is the drag coefficient.

[0032] ρ is the air density.

[0033] A represents the windward area.

[0034] Furthermore, the driving force F of the push drive assembly 6 d for:

[0035] F d =F r +ma,

[0036] Where a is the acceleration at the front end of the main beam.

[0037] Furthermore, in step R230, the change in driving force ΔF of the jacking drive assembly d (t) is:

[0038]

[0039] Among them, K p For proportional gain,

[0040] K i For integral gain,

[0041] K d For differential gain,

[0042] e(t) represents the velocity error.

[0043] Furthermore, using the change in driving force ΔF d (t) The final driving force F of the pusher drive assembly is calculated. d，n for:

[0044] F d，n =F d +ΔF d (t).

[0045] Finally, the final driving force F will be determined. d，n Converted to drive power output.

[0046] Furthermore, step R300 also includes the following steps:

[0047] R310. When the position of the main beam is detected to be offset, if jamming of the main beam jacking is also detected at the same time, read the torque on the output shaft of the jacking drive assembly on both sides.

[0048] R320. If the torque difference on the output shaft of the push drive assembly on both sides does not exceed 15%, the push drive assembly on the side with smaller torque will gradually increase its output power. After the jamming is released, its power will be reduced to the same level as both sides.

[0049] R330. If the torque difference on the output shaft of the push drive assembly on both sides exceeds 15%, the push drive assembly on the side with the larger torque will gradually reduce its output power until it is reduced to zero, then start reverse drive, and gradually increase its output power. After the jamming is released, the drive direction and power will be restored to the same level as both sides.

[0050] R340. If the torque difference on the output shaft of the two push drive components exceeds 25%, control the two push drive components to gradually reduce the power until the machine stops, and at the same time, alarm. Release the jamming by external force, check that the equipment is fault-free, and then restart the push drive components to drive.

[0051] Furthermore, step R400 also includes the following steps:

[0052] R410. When a main beam misalignment is detected, the guide correction assembly is activated, and the lateral force acting on the main beam by each guide correction assembly is monitored and transmitted to the controller.

[0053] R420. Establish a dynamic model to predict the impact of lateral force on the jacking process, and analyze data including the additional drag, velocity changes, and vibrations caused by the lateral force.

[0054] R430. Based on the data obtained in step R420, adjust the output power of the push drive assembly. If the lateral force causes additional resistance, increase the driving force to maintain the set speed; if the lateral force reduces the resistance, reduce the driving force accordingly.

[0055] R440. Continue to monitor the speed, position, and changes in the corrective force of the main beam. If the lateral force is too large or the corrective effect is poor, stop driving to avoid greater deviation.

[0056] Furthermore, step R500 also includes the following steps:

[0057] R510: Obtain the mass of the newly installed segment, redetermine the center of gravity of the main beam after splicing, and input these data into the controller;

[0058] R520. Based on the input data and the overall curvature of the main beam after splicing, recalculate the driving force required for jacking and convert it into the output power of the jacking drive component.

[0059] R530. After power adjustment, continue to monitor parameters of the main beam, including the actual propulsion speed, and further fine-tune the power according to the actual situation. If the actual speed deviates from the set value, make timely fine-tuning until the target speed is reached.

[0060] According to a second aspect of the present invention, an adaptive drive system for continuous jacking of a long-span curved steel box girder is provided, comprising:

[0061] The jacking module is used to install and fix the jacking drive assembly, and to start the jacking drive assembly to begin jacking the main beam at a set speed.

[0062] The monitoring module is used to monitor the advancing speed and acceleration data of the front end of the main beam in combination with the curvature change, and transmit the data to the controller. After analyzing the data, the controller controls the jacking drive component to adjust the output power.

[0063] The first adjustment module is used to control the output power of the jacking drive components on both sides according to the direction and angle of the offset when the position of the main beam is detected to be offset. The difference in driving force on both sides is used to balance the jamming caused by the offset.

[0064] The second adjustment module is used to monitor the applied correction force while the guide correction component corrects the main beam, predict the impact of the correction force on the drive, and balance the impact by changing the output power of the jacking drive component.

[0065] The third adjustment module is used to adjust the power of the jacking drive assembly according to the weight of the newly added segments after segments are continuously added to the main beam, so that its jacking speed is consistent with the set speed.

[0066] The braking module is used to take emergency braking measures in case of sudden situations affecting the operation during the jacking process, to slowly reduce the speed until it comes to a complete stop, and to start the jacking drive component to complete the jacking after the problem is eliminated.

[0067] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0068] 1. The adaptive drive method of the present invention achieves refined control of the jacking process by real-time monitoring of the advancing speed and acceleration of the front end of the main beam and combining data analysis with curvature changes. It effectively copes with the resistance fluctuations caused by curvature changes, ensuring that the main beam can move smoothly under different working conditions, thereby improving construction efficiency and safety. At the same time, the feedback-based closed-loop control system can quickly respond to and correct deviations, reduce human intervention, and improve the level of automation.

