Cantilever beam forming machine remote monitoring and collaborative control method

Abstract

The present application relates to the field of bridge construction equipment automatic control technology, disclose a kind of cantilever beam builder remote monitoring and collaborative control method, comprising: obtaining the discrete time stamp difference between single machine controlled object and sampling current vector;According to the time sequence integral of the change rate of the sampling current vector to determine the response lag parameter;When the discrete time stamp difference exceeds 30ms threshold for 3 consecutive control periods, determine the adaptive time backoff factor according to the time-varying exponential rule and recompile the speed regulation sequence;When the discrete time stamp difference decreases, output current compensation gain instruction according to absolute geometric displacement residual, the present application converts displacement deviation into speed regulation slope, smooth attenuation driving torque, eliminates speed asynchrony, avoids asymmetric load impact and internal force accumulation, improves the stability margin of system.

Description

Technical Field

[0001] This invention belongs to the field of automated control technology for bridge construction equipment, and particularly relates to a remote monitoring and collaborative control method for cantilever beam-making machines. Background Technology

[0002] The cantilever construction of large-span steel box girders and prestressed concrete continuous beams currently requires the coordinated advancement of multiple sets of hydraulic walking mechanisms. Due to the time and voltage loss and physical redundancy of the control main cable in the wired centralized control mode, the current scheme generally adopts a distributed bus control network with multiple controlled nodes. Each independent control unit realizes closed-loop tracking of multiple hydraulic drive displacements through high-frequency interactive timing messages.

[0003] In this distributed collaborative control system, the synchronization accuracy of multiple machines directly determines the stress state of the main beam. The control unit calculates the transient delay of the current control cycle based on the interactive messages and adjusts the power output of the drive. However, the cantilever beam construction surface has complex working conditions such as high-power frequency conversion harmonic radiation and sudden changes in the physical friction resistance of rigid components. The local bus frequently experiences instantaneous signal distortion or periodic message loss in non-ideal construction environments. Simply relying on optimizing the hardware architecture such as the traveling wheels or hanging basket steel structure cannot eliminate the asymmetry of multi-machine actions. Software control methods also have shortcomings. For example, Chinese invention patent with authorization announcement number CN119437324B discloses a synchronous monitoring system and method for cantilever bridge construction machines based on IoT Beidou total station. It relies on the optical ranging of the total station and real-time wireless feedback of Beidou absolute coordinates. The premise for its success is unobstructed line of sight at high altitudes and ideal network communication. However, under actual working conditions such as high-power frequency conversion harmonic radiation, large temperature difference, fog, dust and strong mechanical vibration, the reference signal is easily lost or the sensor zero point drifts.

[0004] Therefore, how to implement adaptive reconfiguration of control logic for the open-loop operation state of the local bus, eliminate asynchronous actions of multiple machines and absorb the accumulation of strong stress inside the structure, becomes the technical problem to be solved by this invention. Summary of the Invention

[0005] The present invention aims to solve the problem of asymmetric load impact on bridge components caused by asynchronous operation of multiple machines when local communication is interrupted.

[0006] In this technical solution, a method for remote monitoring and collaborative control of a cantilever beam-making machine includes the following steps: Step S101: The control unit acquires the discrete timestamp difference between each single controlled object in the multi-machine collaborative cantilever beam construction process and the sampled current vector of the speed-regulating drive controlled mechanism; wherein, the speed-regulating drive controlled mechanism is an electro-hydraulic speed-regulating drive assembly including a drive motor and a hydraulic control component, and the hydraulic control component includes at least a hydraulic proportional directional valve and a hydraulic motor. Step S102: The control unit performs a first-order discrete difference operation on the sampled current vector to obtain the slip rate of change, integrates the slip rate of change in time within the sliding residual window, and maps and outputs the response hysteresis parameter with time dimension. Step S103: When the discrete timestamp difference exceeds the communication delay judgment threshold, the control unit uses the discrete timestamp difference and the response lag parameter as input variables and calculates and generates a single-machine exclusive adaptive time backoff factor according to the time-varying exponential rule. Step S104: The control unit uses an adaptive time backoff factor to adjust the timing phase of the control time axis, re-edits the walking speed regulation sequence of the current control cycle, and adjusts the drive control parameters of the speed regulation drive controlled mechanism to offset the transmission response delay in the open-loop state of the network. Step S105: When the difference in discrete timestamps is determined to be below the communication delay determination threshold, the control unit switches to the rigid self-calibration mode, collects the cumulative pulse count of the geometric displacement feedback unit to calculate the absolute geometric displacement residual, and outputs the current compensation gain command based on the absolute geometric displacement residual to apply it in situ to the drive current loop regulator of the speed-controlled mechanism to eliminate the transmission gap deviation.

[0007] Preferably, the control unit is equipped with a disconnection time accumulator. When the difference between discrete timestamps exceeds the communication delay judgment threshold, the disconnection time accumulator is started to keep track of the time and compare the accumulated disconnection time with the allowable disconnection time window to establish a hard cutoff boundary. When the accumulated disconnection time is kept within the allowable disconnection time window, the phase adjustment control based on the adaptive time backoff factor is maintained in the open-loop state of the network. When the accumulated disconnection time exceeds the allowable disconnection time window, a hard safety protection interruption command is triggered to stop the speed regulation drive of the controlled mechanism.

[0008] Preferably, step S102 includes the following sub-steps: Step S1021, the control unit extracts the historical sampled current vector of the speed-driving controlled mechanism within the normal cycle of the preceding communication, and performs a first-order discrete difference operation on the historical sampled current vector to obtain the slip rate of change; Step S1022, the control unit performs time-series integration of the slip rate of change within the sliding residual window, and maps the integration result to output as a response hysteresis parameter to quantitatively characterize the time loss generated when a single controlled object performs speed control under non-ideal load.

[0009] Preferably, step S104 includes the following sub-steps: Step S1041, the control unit uses the calculated adaptive time backoff factor as the input of the independent variable of the time axis control operator, and performs timing phase adjustment on the control time axis of the current control cycle through exponential weighting operation to reshape the time control reference; Step S1042, based on the adjusted time control reference, the control unit couples the discretized walking drive speed regulation command sequence with the underlying drive delay and transmission loss to generate a walking speed regulation sequence, and outputs it in place to the drive current loop regulator of the speed regulation drive controlled mechanism to realize torque reorganization between racks in the open-loop state of the network.

