Fabricated tower crane foundation construction method and system based on prestress cooperative control

Abstract

The application provides a prestress cooperative control-based fabricated tower crane foundation construction method and system, and relates to the technical field of building construction. The method comprises the following steps: block prefabrication is performed on the tower crane foundation to form an assembly unit set; an initial assembly configuration is established, and an assembly state description vector is established; stress imbalance analysis is performed to generate partition deviation distribution information; a key stress path is identified, and a tension linkage relationship penetrating through each foundation module is established based on the key stress path; the tension sequence, tension direction and tension step of the steel strand are cooperatively optimized; and a cooperative control strategy is established. The application solves the technical problem that, in the prior art, the prestress is disconnected from the actual stress of the structure due to the inability to perceive the assembly geometric deviation, which damages the integrity and overturning resistance of the fabricated tower crane foundation. An effective cooperative working mechanism is formed among the prefabricated modules, and the overall bearing capacity and overturning stability of the fabricated tower crane foundation are improved.

Description

Technical Field

[0001] This application relates to the field of building construction technology, specifically to a prefabricated tower crane foundation construction method and system based on prestressed synergistic control. Background Technology

[0002] As a key load-bearing structure of tower cranes, the construction quality of tower crane foundations directly affects the safety and stability of lifting operations. Currently, most tower crane foundations in construction adopt one-time cast-in-place concrete structures. Although this technology is relatively mature, it has inherent limitations such as long construction cycles, high costs, large material consumption, and the inability to reuse materials, easily leading to significant resource waste. Existing prefabricated assembly schemes also lack systematic construction support technologies, making it difficult to adapt to the needs of efficient construction. To address this, prefabricated reusable tower crane foundation construction technology is introduced, employing a segmented prefabrication and steel strand tensioning assembly mode to achieve foundation disassembly and reuse, shortening the construction period of a single foundation, significantly improving work efficiency, and substantially reducing construction costs. However, prefabricated modules inevitably experience initial geometric deviations during factory production and on-site assembly, lacking the ability to perceive and adapt to the actual assembly state of the structure. This results in a serious disconnect between the prestressing application path and the actual stress state of the structure, making it difficult for the various prefabricated modules to form an effective collaborative working mechanism, weakening the overall load-bearing capacity and overturning stability of the prefabricated tower crane foundation.

[0003] In summary, existing technologies suffer from the problem that accumulated deviations after the prefabricated modules are assembled make traditional prestressing tensioning unable to detect and adapt to the distribution of these deviations. This results in a serious disconnect between the applied prestress and the actual state of the structure, weakening the overall load-bearing capacity and overturning stability of the prefabricated tower crane foundation, and further affecting the overall stress performance and safety of the prefabricated tower crane foundation. Summary of the Invention

[0004] The purpose of this application is to provide a construction method and system for prefabricated tower crane foundations based on prestressed collaborative control, in order to solve the technical problem in the prior art where, due to geometric deviations after the assembly of prefabricated modules, traditional prestressing tensioning cannot detect and adapt to the distribution of deviations, resulting in a serious disconnect between the application of prestress and the actual state of the structure, which weakens the overall load-bearing capacity and anti-overturning stability of the prefabricated tower crane foundation, and further affects the overall stress performance and safety of the prefabricated tower crane foundation.

[0005] To achieve the above objectives, this application provides a construction method and system for prefabricated tower crane foundations based on prestressed synergistic control.

[0006] Firstly, this application provides a prefabricated tower crane foundation construction method based on prestressed synergistic control. This method is implemented through a prefabricated tower crane foundation construction system based on prestressed synergistic control. The method includes: prefabricating the tower crane foundation in sections to form an assembly unit set containing multiple foundation modules, wherein each foundation module has a steel strand channel and standardized anchoring interface arranged along a predetermined stress path; spatially assembling the assembly unit set to establish an initial assembly configuration and obtain the initial assembly structure. Based on the spatial attitude parameters of each basic module and the contact state parameters between modules, an assembly state description vector is established. Force imbalance analysis is performed based on this assembly state description vector to generate partitioned deviation distribution information characterizing assembly deviations in each region. This partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. After identifying key force paths using this partitioned deviation distribution information, a tensioning linkage relationship is established, primarily based on these key force paths, and then the tensioning sequence, direction, and step of the steel strands are collaboratively optimized to establish a collaborative control strategy.

[0007] Optionally, each basic module in the assembly unit set is identified by functional attributes, which include at least the main control module, constraint support module, and connection transition module. Simultaneously, the assembly connection relationships between the basic modules in the assembly unit set are acquired, including at least surface contact connections, interlocking connections, and anchoring connections. In these assembly connection relationships, an assembly connection topology is constructed with basic modules as nodes and inter-module connections as edges. At each node, the module's functional attributes, elevation deviation, and local tilt deviation are labeled, and at each edge, the connection type and corresponding joint opening deviation are labeled. After filtering deviations using the module's functional attributes, a step-by-step deviation propagation tracking process is performed to identify key force paths.

[0008] Optionally, the main control module and adjacent connecting modules are used as priority analysis units. Deviation transmission capacity is graded according to connection type and spatial attitude change characteristics. For surface contact connections, transmission weights are established based on contact area and normal deflection angle of the contact surface; for interlocking connections, transmission weights are determined based on interlocking depth and relative rotation constraint characteristics; and for anchored connections, transmission weights are determined based on anchoring constraint stiffness and anti-overturning capacity. Starting from the priority analysis unit, deviations are traced and transmitted step-by-step along the connection relationship. During transmission, height difference deviations are transmitted along the connection direction, joint opening deviations are accumulated at the connection interface, and local tilt deviations are decomposed into tilt components along the connection direction and tilt components perpendicular to the connection direction according to the connection direction between modules. The corresponding transmission weights are used to attenuate or amplify height difference deviations, joint opening deviations, and tilt components to establish a deviation transmission sequence. When multiple deviation transmission sequences converge at the same main control module and their tilt component directions or deviation change trends are consistent, the deviation transmission sequences are merged to form a composite deviation transmission path that runs through multiple functional modules. A key force path is established based on this composite deviation transmission path.

[0009] Optionally, a composite deviation transmission path where the number of main control modules covered exceeds a preset threshold and the cumulative deviation impact reaches a set range is determined as the dominant deviation path, and the set of basic modules involved in the path is determined as the dominant deviation region. Based on the spatial extension direction of the dominant deviation path and the corresponding tilting dominant direction, steel strand channels with the same direction or forming a constrained intersection relationship are selected as the key force path.

[0010] Optionally, the tilt component along the connection direction participates in the deviation propagation calculation, and the tilt component perpendicular to the connection direction is used to correct the subsequent propagation direction.

[0011] Optionally, the collaborative control strategy is sent to the collaborative control unit to perform graded loading on the steel strand according to the tensioning step, and to obtain the attitude change and joint closure change of the basic module after each loading stage; to perform deviation diffusion trend analysis in the non-dominant direction based on the attitude change and joint closure change, and to establish trend feedback; and to perform strategy timing compensation of the collaborative control strategy in response to the trend feedback.

