A construction method for high-altitude assembly and partial overall lifting of curved irregular steel connecting corridors

Abstract

This invention discloses a method for high-altitude assembly and partial overall lifting of curved irregular steel connecting corridors, belonging to the field of building construction technology. The method includes: generating a dynamic collision avoidance topology based on multi-physics coupling analysis; assembling a cantilevered guide base at the tower end; constructing an adaptive fluid damping tension net and a differential hydraulic lifting array between the main span lifting body and the base; generating rigid-flexible collaborative driving commands through dynamic inverse calculation; using active deflection and passive energy absorption constraint torque to offset wind load and eccentric torque, achieving anti-torsional stable lifting; fusing radar and acoustic data for six-degree-of-freedom posture correction; after achieving suspension alignment, injecting high-pressure fluid into the damping net to form rigid constraint guide end face fitting; cutting to release residual stress and welding. This invention achieves stable lifting and stress-free docking of large-span structures under complex weather conditions.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a method for constructing curved irregular steel corridors by assembling them in the air and lifting them in a partial overall manner. Background Technology

[0002] Curved, irregularly shaped steel corridors are common spatial connection structures in modern large-scale commercial complexes and high-rise building clusters, characterized by large spans, complex shapes, and diverse spatial curvature variations. The high-altitude assembly and partial integral lifting construction method is the mainstream technique for forming such large-span spatial structures. Its core lies in assembling scattered components into an integral lifting section on the ground or at low altitude, and then using lifting equipment to pull it to the design elevation and connect and fix it to the reserved end of the tower.

[0003] In existing construction of irregularly shaped steel corridors, construction units typically employ traditional hydraulic synchronous lifting technology, relying on multiple hydraulic jacks positioned on the supporting structure to provide vertical traction. To cope with high-altitude wind loads and structural eccentricity-induced attitude deflections, operators often rely on total stations for timed and fixed-point manual observations, and manually adjust the lifting speed of each lifting point based on experience to maintain the corridor's horizontal orientation. During the docking phase, rigid traction ropes combined with chain hoists are commonly used for forced alignment, followed by direct high-strength bolt tightening or welding.

[0004] Chinese Patent Publication No. CN110344501A discloses a construction method for the overall lifting of a steel structure corridor, applicable to the lifting process of steel structure corridors in building construction. The method comprises the following steps: assembling the cantilever structure, setting up a lifting platform, installing hydraulic synchronous lifting equipment, temporary hoists, ground anchors and steel strands, debugging and inspection, computer system calculation and analysis of working conditions and adjustment, installation of poles and dismantling of equipment. The assembly is completed underground, eliminating the need for a high-altitude construction platform and high-altitude assembly, thus reducing workload, time and material consumption, one construction step, and lowering the construction risk and error rate. It also solves problems such as limitations in high-altitude debugging and inspection. Furthermore, this invention combines finite element software for model analysis and stress separation of the steel structure corridor, and the application of an instrument monitoring system for positioning ensures smooth high-altitude closure, significantly improving safety and demonstrating great application potential.

[0005] Traditional hydraulic synchronous lifting technology lacks a dynamic coupling control mechanism for complex wind fields and eccentric moments in asymmetrical structures. Under strong wind disturbances, it is prone to torsional oscillations in the connecting corridor. The attitude control method, which relies on manual observation and experience-based adjustment, is inherently lagging and cannot meet the precise correction requirements of the six-degree-of-freedom posture of the spatial curved structure. The butt welding process using forced alignment and direct welding leads to the accumulation of severe residual stress at the connection end faces, which can easily cause weld cracking or structural deformation during subsequent use, reducing the overall load-bearing capacity of the connecting corridor. Summary of the Invention

[0006] To address the aforementioned issues, this invention provides a method for the high-altitude assembly and partial overall lifting of curved irregular steel corridors. It employs multi-physics field coupling collision avoidance planning, rigid-flexible collaborative dynamic driving, and multi-source sensor posture correction and residual stress dynamic matching technology, which enables the smooth lifting and stress-free precise docking and forming of large-span asymmetric spatial structures under complex weather conditions.

[0007] The above objectives can be achieved through the following approach: A method for constructing a curved, irregularly shaped steel connecting corridor at high altitude, involving both modular assembly and partial overall lifting, the method comprising: Acquire the three-dimensional contour data of the connecting corridor, the boundary constraint data of the tower, and the wind field distribution data. Perform multi-physics coupling analysis to generate a dynamic collision avoidance topology map. Based on the dynamic collision avoidance topology map, plan the assembly envelope surface. Perform assembly operations along the assembly envelope surface at the end of the tower to form a cantilevered guide base. A support platform is erected below the main span and the main span structure is assembled to form the main span lifting body. Fluid damping winch nodes and polymer flexible cables are arranged between the cantilevered guide base and the main span lifting body to construct an adaptive fluid damping tension net. A differential hydraulic lifting array is formed by installing a hydraulic lifting component between the cantilevered guide base and the main span lifting body. The eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net are obtained. The dynamic collision avoidance topology is fused to perform inverse dynamic calculation to generate rigid-flexible collaborative driving commands. According to the rigid-flexible collaborative drive command, the differential hydraulic lifting array is controlled to perform vertical differential lifting operation to generate active deflection torque. Simultaneously, the adaptive fluid damping tensioning net is controlled to perform damping variable stiffness adjustment operation to generate passive energy-absorbing constraint torque. The active deflection torque and the passive energy-absorbing constraint torque cancel out the wind load and eccentric torque, so that the main span lifting body enters a torsional stable lifting state. In the anti-torsional stable lifting state, microwave radar echo data and reverse acoustic ranging data of the main span lifting body are acquired and fused to generate real-time six-degree-of-freedom pose data. The real-time six-degree-of-freedom pose data is compared with the dynamic collision avoidance topology to generate an attitude compensation vector. The rigid-flexible cooperative driving command is updated according to the attitude compensation vector so that the main span lifting body reaches a near-floating alignment state. Based on the near-floating alignment state, a high-pressure fluid medium is injected into the adaptive fluid damping tension net to perform stiffness hardening operation and form a rigid spatial constraint boundary. According to the rigid spatial constraint boundary, the differential hydraulic lifting array is controlled to perform micro-motion approximation operation to achieve end face bonding. At the end face bonding point, a welding and curing operation is performed to form an integral connecting corridor structure.

[0008] Optionally, the step of acquiring the three-dimensional contour data of the connecting corridor, the boundary constraint data of the tower, and the wind field distribution data, and performing multiphysics coupling analysis to generate a dynamic collision avoidance topology map includes: acquiring the three-dimensional contour data of the connecting corridor and the boundary constraint data of the tower, performing a spatial Boolean intersection operation to construct a static interference envelope region; acquiring the wind field distribution data, applying the wind field distribution data to the static interference envelope region to perform fluid-structure interaction evolution, and generating a dynamic wind-induced drift boundary; fusing the static interference envelope region and the dynamic wind-induced drift boundary to construct a spatial interference field model, and extracting safe passage corridors from the spatial interference field model to generate the dynamic collision avoidance topology map.