[0010] Preferably, step S105 includes the following sub-steps: Step S1051, when it is determined that the local chain break state has ended and seamlessly switched to the rigid self-calibration mode, the control unit collects the cumulative pulse number of the geometric displacement feedback unit in real time through the counter, and calculates the absolute geometric displacement residual based on the cumulative pulse number; Step S1052, the control unit performs calculations based on the absolute geometric displacement residual, outputs a current compensation gain command, and applies it in place to the drive current loop regulator of the speed-regulating drive controlled mechanism, so as to establish a direct displacement absorption channel when the control loop returns to closed loop, and offset the geometric deviation generated during the chain break.

[0011] Preferably, the sliding residual window slides dynamically backward as the control cycle progresses. The control unit extracts the latest sampled current vector in each control cycle and discards the earliest current data to maintain real-time updates of the time series data within the sliding residual window.

[0012] Preferably, the control unit calculates a single-machine-specific adaptive time backoff factor to dynamically offset the deviation caused by transmission backlash and time-varying resistance in the walking speed regulation sequence. In the open-loop state of the network, the control unit achieves torque adaptive balance between the single-machine controlled objects, thus solving the problem of uneven internal stress caused by motion asymmetry.

[0013] Preferably, the current compensation gain command controls the output current of the drive current loop regulator of the speed-controlled mechanism to autonomously absorb the tensile internal stress generated during the multi-machine collaborative cantilever beam construction process before synchronization recovery, thereby maintaining the stability of the spatial topological constraints.

[0014] Preferably, the discrete timestamp difference is obtained by extracting the sending timestamp and receiving timestamp from the data packets of the wireless communication network and calculating the difference between the sending timestamp and receiving timestamp.

[0015] Compared with existing technologies, the remote monitoring and collaborative control method for cantilever beam construction machines of the present invention has the following advantages: 1. In the remote monitoring and collaborative control of cantilever beam-making machines, a timestamp difference scalar is established by extracting the sending time and local receiving time from the local interactive messages. When the set threshold is exceeded for multiple consecutive control cycles, the finite state machine is driven to switch to the asymmetric backoff mode. The timestamp difference is used as a feedback source to stretch the control axis and flexibly extend the trigger update edge of the walking drive control pulse. The geometric deviation caused by the transient closed loop obstruction of the control link is converted into a controllable speed adjustment ramp within the time phase, which smoothly attenuates the equivalent driving torque of the corresponding single machine. This control logic reconfiguration method avoids rigid emergency braking, eliminates the motion asynchrony caused by the blind advancement of multi-machine walking drive pulses, and enables the cluster control system to obtain adaptive torque flexible backoff performance in the local open loop state of the network, preventing the asymmetric load impact accumulated on the large inertia frame.

[0016] 2. By extracting the historical sampled current vector of the motor and calculating the discrete difference to obtain the slip rate of change, the rate of change is integrated within a sliding window to generate a response lag parameter with time dimension. Combined with the timestamp difference, a weighted causal control mapping is established to solve the adaptive time backoff factor specific to a single machine. This parameter construction method, which deeply couples the discrete characteristics of communication with the underlying drive delay and transmission loss, breaks the linear monotonic assumption of control timing and physical response. It enables the output speed regulation sequence to dynamically offset the dynamic distortion caused by transmission backlash and time-varying resistance, thereby achieving adaptive torque reorganization between racks in the open-loop state of the network and solving the internal stress balance failure caused by the asymmetry of single machine motion.

[0017] 3. When the local chain break state ends and seamless switching to the rigid self-calibration mode is completed, the control unit collects the cumulative pulse count of the drive wheel encoder through the counter to calculate the absolute geometric displacement residual of the single machine. The main control state machine outputs a first-order current compensation gain command based on the displacement residual, which acts on the drive current loop regulator of the travel motor in situ to drive the multi-machine walking mechanism to complete the rigid alignment of the configuration. This process establishes a direct displacement absorption channel at the moment when the control loop returns to the closed loop, so that the geometric deviation accumulated due to the response time difference during the chain break is accurately offset under the control current regulation. Before the system restores standard synchronization, the internal strong tensile stress is autonomously absorbed online, maintaining the long-term mechanical steady state and spatial topological constraint stability of the structural components. Attached Figure Description

[0018] Figure 1 This is a flowchart of the multi-machine collaborative control execution steps of the cantilever beam-making machine of the present invention; Figure 2 This is an interaction diagram of the control unit and the controlled mechanism of the cantilever beam-making machine of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] A method for remote monitoring and collaborative control of a cantilever beam-making machine, the overall execution steps and logical architecture of which are as follows: Figure 1 As shown, the method specifically includes the following steps: Step S101: The control unit acquires the discrete timestamp difference between each single controlled object in the multi-machine collaborative cantilever beam construction process and the sampled current vector of the speed-regulating drive controlled mechanism; wherein, the speed-regulating drive controlled mechanism is an electro-hydraulic speed-regulating drive assembly including a drive motor and a hydraulic control component, and the hydraulic control component includes at least a hydraulic proportional directional valve and a hydraulic motor. Step S102: The control unit performs a first-order discrete difference operation on the sampled current vector to obtain the slip rate of change, integrates the slip rate of change in time within the sliding residual window, and maps and outputs the response hysteresis parameter with time dimension. Step S103: When the discrete timestamp difference exceeds the communication delay judgment threshold, the control unit uses the discrete timestamp difference and the response lag parameter as input variables and calculates and generates a single-machine exclusive adaptive time backoff factor according to the time-varying exponential rule. Step S104: The control unit uses an adaptive time backoff factor to adjust the timing phase of the control time axis, re-edits the walking speed regulation sequence of the current control cycle, and adjusts the drive control parameters of the speed regulation drive controlled mechanism to offset the transmission response delay in the open-loop state of the network. Step S105: When the difference in discrete timestamps is determined to be below the communication delay determination threshold, the control unit switches to the rigid self-calibration mode, collects the cumulative pulse count of the geometric displacement feedback unit to calculate the absolute geometric displacement residual, and outputs the current compensation gain command based on the absolute geometric displacement residual to apply it in situ to the drive current loop regulator of the speed-controlled mechanism to eliminate the transmission gap deviation.