[0012] Optionally, the trend feedback is quantitatively analyzed to obtain the deviation diffusion direction and diffusion rate of the non-dominant direction; the deviation diffusion direction and diffusion rate are compared with the preset allowable diffusion envelope, and when the deviation exceeds the threshold, the compensation node that needs to be intervened is determined; the required compensation tension is calculated based on the diffusion rate and compensation node, and a compensation command is generated to correct the tension control parameters of the corresponding steel strand in the subsequent tensioning steps.

[0013] Optionally, the compensation command includes at least one of the following: advancing or delaying the tensioning sequence of the next tensioning step, incrementally adding the tensioning target force value, or adjusting the tensioning speed or holding time.

[0014] Optionally, after the assembly construction is completed, an assembly construction record is established; anomaly control analysis is performed on the assembly construction record to establish anomaly control feedback; and the assembly optimization of the tower crane foundation is performed based on the anomaly control feedback.

[0015] Secondly, this application also provides a prefabricated tower crane foundation construction system based on prestressed synergistic control, used to execute the prefabricated tower crane foundation construction method based on prestressed synergistic control as described in the first aspect. The prefabricated tower crane foundation construction system based on prestressed synergistic control includes: a segmented prefabrication module for segmenting and prefabricating the tower crane foundation to form an assembly unit set containing multiple foundation modules, wherein each foundation module has a steel strand channel and standardized anchoring interface arranged along a predetermined stress path; and a spatial positioning and assembly module for spatially positioning and assembling the assembly unit set to establish an initial assembly configuration and obtain each foundation module under the initial assembly configuration. The system establishes an assembly state description vector based on spatial attitude parameters and inter-module contact state parameters. A force imbalance analysis module performs force imbalance analysis based on the assembly state description vector, generating partitioned deviation distribution information characterizing assembly deviations in each region. This partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. A collaborative optimization module identifies key force paths using the partitioned deviation distribution information, establishes a tensioning linkage relationship across all basic modules based on these key force paths, and performs collaborative optimization of the tensioning sequence, direction, and step of the steel strands based on this tensioning linkage relationship to establish a collaborative control strategy.

[0016] One or more technical solutions provided in this application have at least the following technical effects or advantages: By prefabricating tower crane foundations in sections, an assembly unit set containing multiple foundation modules is formed. Each foundation module has steel strand channels and standardized anchoring interfaces arranged along a predetermined stress path. The assembly unit set is spatially positioned and assembled to establish an initial assembly configuration. The spatial attitude parameters and inter-module contact state parameters of each foundation module under the initial assembly configuration are obtained, and an assembly state description vector is established. Based on the assembly state description vector, stress imbalance analysis is performed to generate partitioned deviation distribution information characterizing assembly deviations in each region. The partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. After identifying key stress paths using the partitioned deviation distribution information, a tensioning linkage relationship is established through each foundation module, with the key stress paths as the main guide. Based on the tensioning linkage relationship, the tensioning sequence, tensioning direction, and tensioning step of the steel strands are collaboratively optimized to establish a collaborative control strategy. In other words, by identifying key stress paths based on initial geometric deviations and establishing tension linkage relationships, and by collaboratively optimizing the tensioning sequence, direction, and steps, the prestressing application can actively adapt to the actual assembly state of the structure, forming an effective collaborative working mechanism among the prefabricated modules, thereby improving the overall bearing capacity and overturning stability of the prefabricated tower crane foundation.

[0017] The above description is merely an overview of the technical solution of this application. To better understand the technical means of this application and to facilitate its implementation according to the description, and to make the above and other objects, features, and advantages of this application more apparent, specific embodiments of this application are described below. It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent through the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the prefabricated tower crane foundation construction method based on prestressed synergistic control proposed in this application.

[0020] Figure 2 This is a graph showing the variation of module height difference deviation with tensioning stages in the prefabricated tower crane foundation construction method based on prestressed synergistic control proposed in this application.

[0021] Figure 3This is a curve showing the variation of joint opening deviation with tensioning stages in the prefabricated tower crane foundation construction method based on prestressed synergistic control proposed in this application.

[0022] Figure 4 This is a non-dominant direction deviation diffusion curve in the prefabricated tower crane foundation construction method based on prestressed synergistic control proposed in this application.

[0023] Figure 5 This is a structural schematic diagram of the prefabricated tower crane foundation construction system based on prestressed synergistic control, as described in this application.

[0024] Explanation of reference numerals in the attached drawings: 11. Prefabrication module in blocks; 12. Spatial positioning and assembly module; 13. Stress imbalance analysis module; 14. Collaborative optimization module. Detailed Implementation

[0025] This application provides a construction method and system for prefabricated tower crane foundations based on prestressed collaborative control. This solves the technical problem in existing technologies where geometric deviations after prefabricated module assembly prevent traditional prestressing from sensing and adapting to these deviations. This leads to a severe disconnect between prestressing application and the actual structural state, weakening the overall load-bearing capacity and overturning stability of the prefabricated tower crane foundation, and further affecting its overall stress performance and operational safety. By identifying key stress paths based on initial geometric deviations and establishing tensioning linkages, and by collaboratively optimizing the tensioning sequence, direction, and step, prestressing application can actively adapt to the actual assembled state of the structure. An effective collaborative working mechanism is formed among the prefabricated modules, improving the overall load-bearing capacity and overturning stability of the prefabricated tower crane foundation.

[0026] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. It should also be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all of them.

[0027] Example 1, please refer to the appendix. Figure 1 This application provides a prefabricated tower crane foundation construction method based on prestressed synergistic control. The method is applied to a prefabricated tower crane foundation construction system based on prestressed synergistic control, and specifically includes the following steps: The tower crane foundation is prefabricated in sections to form an assembly unit containing multiple foundation modules. Each foundation module has a steel strand channel and a standardized anchoring interface arranged along a predetermined stress path.

[0028] Specifically, based on the tower crane model's design load and foundation bearing capacity, a comprehensive breakdown plan for the prefabricated foundation is obtained, specifying the total number of modules, the geometric dimensions, weight, and assembly sequence of each module. The linear layout design of the prestressed steel strands is obtained, clarifying the spatial coordinates of the steel strand channels within each module and the positioning dimensions of the anchoring interfaces. In the prefabrication plant, steel templates for each module are fabricated according to the design drawings. Pre-embedded corrugated pipes are precisely installed to form the steel strand channels, and anchor plates and spiral reinforcements are simultaneously pre-embedded to form standardized anchoring interfaces. The relative positioning accuracy between the channels and interfaces must be controlled within ±2mm. The steel strand channels are through-holes pre-reserved within the prefabricated modules, typically in the form of pre-embedded corrugated pipes or pre-reserved sleeves. Standardized anchoring interfaces are anchor mounting surfaces and matching pre-embedded parts located at the module ends or specific positions, used to fix the steel strand ends and lock the prestress after tensioning. Standardization means that the interface dimensions and forms of different modules of the same model are completely consistent, ensuring interchangeable assembly between modules.