[0009] Optionally, the step of constructing the adaptive fluid damping tension net includes: acquiring the curvature data and center of gravity offset data of the main span lifting body; deploying follow-up traction nodes at the edge extreme points of the main span lifting body according to the curvature data and center of gravity offset data; installing the fluid damping winch nodes on the cantilever guide base according to the dynamic collision avoidance topology diagram; acquiring the spatial distribution coordinates of the fluid damping winch nodes; and connecting the polymer flexible cable between the fluid damping winch nodes and the follow-up traction nodes according to the spatial distribution coordinates to construct the adaptive fluid damping tension net.

[0010] Optionally, the step of generating the rigid-flexible coordinated drive command includes: obtaining the eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net, and constructing a rigid-flexible coupled dynamic equation; inputting the dynamic collision avoidance topology map into the rigid-flexible coupled dynamic equation for inverse solution, generating the target stroke sequence of the differential hydraulic lifting array and the target damping sequence of the adaptive fluid damping tensioning net; fusing the target stroke sequence and the target damping sequence for time-series synchronous encoding, and generating the rigid-flexible coordinated drive command.

[0011] Optionally, the steps for the main span lifting body to enter the anti-torsional stable lifting state include: parsing the rigid-flexible collaborative drive command to extract the stroke control signal and the damping control signal; driving the differential hydraulic lifting array to perform vertical differential lifting operation according to the stroke control signal, and generating an active deflection torque by utilizing the speed difference of each hydraulic lifting component; driving the adaptive fluid damping tensioning net to adjust the opening of the internal fluid valves to perform damping variable stiffness adjustment operation according to the damping control signal, absorbing wind load energy to generate a passive energy-absorbing constraint torque, and using the active deflection torque and the passive energy-absorbing constraint torque to couple and counteract the spin tendency of the main span lifting body, so that the main span lifting body enters the anti-torsional stable lifting state.

[0012] Optionally, the step of the main span lifting body reaching the near-floating alignment state includes: in the anti-torsional stable lifting state, using a microwave radar device to acquire microwave radar echo data of the main span lifting body, and using an acoustic sensor to acquire reverse acoustic ranging data; performing Kalman filtering fusion processing on the microwave radar echo data and the reverse acoustic ranging data to generate real-time six-degree-of-freedom pose data; calculating the spatial deviation between the real-time six-degree-of-freedom pose data and the dynamic collision avoidance topology to generate a boundary risk value; calculating the force vector matrix required for correction based on the boundary risk value to generate an attitude compensation vector; and using the attitude compensation vector to update the rigid-flexible cooperative driving command so that the main span lifting body reaches the near-floating alignment state.

[0013] Optionally, the step of achieving end-face fitting includes: acquiring relative displacement fluctuation data of the end-face fitting area based on the near-floating alignment state; injecting high-pressure fluid medium into the adaptive fluid damping tension net when the relative displacement fluctuation data is less than a preset stability threshold; using the high-pressure fluid medium to restrict the stretching freedom of the polymer flexible cable to perform stiffness hardening operation, transforming the flexible constraint into a rigid spatial constraint boundary; and driving the differential hydraulic lifting array to perform micro-motion approximation operation according to the rigid spatial constraint boundary, so that the main span lifting body fits the connection end face of the cantilever guide base.

[0014] Optionally, the step of performing welding and curing operations at the end face mating area to form an integral connecting corridor structure includes: obtaining initial assembly residual stress data at the end face mating area; calculating cutting compensation allowance based on the initial assembly residual stress data to generate dynamic cutting parameters; performing thermal cutting operations at the end face mating area based on the dynamic cutting parameters to release residual stress and form a stress-free butt joint gap; introducing connecting components at the stress-free butt joint gap and performing welding and curing operations; unloading the differential hydraulic lifting array and the adaptive fluid damping tensioning net to form an integral connecting corridor structure.

[0015] Optionally, the process of entering the anti-torsional stable lifting state further includes the following steps: acquiring real-time load pressure data of each hydraulic lifting component in the differential hydraulic lifting array, comparing the real-time load pressure data with the rated load threshold to generate a load health status; when the load health status indicates a local overload risk, calculating a load transfer matrix based on the center of gravity offset data of the main span lifting body to generate a redistribution strategy; dynamically adjusting the relief valve pressure of the locally overloaded hydraulic lifting component according to the redistribution strategy, and simultaneously increasing the output power of adjacent hydraulic lifting components to perform load redistribution operations, thereby maintaining the anti-torsional stable lifting state.

[0016] Compared with the prior art, the present invention has the following advantages: By constructing a dynamic collision avoidance topology through multiphysics coupling analysis and dynamic wind-induced drift boundary generated by fluid-structure interaction, the precise definition of the construction interference area was achieved. This provided a safe spatial envelope for the high-altitude assembly of irregular steel corridors, avoiding physical collisions during the lifting process and ensuring the construction safety of complex building structures.

[0017] By constructing a rigid-flexible collaborative drive system consisting of a differential hydraulic lifting array and an adaptive fluid damping tensioning net, and using dynamic inverse calculation to generate collaborative drive commands, the active deflection torque and passive energy absorption constraint torque are coupled together to dynamically offset wind load energy and structural eccentric torque, so that the main span lifting body can maintain a torsional and stable lifting state under complex airflow disturbances, thus ensuring the stability of high-altitude operations.

[0018] Furthermore, in response to the high precision requirements for close-proximity alignment at high altitudes and the difficulty in eliminating assembly stress, a multi-source data fusion technology combining microwave radar and reverse acoustic ranging is adopted to achieve precise correction of the six-degree-of-freedom pose. A rigid spatial constraint is formed by performing stiffness hardening operation using high-pressure fluid medium, and a thermal cutting operation is performed in conjunction with dynamic cutting parameters calculated based on the initial assembly residual stress. This releases the residual stress at the end face fitting points and ensures the stress-free forming quality of the overall connecting corridor structure.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the three-dimensional spatial interference field and safe passage corridor of the present invention; Figure 3 This is a schematic diagram of the rigid-flexible synergistic anti-torsional moment balance of the present invention; Figure 4 This is a schematic diagram of the contour lines of the initial assembly residual stress at the end face fitting area of ​​the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Reference Figure 1 As shown, a construction method for high-altitude assembly and partial overall lifting of curved irregular steel connecting corridors includes the following steps: S1. Obtain the three-dimensional contour data of the connecting corridor, the boundary constraint data of the tower, and the wind field distribution data. Perform multi-physics coupling analysis to generate a dynamic collision avoidance topology map. Based on the dynamic collision avoidance topology map, plan the assembly envelope surface. Perform assembly operations along the assembly envelope surface at the end of the tower to form a cantilevered guide base. In one embodiment of the present invention, step S1 includes the following steps: obtaining the three-dimensional contour data of the connecting corridor and the boundary constraint data of the tower, performing a spatial Boolean intersection operation, and constructing a static interference envelope region; Acquire wind field distribution data, apply the wind field distribution data to the static interference envelope region to perform fluid-structure interaction evolution, and generate dynamic wind-induced drift boundary; A spatial interference field model is constructed by fusing the static interference envelope region with the dynamic wind-induced drift boundary, and a safe passage corridor is extracted from the spatial interference field model to generate the dynamic collision avoidance topology map.