[0069] 2. The adaptive drive method of the present invention monitors the positional offset of the main beam and adjusts the output power of the jacking drive components on both sides according to the offset direction and angle, thereby effectively correcting the structural offset, preventing the main beam from deviating from the predetermined trajectory, avoiding jamming problems caused by offset, ensuring structural safety during construction, reducing the need for manual adjustment through automated correction operation, improving construction efficiency, and also reducing errors that may be caused by manual operation.

[0070] 3. The adaptive drive method of the present invention uses a guide correction component to correct the main beam and predicts its impact on the drive by monitoring the correction force. Then, the output power of the jacking drive component is adjusted to balance this impact, ensuring that the correction operation does not interfere with the normal jacking process and maintaining the stability of the entire system. By precisely controlling the drive force, the additional resistance or assistance brought by the correction force is effectively offset, so that the main beam can still maintain a constant speed during the correction process, thereby improving construction quality and safety.

[0071] 4. The adaptive drive method of the present invention adapts to the change of added weight by adjusting the power of the jacking drive component, ensuring that the propulsion speed is consistent with the set speed, and timely compensating for the change in driving force demand caused by the addition of segments. It avoids the phenomenon of speed decrease or instability caused by the increase of weight. Through precise power adjustment, it not only ensures the continuity of construction progress, but also reduces energy waste and improves the economic benefits of the overall project. Attached Figure Description

[0072] Figure 1 This is a flowchart illustrating a continuous jacking method for a large-span curved steel beam according to an embodiment of the present invention.

[0073] Figure 2 This is a schematic diagram of the specific process of step S400 of a continuous jacking method for a large-span curved steel beam according to an embodiment of the present invention.

[0074] Figure 3 This is a schematic diagram of the specific process of step S500 in a continuous jacking method for a large-span curved steel beam according to an embodiment of the present invention.

[0075] Figure 4 This is a schematic diagram of a continuous jacking device for a large-span curved steel beam according to an embodiment of the present invention;

[0076] Figure 5 This is an embodiment of the present invention. Figure 4 Enlarged structural diagram of section A;

[0077] Figure 6 This is a schematic diagram of the installation structure of the jacking drive assembly of a continuous jacking device for large-span curved steel beams according to an embodiment of the present invention;

[0078] Figure 7 This is a schematic diagram of the installation structure of the guide and correction component of a continuous jacking device for large-span curved steel beams according to an embodiment of the present invention;

[0079] Figure 8 This is a flowchart illustrating an adaptive driving method for continuous jacking of a long-span curved steel box girder according to an embodiment of the present invention.

[0080] Figure 9This is a flowchart illustrating step R200 in an adaptive driving method for continuous jacking of a long-span curved steel box girder according to an embodiment of the present invention.

[0081] Figure 10 This is a flowchart illustrating step R300 in an adaptive driving method for continuous jacking of a long-span curved steel box girder according to an embodiment of the present invention.

[0082] Figure 11 This is a flowchart illustrating step R400 in an adaptive driving method for continuous jacking of a long-span curved steel box girder according to an embodiment of the present invention.

[0083] Figure 12 This is a flowchart illustrating step R500 in an adaptive driving method for continuous jacking of a long-span curved steel box girder according to an embodiment of the present invention.

[0084] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-permanent pier, 2-main beam, 3-front guide beam, 4-rear guide beam, 5-support assembly, 501-temporary jacking support, 502-temporary correction support, 503-temporary support support, 504-main beam splicing support, 6-jacking drive assembly, 7-guide and correction assembly, 8-adjusting support. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0086] Example 1

[0087] like Figure 1 As shown, this embodiment of the invention provides a method for continuous jacking of large-span curved steel beams, specifically including the following steps:

[0088] S100, a jacking temporary support 501 and a correction temporary support 502 are set on both sides of the permanent pier 1, and a supporting temporary support 503 and a main beam splicing support 504 are set between the transverse permanent piers 1.

[0089] S200, a permanent support is installed on the top of the permanent pier 1, a jacking drive assembly 6 is set on the jacking temporary support 501, a guide correction assembly 7 is set on the correction temporary support 502, and a rolling assembly is set on the support temporary support 503.

[0090] S300. Each segment of the main beam 2 is further divided into multiple prefabricated segments for prefabrication. A front guide beam 3 is set at the front end of the frontmost prefabricated segment, and a rear guide beam 4 is set at the rear end of the last prefabricated segment, and fixed to the jacking drive assembly 6.