[0029] After the template and embedded parts have passed inspection, high-performance concrete is poured and naturally cured to the design strength. After demolding, the channels are inspected for through holes to ensure there is no blockage or deformation. The flatness and angle of the anchoring interfaces are measured and inspected one by one. Before leaving the factory, each module must have clear spatial positioning marks and assembly direction marks on its end face and top surface. At the same time, its actual weight, center of gravity position and key geometric dimension deviations are recorded to form a module identification file.

[0030] The assembly unit set is spatially positioned and assembled to establish an initial assembly configuration. The spatial attitude parameters of each basic module and the contact state parameters between modules under the initial assembly configuration are obtained, and an assembly state description vector is established.

[0031] Specifically, based on the foundation construction drawings, the installation positioning edges and cross center lines of each module are marked with ink lines on the top surface of the concrete foundation. Simultaneously, leveling benchmarks are set at the edge of the foundation as a basis for elevation control. Following the predetermined assembly sequence, modules are typically installed piece by piece from the center outwards, using a truck crane to hoist each module sequentially onto the foundation. The central module is the first module to be positioned. After hoisting, its planar position is monitored in real time using a total station, and its top surface elevation is monitored using a level. While hoisted, the crane's boom rotation and luffing are adjusted to control the planar positioning deviation within ±2mm before slowly lowering it onto the foundation. Temporary adjustable steel supports are then installed around the module to maintain its stability. After the central module is in place and fixed, the symmetrical transition modules and end modules are hoisted sequentially. When installing each new module, the width of the joint between it and adjacent installed modules and the height difference between the top surfaces are measured simultaneously during its placement and descent. The module position is fine-tuned to ensure uniform joint width distribution and that the height difference meets design limits before the temporary connectors are tightened.

[0032] In a stable environment free from external vibration, a high-precision total station was used to collect the absolute elevation and planar coordinates of the measurement targets placed at the four corners of the top surface of each module. Three-dimensional coordinate data of at least four feature points were collected for each module. A feeler gauge and laser rangefinder were used to measure the joint opening value along each inter-module seam, with at least five measuring points evenly distributed along each seam. The minimum, maximum, and average values ​​were recorded. A depth vernier caliper was used to measure the height difference between the top surfaces of the modules on both sides of the seam as the misalignment. All measurement data were compiled and encoded according to a preset data structure template to form an assembly state description vector containing the spatial attitude parameters of each module and the contact state parameters of each seam.

[0033] Spatial attitude parameters are quantitative indicators of the position and orientation of each module in three-dimensional space, including the absolute elevation of the four corners of the module's top surface, the coordinates of the center point of the module's bottom surface, and the deflection angle of the module around the X / Y / Z axes. Inter-module contact state parameters are quantitative indicators describing the tightness of the fit between the splicing surfaces of adjacent modules. The core indicator is the joint opening, i.e., the gap width between the splicing surfaces of two modules, which is usually measured at multiple points along the entire length of the joint, taking the maximum value and average value. By performing high-precision spatial positioning and assembly of the assembly unit set and establishing an initial assembly configuration, and then using measurement methods such as a total station and feeler gauges to obtain the spatial attitude parameters and inter-module contact state parameters of each module, a structured assembly state description vector is finally formed. This ensures that the assembly state description vector covers the deviation characteristics of all modules and all splicing seams, avoiding the risk of misjudgment due to data blind spots.

[0034] Based on the assembly state description vector, force imbalance analysis is performed to generate partitioned deviation distribution information that characterizes the assembly deviations in each region. The partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation.

[0035] Specifically, based on the design drawings and stress characteristics of the prefabricated foundation, all modules are divided into several analysis zones according to their spatial location and functional attributes. The area where the central pier module is located is designated as the central core area, with one end anchorage zone at each end of the foundation's long axis and one transition connection zone on each side, for a total of five main zones. After the zoning is completed, the spatial attitude parameters of the modules belonging to each zone and the contact state parameters of the corresponding joints are extracted from the assembly state description vector, and the data is categorized by zone. The stress imbalance analysis is based on the geometric deviation data in the assembly state description vector. Through mechanical logic deduction, the degree of load transfer path deviation and bearing capacity distribution imbalance caused by attitude deviation and joint state differences in each module is evaluated. The greater the geometric deviation, the lower the contact stiffness of the area, and the more likely it is to become a weak link under later stress, thus causing stress redistribution.

[0036] For each zone, the module height difference deviation, joint opening deviation, and local tilt deviation are calculated separately. For module height difference deviation, the difference between the measured absolute elevation of all module top corner points within the zone and the theoretical design elevation is calculated. The arithmetic mean of these differences is taken as the representative value of the height difference deviation for that zone, and the maximum positive and negative deviations are recorded simultaneously. For joint opening deviation, the number of joints within the zone is determined. The average of the measured opening values ​​at each measuring point of each joint is subtracted from the desired design opening to obtain the opening deviation for that joint. The maximum value of all joint opening deviations within the zone is taken as the control value for the joint opening deviation for that zone. For local tilt deviation, based on the measured elevations of the four corner points of each module, the tilt angles of the module around its major axis (X-axis) and minor axis (Y-axis) are calculated and converted into relative height differences per unit length. The maximum absolute value of the tilt angles of all modules within the zone is taken as the representative value of the local tilt deviation for that zone.

[0037] The module height difference deviation, joint opening deviation, and local tilt deviation are compared with the preset deviation tolerance thresholds, such as the allowable value of height difference deviation ±5mm, the allowable value of joint opening deviation +3mm, and the allowable value of local tilt deviation 2‰, to determine the severity level of deviation in each zone.

[0038] For example, a transition zone includes areas M1 and M5. The measured average elevation of area M1 is 52.350m, the design elevation is 52.360m, and the deviation is -10mm. The measured average elevation of area M5 is 52.316m, the design elevation is 52.330m, and the deviation is -14mm. The arithmetic mean of the deviations at all corner points within the transition zone is -12mm, the maximum deviation is +2mm, and the minimum deviation is -14mm. The preset allowable threshold is ±5mm for elevation difference deviation. The average deviation of the zones is -12mm, and the absolute value of 12mm > 5mm, exceeding the limit by 7mm. According to the judgment criteria, an elevation difference deviation > 5mm is considered high risk. Therefore, the elevation difference deviation level is high risk. The measured openings of the five measuring points at joint J01 between M0 and M1 are 0.8mm, 1.4mm, 2.4mm, 3.6mm, and 2.8mm, respectively, with an average opening of 2.2mm. The design expectation opening is 1mm, therefore the opening deviation of J01 is +1.2mm. Similarly, the measured openings of the five measuring points at joint J56 between M5 and M1 are 0.9mm, 1.6mm, 2.8mm, 4.2mm, and 3.0mm, with an average opening of 2.5mm, resulting in an opening deviation of +1.5mm. Therefore, the maximum opening deviation for all joints within the zone is +1.5mm. The preset allowable threshold is a joint opening deviation tolerance of +3mm. The maximum value for the zone, +1.5mm, is less than 3mm and does not exceed the limit. According to the judgment standard 1.0 < joint opening deviation ≤ 3.0mm, it is considered medium risk. Therefore, the joint opening deviation level is medium risk. Each module has a tilt angle calculated around the X-axis (major axis) and the Y-axis (minor axis), and the larger of the two values ​​is taken as the local tilt deviation of that module. M1 has a tilt angle of 2.22‰ around the X-axis and 12.0‰ around the Y-axis, therefore M1's local tilt deviation is 12.0‰; M5 has a tilt angle of 4.17‰ around the X-axis and 7.0‰ around the Y-axis, therefore M5's local tilt deviation is 7.0‰; the maximum local tilt deviation of all modules within the partition is 12.0‰. The preset allowable threshold is a local tilt deviation of 2‰. The maximum value of 12.0‰ in the partition is greater than 2‰, exceeding the limit by 10‰. According to the judgment criteria, a local tilt deviation > 2‰ is considered high risk; therefore, the local tilt deviation level is high risk. The overall risk level is the highest among the module height difference deviation, joint opening deviation, and local tilt deviation, which is high risk. In other words, the local tilt deviation of 12.0‰ is the most serious, exceeding the limit by 10‰, which is 5 times the allowable value. Therefore, it is identified as the key risk of this zone, that is, the M1 lateral tilt of 12.0‰ is seriously exceeded.