[0024] Specifically, refer to Figure 2As shown, the system receives 3D contour data of the connecting corridor, which describes the geometric shape and size information of the structure to be installed in 3D space. At the same time, it extracts tower boundary constraint data, which describes the coordinate set of the existing building facade and surrounding obstacles occupying fixed positions in space. Through the calculation of the spatial geometric overlap area, the system extracts the spatial Boolean intersection operation to process the 3D contour data of the connecting corridor and the tower boundary constraint data, defines the spatial range in which physical collision occurs between the connecting corridor and the tower under the condition of no external environmental interference, and then constructs a static interference envelope area. At the same time, in order to quantify the spatial occupancy characteristics of this area, the basic expansion radius of the static interference envelope area is set. This basic expansion radius is set based on the structural installation tolerance data measured on the past construction site.

[0025] Subsequently, wind field distribution data of airflow velocity and direction at different heights and locations within the construction area were collected and recorded. This wind field distribution data was applied to the static interference envelope region, and analysis was initiated to determine the fluid-structure interaction evolution process of the pressure distribution on the solid structure surface caused by airflow and the resulting deformation and displacement. Under continuous wind action, the spatial profile formed at the location of maximum structural displacement, thus generating a dynamic wind-induced drift boundary. The displacement distance of the dynamic wind-induced drift boundary was calculated using dynamic relationships, and its calculation formula is expressed as follows: , in Represents the offset distance of the dynamic wind-induced drift boundary. Represents air density and is set according to standard atmospheric parameters provided by the local meteorological department. The wind speed represents the wind speed in the wind field distribution data. The dimensionless wind pressure coefficient is set based on measured data from wind tunnel tests in building aerodynamics. The windward area of ​​the structure It represents the equivalent stiffness of the structure, and is derived and set based on the elastic modulus and moment of inertia of the structural material.

[0026] By combining the dynamic displacement caused by fixed obstacles and wind, and integrating the static interference envelope region with the dynamic wind-induced drift boundary, a spatial interferometric field model is constructed to represent the overall danger zone in three dimensions. Within this model, a danger distance threshold is defined, and the formula for calculating the danger distance threshold is: , in The dangerous distance threshold representing the spatial interferometric field model, with dimensions in meters. The basic outer radius representing the static interference envelope region, with dimensions in meters. The offset distance of the dynamic wind-induced drift boundary is used as the basis. Based on the calculated danger distance threshold, an unobstructed spatial passage, i.e., a safe passage corridor, is extracted from the spatial interferometric field model to ensure no collision occurs during structural lifting. The criterion for determining whether a spatial point belongs to a safe passage corridor is the safety margin, which is calculated using the following formula. , in Represents safety margin, The actual distance from a spatial point to an obstacle is represented by meters. When the safety margin is greater than zero, the spatial point is determined to be within the safe passage corridor. The connectivity and safety distance of each spatial location within the safe passage corridor are expressed in the form of nodes and lines, generating a dynamic collision avoidance topology map. Based on the dynamic collision avoidance topology map, an external contour control surface is delineated at the end of the tower to guide the gradual assembly of scattered components. The assembly envelope surface is planned, and construction workers perform assembly operations along the assembly envelope surface at the end of the tower. The transitional load-bearing structure used for subsequent support and guidance of the main span structure lifting is completed, ultimately forming the cantilevered guide base.

[0027] For example, firstly, spatial Boolean intersection operations are performed on the 3D contour data of the connecting corridor and the boundary constraint data of the tower to construct a static interference envelope. The basic outer radius of the static interference envelope is set to 2 meters. Then, wind field distribution data is acquired and applied to the static interference envelope for fluid-structure interaction evolution. The air density is set to 1.225 kg / m³ and the wind speed to 15 m / s. Simultaneously, the wind pressure coefficient is set to 1.2 and the windward area to 50 square meters. The equivalent stiffness of the structure is determined to be 826.875 kg / s². Based on the formula, the offset distance of the dynamic wind-induced drift boundary is calculated to be 10 meters. A spatial interference field model is constructed by fusing the static interference envelope and the dynamic wind-induced drift boundary. The calculated danger distance threshold of the spatial interference field model is 12 meters. When extracting a safe passage corridor from the spatial interference field model, a spatial point with an actual distance of 15 meters is selected, and the calculated safety margin is 3 meters. Because the safety margin is greater than zero, this spatial point is included in the safe passage corridor. Based on this, a dynamic collision avoidance topology map is generated. Finally, based on the dynamic collision avoidance topology map, a modular assembly envelope surface is planned. At the end of the tower, modular assembly operations are performed along the modular assembly envelope surface to form a cantilevered guide base. This set of data directly verifies the effectiveness of the 3D contour data of the connecting corridor, the tower boundary constraint data, the wind field distribution data, the dynamic collision avoidance topology map, the modular assembly envelope surface, the cantilevered guide base, the spatial Boolean intersection operation, the static interference envelope region, the fluid-structure interaction evolution, the dynamic wind-induced drift boundary, the spatial interference field model, and the setting of the safe passage corridor.

[0028] S2. A bearing platform is erected under the main span and the main span structure is assembled to form the main span lifting body. Fluid damping winch nodes and polymer flexible cables are arranged between the cantilevered guide base and the main span lifting body to construct an adaptive fluid damping tension net. In one embodiment of the present invention, step S2 includes the following steps: obtaining the curvature data and center of gravity offset data of the main span lifting body, and deploying follow-up traction nodes at the edge extreme points of the main span lifting body according to the curvature data and center of gravity offset data. Based on the dynamic collision avoidance topology diagram, the fluid damping winch node is installed on the cantilevered guide base, and the spatial distribution coordinates of the fluid damping winch node are obtained; Based on the spatial distribution coordinates, the polymer flexible cable is connected between the fluid damping winch node and the follow-up traction node to form the adaptive fluid damping tension net.

[0029] Specifically, the scattered main span structures are assembled and spliced ​​on the support platform to form the main span lifting body to be lifted as a whole. Laser scanning equipment is used to acquire curvature data describing the geometric bending characteristics of the main span lifting body surface. Simultaneously, mass distribution calculations are used to acquire center of gravity offset data describing the distance and direction of the actual center of mass of the main span lifting body from the geometric symmetry center. Combining the curvature data and the center of gravity offset data, the stress-sensitive areas at the edges of the main span lifting body are calculated to determine the edge extreme points. The determination of edge extreme points requires comprehensive consideration of curvature and center of gravity offset. The edge extreme point determination coefficient is defined and calculated using the following formula: , in Represents the marginal extremum determination coefficient. Represents the local curvature in the external curvature data. The curvature weighting coefficient is set based on the degree to which changes in the shape of the structural surface affect the force distribution. This represents the offset distance in the center of gravity offset data. The reference feature length represents the length of the main span lifting element. The weighting coefficient representing the center of gravity offset is set according to the contribution ratio of the eccentric mass to the overall torsional moment. The position where the edge extreme value judgment coefficient is greater than the set threshold is selected as the edge extreme value point. At these edge extreme value points, follow-up traction nodes for connecting traction rigging are installed.

