Intelligent suspension pouring beam trolley control method and system based on PID control

Abstract

The application discloses a kind of intelligent suspension pouring beam trolley control method and system based on PID control, the method is integrated by PID control algorithm and multi-sensor data fusion technology depth, realizes the synchronous control in the process of trolley walking, oil pressure stability and posture balance full-automatic, high-precision closed-loop control, significantly improve the safety, efficiency and intelligent level of suspension pouring beam construction.By using the multi-module collaborative architecture of trolley control terminal, data acquisition sensor network, execution equipment and APP command platform, multidimensional working condition information such as truss displacement, oil pressure dynamics, attitude inclination can be obtained in real time, and based on PID closed-loop control strategy, millimeter-level synchronous propulsion, oil pressure stability control and dynamic attitude compensation are realized, effectively solving the core pain points such as low synchronization accuracy, large oil pressure fluctuation and poor environmental adaptability caused by traditional manual control.

Description

Technical Field

[0001] This invention relates to the field of bridge construction equipment technology, and in particular to an intelligent cantilever beam formwork control method and system based on PID control. Background Technology

[0002] Currently, cantilever casting technology is widely used in the construction of bridges in mountainous areas and elevated highways in cities. As the core equipment, the travel control of the hanging basket directly affects construction safety and progress. Traditional hanging basket control relies on manual operation, which has obvious drawbacks: manual control makes it difficult to ensure the synchronous advancement of the left and right trusses, which can easily cause excessive deviation in travel distance, leading to instability or even overturning of the hanging basket; traditional methods cannot collect key data such as travel speed and hydraulic pressure in real time, which can easily lead to asynchronous travel of the main trusses on both sides; and hydraulic pressure control depends on the operator's experience, and the hydraulic pressure fluctuates violently during advancement or jacking, which can easily damage the hydraulic system or cause equipment failure.

[0003] Therefore, there is an urgent need for a control system that integrates intelligent algorithms to solve the above problems. Summary of the Invention

[0004] The technical solution of this invention provides an intelligent cantilever beam formwork control method and system based on PID control. It innovatively integrates PID control algorithm with multi-sensor data fusion technology. Specifically, through unified modeling of multi-source data, hierarchical control structure design, and closed-loop coupling of control algorithm and actuator, it realizes fully automatic and high-precision closed-loop control of synchronous control, hydraulic stability and attitude balance during the formwork movement, which significantly improves the safety, efficiency and intelligence level of cantilever beam construction.

[0005] The technical solution provided by this invention is as follows:

[0006] A smart cantilever beam formwork control method based on PID control, comprising:

[0007] Data acquisition and preprocessing: Collect truss displacement, hanging basket posture, and hydraulic pressure of the hanging basket hydraulic system of the cantilever beam, hanging basket load-bearing weight, and wind speed, and then filter, normalize, and linearize the collected data in sequence.

[0008] The oil pressure is the key execution oil pressure in the hydraulic system of the cantilever beam hanging basket, including the lifting cylinder oil pressure and the propulsion cylinder oil pressure, which are used to characterize the force state of the hanging basket during the vertical lifting process and the horizontal walking process, respectively.

[0009] The weight refers to the force data at the rear anchoring points of each truss of the hanging basket. It is collected by pressure sensors installed at the rear anchoring structure and converted into the corresponding load-bearing weight data by combining the structural force conversion model.

[0010] PID control employs a hierarchical decoupling and collaborative fusion control strategy. It establishes independent PID control loops for truss synchronization, attitude balance, and hydraulic pressure stability, and coordinates and optimizes each control variable based on multivariable coupling relationships to generate the final control signal. The control signal includes control signals from the relief valve, oil pump, and solenoid valve.

[0011] Status monitoring: After each execution device executes the control signal output by PID control, the status of each component is monitored in real time. If the status of the cantilever beam formwork is unstable, the PID control parameters are adjusted and PID control is performed again until the status of the cantilever beam formwork is stable.