[0021] Preferably, the control unit is equipped with a disconnection time accumulator. When the difference between discrete timestamps exceeds the communication delay judgment threshold, the disconnection time accumulator is started to keep track of the time and compare the accumulated disconnection time with the allowable disconnection time window to establish a hard cutoff boundary. When the accumulated disconnection time is kept within the allowable disconnection time window, the phase adjustment control based on the adaptive time backoff factor is maintained in the open-loop state of the network. When the accumulated disconnection time exceeds the allowable disconnection time window, a hard safety protection interruption command is triggered to stop the speed regulation drive of the controlled mechanism.

[0022] Preferably, step S102 includes the following sub-steps: Step S1021, the control unit extracts the historical sampled current vector of the speed-driving controlled mechanism within the normal cycle of the preceding communication, and performs a first-order discrete difference operation on the historical sampled current vector to obtain the slip rate of change; Step S1022, the control unit performs time-series integration of the slip rate of change within the sliding residual window, and maps the integration result to output as a response hysteresis parameter to quantitatively characterize the time loss generated when a single controlled object performs speed control under non-ideal load.

[0023] Preferably, step S104 includes the following sub-steps: Step S1041, the control unit uses the calculated adaptive time backoff factor as the input of the independent variable of the time axis control operator, and performs timing phase adjustment on the control time axis of the current control cycle through exponential weighting operation to reshape the time control reference; Step S1042, based on the adjusted time control reference, the control unit couples the discretized walking drive speed regulation command sequence with the underlying drive delay and transmission loss to generate a walking speed regulation sequence, and outputs it in place to the drive current loop regulator of the speed regulation drive controlled mechanism to realize torque reorganization between racks in the open-loop state of the network.

[0024] Preferably, step S105 includes the following sub-steps: Step S1051, when it is determined that the local chain break state has ended and seamlessly switched to the rigid self-calibration mode, the control unit collects the cumulative pulse number of the geometric displacement feedback unit in real time through the counter, and calculates the absolute geometric displacement residual based on the cumulative pulse number; Step S1052, the control unit performs calculations based on the absolute geometric displacement residual, outputs a current compensation gain command, and applies it in place to the drive current loop regulator of the speed-regulating drive controlled mechanism, so as to establish a direct displacement absorption channel when the control loop returns to closed loop, and offset the geometric deviation generated during the chain break.

[0025] Preferably, the sliding residual window slides dynamically backward as the control cycle progresses. The control unit extracts the latest sampled current vector in each control cycle and discards the earliest current data to maintain real-time updates of the time series data within the sliding residual window.

[0026] Preferably, the control unit calculates a single-machine-specific adaptive time backoff factor to dynamically offset the deviation caused by transmission backlash and time-varying resistance in the walking speed regulation sequence. In the open-loop state of the network, the control unit achieves torque adaptive balance between the single-machine controlled objects, thus solving the problem of uneven internal stress caused by motion asymmetry.

[0027] Preferably, the current compensation gain command controls the output current of the drive current loop regulator of the speed-controlled mechanism to autonomously absorb the tensile internal stress generated during the multi-machine collaborative cantilever beam construction process before synchronization recovery, thereby maintaining the stability of the spatial topological constraints.

[0028] Preferably, the discrete timestamp difference is obtained by extracting the sending timestamp and receiving timestamp from the data packets of the wireless communication network and calculating the difference between the sending timestamp and receiving timestamp.

[0029] Example 1: When the distributed control system operates in a complex high-altitude field construction environment and faces the typical working condition of coordinated propulsion of multiple cantilever beam-building machines, each independent control unit implements closed-loop following control of multi-channel hydraulic drive displacement through high-frequency interactive timing messages. Due to interference such as high-power frequency converter harmonic radiation and sudden changes in the physical friction resistance of rigid components on the high-altitude working surface, the local bus frequently experiences instantaneous signal distortion or periodic message loss in the non-ideal construction environment, causing the system to enter a partial link break state due to network jitter. At this time, each single-machine walking drive system enters a dynamic heterogeneous state due to differences in intrinsic parameters. Due to the phased open loop of the control link, if each single-machine walking drive pulse continues to use the original absolute synchronous control command, under the asymmetric large inertial gravity moment of hundreds of tons of machinery and sudden changes in large inertial load, asynchronous actions are easily generated between the independent moving controlled objects, which in turn induces strong asymmetric load impact and accumulation of hidden internal force imbalance inside the hanging basket steel structure. Under this partial link break state, combined with Figure 2The control unit and controlled mechanism interaction topology shown is illustrated. Embedded adaptive control units deployed within each cantilever beam-building machine capture local communication network data packets in real time via a local area bus interface. They extract the discrete transmission timestamps injected by the master control node and combine them with the local reception timestamps read from the internal bus clock of the control unit to perform a difference calculation, obtaining the discrete timestamp difference value for the current control cycle. In this embodiment, the speed-regulating drive controlled mechanism is specifically manifested as a distributed electro-hydraulic speed-regulating drive system composed of a drive motor and hydraulic control components. The hydraulic control components include at least a hydraulic proportional directional valve and a hydraulic motor. This system receives basic mechanical power input from the drive motor and adjusts the speed through the hydraulic control components. The flow and direction of hydraulic oil are controlled to collaboratively drive the traveling mechanism of the cantilever beam-making machine. The system's underlying drive current loop regulator has dual regulatory mapping capabilities: it can act on the variable frequency speed control circuit of the drive motor to extract the stator sampling current and calculate the torque current vector; it can also act on the proportional electromagnet current control circuit to adjust the displacement of the hydraulic proportional directional valve core to overcome the physical dead zone of the valve core. This achieves joint speed control at both the electrical and hydraulic levels. The state transition arbitration unit, as a discrete finite state machine driven by the internal timer cycle of the local microprocessor, receives and monitors the discrete timestamp difference in real time. When the discrete timestamp difference satisfies a communication delay exceeding 30ms for three consecutive control cycles... When determining the threshold, the state transition arbitration unit drives the walking control state machine to seamlessly switch from the standard synchronous mode to the asymmetric retreat mode. In the asymmetric retreat mode, the discrete variable structure control operator inside the control unit calls the in-situ timing phase reprogramming operator to extract the historical sampled current vector of the speed-adjusting driven controlled mechanism within the normal cycle of the preceding communication, and performs a first-order discrete difference operation on the historical sampled current vector to obtain the variable characteristic flow reflecting the rate of change of motor slip. Based on the electromechanical coupling principle of the induction motor stator and rotor, under the rotor field-oriented control state, the transient differential of the stator torque current component has a first-order linear correlation with the fluctuation slope of the load electromagnetic torque. When the large mechanical inertia hinders the movement within the control cycle... When the speed changes abruptly, the slope of the stator torque current component is used to characterize the rotor slip rate of change. The system extracts the three-phase stator sampling current and calculates the torque current vector. The result of the first-order discrete difference operation of the torque current vector is multiplied by the preset torque slip sensitivity coefficient to calculate the slip rate of change value. This is used to decouple the mapping relationship between electrical parameters and mechanical kinematic parameters. In practical applications, the preset torque slip sensitivity coefficient is a constant that is pre-calibrated and stored in the microprocessor by performing a constant load change test on the motor of the speed-regulating drive controlled mechanism before leaving the factory or during the start-up test, recording the corresponding ratio of the first-order discrete difference value of the stator torque current to the rotor transient slip rate of change.In this invention, the inflection point of the torque waveform specifically refers to the timing position when the second-order differential curve of the stator torque current first reaches zero or the first-order differential curve reaches its maximum value under the action of a step excitation signal. Dynamically, this position represents the critical time point when the gear backlash in the mechanical transmission chain is completely eliminated and enters a rigid transmission state. The slip rate of change is integrated within the first-in-first-out sliding residual window, mapping and outputting an execution lag parameter with time dimensions that quantitatively characterizes the time loss generated by the speed control of a single controlled object under non-ideal load. The sliding residual window dynamically slides backward with the 5ms pulse step of the control cycle, extracting the latest sampled current vector and discarding the earliest... Current data is used to maintain real-time updates of time series data. In this process, the time series integral in the discrete domain is represented by the accumulation of the differential values ​​of the slip rate at each step within the sliding residual window. The product is a dimensionless accumulated value reflecting the severity of slip fluctuations. To convert this mechanical kinematic scalar into a time dimension that can be used for time-series hedging at the numerical level, this invention, during the mapping output, uses the inherent electromechanical conversion constant of the operating condition stored in the processor to physically scale this dimensionless accumulated value. This allows the slip rate shift caused by sudden load changes within the window to be equivalently converted into the lag time required for the drive mechanism to overcome the slip, thus giving the response lag parameter a clear millisecond-level time dimension and a clear physical dissipation meaning.