[0030] By retrieving the dynamic collision avoidance topology map generated in step S1, which includes the node relationships of the safe passage corridor, and based on the node position information in the dynamic collision avoidance topology map, the installation position is determined on the cantilevered guide base, and the fluid damping winch node with an internal fluid damping adjustment device is fixed. Simultaneously, the three-dimensional position information of the fluid damping winch node in the construction coordinate system, i.e., the spatial distribution coordinates, is obtained by measuring with a total station. Based on the measured spatial distribution coordinates, the polymer flexible cable, made of high-strength synthetic fiber, is unfolded. The two ends of the polymer flexible cable are fixedly connected between the fluid damping winch node on the cantilevered guide base and the follow-up traction node on the main span lifting body. The polymer flexible cables are arranged in a staggered pattern in space, and combined with the dynamic adjustment capability of the fluid damping winch node, they jointly construct an adaptive fluid damping tensioning net that can automatically adjust the tension according to the stress state. The initial tension of the polymer flexible cable needs to be calculated and set based on the spatial distribution coordinates and the mass characteristics of the main span lifting body. The calculation formula is as follows: , in The initial tension force of the polymer flexible cable is represented by a dimension of Newton. This represents the total mass of the main span lifting structure. Represents gravitational acceleration. The angle between the polymer flexible cable and the vertical direction is calculated from the spatial distribution coordinates and the coordinates of the follow-up traction node. The number of flexible polymer cables arranged in the array. The initial damping coefficient representing the fluid-damped winch node, in units of Newton-seconds per meter. The estimated wind speed disturbance in the construction environment is expressed in meters per second.

[0031] For example, the construction team erects a support platform below the main span and assembles the main span structure to form the main span lifting body. They acquire the curvature data and center of gravity offset data of the main span lifting body, setting the local curvature to 0.05 per meter and the curvature weighting coefficient to 10 meters. The offset distance in the center of gravity offset data is 1.5 meters, the reference feature length of the main span lifting body is 30 meters, and the center of gravity offset weighting coefficient is set to 2. Substituting these values ​​into the formula, the edge extreme value judgment coefficient is calculated to be 0.6. Since this value exceeds the set judgment threshold of 0.5, the system identifies this location as an edge extreme value point and deploys a follow-up traction node at the edge extreme value point. Based on the dynamic collision avoidance topology diagram, a fluid damping winch node is installed on the cantilevered guide base, and the spatial distribution coordinates of the fluid damping winch node are acquired. Based on the spatial distribution coordinates, a polymer flexible cable is connected between the fluid damping winch node and the follow-up traction node. The total mass of the main span lifting body is set to 500,000 kg, and the gravitational acceleration is set to 9.8 m / s². Based on the spatial distribution coordinates, the cosine value of the angle between the polymer flexible cable and the vertical direction was calculated to be 0.8. The number of polymer flexible cables was set to 8, the initial damping coefficient of the fluid damping winch node was set to 1500 N / m, and the estimated wind speed disturbance was 2 m / s. Substituting these values ​​into the formula, the initial tension of the polymer flexible cable was calculated to be 493,000 N. By applying this initial tension, an adaptive fluid damping tensioning net was successfully constructed. This set of data directly verified the effectiveness of the settings for the bearing platform, main span structure, main span lifting body, curvature data, center of gravity offset data, edge extreme points, follow-up traction nodes, dynamic collision avoidance topology, cantilevered guide base, fluid damping winch node, spatial distribution coordinates, polymer flexible cables, and adaptive fluid damping tensioning net.

[0032] S3. Install a hydraulic lifting assembly between the cantilevered guide base and the main span lifting body to form a differential hydraulic lifting array, obtain the eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net, and fuse the dynamic collision avoidance topology diagram to perform dynamic inverse calculation to generate rigid-flexible collaborative driving commands. In one embodiment of the present invention, step S3 includes the following steps: obtaining the eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net, and constructing the rigid-flexible coupling dynamic equation; The dynamic collision avoidance topology is input into the rigid-flexible coupling dynamic equation for inverse solution to generate the target stroke sequence of the differential hydraulic lifting array and the target damping sequence of the adaptive fluid damping tensioning net; The target travel sequence and the target damping sequence are fused together and time-synchronized encoding is performed to generate the rigid-flexible collaborative drive command.

[0033] Specifically, construction workers install hydraulic lifting components with independent lifting control capabilities between the cantilevered guide base and the main span lifting body. The components are arranged in a coordinated manner in space to form a differential hydraulic lifting array. The eccentric mass data of the main span lifting body caused by structural asymmetry and assembly errors are obtained through a mass distribution detection model. At the same time, the initial damping coefficient set by the adaptive fluid damping tension net in the static state is read. Based on the obtained physical parameters, a rigid-flexible coupling dynamic equation describing the force and displacement interaction relationship between the rigid lifting equipment and the flexible cable net during the movement process is constructed.

[0034] Simultaneously, the previously generated dynamic collision avoidance topology map containing safe space path nodes is retrieved. This map is then used as the ideal motion trajectory input into the rigid-flexible coupling dynamic equations for inverse dynamic calculation. Inverse dynamic calculation involves reversing the required driving force and damping parameters from a known target motion trajectory. During the calculation, the ideal lifting velocity at each moment is derived based on the rate of change of the path nodes in the dynamic collision avoidance topology map over time. Combined with eccentric mass data, the dynamic damping value required by the adaptive fluid damping tensioning net is calculated, thereby generating the target damping sequence. The calculation formula for the target damping coefficient of each node in the target damping sequence is as follows: , in This represents the nodal target damping coefficient in the target damping sequence. The initial damping coefficient represents the adaptive fluid damping tensioned net, and is set based on the material properties of the flexible cable net and the initial tension state. The eccentric mass represents the eccentric mass in the eccentric mass data, and is calculated and set based on the mass distribution of the three-dimensional model of the main span lifting body. Represents gravitational acceleration. This represents the eccentricity in the eccentricity mass data. This represents the target velocity extracted from the dynamic collision avoidance topology graph. The span of the main lifting structure, defined according to the dimensions in the connecting corridor design drawings, is used to derive not only the damping parameters through reverse engineering, but also to simultaneously calculate the spatial displacement values ​​that each hydraulic lifting component in the differential hydraulic lifting array should achieve at corresponding moments. This generates a target stroke sequence to guide the lifting action. To ensure strict time matching between the lifting action and damping adjustment, the target stroke sequence and target damping sequence are merged and time-synchronized encoded. This time-synchronization encoding aligns different types of control signals on the same time axis and converts them into an electrical signal format recognizable by the underlying controller, ultimately generating a rigid-flexible coordinated drive command containing both displacement and damping control information.