[0012] This scheme constructs independent PID control loops for truss synchronization, hydraulic pressure stabilization, and attitude balance. Each control loop performs independent calculations based on its corresponding error signal and is configured with independent control parameters, achieving variable isolation at the signal input, control structure, and parameter configuration levels. Furthermore, at the output level, a weighted fusion and dynamic coordination mechanism is used to uniformly allocate each control variable. The weights of each control loop are adaptively adjusted according to the system's operating state, and amplitude limiting constraints are used to suppress control conflicts and overshoot risks. This ensures independent adjustment of each subsystem while achieving global collaborative optimization. Therefore, this scheme transforms the traditional "single-loop coupled control" into a control mode that combines "multi-loop decoupling control and collaborative optimization." There are fundamental differences in control mechanism, parameter design, and output coordination methods, effectively solving the problem of the difficulty in simultaneously achieving decoupling control and collaborative optimization in multi-variable coupled systems.

[0013] Furthermore, the PID control for truss synchronization specifically refers to:

[0014] Based on the truss displacement data collected by displacement sensors, the positional error of the left and right trusses is calculated. This positional error is the deviation between the actual displacement difference of the left and right trusses and the target synchronous displacement difference. The calculation method is as follows: ; in: , These are the actual displacements of the left and right trusses, collected by displacement sensors, respectively. The preset synchronization target difference; The collected truss displacement data is processed in real time using a PID algorithm to calculate the truss control output signal, which in turn adjusts the opening of the propulsion solenoid valve. The specific formula is as follows: ; in, This represents the truss position error, which is the difference between the target distance and the actual distance of the truss. This indicates the opening control signal of the solenoid valve of the truss; and , These are the proportional, integral, and derivative coefficients in the PID parameters for truss synchronous control. t Indicates time.

[0015] Truss displacement sensors are used to measure the actual displacement of the truss in the direction of travel, which can be regarded as the actual distance the truss moves. In practical applications, after filtering and calibrating the data collected by the displacement sensor, the actual distance value used for control calculation is obtained and input into the PID controller as the feedback quantity for position error calculation.

[0016] Dynamic optimization settings were implemented based on the "synchronization accuracy of the same / different sides" requirement. The default parameter values ​​are as follows: ;

[0017] Furthermore, PID control for stable oil pressure refers to using data collected by an oil pressure sensor as feedback to monitor oil pressure changes in real time. When oil pressure deviates, discrete incremental PID control adjusts the control signals of the relief valve and oil pump to maintain the oil pressure within the set range. The specific formula is as follows:

[0018] ; ; in, This represents the oil pressure increment signal at the k-th sampling time. , as well as The proportional coefficient, integral coefficient, and derivative coefficient are used for oil pressure stabilization control. , as well as The oil pressure deviations at the k-th, (k-1)-th, and (k-2)-th sampling times are given. and These are the control signals for the overflow valve and oil pump at the k-th and (k-1)-th sampling times.

[0019] Furthermore, when the oil pressure deviation meets the requirements... At this time, an adaptive integral control mechanism is introduced to dynamically adjust the integral coefficient of the oil pressure stabilization control: ; Where α1 is the adjustment coefficient. This indicates the set target oil pressure value.

[0020] For example, in the lifting hydraulic pressure control, the system sets the hydraulic pressure setpoint range to 20-25 MPa. The PID control algorithm, combined with the "hydraulic pressure anomaly protection" threshold, ensures that when the hydraulic pressure deviation meets the specified value... An adaptive integral control mechanism is introduced to dynamically adjust the integral coefficient. This method enhances the integral action and accelerates convergence when the deviation is large, while weakening the integral action and avoiding oscillations when the deviation is small, thereby accelerating the system's convergence speed and ensuring that the oil pressure can quickly stabilize within the set range. This control strategy effectively avoids the instability of the hanging basket movement caused by oil pressure fluctuations, improving the safety and reliability of the construction process.

[0021] Furthermore, the attitude balance PID control uses the attitude angle data collected by the attitude sensor as feedback, performs PID control based on the attitude angle error, outputs a differential signal to the solenoid valve, and compensates for the tilt deviation by adjusting the lifting solenoid valve, thereby ensuring the attitude stability of the hanging basket.

[0022] This control process can adapt to changes in wind speed and load in real time, improving the stability and safety of the hanging basket in complex construction environments.

[0023] Furthermore, the filtering process employs differentiated strategies for different types of sensor data. Specifically, low-pass filtering is used for hydraulic signals, and moving average filtering is used for smoothing displacement signals. Kalman filtering is used for state estimation and noise suppression of attitude signals.