[0039] By analyzing the uneven stress and generating zoning deviation information, the data is upgraded from raw measurements to a risk distribution map, significantly improving the readability and operability of the data.

[0040] After identifying key stress paths using the partition deviation distribution information, a tensioning linkage relationship is established that runs through all basic modules, with the key stress paths as the main guide. Based on the tensioning linkage relationship, the tensioning sequence, tensioning direction, and tensioning step of the steel strands are optimized collaboratively to establish a collaborative control strategy.

[0041] Furthermore, this application also includes the following steps: identifying the functional attributes of each basic module in the assembly unit set, the functional attributes including at least the main control module, constraint support module, and connection transition module; synchronously acquiring the assembly connection relationships between the basic modules in the assembly unit set, the assembly connection relationships including at least surface contact connection, interlocking connection, and anchoring connection; in the assembly connection relationships, constructing an assembly connection topology with basic modules as nodes and inter-module connection relationships as edges, and marking the module functional attributes, height difference deviation, and local tilt deviation at each node, and marking the connection type and corresponding joint opening deviation at each edge; after using the module functional attributes to filter deviations, performing deviation step-by-step transmission tracking to identify key force paths.

[0042] Furthermore, this application also includes the following steps: taking the main control module and adjacent connection modules as priority analysis units, performing deviation transmission capability classification according to connection type and spatial attitude change characteristics, wherein, for surface contact connections, the transmission weight is established according to the contact area and the normal deflection angle of the contact surface; for interlocking connections, the transmission weight is determined according to the interlocking depth and relative rotation constraint characteristics; and for anchored connections, the transmission weight is determined according to the anchoring constraint stiffness and anti-overturning capability. Starting from the priority analysis unit, the deviation is transmitted and tracked step by step along the connection relationship. During the transmission process, the height difference deviation is transmitted along the connection direction, the joint opening deviation is accumulated at the connection interface, and the local tilt deviation is decomposed into a tilt component along the connection direction and a tilt component perpendicular to the connection direction according to the connection direction between modules. The height difference deviation, joint opening deviation, and tilt component are attenuated or amplified using the corresponding transmission weights to establish a deviation transmission sequence. When multiple deviation transmission sequences converge at the same main control module and their tilt component directions are consistent or their deviation change trends are consistent, the deviation transmission sequences are merged to form a composite deviation transmission path that runs through multiple functional modules. The key force path is established according to the composite deviation transmission path.

[0043] Furthermore, this application also includes the following steps: determining the composite deviation transmission path where the number of main control modules covered exceeds a preset threshold and the cumulative deviation impact reaches a set range as the dominant deviation path, and determining the set of basic modules involved in the path as the dominant deviation region, and selecting steel strand channels with consistent directions or forming a constraint intersection relationship as key force paths according to the spatial extension direction of the dominant deviation path and the corresponding tilting dominant direction.

[0044] Furthermore, this application also includes the following steps: the tilt component along the connection direction participates in the deviation transmission calculation, and the tilt component perpendicular to the connection direction is used to correct the subsequent transmission direction.

[0045] Specifically, each basic module in the assembly unit set is identified by its functional attributes to determine whether it belongs to a load-bearing main control module, a constraint support module, or a connecting transition module. Based on the role of each module in the overall foundation load-bearing system as shown in the design drawings, each basic module in the assembly unit set is individually identified by its functional attributes to determine whether it belongs to a load-bearing main control module, a constraint support module, or a connecting transition module. The determination of the load-bearing main control module is based on the area directly affected by the tower crane load as indicated in the design drawings; the determination of the constraint support module is based on the module located at the end of the foundation, which bears the functions of anti-overturning and boundary constraint; the remaining modules located between the two, which play a role in load transfer and deformation coordination, are identified as connecting transition modules.

[0046] Based on the detailed drawings of the splicing nodes in the design drawings and the on-site assembly records, the assembly connection relationships between each basic module are obtained. It is determined whether each pair of adjacent modules is a surface contact connection, an interlocking connection, or an anchoring connection, and the specific state parameters of each type of connection are recorded. Among them, surface contact connection refers to the two modules being pressed together by a large area of ​​flat end faces, relying on friction and pressure to transmit shear force. For surface contact connection, the measured area of ​​the contact surface and the normal deflection angle need to be recorded. Interlocking connection refers to the modules being interlocked by convex and concave structures, providing higher shear and rotational constraints. The interlocking depth and relative rotational constraint characteristics need to be recorded. Anchoring connection is a tight connection formed by pre-embedded anchors and through steel strands after tensioning. The anchoring constraint stiffness and anti-overturning capacity need to be recorded.

[0047] Each basic module is treated as an independent node, and the assembly connection relationship between each pair of adjacent modules is used as an edge connecting the corresponding node to construct an assembly connection topology graph. The assembly connection topology integrates the scattered modules and connections into a unified network graph, expressed in the form of an undirected graph. The obtained functional attribute identification results, the representative values ​​of elevation deviation and local tilt deviation from the partition deviation distribution information are labeled at the corresponding nodes of the assembly connection topology. The connection type and the corresponding joint opening deviation control value are labeled at the corresponding edges, forming the final assembly connection topology.

[0048] The load-bearing main control module and all its adjacent connecting modules are extracted from the assembly connection topology and identified as priority analysis units. Deviation transfer capability is graded for each connection within the priority analysis unit. For surface contact connections, initial transfer weights are established based on the ratio of measured contact area to designed contact area and the normal deflection angle of the contact surface; the higher the contact area ratio and the smaller the deflection angle, the greater the initial weight. For interlocking connections, initial transfer weights are determined based on the ratio of measured interlocking depth to designed interlocking depth and relative rotational constraint characteristics; the more sufficient the interlocking depth and the stronger the rotational constraint, the greater the initial weight. For anchored connections, initial transfer weights are determined based on anchorage constraint stiffness and overturning resistance; the greater the anchorage stiffness and the stronger the overturning resistance, the greater the initial weight. The initial weights for each connection are all within the range of 0 to 1, specifically determined by a comprehensive evaluation of measured state parameters.