[0035] For example, the construction team installed hydraulic lifting components between the cantilevered guide base and the main span lifting body to form a differential hydraulic lifting array. The system acquires the eccentric mass data of the main span lifting body, where the eccentric mass is 2000 kg and the eccentricity is 2 m. At the same time, it acquires the initial damping coefficient of the adaptive fluid damping tensioning net as 1500 N / m. Based on this, a rigid-flexible coupling dynamic equation is constructed. The dynamic collision avoidance topology is input into the rigid-flexible coupling dynamic equation for inverse dynamic calculation and inverse solution. The gravitational acceleration is set to 9.8 m / s², the target velocity extracted from the dynamic collision avoidance topology is 0.05 m / s, and the span of the main span lifting body is 40 m. Substituting into the formula, the target damping coefficient of the node in the target damping sequence is calculated to be 21100 N / m. The target stroke sequence of the differential hydraulic lifting array and the target damping sequence of the adaptive fluid damping tensioning net are generated simultaneously. Then, the target stroke sequence and the target damping sequence are fused and time-synchronized encoded to successfully generate the rigid-flexible cooperative drive command. This set of data directly verifies the effectiveness of the cantilevered guide base, main span lifting body, hydraulic lifting components, differential hydraulic lifting array, eccentric mass data, adaptive fluid damping tensioning net, initial damping coefficient, dynamic collision avoidance topology, dynamic inverse calculation, rigid-flexible collaborative drive command, rigid-flexible coupling dynamic equation, inverse solution, target stroke sequence, target damping sequence, and timing synchronization coding settings.

[0036] S4. According to the rigid-flexible collaborative drive command, control the differential hydraulic lifting array to perform vertical differential lifting operation to generate active deflection torque, and simultaneously control the adaptive fluid damping tensioning net to perform damping variable stiffness adjustment operation to generate passive energy-absorbing constraint torque. Use the active deflection torque and the passive energy-absorbing constraint torque to offset the wind load and eccentric torque, so that the main span lifting body enters the anti-torsional stable lifting state. In one embodiment of the present invention, step S4 includes the following steps: parsing the rigid-flexible co-drive command to extract the stroke control signal and the damping control signal; The differential hydraulic lifting array is driven to perform a vertical differential lifting operation based on the stroke control signal, and an active deflection torque is generated by utilizing the speed difference of each hydraulic lifting component; According to the damping control signal, the adaptive fluid damping tensioning net is driven to adjust the opening of the internal fluid valve to perform damping variable stiffness adjustment operation, absorb wind load energy to generate passive energy absorption constraint torque, and use the active deflection torque and passive energy absorption constraint torque to cancel the spin tendency of the main span lifting body, so that the main span lifting body enters the anti-torsional stable lifting state.

[0037] In one embodiment of the present invention, step S4 further includes the following steps: obtaining real-time load pressure data of each hydraulic lifting component in the differential hydraulic lifting array, and comparing the real-time load pressure data with the rated load threshold to generate a load health status. When the load health status indicates a risk of local overload, a load transfer matrix is ​​calculated based on the center of gravity offset data of the main span lifting body to generate a redistribution strategy. According to the redistribution strategy, the overflow valve pressure of the local overload hydraulic lifting component is dynamically adjusted, and the output power of the adjacent hydraulic lifting component is increased simultaneously to perform load redistribution operation, thereby maintaining the anti-torsional stable lifting state.

[0038] Reference Figure 3 As shown, specifically, after receiving the rigid-flexible collaborative drive command generated in step S3, the composite signal contained in the command is decoded and separated to extract the stroke control signal for controlling mechanical displacement and the damping control signal for adjusting the strength of the flexible constraint. Based on the stroke control signal, an action command is issued to the differential hydraulic lifting array to drive each hydraulic lifting component to rise at different speeds, performing a vertical differential lifting operation. By controlling the speed difference of each hydraulic lifting component, an active deflection torque for actively correcting the attitude is generated on the main span lifting body. The active deflection torque is calculated using the following formula: , in Represents the active deflection torque. The equivalent stiffness of the differential hydraulic lifting array is determined based on the physical characteristics of the hydraulic system. Represents the rate difference between the various hydraulic lifting components. The lever arm length represents the distance from the point of action of the hydraulic lifting component to the geometric center of the main span lifting body. Simultaneously, based on the damping control signal, it drives the adaptive fluid damping tensioning net to adjust the opening of its internal fluid valves, changing the resistance of fluid flow through the valves, thereby performing a damping variable stiffness adjustment operation. This operation can absorb the energy of external wind loads acting on the structure, generating a passive energy-absorbing constraint moment that restricts abnormal structural movement. The formula for calculating the passive energy-absorbing constraint moment is: ,

[0039] in Represents the passive energy-absorbing constraint torque. This represents the adjusted dynamic damping coefficient. This represents the spin tendency angular velocity of the main span lifting body caused by external disturbances. The equivalent radius of action of the adaptive fluid damping tensioning net is represented by the coupling of active deflection torque and passive energy-absorbing constraint torque, which act together on the main span lifting body to counteract the spin tendency caused by wind load and eccentric torque. This allows the main span lifting body to enter a torsional stable lifting state with balanced forces in all directions. In this torsional stable lifting state, real-time load pressure data of each hydraulic lifting component in the differential hydraulic lifting array is continuously acquired through pressure sensors. The real-time load pressure data is compared with the maximum pressure value allowed for safe operation of the equipment, i.e., the rated load threshold, to generate a load health status reflecting the safety level of the equipment under stress. The load health status is calculated using the following formula: , in Represents the load health status. Represents real-time load pressure data. Representing the rated load capacity threshold, and set according to the parameters on the hydraulic equipment's nameplate, when the load health status indicates a risk of local overload, the center of gravity offset data of the main span lifting body is retrieved, and the load transfer matrix used to guide the redistribution of forces is calculated. The formula for calculating the transfer coefficient in the load transfer matrix is ​​as follows: , in Represents the transfer coefficients in the load transfer matrix. This represents the offset distance in the center of gravity offset data. Represents the physical distance between adjacent hydraulic lifting components. Representing the load health status, a redistribution strategy is generated based on the load transfer matrix including the transfer coefficient. The pressure of the relief valve of the locally overloaded hydraulic lifting component is dynamically adjusted according to the redistribution strategy to reduce its load and simultaneously increase the output power of the adjacent hydraulic lifting components to perform load redistribution operation, thereby eliminating the risk of local overload and maintaining a torsional and stable lifting state.