[0091] S400, on the main beam splicing bracket 504, the jacking drive assembly 6 pushes the rear guide beam 4 to connect the last precast segment with the front precast segment and weld them together. The jacking drive assembly 6 then pulls the rear guide beam 4 back to the last end, places a new precast segment to make it the new last precast segment, and repeats the jacking to complete the welding of all precast segments of the current segment.

[0092] S500, after removing the jacking drive assembly 6 from the rear guide beam 4, install it at the front end of the front guide beam 3. The jacking drive assembly 6 pulls the front guide beam 3 to move the spliced ​​segments of the main beam 2 forward, so that the front guide beam 3 reaches the next permanent pier 1. At this time, the main beam splicing bracket 504 is freed up.

[0093] Before and after steps S600 and S500, the guide correction component 7 is used to correct the axial position of the main beam 2, so that it is always kept within a reasonable error range during the installation process. At the same time, the height of the adjustment support 8 is adjusted so that the forward direction of the main beam 2 matches its curvature.

[0094] S700, Remove the jacking drive assembly 6 and the rear guide beam 4, and install them at the rear end of the next precast segment. Repeat steps S400-S600 until all segments of the main beam 2 are jacked and installed.

[0095] S800. Install a hinge support on the foremost permanent pier 1, so that the foremost end of the main beam 2 is connected to the hinge support. Using the hinge support as a fulcrum, rotate the main beam 2 so that it falls onto the permanent supports on other permanent piers 1 and is fixed.

[0096] S900, Remove the hinge support on the foremost permanent pier 1, install a permanent support on the permanent pier 1 and fix it to the foremost end of the main beam 2.

[0097] By dividing the main beam 2 into different segments, and then dividing each segment into multiple prefabricated segments, multiple segments can be spliced ​​at the same construction site, saving construction space and reducing construction steps. At the same time, when constructing the front segment, the rear segment is not installed, avoiding the entire main beam 2 from colliding due to the overall curvature, which would cause construction difficulties.

[0098] The precast sections are moved to their designed positions by a combination of jacking and dragging. For short precast sections, jacking is used to ensure better contact with the preceding precast section for welding and fixing. For long sections, dragging is used to ensure more even stress distribution during movement and to avoid frequent swaying.

[0099] Since the main beam 2 is formed as a beam slab with a certain arc shape, during the jacking process, it is necessary to control the bottom surface of its foremost precast section to always remain above the support component 5. Therefore, during the jacking process of all precast sections, it is necessary to plan the path of each precast section and use the adjusting support 8 to adjust the height of different segments of the main beam 2 to achieve precise control.

[0100] like Figure 2 As shown, in step S400, since the lengths and curvatures of different segments of the main beam 2 are different, it is necessary to calculate the overall angle, height, and position of different segments. The specific steps are as follows:

[0101] S410. Based on the design parameters, the terrain, permanent pier 1 and the main beam 2 after completion are modeled in three dimensions to obtain a scaled three-dimensional model of the completed bridge.

[0102] S420. In the completed scale bridge 3D model, the main beam 2 is positioned above the support component 5. The main beam 2 is moved to the rear end. The optimal advancement route for different segments is simulated by working backward.

[0103] S430. Cut out the optimal advancement path of each segment on the main beam splicing support 504, obtain the attitude of each segment on the main beam splicing support 504, and then use the position of the current precast segment and its rear precast segment to simulate and determine the optimal advancement path of each precast segment.

[0104] S440. Based on the optimal advancement route of the precast segments on each segment, adjust the shape of the main beam splicing bracket 504 to fit the angle and positional relationship of the precast segments on their optimal advancement route, and then advance them according to the optimal advancement route of the precast segments to connect them into segments.

[0105] In step S420, during the reverse calculation process, the final landing point of each segment is on the main beam splicing support 504, and the route recording of that segment ends after the front end face of each segment reaches the main beam splicing support 504.

[0106] During the reverse calculation process, the optimal propulsion route is the one that generates the least amount of additional motion during the movement of the main beam 2. This route is determined by the rotation frequency, rotation angle, vertical center of gravity movement frequency, and vertical center of gravity movement distance of the main beam 2, specifically by the Extra Motion Index (EMI). The lower the EMI value, the more suitable the corresponding propulsion route is for selection. The EMI is:

[0107]

[0108] in, The cumulative angular velocity of the main beam during the entire jacking process, i.e., the amplitude of rotation.

[0109] The cumulative angular acceleration of the main beam during the entire jacking process, i.e., the change in rotational rate,

[0110] This refers to the cumulative vertical acceleration of the main beam's center of gravity during the entire jacking process, i.e., the amplitude of the center of gravity's vertical vibration.

[0111] f v The frequency of the main beam's center of gravity movement.

[0112] f h The horizontal displacement frequency of the main beam

[0113] D h The horizontal offset of the center of gravity of the main beam.

[0114] This refers to the cumulative acceleration of the main beam's center of gravity during the entire jacking process, i.e., the acceleration of the center of gravity in space.