[0024] The low-pass filter formula is:

[0025]

[0026] in, The sampled value at the current sampling point n, yes The filtered output value These are filter coefficients determined based on noise characteristics and signal bandwidth, with values ​​ranging from 0 to 1;

[0027] The formula for normalization is: ; Where x1 is the filtered data, and These are the minimum and maximum values ​​of the data. This represents the normalized data; The formula for linear processing is: ; Where a, b, and c are linearization coefficients obtained through sensor calibration. This represents the data after linear processing.

[0028] Furthermore, multi-threaded data processing technology is adopted, and an independent thread is allocated to process the data collected by each sensor.

[0029] Each sensor's data processing has an independent thread, and each thread has its own task queue to store data tasks to be processed. When new data arrives, a data processing task is generated and placed into the corresponding thread's task queue. Each thread retrieves a task from its own task queue and executes the corresponding processing function, including operations such as filtering, normalization, and linearization.

[0030] Secondly, a smart cantilever beam formwork control system based on PID control includes:

[0031] The data acquisition sensor module collects data such as truss displacement, hanging basket posture, hydraulic pressure of the hanging basket hydraulic system, hanging basket load-bearing weight, and wind speed through sensors.

[0032] The preprocessing unit filters, normalizes, and linearizes the collected data, and transmits the processed data to the hanging basket control terminal based on the RS485 bus communication protocol.

[0033] A data synchronization acquisition mechanism based on the RS485 bus communication protocol and unified timestamp alignment processing ensure the timing consistency of multi-source data.

[0034] The hanging basket control terminal adopts the above-mentioned intelligent cantilever beam hanging basket control method based on PID control. After processing the received signal, it outputs the control signal to the execution device.

[0035] The actuator controls the overflow valve, oil pump, and solenoid valve based on the control signals output by the basket control terminal.

[0036] The APP command platform adopts a human-computer interaction approach. After setting parameters on the APP command platform, the data is transmitted to the hanging basket control terminal to achieve remote control, while simultaneously displaying the collected data and the operating status of the execution equipment in real time.

[0037] Furthermore, the data sensor module includes at least a cable displacement sensor and an attitude sensor, wherein the cable displacement sensor is of model MPS-M-5000mm and the attitude sensor is of model WT901C-485.

[0038] Furthermore, the hanging basket control terminal adopts an outdoor rainproof housing, which is made of galvanized sheet metal.

[0039] With an IP54 protection rating, the system integrates a core controller, data acquisition module, and control output module. The data acquisition sensors are precisely selected, including cable displacement sensors, attitude sensors, and hydraulic pressure sensors, with a rational layout to ensure comprehensive and accurate data. The execution equipment boasts superior performance, including solenoid valves, oil pumps, and relief valves, offering rapid response and precise coordination. The APP command platform serves as the human-machine interface, providing convenient operation and real-time monitoring. This highly integrated hardware design not only enhances the system's environmental adaptability but also lays the physical foundation for multi-source data fusion and precise control.

[0040] The advantages of the technical solution of this invention compared with the prior art are as follows:

[0041] The control algorithm provided by this invention achieves collaborative innovation between software and hardware. The core controller embeds a PID control module, enhancing control performance through the following technological breakthroughs: using displacement sensor data as feedback, the PID algorithm accurately calculates the positional error of the left and right trusses, adjusting the solenoid valve opening in real time to ensure synchronization accuracy of ±5mm; based on oil pressure sensor data, the PID control module dynamically adjusts the overflow valve and oil pump output, controlling oil pressure fluctuations within ±3%; and combined with attitude sensor data, the PID control module compensates for tilt deviations in real time, ensuring the stability of the hanging basket in complex environments. Therefore, this invention, through the deep integration of the PID control algorithm and the control system, constructs an all-weather intelligent solution for bridge construction.