[0040] For example, the construction control system analyzes the rigid-flexible collaborative drive command to extract the stroke control signal and damping control signal. Based on the stroke control signal, it drives the differential hydraulic lifting array to perform vertical differential lifting operations. The equivalent stiffness of the differential hydraulic lifting array is set to 500,000 N·m, the rate difference between each hydraulic lifting component is 0.02 m / s, and the lever arm length from the point of action of the hydraulic lifting component to the geometric center of the main span lifting body is 15 meters. Substituting these values ​​into the formula, the generated active deflection torque is calculated to be 150,000 N·m. Based on the damping control signal, it drives the adaptive fluid damping tensioning net to adjust the opening of the internal fluid valves to perform damping variable stiffness adjustment operations. The adjusted dynamic damping coefficient is set to 20,000 N·m, the spin tendency angular velocity of the main span lifting body is 0.01 radians / s, and the equivalent radius of action of the adaptive fluid damping tensioning net is 20 meters. Substituting these values ​​into the formula, the generated passive energy-absorbing constraint torque is calculated to be 80,000 N·m. The rotational tendency of the main span lifting body is counteracted by the coupling of active deflection torque and passive energy-absorbing constraint torque, enabling the main span lifting body to enter a torsional stable lifting state. Real-time load pressure data of each hydraulic lifting component in the differential hydraulic lifting array is obtained at 25 MPa, and the rated load threshold is set at 20 MPa. Substituting these values ​​into the formula, the load health status is calculated to be 1.25. Since the load health status value exceeds the safety benchmark, it indicates a risk of local overload. A load transfer matrix is ​​calculated based on the center of gravity offset data of the main span lifting body to generate a redistribution strategy. The offset distance in the center of gravity offset data is set to 1.5 meters, and the physical distance between adjacent hydraulic lifting components is set to 10 meters. Substituting these values ​​into the formula, the transfer coefficient in the load transfer matrix is ​​calculated to be 0.0375. Based on the redistribution strategy, the relief valve pressure of the locally overloaded hydraulic lifting components is dynamically adjusted, and the output power of adjacent hydraulic lifting components is simultaneously increased to perform load redistribution operations, maintaining a torsional stable lifting state.

[0041] S5. Under the anti-torsional stable lifting state, microwave radar echo data and reverse acoustic ranging data of the main span lifting body are acquired and fused to generate real-time six-degree-of-freedom pose data. The real-time six-degree-of-freedom pose data is compared with the dynamic collision avoidance topology to generate an attitude compensation vector. The rigid-flexible collaborative driving command is updated according to the attitude compensation vector so that the main span lifting body reaches a near-floating alignment state. In one embodiment of the present invention, step S5 includes the following steps: under the anti-torsional stable lifting state, microwave radar equipment is used to acquire microwave radar echo data of the main span lifting body, and acoustic sensors are used to acquire reverse acoustic ranging data. The microwave radar echo data and the inverse acoustic ranging data are fused using Kalman filtering to generate real-time six-degree-of-freedom pose data. The spatial deviation between the real-time six-degree-of-freedom pose data and the dynamic collision avoidance topology is calculated to generate an out-of-bounds risk value. Based on the out-of-bounds risk value, the force vector matrix required for correction is calculated to generate an attitude compensation vector. The attitude compensation vector is used to update the rigid-flexible collaborative drive command so that the main span lifting body reaches the proximity suspension alignment state.

[0042] Specifically, when the main span lifting body is in a torsional and stable lifting state, the microwave radar equipment installed on the cantilevered guide base is activated. The microwave radar equipment emits electromagnetic waves and receives signals reflected back from the surface of the main span lifting body, thereby obtaining microwave radar echo data containing distance and speed information. Simultaneously, the acoustic sensors arranged on the edge of the main span lifting body are activated. The acoustic sensors emit sound waves and receive reflected signals, obtaining reverse acoustic ranging data for high-precision short-range measurement.

[0043] Furthermore, to eliminate measurement noise from a single sensor and improve positioning accuracy, microwave radar echo data and inverse acoustic ranging data are input into the processing module. Kalman filtering fusion processing is performed to eliminate measurement noise and estimate the optimal state through a recursive algorithm. After fusion processing, real-time six-degree-of-freedom pose data containing three translational coordinates and three rotational angles of the main span lifting body in three-dimensional space is generated.

[0044] Simultaneously, the previously generated dynamic collision avoidance topology is retrieved, and the spatial deviation between the real-time six-DOF pose data and the ideal path planned by the dynamic collision avoidance topology is calculated. The formula for calculating the spatial deviation is as follows: , in Represents spatial bias, Represents the lateral coordinate in real-time six-DOF pose data. This represents the ideal lateral coordinate in the dynamic collision avoidance topology graph. Represents the longitudinal coordinate in real-time six-DOF pose data. This represents the ideal vertical coordinate in the dynamic collision avoidance topology graph. Represents the vertical coordinates in real-time six-DOF pose data. Representing the ideal vertical coordinates in the dynamic collision avoidance topology diagram, the degree to which the main span lifting body deviates from the safe zone is assessed based on the calculated spatial deviation, thereby generating a boundary risk value. The boundary risk value is calculated based on the following formula: , in This represents the risk value of exceeding the boundary. Represents spatial bias, This represents the safety boundary distance set in the dynamic collision avoidance topology diagram, and is set according to the minimum anti-collision distance set in the construction specifications. Based on the out-of-bounds risk value, the force vector matrix required for correction is calculated. The force vector matrix contains the compensation forces to be applied in each direction, and an attitude compensation vector for adjusting the attitude is generated accordingly. The formula for calculating the compensation force amplitude in the attitude compensation vector is: , in This represents the magnitude of the compensation force in the attitude compensation vector. This represents the proportional control gain coefficient, which is set based on the mass and stiffness characteristics of the main span lifting body. Represents spatial bias, This represents the risk value of exceeding the limit. The rigid-flexible collaborative drive command generated in step S4 is updated using the attitude compensation vector to adjust the output parameters of the differential hydraulic lifting array, so that the main span lifting body moves smoothly and reaches a close-range suspended alignment state that is extremely close to the installation position and remains stationary.

[0045] For example, under torsional stable lifting conditions, microwave radar echo data of the main span lifting body is acquired using microwave radar equipment, and reverse acoustic ranging data is acquired using acoustic sensors. The microwave radar echo data and reverse acoustic ranging data are then fused using Kalman filtering to generate real-time six-degree-of-freedom pose data. The lateral coordinates are extracted as 10.5 meters, the longitudinal coordinates as 20.2 meters, and the vertical coordinates as 30.1 meters from the real-time six-degree-of-freedom pose data. The ideal lateral coordinates are then extracted as 10.0 meters, the ideal longitudinal coordinates as 20.0 meters, and the ideal vertical coordinates as 30.0 meters from the dynamic collision avoidance topology map. Substituting the values ​​into the formula, the spatial deviation was calculated to be 0.547 meters. The safe boundary distance in the dynamic collision avoidance topology was set to 2.0 meters. Substituting the values ​​into the formula, the out-of-bounds risk value was calculated to be 0.2735. Based on the out-of-bounds risk value, the force vector matrix required for correction was calculated to generate the attitude compensation vector. The proportional control gain coefficient was set to 100,000 Newtons per meter. Substituting the values ​​into the formula, the compensation force amplitude in the attitude compensation vector was calculated to be 14,960 Newtons. The attitude compensation vector was used to update the rigid-flexible collaborative drive command, successfully enabling the main span lifting body to reach a near-suspended alignment state.