[0115] The position vector r of the center of gravity of the main beam c (t) is:

[0116] r c (t) = [x(t), y(t), z(t)] T ,

[0117] Where x(t), y(t), and z(t) are the front-back, left-right, and vertical coordinates of the main beam's center of gravity, respectively. The angular velocity ω(t) of the main beam's rotation is:

[0118]

[0119] Where R(t) is the attitude matrix of the main beam, which is a rotation matrix with respect to time. In step S430, the position and attitude of the precast segment are:

[0120]

[0121] Where t is the translation matrix, representing the change in position.

[0122] R is the rotation matrix, representing the change in attitude.

[0123] (x m y m , z m () represents the coordinates of the centroid of the precast segment m.

[0124] (x′ m y′ m , z′ m ) represents the change in the position coordinates of the center of gravity of the precast segment m.

[0125] The translation matrix T is:

[0126]

[0127] The rotation matrix R is:

[0128] R = R z (γ m )·R y (β m )·Rx(α m ),

[0129] Among them, R x (α m Let be the rotation matrix about the x-axis.

[0130] R y (β m Let be the rotation matrix about the y-axis.

[0131] R z (γ m ) is the rotation matrix about the z-axis.

[0132] The rotation matrix R around the x-axis x (α m )for:

[0133]

[0134] Rotation matrix R around the y-axis y (β m )for:

[0135]

[0136] Rotation matrix R about the z-axis z (γ m )for:

[0137]

[0138] Where, α m ,β m γ m These are the angles of the precast segment m around the x, y, and z axes, respectively.

[0139] like Figure 3 As shown, step S500 also includes the following steps:

[0140] S510. Construct a functional relationship between the position of the leading beam 3 and the height of all adjusting supports 8 according to the optimal propulsion route, and set an interlock between the leading beam 3 and the adjusting supports 8.

[0141] S520. Set up a temporary jacking support 501 along the optimal advancement route of the foremost segment. Remove the jacking drive assembly 6 from the rear guide beam 4 and install it at the front end of the front guide beam 3. The jacking drive assembly 6 drives the front guide beam 3 to move along the temporary jacking support 501.

[0142] S530. During the forward movement of the guide beam 3, the adjusting support 8 determines the height of the main beam 2 at its current support point based on the position of the guide beam 3, and then adjusts its own height to support the main beam 2, so that each segment of the main beam 2 is always kept in the optimal advancement path.

[0143] In step S520, the position s of the guide beam 3 d (t) is:

[0144]

[0145] Among them, s t (t) represents the position of the temporary support being pushed down directly below the guide beam.

[0146] v d (τ) represents the speed of the push drive component.

[0147] The speed v of the push drive component d (τ) is determined by the dynamic equations, specifically:

[0148]

[0149] The total mass of the m-push drive assembly, the front guide beam, the main beam, and the rear guide beam is included.

[0150] For the acceleration of the push drive component,

[0151] F d The driving force provided for the driving components

[0152] F f This includes resistance forces, including friction.

[0153] In step S530, the height h of the adjusting support 8 is... m (t) is:

[0154]

[0155] Among them, v h (t) represents the speed at which the height of the support is adjusted.

[0156] h m (t-Δt) represents the height of the support at the previous moment.

[0157] After step S700, it is also necessary to remove the front guide beam 3, the jacking temporary support 501, the correction temporary support 502, and the main beam splicing support 504 to make room for the subsequent beam lowering and fixing.

[0158] Example 2

[0159] like Figure 4 , 5 As shown, this embodiment of the invention provides a continuous jacking device for a long-span curved steel beam, including support components 5 on both sides of a permanent pier 1, a jacking drive component 6 on the support components 5, a guide and correction component 7 on the support components 5, and an adjusting support 8. The drive beam 2 is divided into multiple segments, and each segment of the main beam 2 is fixedly connected by welding. Each segment includes multiple precast sections, and each precast section is also fixedly connected by welding.

[0160] The support assembly 5 includes a main beam splicing bracket 504 located at the rear end of the last permanent pier 1, a jacking temporary bracket 501 located on both sides of the main beam splicing bracket 504 and the permanent pier 1, a supporting temporary bracket 503 located on both sides of the main beam splicing bracket 504 and the permanent pier 1, and a correction temporary bracket 502.