[0042] This system addresses industry pain points through deep hardware and software integration: reducing the latency from sensor data acquisition to final execution. System latency is reduced through the following mechanisms: (1) multi-threaded parallel processing; (2) local decision-making at the edge computing terminal; and (3) real-time operating system scheduling. Standardized interfaces and a real-time operating system ensure the stability of data transmission and the accuracy of control commands. Multi-threaded data processing technology prevents interference between sensor data, improving the overall system reliability. This solves problems associated with traditional cantilever beam control, such as excessive travel distance deviation, asynchronous movement of the main trusses on both sides, and severe oil pressure fluctuations during propulsion or lifting, which can easily damage the hydraulic system or cause equipment failure. In summary, this invention significantly optimizes the control performance of the cantilever beam formwork, providing an efficient, safe, and intelligent innovative solution for bridge construction.

[0043] This invention constructs a high-precision, robust intelligent hanging basket control system for cantilever beam construction by deeply integrating PID control algorithms with multi-sensor data. Specifically, the multi-module collaborative architecture of the hanging basket control terminal, data acquisition sensor network, execution equipment, and APP command platform can acquire multi-dimensional working condition information such as truss displacement, hydraulic pressure dynamics, and attitude tilt angle in real time. Based on the PID closed-loop control strategy, it achieves millimeter-level synchronous propulsion, stable hydraulic pressure regulation, and dynamic attitude compensation, effectively solving the core pain points of low synchronization accuracy, large hydraulic pressure fluctuations, and poor environmental adaptability caused by traditional manual control.

[0044] The technical solution of this invention decouples the control objects, and the decoupling is not a simple separate control, but rather an independent PID control loop that is constructed for truss synchronization, hydraulic pressure stabilization and attitude balance. Each control loop is calculated based on the corresponding error signal and configured with independent control parameters, thereby achieving mutual isolation between physical quantities in the control structure. At the same time, by introducing a collaborative fusion mechanism at the upper level, the control quantities are uniformly coordinated to avoid coupling interference between different control loops.

[0045] The technical solution of this invention addresses the problem of strongly coupled control of multiple variables, including displacement, hydraulic pressure, and attitude, in the control of suspended concrete baskets. Traditional methods typically employ a single control loop or sequential control, which makes it difficult to consider the mutual influence between the variables. This solution achieves structural decoupling by constructing an independent PID control loop and introduces a weighted fusion and dynamic coordination mechanism at the upper level. This ensures independent adjustment of each subsystem while achieving overall collaborative optimization, thereby simultaneously resolving the contradictory problem of decoupling and coupling coordination.

[0046] This paper presents a collaborative design to address the timing consistency problem in the entire process of "multi-source data processing - control calculation - execution control" in multivariable coupled control systems, thereby reducing system response delay and improving control stability. Attached Figure Description

[0047] Figure 1 This is a block diagram of the control system structure in the technical solution of this invention;

[0048] Figure 2 This is a schematic block diagram of the control system structure connection in the technical solution of the present invention;

[0049] Figure 3 This is a schematic diagram of the enclosure of this system;

[0050] Figure 4 This is a schematic diagram of the internal structure of the enclosure of this system;

[0051] Figure 5 This is a schematic diagram of the control method flow of the technical solution of the present invention;

[0052] Figure 6This is a schematic diagram of the data acquisition sensor module structure in the technical solution of the present invention. Detailed Implementation

[0053] The technical solution of the present invention will be further described in conjunction with the accompanying drawings and embodiments.

[0054] like Figure 1 , 2 and Figure 5 As shown, a smart cantilever beam formwork control method based on PID control includes:

[0055] Data acquisition and preprocessing: Collect truss displacement, hanging basket posture, hydraulic pressure of the hanging basket hydraulic system of the cantilever beam, hanging basket load-bearing weight, and wind speed, and perform filtering, normalization, and linear processing on the collected data.

[0056] The oil pressure mentioned is the key execution oil pressure in the hydraulic system of the cantilever beam hanging basket, including the oil pressure of the lifting cylinder and the oil pressure of the propulsion cylinder, which are used to characterize the force state of the hanging basket during the vertical lifting process and the horizontal movement process, respectively.

[0057] The weight refers to the force data at the rear anchoring points of each truss of the hanging basket. It is collected by pressure sensors installed at the rear anchoring structure and converted into the corresponding load-bearing weight data by combining the structural force conversion model.

[0058] Multi-threaded data processing technology is used to allocate an independent thread to process the data collected by each sensor.