[0049] The elevation difference deviation is directly transmitted to the next node along the connection direction; the joint opening deviation is accumulated at the current connection interface, i.e., the accumulated value = the accumulated value of the previous level + the joint opening deviation value of this level multiplied by the corresponding transmission weight; the local tilt deviation is decomposed into a tilt component along the connection direction and a tilt component perpendicular to the connection direction according to the connection direction between modules. The two components are multiplied by their corresponding weights and then participate in the subsequent transmission calculation. The tilt component along the connection direction directly participates in the deviation transmission, while the tilt component perpendicular to the connection direction is used to correct the subsequent transmission direction. After each level of transmission is completed, the elevation difference deviation value, the accumulated value of the joint opening deviation, and the tilt component value are attenuated or amplified using the transmission weight corresponding to that level of connection, i.e., multiplied by the transmission weight. The processed result is used as the input value for the next level of transmission, and the deviation transmission sequence is recorded level by level. When the transmission reaches a branch module, it is independently traced along each branch, forming multiple parallel deviation transmission sequences.

[0050] When multiple deviation transmission sequences converge at the same load-bearing main control module, and their tilt components are in the same direction (i.e., deviations transmitted from multiple directions all point to the same tilt direction), or their deviation change trends are consistent (i.e., the deviation values ​​of multiple sequences all show a progressively increasing or decreasing trend), these deviation transmission sequences are merged to form a composite deviation transmission path covering multiple functional modules. If multiple sequences do not meet the convergence condition, such as when the tilt components of each sequence are in opposite directions, or when the deviation change trends are inconsistent, then each sequence remains independent and is not merged. Based on the spatial distribution and deviation accumulation characteristics of the composite deviation transmission path, the path that plays a decisive role in the overall structural load-bearing capacity is identified and determined as the critical stress path.

[0051] Obtain complete information on all composite deviation transmission paths, including the number of modules covered by each path, the number of main control modules covered, the absolute value of the end elevation difference deviation, the cumulative value of the joint opening deviation, and the maximum value of the local tilt deviation. Calculate the cumulative deviation impact for each path using the formula: Cumulative Deviation Impact = Absolute Value of End Elevation Difference + Cumulative Value of Joint Opening Deviation × 2 + Maximum Value of Local Tilt Deviation × 1. After calculating the cumulative deviation impact for all paths, determine whether each path simultaneously meets two preset threshold conditions: the number of main control modules covered must be greater than or equal to a preset threshold (e.g., 2), and the cumulative deviation impact must be greater than or equal to a set range (e.g., 20). Paths that simultaneously meet both conditions are identified as dominant deviation paths. If multiple paths meet the conditions, the one with the largest cumulative deviation impact is selected as the dominant deviation path. If none of the paths meet the conditions, the one with the largest cumulative deviation impact is selected as the dominant deviation path. The preset threshold is 2 main control modules. That is, a deviation transmission path only meets the structural importance threshold of being identified as a dominant deviation path when the number of main control modules covered reaches or exceeds 2. The preset threshold is determined comprehensively based on the topological characteristics and load transfer hierarchy of the prefabricated foundation. The threshold range for cumulative deviation impact is ≥20. The cumulative deviation impact is calculated according to the aforementioned formula, i.e., cumulative deviation impact = absolute value of end elevation difference deviation + cumulative value of joint opening deviation × 2 + maximum value of local tilt deviation × 1.

[0052] The entire set of basic modules involved in the dominant deviation path is identified as the dominant deviation region, and the boundary of this region is marked on the assembly connection topology diagram. The spatial extension direction of the dominant deviation path is obtained, i.e., the overall orientation of the modules traversed from the beginning to the end of the path, and the dominant tilt direction of the local tilt deviation of each module on the path, i.e., the composite direction obtained by vector superposition of the tilt components along the path of all modules. From all the steel strand channels laid in the foundation, if the direction of a certain bundle of steel strand channels is consistent with the spatial extension direction (e.g., the included angle ≤ 15°), then this channel is selected as the critical force path, because the tension force can be directly applied along the deviation extension direction to correct it. If the direction of a certain bundle of steel strand channels forms a constrained intersection with the spatial extension direction (e.g., the included angle is 45° to 135°), then this channel can also be selected as the critical force path, because the tension force can exert a bidirectional inhibitory effect on the deviation, both applying force to correct it along the deviation direction and providing constraint perpendicular to the deviation direction, preventing new lateral displacements during the correction process. When selecting both methods, channels with the same direction are prioritized as the primary force-applying channels for tensioning, while channels with constrained intersections are used as auxiliary stabilizing channels for tensioning. All selected steel strand channels are numbered to form a list of critical force paths.

[0053] During the step-by-step deviation propagation tracking process, when the deviation of the main control module is propagated to an intermediate module, the local tilt deviation vector of that module is obtained. This vector is a three-dimensional spatial vector synthesized from the tilt angles of the module around its major axis (X-axis) and minor axis (Y-axis), representing the overall deflection direction and degree of the module relative to its theoretical design attitude. The connection direction vector between this module and its next-level adjacent module is determined, i.e., the spatial direction of the line connecting the center points of the two modules. Using this connection direction vector as a reference axis, the local tilt deviation vector is projected onto this reference axis to obtain the tilt component along the connection direction. Simultaneously, this vector is projected onto a direction perpendicular to the reference axis, typically decomposed into components perpendicular to the connection direction and located in the horizontal plane, yielding the tilt component perpendicular to the connection direction.

[0054] The tilt component along the connection direction participates numerically in the deviation transmission calculation for that level. The tilt component is multiplied by the corresponding transmission weight for that level of connection and added to the elevation deviation transmission value and the cumulative joint opening deviation value, serving as part of the input value for the next level of transmission. Simultaneously, the tilt component perpendicular to the connection direction is extracted to correct the transmission direction vector from the current module to the next level module. That is, after the current level of transmission is completed, the starting direction of the next level of tracking is updated, ensuring that subsequent deviation transmission tracking follows the corrected real-space direction, rather than the theoretical design direction. Specifically, the deflection angle corresponding to the tilt component perpendicular to the connection direction is calculated, i.e., the angle by which the sum of tilt vectors deviates from the connection direction. This deflection angle is added to the theoretical design direction vector of the next level of connection to generate the corrected transmission direction vector. The elevation deviation is decomposed and transmitted along this corrected direction, ensuring that the geometric path of deviation transmission is consistent with the actual structural attitude. Each level of transmission repeats the above decomposition, calculation, and correction operations until the end of the path.

[0055] By identifying the functional attributes of each basic module in the assembly unit set, the assembly connection relationship between modules is obtained synchronously, the assembly connection topology is constructed and the deviation data is labeled. Then, through deviation screening and deviation step-by-step transmission tracking and identification of key force paths, the key force paths that need to be prioritized are accurately identified, reducing the risk of human misjudgment and ensuring the safety and quality of tower crane foundation construction.

[0056] Furthermore, this application also includes the following steps: distributing the collaborative control strategy to the collaborative control unit, performing graded loading on the steel strand according to the tensioning step, and obtaining the attitude change and joint closure change of the basic module after each loading stage; performing deviation diffusion trend analysis in the non-dominant direction based on the attitude change and joint closure change, and establishing trend feedback; and performing strategy timing compensation of the collaborative control strategy in response to the trend feedback.