[0030] The in-situ timing phase recompilation operator uses the discrete timestamp difference and the execution lag parameter as input variables. It multiplies a preset first heterogeneous adjustment coefficient with the discrete timestamp difference of the current control cycle, and simultaneously multiplies a preset second heterogeneous adjustment coefficient with the current execution lag parameter, dividing by a 30ms communication delay threshold. The results of these two multiplications are then superimposed to calculate and output the current single-machine-specific adaptive time backoff factor. Based on the asynchronous motor constant flux drive model, it applies adjustment constraints to physical time loss through the open-loop time degradation ratio. The processor then uses the adaptive time backoff factor... The calculation formula is as follows: ,in, This is an adaptive time backoff factor, with a value greater than 0; This is the discrete timestamp difference for the current control cycle, with a value greater than 30. The response hysteresis parameter ranges from 5 to 25. The first isomerization adjustment coefficient is preset, with a value ranging from 0.4 to 0.8; The second isomerization adjustment coefficient is preset, with a value ranging from 0.3 to 0.6; The communication delay threshold is fixed at 30. An adaptive time backoff factor with time dimensions is calculated using the above formula. This factor is used as the input variable of the time axis control operator. Through exponential weighting, the timing phase of the control time axis in the current control cycle is adjusted to reshape the time control reference. Based on this, the pulse generator extends the trigger time window of each frame control command in the walking drive pulse sequence by the duration corresponding to the adaptive time backoff factor, thereby changing the update edge of the pulse duty cycle. Specifically, the time axis control operator runs in the microprocessor's timer interrupt service routine. The exponential weighting operation calls an exponential decay function with the natural logarithm as the base to adjust the current absolute... A nonlinear mapping is performed on the physical timing sequence to calculate the phase offset of the reference time axis. The microprocessor dynamically rewrites this phase offset into the comparison matching register of the underlying timer, causing a hardware-level delay triggering of the originally fixed instruction refresh cycle. The final output walking speed control sequence has its duty cycle register update edge precisely delayed along the time axis, achieving closed-loop adjustment of the underlying hardware drive timing without changing the software instruction values. This couples the discretized walking drive speed control instruction sequence with the underlying drive delay and transmission loss to generate a recompiled walking speed control sequence, which is then output in-situ to the drive current loop regulator of the speed control drive controlled mechanism. The signal flow and control path are as follows: Figure 2 As shown, by flexibly delaying the update edge to implement flexible backoff in the time series, the equivalent driving torque of the corresponding single machine is smoothly attenuated. In the open-loop state of the network, the torque adaptive balance between the controlled objects of the single machine is achieved to dynamically offset the offset caused by transmission gap deviation and time-varying resistance. Since long-term chain breakage may cause the adaptive time backoff factor to accumulate continuously, causing the system to be in a low torque coasting condition with motor non-control, the chain breakage time accumulator in the control unit starts timing when the difference of discrete timestamps exceeds the communication delay judgment threshold. In real time, the accumulated chain breakage time is rigidly compared with the allowable chain breakage time window of 500ms. When the accumulated chain breakage time is kept within the allowable chain breakage time window, the control unit maintains the phase adjustment control based on the adaptive time backoff factor in the open-loop state of the network. When the accumulated chain breakage time exceeds the allowable chain breakage time window of 500ms, the highest priority safety interruption instruction of the control state machine is triggered, the timing reprogramming operator is forcibly suspended, and the control unit sends a level cutoff instruction to the external electromagnetic brake actuator to make the electromagnetic brake mechanism mechanically lock up to seamlessly reduce to a rigid configuration holding state.

[0031] When external electromagnetic interference is eliminated and the control unit detects a decrease in the discrete timestamp difference of local communication messages, which meets the condition of being less than or equal to the communication delay threshold, the state transition arbitration unit determines that the local link failure state has ended and drives the external walking control state machine to seamlessly transition to the rigid self-calibration mode. At this time, each individual control unit seamlessly activates the mechanical displacement rigid self-calibration program. Its control and hardware interaction architecture is as follows: Figure 2 As shown, the control unit collects the cumulative pulse count of the drive wheel encoder in the geometric displacement feedback unit in real time through a counter, and calculates the absolute geometric displacement residual between individual machines based on the cumulative pulse count. The main control state machine outputs a current compensation gain command based on the absolute geometric displacement residual, and applies it in situ to the drive current loop regulator of the speed-regulating drive controlled mechanism to control the output current of the drive current loop regulator to establish a direct displacement absorption channel. Before synchronization is restored, the online autonomous control absorbs the tensile internal stress generated during the multi-machine collaborative cantilever beam construction process, so that the geometric deviation accumulated due to the response time difference during the chain break is accurately offset under the control current regulation. Before the system restores standard synchronization, the online autonomous absorption of the internal strong tensile stress is completed, maintaining the spatial topological constraint stability and the long-term mechanical steady state of the bridge structural components.