[0059] Each sensor's data processing has an independent thread, and each thread has its own task queue to store data tasks to be processed. When new data arrives, a data processing task is generated and placed into the corresponding thread's task queue. Each thread retrieves a task from its own task queue and executes the corresponding processing function, including operations such as filtering, normalization, and linearization.

[0060] Different filtering strategies are adopted for different types of sensor data. Low-pass filtering is used for oil pressure signals, and moving average filtering is used for smoothing displacement signals. Kalman filtering is used for state estimation and noise suppression of attitude signals.

[0061] The low-pass filter formula is:

[0062]

[0063] in, The sampled value at the current sampling point n, yes The filtered output value These are filter coefficients determined based on noise characteristics and signal bandwidth, with values ​​ranging from 0 to 1;

[0064] The formula for normalization is: ; Where x1 is the filtered data, and These are the minimum and maximum values ​​of the data. This represents the normalized data; The formula for linear processing is: ; Where a, b, and c are linearization coefficients obtained through sensor calibration. This represents the data after linear processing.

[0065] PID control employs a hierarchical decoupling and collaborative fusion control strategy. It establishes independent PID control loops for truss synchronization, oil pressure stabilization, and attitude balance, and coordinates and optimizes each control variable based on multivariable coupling relationships to generate the final control signal. The control signal includes control signals from the relief valve, oil pump, and solenoid valve.

[0066] Specifically, PID control for truss synchronization refers to:

[0067] Based on the truss displacement data collected by displacement sensors, the positional error of the left and right trusses is calculated. This positional error is the deviation between the actual displacement difference of the left and right trusses and the target synchronous displacement difference. The calculation method is as follows: ; in: , These are the actual displacements of the left and right trusses, collected by displacement sensors, respectively. The preset synchronization target difference; The collected truss displacement data is processed in real time using a PID algorithm to calculate the truss control output signal, which in turn adjusts the opening of the propulsion solenoid valve. The specific formula is as follows: ; in, This represents the truss position error, which is the difference between the target distance and the actual distance of the truss. This indicates the opening control signal of the solenoid valve of the truss; and , These are the proportional, integral, and derivative coefficients in the PID parameters for truss synchronous control. t Indicates time.

[0068] Truss displacement sensors are used to measure the actual displacement of the truss in the direction of travel, which can be regarded as the actual distance the truss moves. In practical applications, after filtering and calibrating the data collected by the displacement sensor, the actual distance value used for control calculation is obtained and input into the PID controller as the feedback quantity for position error calculation.

[0069] Dynamic optimization settings were implemented based on the "synchronization accuracy of the same / different sides" requirement. The default parameter values ​​are as follows: ;

[0070] PID control for stable oil pressure refers to using data collected by an oil pressure sensor as feedback to monitor oil pressure changes in real time. When oil pressure deviates, discrete incremental PID control adjusts the control signals of the relief valve and oil pump to maintain the oil pressure within the set range. The specific formula is as follows:

[0071] ; ; in, This represents the oil pressure increment signal at the k-th sampling time. , as well as The proportional coefficient, integral coefficient, and derivative coefficient are used for oil pressure stabilization control. , as well as The oil pressure deviations at the k-th, (k-1)-th, and (k-2)-th sampling times are given. and These are the control signals for the overflow valve and oil pump at the k-th and (k-1)-th sampling times.

[0072] When the oil pressure deviation meets At this time, an adaptive integral control mechanism is introduced to dynamically adjust the integral coefficient of the oil pressure stabilization control: ; Where α1 is the adjustment coefficient. This indicates the set target oil pressure value.

[0073] For example, in the lifting hydraulic pressure control, the system sets the hydraulic pressure setpoint range to 20-25 MPa. The PID control algorithm, combined with the "hydraulic pressure anomaly protection" threshold, ensures that when the hydraulic pressure deviation meets the specified value... An adaptive integral control mechanism is introduced to dynamically adjust the integral coefficient. This enhances the integral action and accelerates convergence when the deviation is large, while weakening the integral action and avoiding oscillations when the deviation is small. This accelerates the system's convergence speed and ensures that the oil pressure quickly stabilizes within the set range. This control strategy effectively avoids instability in the hanging basket's movement caused by oil pressure fluctuations, improving the safety and reliability of the construction process.