[0057] Furthermore, this application also includes the following steps: quantifying and analyzing the trend feedback to obtain the deviation diffusion direction and diffusion rate of the non-dominant direction; comparing the deviation diffusion direction and diffusion rate with a preset allowable diffusion envelope, and determining the compensation node that needs intervention when the deviation exceeds the threshold; calculating the required compensation tension based on the diffusion rate and compensation node, and generating a compensation command to correct the tension control parameters of the corresponding steel strand in the subsequent tensioning steps.

[0058] Furthermore, this application also includes the following steps: the compensation instruction includes at least one of advancing or delaying the tensioning sequence of the next tensioning step, incrementally superimposing the tensioning target force value, and adjusting the tensioning speed or holding time.

[0059] Specifically, the key stress path is taken as the dominant factor, and all steel strand channels located along this path are identified. These are typically several bundles of steel strands running through each module along the path direction, and are defined as a coordinated tensioning group. All steel strands within the same coordinated tensioning group share the same priority level and are tensioned before steel strands in other directions. During the tensioning process, they follow linkage constraints, such as the tension force difference of steel strands in the same row not exceeding 5% of the design tension force, and the loading steps of steel strands in the same group being executed synchronously.

[0060] The tensioning sequence is optimized according to the priority rules of critical paths first, followed by non-critical paths, and main force application channels first, followed by auxiliary stabilizing channels. Steel strands on the critical force path are placed first, and within the critical path, they are arranged sequentially from the outside to the inside or from the inside to the outside according to the direction of deviation propagation. Steel strands perpendicular to the critical path direction are placed in the middle, and other auxiliary steel strands are placed last. The tensioning direction is optimized based on the deviation propagation direction and the dominant tilt direction of the critical path. If the deviation amplifies progressively from one end to the other along the path, the tensioning direction should be set to apply tension retrospectively from the end of the deviation accumulation to the starting point. If the deviation accumulates in the middle of the path, the tensioning should be set to symmetrically tension from both ends towards the middle. The tensioning step is optimized according to the severity of the deviation on the path. The more severe the deviation and the greater the cumulative impact of the deviation, the finer the grading and the longer the holding time of each level, to ensure sufficient deviation release and attitude stability.

[0061] After identifying the critical stress paths and establishing the tensioning linkage, the collaborative optimization phase begins. The core task of collaborative optimization is to determine the optimal combination of three control parameters—tensioning sequence, tensioning direction, and tensioning step—while satisfying structural safety constraints and construction feasibility. Since these three parameters are interdependent, collaborative optimization employs a unified framework of enumeration, evaluation, and selection. Optimization variables and the solution space are defined. Assume there are N bundles of steel strands in the entire foundation, such as N=12. Optimization variables include tensioning sequence, tensioning direction, and tensioning step. The solution space is defined based on the possibilities of these three variables. The objective function and constraints are designed. The objective function F is defined as: F=α·Ekey +β·E other +γ·T total E key E represents the total residual deviation on the critical path, which is the weighted sum of end elevation difference deviation + cumulative joint opening + tilt deviation, reflecting the degree of deviation elimination on the critical path after tensioning; other This represents the total residual deviation on non-critical paths, reflecting the disturbance of tension to non-critical areas; T total The total tensioning operation time reflects construction efficiency; α, β, and γ are weighting coefficients, set according to project priority, typically α > β > γ, prioritizing the critical path. Constraints include: tension force of a single strand ≤ design tension force 195kN; tension force difference of strands in the same row ≤ 5% of design tension force, i.e., ≤ 9.75kN; structural attitude change after each loading stage does not exceed the safety threshold, i.e., single-stage new tilt ≤ 0.5‰; final attitude meets acceptance standards, i.e., module levelness ≤ 2‰, joint opening ≤ 4mm. Tensioning sequence, direction, and step are encoded as individual chromosomes: the sequence uses permutation encoding, an integer permutation of length N, using binary encoding, where 0 / 1 represents tensioning at end A or B; the step uses real number encoding. The initial population size is 200 random individuals, each representing a complete tensioning scheme. For each individual, a mechanical response evaluation function is called, using a finite element proxy model to calculate the objective function value F. The reciprocal of F is used as the fitness; the smaller F is, the higher the fitness. The next generation of the population is generated through genetic operations such as tournament selection, partial matching crossover, and exchange mutation. After 500 generations, it converges to the optimal individual, which, once decoded, becomes the optimal solution obtained through collaborative optimization. This solution includes complete tensioning sequence numbering, tensioning direction commands, and step loading schemes. All parameters in the optimal solution are integrated into a collaborative control strategy file and output as a tensioning operation instruction.

[0062] The collaborative control strategy document is sent to the collaborative control unit, and loading is initiated according to the tension parameters specified in the strategy document. During loading, the oil pump pressure sensor monitors the tension force value in real time and feeds it back to the controller. When the target force value is reached, the system automatically switches to the holding state. During the holding period, the collaborative control unit measures the spatial attitude changes of each module using high-precision tilt sensors and a total station installed on the top surface of each module, including changes in top surface elevation and deflection angles around each axis. Simultaneously, it measures the opening changes of each splice joint using wire displacement gauges embedded on both sides of the joint. Based on the attitude and joint state before the current stage loading, the incremental changes after each stage loading are calculated, and the deviation increment sequence in the non-dominant direction is extracted. The deviation increment in the non-dominant direction of the current stage is exponentially smoothed to determine whether the deviation is continuously increasing, whether the growth rate is accelerating, and whether the diffusion direction is concentrating towards a certain sensitive area. This is integrated into a trend feedback signal, including the diffusion direction and diffusion rate.