[0032] Example 2: When verifying the coordinated adjustment performance of the distributed control system on the traveling mechanisms of multiple cantilever beam-building machines under abnormal communication conditions, this test relied on a semi-physical hardware-in-the-loop simulation control test platform to provide the data source. The test platform consisted of a multi-channel digital signal generator, a simulated master control node, an embedded microprocessor with floating-point arithmetic capabilities, and a hydraulic proportional directional valve physical-in-the-loop load test bench. The digital signal generator was used to generate continuous frequency-converting harmonic radiation waveforms and inject them into the local communication network composed of multi-level resistor-capacitor networks to simulate the physical distortion effect of the high-power frequency-converting electromagnetic environment on the bus waveform. At the same time, it actively superimposed signals into the local communication message stream. Gaussian white noise with a noise ratio of 20dB and power frequency interference harmonics with a frequency of 50Hz were used to test the system's anti-interference boundary. When determining the core control parameters for the test operation, the setting of the communication delay judgment threshold mainly balances the mutual constraint between the system's tolerance to network jitter in the face of transient noise and the speed of internal force accumulation in the hanging basket structure caused by asynchronous multi-machine actions. If the threshold is set too low, the microprocessor will frequently misjudge meaningless noise jitter and frequently switch modes. If it is set too high, the system will miss the opportunity for phase reprogramming under heavy load coasting. Therefore, by analyzing the rated transmission period of the local communication network and the maximum allowable asynchronous position of the large inertial controlled object, the system's anti-interference boundary is determined. To establish a discrete judgment rule based on a single control cycle, under the typical current high-altitude cantilever construction conditions, 30ms was selected as the standard setting value for the communication delay judgment threshold, and the advancement step size of the sliding residual window was set to 5ms. Multiple test groups with corresponding parameter gradients were simultaneously deployed on the test platform. The test groups included a test group using the method of this invention, a control group using traditional rigid emergency brake interlocking control, a partially missing control group with selectively removed slip rate change factor, and a control group with the communication delay judgment threshold extended outwards by 5ms (lower limit out-of-range) and 150ms (upper limit out-of-range). To determine the adaptive adjustment law of the control system in the face of different electromagnetic interference and network damage levels, a three-level problem intensity gradient environment with increasing network degradation was introduced for each of the above groups. The average packet loss rate of the local bus in the first-level gradient was maintained at 5.1%, the average packet loss rate of the local bus in the second-level gradient increased to 15.4%, and the average packet loss rate of the local bus in the third-level gradient increased to 35.2%. The embedded microprocessors of each group ran continuously for 3000 control cycles under the above time-varying network background, and collected and recorded the walking displacement deviation and stress concentration data inside the frame through high-precision displacement sensors and drive shaft hydraulic pressure transmitters.

[0033] In the dynamic simulation of the test operation, when the system enters the severe bus interference condition with a level 3 problem intensity gradient, the embedded adaptive control unit in the test group using the method of this invention captures local communication network data packets and calculates discrete timestamp differences through the local area bus interface. It is detected that this difference rises to 32.4ms, 35.8ms, and 38.2ms respectively in the third consecutive control cycle, thus meeting the judgment condition that the communication delay exceeds the 30ms threshold for three consecutive control cycles. The state transition arbitration unit drives the walking control state machine to directly switch to the asymmetric backoff mode. In this mode, the discrete variable structure control operator calls the timing phase recompilation operator in situ and reads the previous normal communication cycle. Historical sampling current vectors are used to calculate the slip rate of change in a first-order discrete-difference operation. The measured value of the slip rate of change of the generated motor exhibits irregular fluctuations between ±3.4A. The slip rate of change is then integrated over a sliding residual window. Based on the time-series integration of the slip rate of change, the measured value of the response lag parameter is determined to be stable at 12.6ms, reflecting the parasitic time loss of the heavy-duty hydraulic drive mechanism due to mechanical inertia and time-varying frictional resistance. On this basis, the timing phase reprogramming operator uses pure text quantization logic to weightedly superimpose the discrete timestamp difference of the current control cycle with the response lag parameter, calculating and outputting a single-machine-specific adaptive time backoff factor for the current cycle. The measured value of the device is 18.3ms. Based on this, the pulse generator updates the control command in the walking drive pulse sequence by 18.3ms, thereby flexibly reshaping the time control reference. This allows the equivalent drive torque measurement value of the test group using the method of this invention to smoothly decrease by 24.6%, converting the geometric deviation caused by the communication interruption into a controllable speed ramp within the time sequence, and eliminating the pulling effect caused by the heterogeneity of multiple machine speeds. By comparing the final measurement data of each test group under the third-level problem intensity gradient, it can be seen that the test group using the method of this invention, during a continuous chain interruption period of up to 500ms, had a maximum absolute geometric displacement residual of 1.35mm between multiple machines. Furthermore, by migrating to a rigid self-calibrating modal modulation... The output current of the control drive current loop regulator reduces the tensile internal stress at the connection of the hanging basket steel structure to 4.2kN before synchronization recovery, maintaining the mechanical stability of the spatial topological constraint. In contrast, the traditional comparison sample group, due to the loss of phase adjustment, has its maximum absolute geometric displacement residual increased to 18.42mm under the same network deterioration state, causing the transient shear stress at the connection of the hanging basket steel structure to exceed the material yield limit. The partial missing control group, which removes the current differential integral feedback, cannot quantitatively compensate for the parasitic time delay loss of the hydraulic transmission and cannot maintain the torque adaptive balance between multiple controlled objects. Its maximum absolute geometric displacement residual increases to 8.64mm, and the internal stress concentration rises to 28.Data from 3kN demonstrates an interaction between the first-order differential time-series integral of the historical current and the discrete timestamp difference. Further analysis of boundary conditions reveals that when the 5ms lower limit out-of-range control group encounters Gaussian white noise disturbances, the low threshold causes the state transition arbitration unit to perform up to 42 erroneous switches within 100s, leading to frequent step fluctuations in the drive current and control divergence in the walking control state machine. Conversely, when the 150ms upper limit out-of-range control group experiences severe link failure, the response lag results in a maximum absolute geometric displacement residual of 22.5mm before the timing phase reprogramming operator's action conditions are met, exceeding the 15mm mechanical safety limit of the hanging basket structure. This data proves that the numerical range defined by the 30ms communication delay judgment threshold and the 500ms allowable link failure time window is the working range that ensures the collaborative control stability and structural mechanical safety of the distributed control system under non-ideal construction environments.