[0161] like Figure 6 As shown, the jacking drive assembly 6 uses a motor and a reducer for power. The output end of the reducer is connected to a gear via a universal coupling. The gear engages with a rack, which is segmented and fixed to the jacking temporary support 501 by an I-beam. The motor is a dual-motor system, one in operation and one on standby. When started, the drive gear moves on the rack, thereby driving the main beam 2 forward on the jacking temporary support 501 via the front guide beam 3 or the rear guide beam 4. The drive gear is surrounded by a housing, with the gear protruding from the bottom of the housing. A set of vertical and horizontal limiting wheels are provided on both sides of the protruding bottom portion of the gear. Each set of vertical limiting wheels includes upper and lower guide wheels with a gap between them, the gap being the same thickness as the I-beam of the rack, just enough to clamp the rack and the I-beam. Each set of horizontal limiting wheels includes horizontally positioned guide wheels, the distance between the two horizontal guide wheels being the same as the width of the I-beam, clamping both sides of the I-beam. The vertical limiting wheel prevents the gear and rack from moving vertically during the propulsion process, thus preventing them from breaking the meshing. The horizontal guide wheel prevents the gear and rack from moving horizontally during the propulsion process, thus preventing them from breaking the meshing. The vertical limiting wheel and the horizontal guide wheel are used together to limit the gear and prevent it from disengaging from the rack during the movement, thus affecting the propulsion of the main beam 2.

[0162] like Figure 7As shown, the guiding and correcting assembly 7 is mounted on the temporary correction support 502. It includes a guide roller and a hydraulic cylinder. The guide roller includes a guide wheel, a rubber sleeve, a limiting plate, and a support structure. The support structure is used to fix the guide roller to the output end of the hydraulic cylinder. The hydraulic cylinder is fixed to the temporary correction support 502. The hydraulic cylinder pushes the guide roller, causing the guide wheel to exert a thrust on the side wall of the main beam 2, thereby adjusting the lateral position of the main beam 2. The rubber sleeve is fitted onto the guide wheel to reduce the force generated by the collision between it and the main beam 2.

[0163] The adjusting support 8 is mounted on the temporary support 503, and a roller is provided on its top. An adjusting assembly is also provided between the roller and the adjusting support 8. The adjusting assembly includes a height adjusting structure and an angle adjusting structure. The height adjusting structure is used to adjust the height of the roller so that it always fits against the bottom of the main beam 2 to provide support. Since the main beam 2 is a curved beam and at least two rollers are used side by side, only one roller may be under load, causing it to overload and be damaged. Therefore, the angle adjusting structure adjusts the height of each roller individually so that the side-by-side rollers form an angle to fit against the bottom surface of the main beam 2, making the force more even, extending the service life of the device, and enhancing the device's performance.

[0164] Example 3

[0165] In step S500, the jacking drive assembly 6 is used to drive the main beam 2 forward. During the driving process, because the main beam 2 is a curved beam with a certain curvature, and the leading beam 3 does not move horizontally throughout the jacking process, it is also affected by the offset of the main beam 2 and the change in segment weight, resulting in different driving forces required at each moment. Therefore, it is necessary to control the driving power of the jacking drive assembly 6 to meet the needs of different working conditions at different times and ensure that the jacking of the main beam 2 is more stable.

[0166] like Figure 8 As shown, this embodiment of the invention provides an adaptive driving method for continuous jacking of long-span curved steel box girders, comprising the following steps:

[0167] R100, Install and fix the jacking drive assembly 6, and start the jacking drive assembly 6 to begin jacking the main beam 2 at the set speed;

[0168] R200, combined with the curvature change of the main beam 2, monitors the propulsion speed and acceleration data of its front end and transmits them to the controller. After analyzing the data, the controller controls the jacking drive component 6 to adjust the output power.

[0169] When the position of the main beam 2 is detected to be offset, the output power of the two jacking drive components 6 is controlled according to the offset direction and angle. The difference in driving force on both sides is used to balance the jamming caused by the offset.

[0170] While R400 and the guide correction component 7 correct the main beam 2, the correction force applied by them is monitored, the impact of the correction force on the drive is predicted, and the impact is balanced by changing the output power of the jacking drive component 6.

[0171] After continuously adding segments to the R500 main beam, adjust the power of the jacking drive assembly 6 according to the weight of the newly added segments to keep its pushing speed consistent with the set speed.

[0172] During the R600 jacking process, if an emergency occurs that affects the operation, take emergency braking measures, slowly reduce the speed until it stops completely, and after troubleshooting, start the jacking drive assembly 6 to complete the jacking.

[0173] like Figure 9 As shown, step R200 also includes the following steps:

[0174] R210 continuously acquires the velocity and acceleration data of the front end of the main beam 2 and transmits the acquired data to the controller in real time;

[0175] R220: Analyze and process the data to identify the motion characteristics at the current moment, and combine the curvature information and center of gravity position of the main beam 2 to predict the impact during the subsequent propulsion process;

[0176] R230. Based on the predicted impact, adjust the drive power of the jacking drive assembly 6 in advance to balance the increase or decrease of resistance.