[0063] For example, an assembly connection topology is constructed. Nodes include M1 (bearing master), M2 (bearing master), M3 (constraint support), and M4 (connection transition); edge E1 (M1-M2) is a surface contact with a contact area of ​​0.36m². 2 The normal deflection angle is 0.10°, and the weight transfer is 0.36; edge E2 (M3-M4) is a surface contact with a contact area of ​​0.36m². 2 The normal deflection angle is 0.15°, and the transfer weight is 0.36. Edge E3 (M1-M3) is a mating connection with a mating depth of 80mm, a rotational constraint stiffness of 150kN·m / rad, and a transfer weight of 0.6. Edge E4 (M2-M4) is a mating connection with a mating depth of 80mm, a rotational constraint stiffness of 150kN·m / rad, and a transfer weight of 0.6. The transfer weight of 0.6 for the mating connection is higher than that of 0.36 for the surface contact connection. This is because the mating connection provides a stronger deviation transfer capability through the mechanical engagement of the shear key and shear groove, while the surface contact connection transfers deviation through contact surface friction and pressure. The dominant deviation paths are M1, M2, M4, M3, and M1, and the dominant deviation area is all four modules. The spatial extension direction is diagonal (NE-SW direction). The longitudinal steel strand bundles T1-T4 arranged along this diagonal direction are selected as the key force paths. (See attached diagram) Figure 2 The graph shows the variation of module height difference deviation with tensioning stage. The horizontal axis represents tensioning stage (%), and the vertical axis represents module height difference deviation (mm). It shows four basic modules: solid dot represents module M1, dashed square represents module M2, dotted triangle represents module M3, and dotted diamond represents module M4. The graph shows the variation trend of height difference deviation of M1, M2, M3, and M4 during the prestressing stage loading process. In the initial assembly state, the height difference deviation of M1 was +2.8mm, M2 was -1.5mm, M3 was +3.2mm, and M4 was -2.1mm. As the tensioning level increased from 0% to 100%, the height difference deviation of each module converged towards zero. At 100% tensioning level, M1 converged to +0.05mm, M2 to -0.02mm, M3 to +0.08mm, and M4 to -0.03mm, indicating that the prestressed collaborative control strategy effectively achieved the step-by-step correction of the module height difference deviation. Positive height difference modules (M1, M3) displaced downwards along the connection direction under the longitudinal pressure generated by the tensioning of the steel strands, while negative height difference modules (M2, M4) were lifted upwards under the combined action of the compression of adjacent modules and the tightening of the steel strands. The height difference deviation of each module converged towards zero. (See attached diagram) Figure 3The graph shows the change in joint opening deviation with tensioning stages. The horizontal axis represents tensioning stages (%), and the vertical axis represents joint opening deviation (mm), illustrating the closing trend of surface contact joints M1-M2 and M3-M4 during prestressed graded loading. Initially, the opening of the M1-M2 joint is 1.2mm, and the opening of the M3-M4 joint is 1.8mm. As the tensioning stages increase, the prestress is transmitted along the longitudinal steel strand bundles T1-T4, causing the contact surfaces between modules to gradually tighten. At 100% tensioning stages, the M1-M2 joint closes to 0.03mm, and the M3-M4 joint closes to 0.04mm, meeting the joint tightness requirements of prefabricated tower crane foundations. The initial joint opening of M3-M4 (1.8mm) is greater than that of M1-M2 (1.2mm), corresponding to the largest height difference deviation of M3 (+3.2mm)—the module with the largest height difference deviation also has a correspondingly larger joint opening between its adjacent sections. (See attached image) Figure 4 The curves showing the diffusion of non-dominant directional deviation with tensioning stages are illustrated. The horizontal axis represents tensioning stages (%), and the vertical axis represents the diffusion value of non-dominant directional deviation (°). This graph shows the diffusion trend of Y-direction tilt deviation and the allowable diffusion envelope (the gray-filled area) for modules M1 and M2. The Y-direction deviation of M1 slowly increases from an initial 0.080° to 0.105°, always remaining within the allowable diffusion envelope of 0.150°. The Y-direction deviation of M2 gradually increases from an initial 0.150°, reaching 0.160° at 80% tensioning stages, exceeding the upper limit of the allowable diffusion envelope and triggering a compensation node. This generates a compensation command to adjust the tensioning sequence, target force, and holding time of the transverse steel strand bundle H1, achieving dynamic control of the non-dominant directional deviation. M1 remains within the envelope, indicating that different modules respond differently to the same tensioning strategy, verifying the necessity of zonal deviation distribution information.

[0064] The trend feedback signal is quantitatively analyzed to extract the deviation diffusion direction and diffusion rate of the non-dominant direction. These are then compared point-by-point with a preset permissible diffusion envelope. The permissible diffusion envelope defines the maximum allowable deviation increment and cumulative deviation in the non-dominant direction under each loading level, typically using a linearly increasing threshold function: the upper limit of the permissible increment for level n = 0.05mm × n + 0.10mm. When the measured value of the diffusion direction or diffusion rate exceeds the envelope range, the current loading level and the two most recent levels are identified as compensation nodes requiring intervention.

[0065] Based on the deviation between the current diffusion rate and the envelope boundary value, and the specific location of the compensation node, the required compensation tension is calculated proportionally: Compensation tension = (Measured diffusion rate - Allowable envelope rate) × Compensation coefficient × Remaining number of steps. After calculation, a compensation instruction is generated, clearly indicating the strand number to be adjusted, the adjustment direction, and the adjustment range. The compensation instruction includes at least one of the following: advancing or delaying the tensioning sequence of the next tensioning step, adding an increment to the target tension force, or adjusting the tensioning speed or holding time. After the compensation instruction is issued to the co-control unit, the controller corrects the execution parameters of subsequent tensioning steps according to the instruction, including but not limited to advancing or delaying the tensioning sequence of a strand by a certain number of positions, adding an increment to the target tension force of the next level (e.g., adding an extra 5kN), reducing the tensioning speed (e.g., from 0.5kN / s to 0.3kN / s), or extending the holding time (e.g., from 2min to 3min). After the compensation is completed, the attitude change of the next level of loading continues to be monitored, and the trend analysis cycle is restarted until all levels of tensioning loading are completed. The above process is repeated until all levels of tensioning are completed, ultimately bringing the spatial orientation and joint status of each module within the design acceptance standard range.

[0066] In summary, the strategy timing compensation responds to the trend feedback signal and corrects the execution parameters of subsequent tensioning steps in the original collaborative control strategy. Specifically, the diffusion direction and diffusion rate in the trend feedback are compared with the preset allowable diffusion envelope. If the diffusion direction points to a sensitive area or the diffusion rate exceeds the allowable envelope slope, the current stage is determined as the compensation node. Based on the deviation between the diffusion rate and the envelope boundary value and the remaining number of steps, the required compensation tension is calculated. A compensation command is generated based on the compensation tension and sent to the collaborative control unit. After receiving the compensation command, the collaborative control unit performs compensation, such as advancing or delaying the tensioning sequence of the specified steel strand by a certain number of positions, incrementally adding an additional tension force based on the target force value, reducing the tensioning speed, or extending the holding time. After the compensation command is executed, the response data of the next stage of loading continues to be monitored, and the deviation diffusion trend analysis loop is re-entered until all stages of tensioning are completed.

[0067] By distributing the collaborative control strategy to the collaborative control unit and performing graded loading according to the tensioning steps, the attitude change of the basic module and the change in joint closure are obtained after each loading stage. Once an unfavorable trend is detected in the non-dominant direction, soft intervention is immediately performed by adjusting the loading cycle, avoiding the structural damage risk that may be caused by waiting for the problem to expand before hard correction.

[0068] Furthermore, this application also includes the following steps: after the assembly construction is completed, an assembly construction record is established; anomaly control analysis is performed on the assembly construction record, and anomaly control feedback is established; and the assembly optimization of the tower crane foundation is performed according to the anomaly control feedback.

[0069] Specifically, after the assembly construction is completed, all process data is collected, including the precision test report of the prefabricated module, the coordinates of the measuring points collected by the total station during the assembly stage, the force-elongation curve of each loading stage during the tensioning stage, all compensation commands and their response data after execution, and integrated into the assembly construction record archive.