[0074] The PID control for attitude balance uses attitude angle data collected by the attitude sensor as feedback. Based on the attitude angle error, PID control is performed, and a differential signal is output to the solenoid valve. By adjusting the lifting solenoid valve, the tilt deviation is compensated, thereby ensuring the stability of the hanging basket's attitude.

[0075] This control process can adapt to changes in wind speed and load in real time, improving the stability and safety of the hanging basket in complex construction environments.

[0076] Status monitoring: After each execution device executes the control signal output by PID control, the status of each component is monitored in real time. If the status of the cantilever beam formwork is unstable, the PID control parameters are adjusted and PID control is repeated until the status of the cantilever beam formwork is stable. The adjustment of PID control parameters is set through the APP command platform.

[0077] In summary, the technical solution of the present invention has the following characteristics:

[0078] 1) In terms of multi-threaded parallel processing, traditional control systems mostly adopt serial processing methods, which are difficult to handle the synchronization requirements of multi-source heterogeneous data such as displacement, oil pressure and attitude. However, this solution, which is designed for the multi-variable coupling characteristics, divides the data acquisition and processing of different physical quantities into independent threads, realizes the parallelization and timing alignment of data processing, thereby avoiding the control coupling amplification problem caused by the difference in data processing delay.

[0079] 2) Regarding local decision-making at the edge computing terminal, conventional systems often rely on host computers or remote control centers for unified decision-making. However, this solution, combined with the requirements of multi-loop real-time control, pushes control decisions down to the edge, enabling control calculation and execution to be completed at the same node, thereby reducing the latency introduced by the communication link and ensuring the real-time performance of the control response.

[0080] 3) Regarding real-time operating system scheduling, although real-time operating system itself is a conventional technology, in scenarios where multiple control loops run in parallel, ensuring the deterministic scheduling and timing consistency of each control task is not a simple application. This solution uses a real-time scheduling mechanism to uniformly manage the tasks of each control loop, enabling multiple PID control loops to run collaboratively in the time dimension and avoiding the accumulation of control deviations caused by inconsistent task scheduling.

[0081] Example 2

[0082] A smart cantilever beam formwork control system based on PID control includes:

[0083] The data acquisition sensor module collects data such as truss displacement, hanging basket posture, hydraulic pressure of the hanging basket hydraulic system, hanging basket load-bearing weight, and wind speed through sensors.

[0084] The preprocessing unit filters, normalizes, and linearizes the collected data, and transmits the processed data to the hanging basket control terminal based on the RS485 bus communication protocol.

[0085] A data synchronization acquisition mechanism based on the RS485 bus communication protocol and unified timestamp alignment processing ensure the timing consistency of multi-source data.

[0086] The hanging basket control terminal adopts the above-mentioned intelligent cantilever beam hanging basket control method based on PID control. After processing the received signal, it outputs the control signal to the execution device.

[0087] The actuator controls the overflow valve, oil pump, and solenoid valve based on the control signals output by the basket control terminal.

[0088] The APP command platform adopts a human-computer interaction approach. After setting parameters on the APP command platform, the data is transmitted to the hanging basket control terminal to achieve remote control, while simultaneously displaying the collected data and the operating status of the execution equipment in real time.

[0089] like Figure 6 As shown, the data sensors include at least a cable displacement sensor and an attitude sensor. The cable displacement sensor is model MPS-M-5000mm, and the attitude sensor is model WT901C-485.

[0090] like Figure 3 and Figure 4 As shown, the hanging basket control terminal adopts an outdoor rainproof box body, which is made of galvanized sheet metal.

[0091] The hanging basket control terminal in this example boasts an IP54 protection rating and integrates a core controller, data acquisition module, and control output module. The data acquisition sensors are precisely selected, encompassing cable displacement sensors, attitude sensors, and hydraulic pressure sensors, with a rational layout ensuring comprehensive and accurate data. The execution equipment, including solenoid valves, oil pumps, and relief valves, exhibits superior performance, providing rapid response and precise coordination. An APP command platform serves as the human-machine interface, offering convenient operation and real-time monitoring. This highly integrated hardware design not only enhances the system's environmental adaptability but also lays the physical foundation for multi-source data fusion and precise control.