[0034] After the distributed control system performs open-loop adaptive phase adjustment and rigid displacement absorption control after network recovery, it continuously limits the travel displacement difference during the multi-machine collaborative cantilever beam building process to within the safe deformation threshold. The power output of each hydraulic proportional directional valve drive mechanism is adapted to the external friction resistance. The internal stress distribution of the hanging basket physical components is maintained within the safe range of the design allowable strength. It also completes continuous and stable closed-loop control of the configuration topology of multiple single-machine traveling controlled objects under non-ideal industrial field conditions with network topology jitter and heterogeneous power mechanism.

[0035] Example 3: When the system faces long-term continuous operation in a high-altitude, large-temperature-difference construction environment, and when the lubricant viscosity fluctuates due to the alternating ambient temperature of multiple cantilever beam-building machine traveling mechanisms, and the system's dynamic response characteristics change slowly due to mechanical wear of proportional hydraulic actuators, unpredictable time-varying drift occurs due to the inherent electrical drive inertial delay and the basic delay of the local communication network within the control link. This causes the originally fixed control response margin to have a spatiotemporal dimension matching deviation due to changes in the working environment. If the system continues to use the pre-fixed judgment boundary value and fixed adjustment weight, it is very easy to generate frequent mode switching errors when the network experiences slight jitter, or to induce step oscillations in the drive current due to gain mismatch during phase reprogramming. Consequently, the displacement compensation between multiple cantilever beam-building machine traveling mechanisms becomes dispersed, making it difficult for multiple single-machine traveling controlled objects to achieve torque balance of equivalent drive torque during heavy-load propulsion, thus accumulating large stresses at the static mechanical constraint boundary of the hanging basket component.

[0036] To eliminate unknown time-varying disturbances in the process of setting the judgment boundaries and weighting coefficients, the processors deployed inside the control units of each cantilever beam-building machine drive a closed-loop calibration program according to a preset self-calibration timing sequence. The self-calibration timing sequence is automatically triggered and activated when the system completes its daily power-on self-test or when the ambient temperature jumps by more than 10°C. Its initial state is limited to the travel speed regulation drive mechanism being in an offline shutdown state, and the displacement sensor in the geometric displacement feedback unit maintaining a sampling frequency of 100Hz and a measurement resolution of 0.01mm. In the closed-loop calibration program, the processor continuously reads the discrete timestamp difference sequence under network interference-free conditions within 1000 control cycles through the local area bus interface, opens an independent data queue in the memory, calculates the arithmetic mean of the sequence as the network basic time delay benchmark, and calculates the statistical variance of each data point in the sequence relative to the arithmetic mean. The standard deviation is calculated by performing a square root operation on the variance, multiplying the standard deviation by 3 and superimposing it on the network basic time delay benchmark. This pure textual quantitative mathematical reasoning logic solves and outputs the communication delay judgment under the current construction environment. A threshold is established to define a non-parametric filtering boundary with 99.7% confidence for mode switching to isolate high-frequency electromagnetic random noise disturbances. Based on this, the processor sends a pulse width modulation step excitation signal to the in-situ current regulator of the speed-driven controlled mechanism. The pressure transmitter and encoder synchronously capture the transient response characteristics of the hydraulic motor output torque curve from 0 to rated torque. The lag time at the inflection point of the torque waveform is read as the mechanical motion dissipation parameter. The processor divides the network basic time delay benchmark by the sum of the mechanical motion dissipation parameter and the network basic time delay benchmark through textual causal calculation. The dimensionless value obtained is used as the first heterogeneous regulation coefficient for specific matching of the current working condition. At the same time, the mechanical motion dissipation parameter is divided by the sum of the mechanical motion dissipation parameter and the network basic time delay benchmark. The dimensionless value obtained is used as the second heterogeneous regulation coefficient for specific matching of the current working condition. By establishing a dimensional conservation causal mapping that is bound to the actual energy dissipation of the system and the intrinsic state of the network, the abstract heterogeneous regulation mechanism is flattened and restored into program operation control parameters that can be directly read, written and updated by the processor register.

[0037] By injecting the aforementioned online self-calibrated and updated parameter system into the time axis control operator of the control system, the timing phase reprogramming process under asymmetric backoff mode gains dynamic adjustment support that closely matches the actual engineering loss characteristics. When the system faces local bus packet loss caused by sudden electromagnetic harmonics again during subsequent construction, the timing phase reprogramming operator, based on the real-time updated first and second heterogeneous adjustment coefficients, can calculate an adaptive time backoff factor matching the current physical state of the transmission device and the degree of network topology deterioration within 10ms. This drives the pulse generator to dynamically extend the trigger update edge of the control pulse with the duty cycle update edge, thus changing the original... The synchronization misalignment residual caused by the accumulation of open-loop time is absorbed in the smooth decay process of the flexible torque driven by the hydraulic pump. Even if it continues to advance under communication stripping conditions with a specific intensity gradient for a long time, the maximum absolute geometric displacement residual between the single controlled objects can be limited to the allowable range of bridge mechanical structural deformation of 1.5mm. This constructs a full-link causal closed loop from the bottom heterogeneous perception, online optimization and calibration of internal system parameters to the self-disturbance control of the terminal hydraulic drive. Without changing the existing hardware layout of the equipment, the uninterrupted collaborative walking control of large-tonnage, large-inertia distributed bridge construction equipment under harsh network conditions is maintained by highly reliable information transformation logic.