[0046] S6. Based on the near-floating alignment state, high-pressure fluid medium is injected into the adaptive fluid damping tensioning net to perform stiffness hardening operation to form a rigid spatial constraint boundary. According to the rigid spatial constraint boundary, the differential hydraulic lifting array is controlled to perform micro-motion approximation operation to achieve end face bonding. Welding and curing operation is performed at the end face bonding point to form an integral connecting corridor structure. In one embodiment of the present invention, step S6 includes the following steps: based on the near-floating alignment state, acquiring relative displacement fluctuation data of the end face contact area; when the relative displacement fluctuation data is less than a preset stability threshold, injecting high-pressure fluid medium into the adaptive fluid damping tension net. By using a high-pressure fluid medium to restrict the stretching degree of freedom of the polymer flexible cable, a stiffness hardening operation is performed, transforming the flexible constraint into a rigid spatial constraint boundary; Based on the rigid spatial constraint boundary, the differential hydraulic lifting array is driven to perform a micro-motion approximation operation, so that the main span lifting body is in contact with the connecting end face of the cantilever guide base.

[0047] In one embodiment of the present invention, step S6 further includes the following steps: obtaining the initial assembly residual stress data at the end face mating area, and calculating the cutting compensation allowance and generating dynamic cutting parameters based on the initial assembly residual stress data; According to the dynamic cutting parameters, a thermal cutting operation is performed at the end face contact point to release residual stress and form a stress-free butt joint gap. Connecting components are introduced at the stress-free joint gap and welding and curing operations are performed. The differential hydraulic lifting array and the adaptive fluid damping tensioning net are unloaded to form an integral connecting corridor structure.

[0048] Reference Figure 4 As shown, specifically, when the main span lifting body is in a near-suspended alignment state, the relative movement of the predetermined connection area between the main span lifting body and the cantilevered guide base is continuously monitored by displacement sensors. Relative displacement fluctuation data describing the magnitude of positional changes in this area is obtained and compared with a preset maximum allowable fluctuation limit, i.e., a preset stability threshold. When the relative displacement fluctuation data is less than the preset stability threshold, it indicates that the structure is in a relatively static and stable state. At this time, the control pump station injects high-pressure fluid medium into the fluid damping winch node of the adaptive fluid damping tensioning net. Utilizing the incompressible properties of the high-pressure fluid medium, the axial extension and contraction freedom of the polymer flexible cable is restricted, thereby performing a stiffness hardening operation. This operation transforms the originally flexible constraint that allows local deformation into a rigid spatial constraint boundary with high deformation resistance. The equivalent stiffness of the rigid spatial constraint boundary is calculated using the following formula: , in Represents the equivalent stiffness of a rigid spatially constrained boundary. This represents the effective working area of ​​the hydraulic cylinder inside the fluid-damped winch node, set according to the equipment's mechanical drawings. The bulk modulus of elasticity, representing the high-pressure fluid medium, is determined based on the fluid's physical properties. Represents the enclosed volume of a high-pressure fluid medium. Representing the inherent tensile stiffness of the polymer flexible cable, based on the constructed rigid spatial constraint boundary, the differential hydraulic lifting array is driven to perform micro-motion approximation operation at a preset micro-motion speed. Through precise control of displacement, the connection end face of the main span lifting body and the cantilever guide base is made to fit together.

[0049] Simultaneously, at the end face mating area, stress detection equipment is used to obtain initial assembly residual stress data caused by manufacturing errors and self-weight deformation. To eliminate the impact of this stress on structural safety, the length of material to be removed, i.e., the cutting compensation allowance, is calculated based on the initial assembly residual stress data. This generates dynamic cutting parameters to guide the cutting operation. The formula for calculating the cutting compensation allowance is as follows: , in This represents the cutting compensation allowance. Represents the initial assembly residual stress data. The characteristic butt joint length representing the end face fit is set according to the corridor design drawings. The elastic modulus of steel is used to generate dynamic cutting parameters based on material properties. Construction workers perform thermal cutting at the end face contact point, using high temperature to melt the metal and release the accumulated residual stress. This creates a stress-free butt joint gap that eliminates internal forces. Then, connecting components for transition are introduced into the stress-free butt joint gap, and welding and solidification are performed to fuse the components together. After the weld cools and reaches the design strength, the oil pressure of the differential hydraulic lifting array is gradually reduced and the tension of the adaptive fluid damping tensioning net is released. The differential hydraulic lifting array and the adaptive fluid damping tensioning net are unloaded, ultimately forming a complete and stable overall corridor structure.

[0050] For example, based on the near-floating alignment state, the relative displacement fluctuation data of the end-face contact area is obtained as 0.002 meters. A preset stability threshold is set to 0.005 meters. Since the relative displacement fluctuation data is less than the preset stability threshold, a high-pressure fluid medium is injected into the adaptive fluid damping tensioning net. The effective working area of ​​the hydraulic cylinder inside the fluid damping winch node is set to 0.05 square meters, the bulk modulus of the high-pressure fluid medium is 1,500,000,000 Pascals, the enclosed volume of the high-pressure fluid medium is 0.1 cubic meters, and the inherent tensile stiffness of the polymer flexible cable is 2,000,000 Newtons per meter. Substituting these values ​​into the formula, the equivalent stiffness of the rigid spatial constraint boundary is calculated to be 39,500,000 Newtons per meter. The high-pressure fluid medium is used to restrict the extension and contraction degrees of freedom of the polymer flexible cable, thus constraining its stiffness. The hardening process transforms the flexible constraints into rigid spatial constraints. Based on these rigid constraints, the differential hydraulic lifting array is driven to perform micro-motion approximation operations, bringing the connection end faces of the main span lifting body and the cantilevered guide base into contact. The initial assembly residual stress data at the end face contact point is obtained as 40,000,000 Pascals. The characteristic butt joint length at the end face contact point is set to 1.05 meters, and the elastic modulus of the steel is set to 2,100,000,000,000 Pascals. Substituting these values ​​into the formula, the cutting compensation allowance is calculated to be 0.0002 meters. Based on this, dynamic cutting parameters are generated. According to these parameters, a thermal cutting operation is performed at the end face contact point to release the residual stress, forming a stress-free butt joint gap. A connecting component is introduced at the stress-free butt joint gap and welded for solidification. The differential hydraulic lifting array and the adaptive fluid damping tensioning net are then unloaded, ultimately forming the integral connecting corridor structure.

[0051] It should be noted that the electrical connections between the various units described above do not necessarily represent direct or indirect connections. Any indirect connection method can be applied to the embodiments of the present invention as long as it achieves the purpose of the present invention. The above descriptions are merely exemplary embodiments of the present invention and should not be construed as limiting the scope of the present invention.

[0052] All equivalent changes and modifications made in accordance with the teachings of this invention are still within the scope of this invention. Those skilled in the art will readily conceive of other embodiments of this invention upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this invention that follow the general principles of this invention and include common knowledge or conventional techniques in the art not described herein.