[0092] Table 1 shows the walking test results of the bridge-building machine using the intelligent cantilever beam formwork control system proposed in this example. Table 1 shows the multi-point testing of the walking accuracy within the 0~5000mm travel range. The test results are as follows: Single-end truss walking error: The walking deviation (distance difference between the two trusses at both ends) of the A and B ends is controlled within ±5mm, with a maximum deviation not exceeding 4mm, meeting the accuracy requirements of equipment design and engineering construction; Overall synchronization error at both ends: Comprehensive analysis of the walking data of the four trusses at both ends A and B shows that the maximum deviation at each test point (the difference between the maximum and minimum values ​​of the four sets of data) does not exceed 5mm, indicating good synchronization of the trusses at both ends during walking, with no obvious skew or jamming. The test data shows that the bridge-building machine using the cantilever beam formwork control system proposed in this example walks smoothly throughout the entire travel range, and the positioning accuracy and synchronization meet the design specifications, satisfying the safety and accuracy requirements for subsequent construction applications.

[0093] Table 1 1 500 502 2 501 503 2 3 2 1001 1003 2 1000 1002 2 3 3 1502 1504 2 1501 1503 2 3 4 2000 2003 3 2001 2004 3 4 5 2503 2505 2 2502 2504 2 3 6 3001 3004 3 3002 3005 3 4 7 3502 3505 3 3501 3504 3 4 8 4000 4002 2 4001 4003 2 3 9 4501 4503 2 4500 4502 2 3 10 5000 5003 3 5001 5004 3 4

[0094] It should also be understood that the specific implementation process of each module is described in the above method. This invention will not repeat it here. The above division of functional modules is only for illustrative purposes. In some embodiments, some functional modules can be combined and some functional modules can be separated. Each functional module can be implemented in software, hardware, or a combination of software and hardware. The software and hardware devices include, but are not limited to, general-purpose computer equipment, programmable gate arrays, digital signal processors, microprocessors and their corresponding programming or burning software.

[0095] Example 3

[0096] A computer device includes: one or more processors; a memory storing one or more computer programs; wherein the processors invoke the computer programs to implement: the steps of the above-mentioned intelligent cantilever beam formwork control based on PID control.

[0097] Please refer to the description of the aforementioned method embodiments for details.

[0098] In some embodiments, the electronic components of a computer device include:

[0099] The processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention.

[0100] The memory can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory, and the processor calls the algorithm program of the methods described above in the embodiments of this invention.

[0101] Input / output interfaces are used to implement information input and output.

[0102] The communication interface is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0103] A bus is used to transfer information between various components of a device, such as processors, memory, input / output interfaces, and communication interfaces.

[0104] The processor, memory, input / output interfaces, and communication interfaces communicate with each other within the device via a bus.

[0105] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application refers to flowchart illustrations and / or instructions executed by a processor of a method, apparatus (system), and computer program product according to embodiments of this application to create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams. These computer program instructions may also be stored in a computer-readable storage medium capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowchart illustrations and / or one or more block diagrams. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of a block diagram.

[0106] It should be emphasized that the examples described in this invention are illustrative rather than limiting. Therefore, this invention is not limited to the examples described in the specific embodiments. Any other embodiments derived by those skilled in the art based on the technical solutions of this invention, without departing from the spirit and scope of this invention, whether modifications or substitutions, are also within the protection scope of this invention.

Claims

1. A smart cantilever beam formwork control method based on PID control, characterized in that, include: Data acquisition and preprocessing: Collect truss displacement, hanging basket posture, and hydraulic pressure of the hanging basket hydraulic system of the cantilever beam, hanging basket load-bearing weight, and wind speed, and then filter, normalize, and linearize the collected data in sequence. PID control employs a hierarchical decoupling and collaborative fusion control strategy. It establishes independent PID control loops for truss synchronization, attitude balance, and hydraulic pressure stability, and coordinates and optimizes each control variable based on multivariable coupling relationships to generate the final control signal. The control signal includes control signals from the relief valve, oil pump, and solenoid valve. Status monitoring: After each execution device executes the control signal output by PID control, the status of each component is monitored in real time. If the status of the cantilever beam formwork is unstable, the PID control parameters are adjusted and PID control is performed again until the status of the cantilever beam formwork is stable.