[0038] Example 4: When the system faces the situation of multiple cantilever beam-making machines being assembled and deployed for the first time on the construction site, due to the initial heterogeneity of the intrinsic damping of the hydraulic pipelines of each individual machine, the travel control state machine lacks a unified dynamic response benchmark boundary before adjustment. At this time, the control unit implements static baseline construction and adaptive parameter fine-tuning through on-site deployment of pre-calibration programs. It controls each individual machine's travel mechanism to run a unidirectional constant speed propulsion test under no-load standard working conditions. The hydraulic sensors and encoders are used to synchronously collect the initial return oil pressure resistance torque and the travel wheel speed fluctuation rate of the hydraulic circuit. The initial return oil pressure resistance torque is discretized and the difference between the preset rated working pressure is calculated to obtain the pipeline dissipation basis. At the same time, the discrete standard deviation of the travel wheel speed fluctuation rate within 20 consecutive sampling periods is statistically analyzed to characterize the no-load clearance of the mechanical transmission chain.

[0039] The timing phase reprogramming operator inputs the pipeline dissipation basis and the mechanical transmission chain unloaded clearance into the pre-calibration matrix for mapping and updating. The microprocessor multiplies the pipeline dissipation basis with the preset initial value of the first heterogeneous adjustment coefficient to correct the damping response variation. At the same time, the mechanical transmission chain unloaded clearance is introduced into the initial bias calculation of the sliding residual window to eliminate the transmission physical clearance. In this way, the corresponding correction amount is injected into the iteration of the adaptive time backoff factor, changing the initial start phase of the travel drive pulse sequence update edge. This enables the travel control state machine to establish a phase adjustment benchmark that matches the current physical gliding inertia of the equipment before the communication link is blocked in the transient closed loop. The closed-loop following control of the displacement of each single-machine travel mechanism limits the maximum displacement imbalance within the safety angle variation limit during long-term continuous operation, so that the configuration topology of the multiple single-machine travel controlled objects maintains a stable state of spatial topological constraints under the dynamic variation hindrance field.

[0040] Example 5: When the system faces the collaborative propulsion of multiple cantilever beam-building machines in a high-frequency continuous mechanical vibration construction environment, the spatial geometric deformation feedback source will generate zero-point drift or transient high-frequency glitch noise in the travel measurement due to long-term alternating heavy load impact. This will cause the position code stream pulse sequence captured by the travel control state machine to deviate from the actual physical component shape and position. In the transient process of alternating open-loop and closed-loop control modes of the distributed control network, if the control unit lacks a self-checking fault-tolerant mechanism at the data input port and directly calls the original data containing the accumulated measurement error, it is very easy to output a step speed regulation command sequence due to the sudden change of the reference reference. This will then induce asymmetric alternating torque loads between the multi-channel hydraulic proportional directional valve actuators, and accumulate mechanical shear fatigue that cannot be absorbed online in the main beam connection layer.

[0041] When zero-point drift occurs during the travel measurement, the microprocessor deployed inside the control unit of each cantilever beam-building machine adaptively starts the signal preprocessing program, combined with... Figure 2The signal extraction link shown involves a local microprocessor that intercepts the raw displacement stream values ​​collected by a high-precision displacement sensor within five control cycles in real time. It then uses a median sliding filter operator to denoise the data and extracts the spatial geometric difference stream between the current effective filtered output and the historical synchronous reference displacement of the previous normal cycle. This allows for precise extraction of the corresponding displacement residual value in the discrete domain. The processor continuously calculates the discrete variance of the spatial geometric difference stream within a 10-second sliding sampling window. This discrete variance serves as a transmission loss parameter to quantitatively characterize the degree of stiffness distortion caused by long-term vibration in the transmission chain. When the transmission loss parameter monotonically increases for four consecutive statistical cycles and exceeds a preset deviation limit, the adaptive calibration operator retrieves the internally fixed compensation gain matrix. It multiplies the preset damping adjustment coefficient with the current transmission loss parameter and divides the result by the network's rated transmission cycle. Based on the principles of electromechanical energy conversion and dynamic stiffness compensation, the mechanical displacement variance is converted into a dimensionless gain correction quantity in the control dimension through the torque transmission ratio and current gain sensitivity coefficient. The current compensation increment of the proportional amplification factor is then used. The calculation formula is as follows: ,in, The increment for current compensation ranges from 0.05 to 0.25. The transmission loss parameter reflects the discrete variance of the spatial geometric difference flow, and its value ranges from 0.1 to 5.0. This is the network's rated transmission cycle, a value fixed at 5. The electromechanical conversion scaling factor is used to convert the dimensional relationship between spatial displacement variance and control gain, with a value ranging from 1.2 to 3.8. The dimensionless current compensation increment is calculated using the above formula and used to replace the product of the damping coefficient and loss parameter divided by the period. This value is then superimposed in situ onto the proportional gain of the underlying drive current loop regulator, thereby reconstructing the output damping polarity of the current feedback control loop. The determination of the boundary parameters and core coefficients in this formula is based on the electromechanical conversion scaling factor. The value range of 1.2 to 3.8 is selected based on the dynamic equivalent derivation of the rated electromagnetic torque of the induction motor and the stiffness coefficient of the hydraulic pump under rated pressure. If it is lower than 1.2, the gain compensation is insufficient and cannot overcome the static friction of the transmission chain. If it is higher than 3.8, it will cause the current loop to exceed the gain and induce high-frequency oscillation in the closed loop. Transmission loss parameter It is obtained by performing real-time variance statistics on the spatial geometric difference collected by the displacement sensor within a fixed time window, which is used to quantitatively characterize the degree of stiffness degradation of the transmission chain caused by alternating heavy load impact. Its upper limit of 5.0 square millimeters corresponds to the maximum elastic deformation limit allowed by the hanging basket structure. If this upper limit is exceeded, the system will trigger the physical safety protection.

[0042] With adaptive dynamic correction of the proportional gain, the control system, while maintaining the existing hardware architecture, keeps the displacement deviation induced by high-frequency continuous mechanical vibration within 0.5mm. The control current input waveform of the drive current loop regulator converges to a smooth sinusoidal shape as the transmission loss parameters decay. The absolute geometric displacement residuals of multiple cantilever beam-building machines steadily decrease under network jitter and resistance abrupt change conditions. The multi-machine propulsion mechanism maintains a coordinated balance between displacement difference and equivalent drive torque throughout the entire construction process. The internal stress state of the hanging basket physical components is confined within the design allowable shear stress index. The overall form and topology of the large-tonnage cantilever construction equipment and the long-term mechanical steady state of the bridge cantilever structure are in a stable closed-loop state. The collaborative control mechanism lies in the fact that the control system dynamically adjusts the dynamic damping polarity and torque response bandwidth of the feedback loop by superimposing the current compensation increment calculated based on geometric variance onto the proportional amplification coefficient of the drive current loop regulator. When the control loop switches back from the open-loop state of network disconnection to the closed loop, this high torque stiffness enables the hydraulic motor to generate a transient electromagnetic torque with an extremely high ramp, thereby driving the hydraulic proportional directional valve to instantly cross the nonlinear hindrance region caused by the physical dead zone of the valve core and the mechanical clearance of the transmission chain. This allows the geometric displacement deviation accumulated during the chain disconnection to be dynamically tracked and eliminated in the initial transient state of entering the closed loop, achieving an equivalent hard offset against the transmission clearance deviation of the position layer at the current loop control level.