Claims

1. A construction method for high-altitude assembly and partial overall lifting of curved irregular-shaped steel connecting corridors, characterized in that, The method includes: Acquire the three-dimensional contour data of the connecting corridor, the boundary constraint data of the tower, and the wind field distribution data. Perform multi-physics coupling analysis to generate a dynamic collision avoidance topology map. Based on the dynamic collision avoidance topology map, plan the assembly envelope surface. Perform assembly operations along the assembly envelope surface at the end of the tower to form a cantilevered guide base. A support platform is erected below the main span and the main span structure is assembled to form the main span lifting body. Fluid damping winch nodes and polymer flexible cables are arranged between the cantilevered guide base and the main span lifting body to construct an adaptive fluid damping tension net. A differential hydraulic lifting array is formed by installing a hydraulic lifting component between the cantilevered guide base and the main span lifting body. The eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net are obtained. The dynamic collision avoidance topology is fused to perform inverse dynamic calculation to generate rigid-flexible collaborative driving commands. According to the rigid-flexible collaborative drive command, the differential hydraulic lifting array is controlled to perform vertical differential lifting operation to generate active deflection torque. Simultaneously, the adaptive fluid damping tensioning net is controlled to perform damping variable stiffness adjustment operation to generate passive energy-absorbing constraint torque. The active deflection torque and the passive energy-absorbing constraint torque cancel out the wind load and eccentric torque, so that the main span lifting body enters a torsional stable lifting state. In the anti-torsional stable lifting state, microwave radar echo data and reverse acoustic ranging data of the main span lifting body are acquired and fused to generate real-time six-degree-of-freedom pose data. The real-time six-degree-of-freedom pose data is compared with the dynamic collision avoidance topology to generate an attitude compensation vector. The rigid-flexible cooperative driving command is updated according to the attitude compensation vector so that the main span lifting body reaches a near-floating alignment state. Based on the near-floating alignment state, a high-pressure fluid medium is injected into the adaptive fluid damping tension net to perform stiffness hardening operation and form a rigid spatial constraint boundary. According to the rigid spatial constraint boundary, the differential hydraulic lifting array is controlled to perform micro-motion approximation operation to achieve end face bonding. At the end face bonding point, a welding and curing operation is performed to form an integral connecting corridor structure.

2. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The steps of acquiring the three-dimensional contour data of the connecting corridor, the boundary constraint data of the tower, and the wind field distribution data, and performing multiphysics coupling analysis to generate a dynamic collision avoidance topology map include: The three-dimensional contour data of the connecting corridor and the boundary constraint data of the tower are obtained and spatial Boolean intersection is performed to construct a static interference envelope region. Acquire wind field distribution data, apply the wind field distribution data to the static interference envelope region to perform fluid-structure interaction evolution, and generate dynamic wind-induced drift boundary; A spatial interference field model is constructed by fusing the static interference envelope region with the dynamic wind-induced drift boundary, and a safe passage corridor is extracted from the spatial interference field model to generate the dynamic collision avoidance topology map.

3. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The steps for constructing the adaptive fluid damping tension net include: Obtain the curvature data and center of gravity offset data of the main span lifting body, and deploy follow-up traction nodes at the edge extreme points of the main span lifting body according to the curvature data and center of gravity offset data; Based on the dynamic collision avoidance topology diagram, the fluid damping winch node is installed on the cantilevered guide base, and the spatial distribution coordinates of the fluid damping winch node are obtained; Based on the spatial distribution coordinates, the polymer flexible cable is connected between the fluid damping winch node and the follow-up traction node to form the adaptive fluid damping tension net.

4. The construction method according to claim 1, characterized in that, The step of generating rigid-flexible collaborative driving instructions includes: Obtain the eccentric mass data of the main span lifting body and the initial damping coefficient of the adaptive fluid damping tensioning net, and construct the rigid-flexible coupling dynamic equation; The dynamic collision avoidance topology is input into the rigid-flexible coupling dynamic equation for inverse solution to generate the target stroke sequence of the differential hydraulic lifting array and the target damping sequence of the adaptive fluid damping tensioning net; The target travel sequence and the target damping sequence are fused together and time-synchronized encoding is performed to generate the rigid-flexible collaborative drive command.

5. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The steps for the main span lifting body to enter a torsional stable lifting state include: The rigid-flexible co-drive command is analyzed to extract the stroke control signal and damping control signal; The differential hydraulic lifting array is driven to perform a vertical differential lifting operation based on the stroke control signal, and an active deflection torque is generated by utilizing the speed difference of each hydraulic lifting component; According to the damping control signal, the adaptive fluid damping tensioning net is driven to adjust the opening of the internal fluid valve to perform damping variable stiffness adjustment operation, absorb wind load energy to generate passive energy absorption constraint torque, and use the active deflection torque and passive energy absorption constraint torque to cancel the spin tendency of the main span lifting body, so that the main span lifting body enters the anti-torsional stable lifting state.

6. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The steps for the main span lifting body to reach a near-suspended alignment state include: In the anti-torsional stable lifting state, microwave radar equipment is used to acquire microwave radar echo data of the main span lifting body, and acoustic sensors are used to acquire reverse acoustic ranging data. The microwave radar echo data and the inverse acoustic ranging data are fused using Kalman filtering to generate real-time six-degree-of-freedom pose data. The spatial deviation between the real-time six-degree-of-freedom pose data and the dynamic collision avoidance topology is calculated to generate an out-of-bounds risk value. Based on the out-of-bounds risk value, the force vector matrix required for correction is calculated to generate an attitude compensation vector. The attitude compensation vector is used to update the rigid-flexible collaborative drive command so that the main span lifting body reaches the proximity suspension alignment state.

7. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The steps for achieving end-face bonding include: Based on the near-suspended alignment state, the relative displacement fluctuation data of the end face bonding area is obtained. When the relative displacement fluctuation data is less than the preset stability threshold, high-pressure fluid medium is injected into the adaptive fluid damping tension net. By using a high-pressure fluid medium to restrict the stretching degree of freedom of the polymer flexible cable, a stiffness hardening operation is performed, transforming the flexible constraint into a rigid spatial constraint boundary; Based on the rigid spatial constraint boundary, the differential hydraulic lifting array is driven to perform a micro-motion approximation operation, so that the main span lifting body is in contact with the connecting end face of the cantilever guide base.

8. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The step of performing welding and curing operations at the end face bonding area to form an integral connecting corridor structure includes: Obtain the initial assembly residual stress data at the end face mating area, and calculate the cutting compensation allowance based on the initial assembly residual stress data to generate dynamic cutting parameters. According to the dynamic cutting parameters, a thermal cutting operation is performed at the end face contact point to release residual stress and form a stress-free butt joint gap. Connecting components are introduced at the stress-free joint gap and welding and curing operations are performed. The differential hydraulic lifting array and the adaptive fluid damping tensioning net are unloaded to form an integral connecting corridor structure.

9. The construction method for high-altitude assembly and partial overall lifting of a curved irregular steel corridor according to claim 1, characterized in that, The process of entering the anti-torsional stable lifting state also includes the following steps: The real-time load pressure data of each hydraulic lifting component in the differential hydraulic lifting array is obtained, and the real-time load pressure data is compared with the rated load threshold to generate the load health status. When the load health status indicates a risk of local overload, a load transfer matrix is ​​calculated based on the center of gravity offset data of the main span lifting body to generate a redistribution strategy. According to the redistribution strategy, the overflow valve pressure of the local overload hydraulic lifting component is dynamically adjusted, and the output power of the adjacent hydraulic lifting component is increased simultaneously to perform load redistribution operation, thereby maintaining the anti-torsional stable lifting state.

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