2. The method according to claim 1, characterized in that, Specifically, PID control for truss synchronization refers to: Based on the truss displacement data collected by displacement sensors, the positional error of the left and right trusses is calculated. This positional error is the deviation between the actual displacement difference of the left and right trusses and the target synchronous displacement difference. The calculation method is as follows: ; in: , These are the actual displacements of the left and right trusses, collected by displacement sensors, respectively. The preset synchronization target difference; The collected truss displacement data is processed in real time using a PID algorithm to calculate the truss control output signal, which in turn adjusts the opening of the propulsion solenoid valve. The specific formula is as follows: ； in, This represents the truss position error, which is the difference between the target distance and the actual distance of the truss. This indicates the opening control signal of the solenoid valve of the truss; and , These are the proportional, integral, and derivative coefficients in the PID parameters for truss synchronous control. t Indicates time.

3. The method according to claim 1, characterized in that, PID control for stable oil pressure refers to using data collected by an oil pressure sensor as feedback to monitor oil pressure changes in real time. When oil pressure deviates, discrete incremental PID control adjusts the control signals of the relief valve and oil pump to maintain the oil pressure within the set range. The specific formula is as follows: ； ； in, This represents the oil pressure increment signal at the k-th sampling time. , as well as The proportional coefficient, integral coefficient, and derivative coefficient are used for oil pressure stabilization control. , as well as The oil pressure deviations at the k-th, (k-1)-th, and (k-2)-th sampling times are given. and These are the control signals for the overflow valve and oil pump at the k-th and (k-1)-th sampling times.

4. The method according to claim 3, characterized in that, When the oil pressure deviation meets At this time, an adaptive integral control mechanism is introduced to dynamically adjust the integral coefficient of the oil pressure stabilization control: ； Where α1 is the adjustment coefficient. This indicates the set target oil pressure value.

5. The method according to claim 1, characterized in that, The PID control for attitude balance uses attitude angle data collected by the attitude sensor as feedback. Based on the attitude angle error, PID control is performed, and a differential signal is output to the solenoid valve. By adjusting the lifting solenoid valve, the tilt deviation is compensated, thereby ensuring the stability of the hanging basket's attitude.

6. The method according to claim 1, characterized in that, Different filtering strategies are adopted for different types of sensor data. Low-pass filtering is used for oil pressure signals, and moving average filtering is used for smoothing displacement signals. Kalman filtering is used for state estimation and noise suppression of attitude signals. The low-pass filter formula is: ； in, The sampled value at the current sampling point n, yes The filtered output value These are filter coefficients determined based on noise characteristics and signal bandwidth, with values ​​ranging from 0 to 1; The formula for normalization is: ; Where x1 is the filtered data, and These are the minimum and maximum values ​​of the data. This represents the normalized data; The formula for linear processing is: ; Where a, b, and c are linearization coefficients obtained through sensor calibration. This represents the data after linear processing.

7. The method according to claim 1, characterized in that, Multi-threaded data processing technology is used to allocate an independent thread to process the data collected by each sensor.

8. A smart cantilever beam formwork control system based on PID control, characterized in that, include: The data acquisition sensor module collects data such as truss displacement, hanging basket posture, hydraulic pressure of the hanging basket hydraulic system, hanging basket load-bearing weight, and wind speed through sensors. The preprocessing unit filters, normalizes, and linearizes the collected data, and transmits the processed data to the hanging basket control terminal based on the RS485 bus communication protocol. The hanging basket control terminal adopts the intelligent cantilever beam hanging basket control method based on PID control as described in any one of claims 1-7, processes the received signal, and outputs the control signal to the execution device; The actuator controls the overflow valve, oil pump, and solenoid valve based on the control signals output by the basket control terminal. The APP command platform adopts a human-computer interaction approach. After setting parameters on the APP command platform, the data is transmitted to the hanging basket control terminal to achieve remote control, while simultaneously displaying the collected data and the operating status of the execution equipment in real time.

9. The system according to claim 8, characterized in that, The data sensor module includes at least a cable displacement sensor and an attitude sensor, wherein the cable displacement sensor is of model MPS-M-5000mm and the attitude sensor is of model WT901C-485.

10. The system according to claim 9, characterized in that, The hanging basket control terminal adopts an outdoor rainproof box, which is made of galvanized sheet metal.

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