[0043] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit of this application and the scope of protection of this invention, and all of these forms are within the protection scope of this application.

Claims

1. A method for remote monitoring and collaborative control of a cantilever beam-making machine, characterized in that, Includes the following steps: Step S101: The control unit acquires the discrete timestamp difference between each single controlled object in the multi-machine collaborative cantilever beam construction process and the sampled current vector of the speed-regulating drive controlled mechanism; wherein, the speed-regulating drive controlled mechanism is an electro-hydraulic speed-regulating drive assembly including a drive motor and a hydraulic control component, and the hydraulic control component includes at least a hydraulic proportional directional valve and a hydraulic motor. Step S102: The control unit performs a first-order discrete difference operation on the sampled current vector to obtain the slip rate of change, integrates the slip rate of change in time within the sliding residual window, and maps and outputs the response hysteresis parameter with time dimension. Step S103: When the discrete timestamp difference exceeds the communication delay judgment threshold, the control unit uses the discrete timestamp difference and the response lag parameter as input variables. It multiplies the preset first heterogeneous adjustment coefficient with the discrete timestamp difference of the current control cycle, and simultaneously multiplies the preset second heterogeneous adjustment coefficient with the current response lag parameter and divides the result by the communication delay judgment threshold. The results of the two multiplication operations are then summed according to the formula: ,in, This represents the discrete timestamp difference of the current control cycle. In response to lag parameters, To preset the first heterogeneity adjustment coefficient, This is a preset second heterogeneity adjustment coefficient. To determine the communication delay threshold, a standalone adaptive time backoff factor is calculated and generated. ; Step S104: The control unit uses an adaptive time backoff factor to adjust the timing phase of the control time axis, re-edits the walking speed regulation sequence of the current control cycle, and adjusts the drive control parameters of the speed regulation drive controlled mechanism to offset the transmission response delay in the open-loop state of the network. Step S105: When the difference in discrete timestamps is determined to be below the communication delay determination threshold, the control unit switches to the rigid self-calibration mode, collects the cumulative pulse count of the geometric displacement feedback unit to calculate the absolute geometric displacement residual, and outputs the current compensation gain command based on the absolute geometric displacement residual to apply it in situ to the drive current loop regulator of the speed-controlled mechanism to eliminate the transmission gap deviation.

2. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, The control unit is equipped with a disconnection time accumulator. When the difference between discrete timestamps exceeds the communication delay judgment threshold, the disconnection time accumulator is activated to start timing and compares the accumulated disconnection time with the allowable disconnection time window to establish a hard cutoff boundary. When the accumulated disconnection time is kept within the allowable disconnection time window, the phase adjustment control based on the adaptive time backoff factor is maintained in the open-loop state of the network. When the accumulated disconnection time exceeds the allowable disconnection time window, a hard safety protection interrupt command is triggered to stop the speed regulation drive of the controlled mechanism.

3. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, Step S102 includes the following sub-steps: Step S1021, the control unit extracts the historical sampled current vector of the speed-driving controlled mechanism within the normal cycle of the preceding communication, and performs a first-order discrete difference operation on the historical sampled current vector to obtain the slip rate of change; Step S1022, the control unit performs time-series integration of the slip rate of change within the sliding residual window, and maps the integration result to output as a response hysteresis parameter to quantitatively characterize the time loss generated when a single controlled object performs speed control under non-ideal load.

4. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, Step S104 includes the following sub-steps: Step S1041, the control unit uses the calculated adaptive time backoff factor as the input of the independent variable of the time axis control operator, and performs timing phase adjustment on the control time axis of the current control cycle through exponential weighting operation to reshape the time control reference; Step S1042, based on the adjusted time control reference, the control unit couples the discretized walking drive speed regulation command sequence with the underlying drive delay and transmission loss to generate a walking speed regulation sequence, and outputs it in place to the drive current loop regulator of the speed regulation drive controlled mechanism to realize torque reorganization between racks in the open-loop state of the network.

5. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, Step S105 includes the following sub-steps: Step S1051, when the local chain break state is determined to have ended and seamlessly switched to the rigid self-calibration mode, the control unit collects the cumulative pulse count of the geometric displacement feedback unit in real time through the counter, and calculates the absolute geometric displacement residual based on the cumulative pulse count; Step S1052, the control unit performs calculations based on the absolute geometric displacement residual, outputs a current compensation gain command, and applies it in situ to the drive current loop regulator of the speed-controlled drive mechanism, so as to establish a direct displacement absorption channel when the control loop returns to closed loop, and offset the geometric deviation generated during the chain break.

6. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, The sliding residual window slides dynamically backward as the control cycle progresses. In each control cycle, the control unit extracts the latest sampled current vector and discards the earliest current data to maintain real-time updates of the time series data within the sliding residual window.

7. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, The control unit calculates a unique adaptive time backoff factor for each machine, which dynamically offsets the deviation caused by transmission backlash and time-varying resistance in the walking speed regulation sequence. In the open-loop network state, it achieves torque adaptive balance between the controlled objects of each machine, and solves the problem of uneven internal stress caused by motion asymmetry.

8. The remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, The current compensation gain command controls the output current of the drive current loop regulator of the speed-regulating driven controlled mechanism, and autonomously controls and absorbs the tensile internal stress generated during the multi-machine collaborative cantilever beam construction process before synchronization is restored, thus maintaining the stability of the spatial topological constraints.

9. A remote monitoring and collaborative control method for a cantilever beam-making machine according to claim 1, characterized in that, Discrete timestamp difference is obtained by extracting the send timestamp and receive timestamp from the data packets of the wireless communication network and calculating the difference between the send timestamp and receive timestamp.

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