[0177] In step R220, the resistance encountered by the main beam 2 during its advancement needs to be calculated, and then the driving force of the jacking drive assembly 6 is calculated using this resistance. The total resistance F encountered by the main beam 2 during its advancement is... r :

[0178] F r =F f +F c +F a +F e ,

[0179] Among them, f f For friction,

[0180] F c This is due to the additional force caused by curvature.

[0181] F a For air resistance,

[0182] F e This refers to the resistance caused by the elastic deformation of the structure.

[0183] The additional force F caused by curvature c for:

[0184]

[0185] Where m is the mass of the main beam.

[0186] v is the velocity at the front end of the main beam.

[0187] R is the radius of curvature of the main beam at the current point.

[0188] The air resistance F a for:

[0189]

[0190] Among them, C d This is the drag coefficient.

[0191] ρ is the air density.

[0192] A represents the windward area.

[0193] The driving force F of the push drive assembly 6 d for:

[0194] F d =F r +m d ,

[0195] Where a is the acceleration at the front end of the main beam.

[0196] In step R230, the change in driving force ΔF of the jacking drive assembly 6 d (t) is:

[0197]

[0198] Among them, K p For proportional gain,

[0199] K i For integral gain,

[0200] K d For differential gain,

[0201] e(t) represents the velocity error.

[0202] The velocity error e(t) is:

[0203] e(t) = v set -v(t),

[0204] Among them, v set To set the speed,

[0205] v(t) is the actual velocity.

[0206] Using the change in driving force ΔF d (t) The final driving force F of the push drive assembly 6 is calculated. d，n for:

[0207] F d，n =F d +ΔF d (t).

[0208] Finally, the final driving force F will be determined. d，n Converted to drive power output.

[0209] like Figure 10 As shown, step R300 also includes the following steps:

[0210] R310. When the position of the main beam 2 is detected to be offset, if the jacking of the main beam 2 is also detected to be jammed, the torque on the output shaft of the jacking drive assembly 6 on both sides is read.

[0211] R320. If the torque difference on the output shaft of the push drive assembly 6 on both sides does not exceed 15%, the push drive assembly 6 on the side with smaller torque will gradually increase its output power. After the jamming is released, its power will be reduced to the same level as both sides.

[0212] R330. If the torque difference on the output shaft of the push drive assembly 6 on both sides exceeds 15%, the push drive assembly 6 on the side with the larger torque will gradually reduce its output power until it is reduced to zero, then start reverse drive, and gradually increase its output power. After the jamming is released, the drive direction and power will be restored to the same level as both sides.

[0213] R340. If the torque difference on the output shaft of the two push drive components 6 exceeds 25%, control the two push drive components 6 to gradually reduce the power until the machine stops, and at the same time, alarm. Release the jam by external force, check that the equipment is fault-free, and then restart the push drive components 6 to drive.

[0214] In step R320, if the output power of the push drive assembly 6 on the smaller side is increased to the point that the torque exceeds that on the other side by 15%, and the jamming situation is still not resolved, then the output power of both push drive assemblies 6 on both sides is gradually reduced until the machine stops, and an alarm is triggered at the same time.

[0215] In step R330, as the output power of the larger push drive assembly 6 gradually decreases, the output power of the other push drive assembly 6 also gradually decreases until both output powers drop to zero. After reversing the drive, the output power of the other push drive assembly 6 gradually increases in the same direction as the original drive. If the torque of either of them reaches the torque on the output shaft of the smaller push drive assembly 6 when jamming occurs in the push of the main beam 2, and the jamming has not been resolved, then both push drive assemblies 6 are controlled to gradually decrease their output power until the machine stops, and an alarm is triggered.

[0216] like Figure 11 As shown, step R400 also includes the following steps:

[0217] R410. When the main beam 2 is detected to be offset, the guide correction component 7 is activated. At the same time, the lateral force acting on the main beam 2 by each guide correction component 7 is monitored, and the monitored lateral force is transmitted to the controller.

[0218] R420. Establish a dynamic model to predict the impact of lateral force on the jacking process, and analyze data including the additional drag, velocity changes, and vibrations caused by the lateral force.

[0219] R430. Based on the data obtained in step R420, adjust the output power of the push drive assembly 6. If the lateral force causes additional resistance, increase the driving force to maintain the set speed; if the lateral force reduces the resistance, reduce the driving force accordingly.

[0220] R440. Continue to monitor the speed, position, and correction force of the main beam 2. If the lateral force is too large or the correction effect is not good, stop driving to avoid greater deviation.

[0221] In step S420, the additional drag F caused by the lateral force e for:

[0222] F e =αF s ,

[0223] Where α is the lateral force proportionality coefficient.

[0224] F s This is a lateral force.

[0225] The velocity change v(t) is:

[0226]

[0227] Where v0 is the initial velocity,

[0228] 'a' represents acceleration.

[0229] The acceleration a is:

[0230]

[0231] Among them, F d The driving force for the push drive component,

[0232] F r For total resistance,

[0233] m is the mass of the main beam.

[0234] The lateral force F generated by the vibration s (t) is:

[0235]

[0236] Where y is the vibration displacement.

[0237] c is the damping coefficient.

[0238] k is the stiffness of the main beam.

[0239] In step R430, the optimal input value u(t) is obtained through cost function control. When the value of control f is minimized, u(t) is the driving force of the updated push-drive component. The cost function is:

[0240]

[0241] Among them, T p For the predicted time domain,

[0242] P is the state error weight matrix.

[0243] S is the control energy weight matrix.

[0244] z(t) is a state variable.

[0245] like Figure 12 As shown, step R500 also includes the following steps:

[0246] R510: Obtain the mass of the newly installed segment, redetermine the center of gravity of the main beam after splicing, and input these data into the controller;

[0247] R520. Based on the input data and the overall curvature of the main beam after splicing, recalculate the driving force required for jacking and convert it into the output power of the jacking drive component 6.

[0248] R530. After power adjustment, continue to monitor parameters of the main beam 2, including the actual propulsion speed, and further fine-tune the power according to the actual situation. If the actual speed deviates from the set value, make timely fine-tuning until the target speed is reached.

[0249] Example 4

[0250] This invention provides an adaptive drive system for continuous jacking of long-span curved steel box girders, comprising:

[0251] The jacking module is used to install and fix the jacking drive assembly 6, and to start the jacking drive assembly 6 to jack the main beam 2 at a set speed.

[0252] The monitoring module is used to monitor the propulsion speed and acceleration data of the front end of the main beam 2 in combination with the curvature change, and transmit the data to the controller. After analyzing the data, the controller controls the jacking drive component 6 to adjust the output power.

[0253] The first adjustment module is used to control the output power of the two jacking drive components 6 respectively according to the direction and angle of the offset when the position of the main beam 2 is detected to be offset. The difference in driving force on both sides is used to balance the jam caused by the offset.

[0254] The second adjustment module is used to monitor the applied correction force of the guide correction component 7 while it corrects the main beam 2, predict the impact of the correction force on the drive, and balance the impact by changing the output power of the jacking drive component 6.

[0255] The third adjustment module is used to adjust the power of the jacking drive assembly 6 according to the weight of the newly added segments after segments are continuously added to the main beam, so that its jacking speed is consistent with the set speed.

[0256] The braking module is used to take emergency braking measures in case of sudden situations affecting the operation during the jacking process, to slowly reduce the speed until it comes to a complete stop, and to start the jacking drive component 6 to complete the jacking after the problem is eliminated.

[0257] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive driving method for continuous jacking of long-span curved steel box girders, characterized in that, Includes the following steps: R100, Install and fix the jacking drive assembly (6), start the jacking drive assembly (6) to start jacking the main beam (2) at the set speed; R200, combined with the curvature change of the main beam (2), monitor the propulsion speed and acceleration data of its front end, and transmit them to the controller. After the controller analyzes the data, it controls the top push drive component (6) to adjust the output power. When the position of the main beam (2) is detected to be offset, the output power of the push drive components (6) on both sides is controlled according to the offset direction and angle. The difference in driving force on both sides is used to balance the jam caused by the offset. While the R400 and guide correction assembly (7) correct the main beam (2), the correction force applied by the R400 is monitored, the impact of the correction force on the drive is predicted, and the impact is balanced by changing the output power of the jacking drive assembly (6). After adding segments to the main beam, adjust the power of the jacking drive assembly (6) according to the weight of the newly added segments so that its jacking speed is consistent with the set speed. R600, during the jacking process, if an emergency occurs that affects the operation, take emergency braking measures, slowly reduce the speed until it stops completely, and after troubleshooting, start the jacking drive assembly (6) to complete the jacking.

2. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 1, characterized in that, Step R200 also includes the following steps: R210, continuously acquire the velocity and acceleration data of the front end of the main beam (2), and transmit the acquired data to the controller in real time; R220, analyze and process the data, identify the motion characteristics at the current moment, and combine the curvature information and center of gravity position of the main beam (2) to predict the impact on the subsequent propulsion process; R230. Based on the predicted impact, adjust the driving power of the push drive assembly (6) in advance to balance the increase or decrease of resistance.

3. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 2, characterized in that, In step R220, it is necessary to calculate the resistance encountered by the main beam (2) during its advancement, and then use this resistance to calculate the driving force of the jacking drive assembly (6). The total resistance F experienced by the main beam (2) during its advancement r : F r =F f +F c +F a +F e , Among them, F f For friction, F a This is due to the additional force caused by curvature. F a For air resistance, F e The resistance caused by the elastic deformation of the structure; The additional force F caused by curvature c for: Where m is the mass of the main beam. υ is the velocity at the front end of the main beam. R is the radius of curvature of the main beam at the current point; The air resistance F a for: Among them, C d This is the drag coefficient. ρ is the air density. A represents the windward area.

4. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 3, characterized in that, The driving force F of the push drive assembly 6 d for: F d =F r +ma, Where a is the acceleration at the front end of the main beam.

5. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 4, characterized in that, In step R230, the change in driving force ΔF of the jacking drive assembly (6) d (t) is: Among them, K p For proportional gain, K i For integral gain, K d For differential gain, e(t) represents the velocity error.

6. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 5, characterized in that, Using the change in driving force ΔF d (t) The final driving force F of the push drive assembly (6) is calculated. d，n for: F d，n =F d +ΔF d (t)。 Finally, the final driving force F will be determined. d，n Converted to drive power output.

7. An adaptive driving method for continuous jacking of a large-span curved steel box girder according to any one of claims 1-6, characterized in that, Step R300 also includes the following steps: R310. When the position of the main beam (2) is detected to be offset, if the jacking of the main beam (2) is also detected to be jammed, read the torque on the output shaft of the jacking drive assembly (6) on both sides. R320. If the torque difference on the output shaft of the push drive assembly (6) on both sides does not exceed 15%, the push drive assembly (6) on the side with smaller torque will gradually increase its output power. After the jamming is released, its power will be reduced to the same level as both sides. R330. If the torque difference on the output shaft of the push drive assembly (6) on both sides exceeds 15%, the push drive assembly (6) on the side with the larger torque will gradually reduce its output power until it is reduced to zero and then start reverse drive. The output power will be gradually increased. After the jamming is released, the drive direction and power will be restored to the same level as both sides. R340. If the torque difference on the output shaft of the two push drive components (6) exceeds 25%, control the two push drive components (6) to gradually reduce the power until the machine stops, and at the same time, alarm. Release the jam by external force, check that the equipment is fault-free, and then restart the push drive components (6) to drive.

8. An adaptive driving method for continuous jacking of a long-span curved steel box girder according to any one of claims 1-6, characterized in that, Step R400 also includes the following steps: R410. When the main beam (2) is detected to be offset, the guide correction component (7) is activated. At the same time, the lateral force of each guide correction component (7) acting on the main beam (2) is monitored and the monitored lateral force is transmitted to the controller. R420. Establish a dynamic model to predict the impact of lateral force on the jacking process, and analyze data including the additional drag, velocity changes, and vibrations caused by the lateral force. R430. Based on the data obtained in step R420, adjust the output power of the push drive assembly (6). If the lateral force causes additional resistance, increase the driving force to maintain the set speed; if the lateral force reduces the resistance, reduce the driving force accordingly. R440. Continue to monitor the speed, position and correction force of the main beam (2). If the lateral force is too large or the correction effect is not good, stop driving to avoid greater deviation.

9. The adaptive driving method for continuous jacking of a long-span curved steel box girder according to claim 8, characterized in that, Step R500 also includes the following steps: R510: Obtain the mass of the newly installed segment, redetermine the center of gravity of the main beam after splicing, and input these data into the controller; R520. Based on the input data and the overall curvature of the main beam after splicing, recalculate the driving force required for jacking and convert it into the output power of the jacking drive assembly (6). R530. After power adjustment, continue to monitor the parameters of the main beam (2), including the actual propulsion speed, and further fine-tune the power according to the actual situation. If the actual speed deviates from the set value, make timely fine-tuning until the target speed is reached.

10. An adaptive drive system for continuous jacking of a large-span curved steel box girder, used to implement the adaptive drive method for continuous jacking of a large-span curved steel box girder as described in any one of claims 1-9, characterized in that, include: The jacking module is used to install and fix the jacking drive assembly (6), and to start the jacking drive assembly (6) to jack the main beam (2) at a set speed; The monitoring module is used to monitor the propulsion speed and acceleration data of the front end of the main beam (2) in combination with the curvature change, and transmit it to the controller. After the controller analyzes the data, it controls the push drive component (6) to adjust the output power. The first adjustment module is used to control the output power of the two jacking drive components (6) respectively according to the direction and angle of the offset when the position of the main beam (2) is detected to be offset. The difference in driving force on both sides is used to balance the jam caused by the offset. The second adjustment module is used to monitor the applied correction force while the guide correction component (7) corrects the main beam (2), predict the impact of the correction force on the drive, and balance the impact by changing the output power of the jacking drive component (6). The third adjustment module is used to adjust the power of the jacking drive assembly (6) according to the weight of the newly added segments after continuously adding segments to the main beam, so that its jacking speed is consistent with the set speed. The braking module is used to take emergency braking measures in case of sudden situations affecting the operation during the jacking process, to slowly reduce the speed until it stops completely, and to start the jacking drive component (6) to complete the jacking after the problem is eliminated.

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