[0070] Using the pre-set expected response values ​​after loading at each stage in the collaborative control strategy as a benchmark, the actual collected process data is compared with the expected values ​​stage by stage to calculate the deviation residuals at each stage. The mean, standard deviation, and maximum absolute deviation of the residuals are calculated to determine whether the actual response is higher or lower than expected. If a significant anomaly is found in the residual sequence at a certain stage, that stage is marked as an abnormal control node. Based on the construction conditions corresponding to that node, possible causes of the anomaly are traced, such as a discrepancy between the transfer weight setting and the actual mechanical behavior, an overly stringent or lenient allowable diffusion envelope slope setting, an insufficient compensation coefficient leading to inadequate compensation, or the presence of unexpected external disturbances.

[0071] The conclusive report generated after anomaly control analysis includes anomaly identification results, cause classification, and corresponding corrective suggestions. Based on anomaly control feedback, the overall parameter system for prefabricated tower crane foundation construction is adjusted and upgraded. Residual deviations and performance defects in the already formed foundation are corrected on-site to ensure compliance with tower crane installation requirements. Improvements to prefabrication and construction processes are updated in the company database to guide the next turnover construction, ultimately improving foundation performance and turnover efficiency. By establishing assembly construction records, the entire construction process is fully archived in a structured format, allowing for rapid tracing of any quality anomalies to specific stages. Potential long-term performance risks are identified in advance, and fault warnings are implemented by setting regular monitoring thresholds, preventing safety accidents such as foundation instability during tower crane use and significantly improving construction efficiency and quality consistency.

[0072] In summary, the prefabricated tower crane foundation construction method based on prestressed collaborative control provided in this application has the following technical effects: The tower crane foundation is prefabricated in sections to form an assembly unit set containing multiple foundation modules. Each foundation module has a steel strand channel and standardized anchoring interface arranged along a predetermined stress path. The assembly unit set is spatially positioned and assembled to establish an initial assembly configuration. The spatial attitude parameters and inter-module contact state parameters of each foundation module under the initial assembly configuration are obtained, and an assembly state description vector is established. Based on the assembly state description vector, stress imbalance analysis is performed to generate partitioned deviation distribution information characterizing assembly deviations in each region. The partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. After identifying key stress paths using the partitioned deviation distribution information, a tensioning linkage relationship is established through each foundation module, with the key stress path as the dominant factor. Based on the tensioning linkage relationship, the tensioning sequence, tensioning direction, and tensioning step of the steel strands are collaboratively optimized to establish a collaborative control strategy. In other words, by identifying key stress paths based on initial geometric deviations and establishing tension linkage relationships, and by collaboratively optimizing the tensioning sequence, direction, and steps, the prestressing application can actively adapt to the actual assembly state of the structure, forming an effective collaborative working mechanism among the prefabricated modules, thereby improving the overall bearing capacity and overturning stability of the prefabricated tower crane foundation.

[0073] Example 2: Based on the same inventive concept as the prefabricated tower crane foundation construction method based on prestressed synergistic control in Example 1, this application also provides a prefabricated tower crane foundation construction system based on prestressed synergistic control. Please refer to the appendix. Figure 5 The prefabricated tower crane foundation construction system based on prestressed collaborative control includes: a segmented prefabrication module 11, used to prefabricate the tower crane foundation in segments to form an assembly unit set containing multiple foundation modules, wherein each foundation module has a steel strand channel and standardized anchoring interface arranged along a predetermined stress path; a spatial positioning and assembly module 12, used to spatially position and assemble the assembly unit set, establish an initial assembly configuration, obtain the spatial attitude parameters of each foundation module and the contact state parameters between modules under the initial assembly configuration, and establish an assembly state description vector; and a stress imbalance distribution module 12. Analysis module 13 is used to perform force imbalance analysis based on the assembly state description vector, and generate partition deviation distribution information characterizing the assembly deviation of each region. The partition deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. Collaborative optimization module 14 is used to identify key force paths using the partition deviation distribution information, establish a tension linkage relationship that runs through each basic module with the key force path as the main guide, and perform collaborative optimization of the tensioning sequence, tensioning direction, and tensioning step of the steel strand based on the tension linkage relationship to establish a collaborative control strategy.

[0074] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: identifying the functional attributes of each foundation module in the assembly unit set, the functional attributes including at least the main load-bearing control module, the constraint support module, and the connection transition module; synchronously acquiring the assembly connection relationships between the foundation modules in the assembly unit set, the assembly connection relationships including at least surface contact connection, interlocking connection, and anchoring connection; in the assembly connection relationships, constructing an assembly connection topology with the foundation module as the node and the connection relationship between the modules as the edge, and marking the module functional attributes, height difference deviation, and local tilt deviation at each node, and marking the connection type and corresponding joint opening deviation at each edge; after using the module functional attributes to filter deviations, performing step-by-step deviation propagation tracking to identify key stress paths.

[0075] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used to: use the main control module and adjacent connection modules as priority analysis units, and perform deviation transmission capacity classification according to connection type and spatial attitude change characteristics. Specifically, for surface contact connections, transmission weights are established based on contact area and normal deflection angle of the contact surface; for interlocking connections, transmission weights are determined based on interlocking depth and relative rotation constraint characteristics; and for anchored connections, transmission weights are determined based on anchorage constraint stiffness and anti-overturning capacity. Starting from the priority analysis unit, deviations are transmitted and tracked step-by-step along the connection relationship. During the transmission process, the height difference deviation is transmitted along the connection direction. The deviation is transmitted to the connection interface, accumulating the joint opening deviation. The local tilt deviation is decomposed into a tilt component along the connection direction and a tilt component perpendicular to the connection direction according to the connection direction between modules. The corresponding transmission weights are used to attenuate or amplify the height difference deviation, joint opening deviation, and tilt component to establish a deviation transmission sequence. When multiple deviation transmission sequences converge at the same load-bearing main control module and their tilt component directions are consistent or their deviation change trends are consistent, the deviation transmission sequences are merged to form a composite deviation transmission path that runs through multiple functional modules. The key force path is established based on the composite deviation transmission path.

[0076] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used to: determine the composite deviation transmission path where the number of main control modules covering the load exceeds a preset threshold and the cumulative deviation influence reaches a set range as the dominant deviation path, and determine the set of foundation modules involved in the path as the dominant deviation area, and select steel strand channels with the same direction or forming a constrained intersection relationship as the key force path according to the spatial extension direction of the dominant deviation path and the corresponding tilting dominant direction.

[0077] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: the tilt component along the connection direction to participate in the deviation transmission calculation, and the tilt component perpendicular to the connection direction to correct the subsequent transmission direction.

[0078] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: distributing the collaborative control strategy to the collaborative control unit, performing graded loading on the steel strands according to the tensioning steps, and obtaining the attitude change and joint closure change of the foundation module after each loading stage; performing deviation diffusion trend analysis in the non-dominant direction based on the attitude change and joint closure change, and establishing trend feedback; and performing strategy timing compensation of the collaborative control strategy in response to the trend feedback.

[0079] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: quantitatively analyzing the trend feedback to obtain the deviation diffusion direction and diffusion rate of the non-dominant direction; comparing the deviation diffusion direction and diffusion rate with the preset allowable diffusion envelope, and determining the compensation node that needs intervention when the deviation exceeds the threshold; calculating the required compensation tension based on the diffusion rate and compensation node, and generating a compensation command to correct the tension control parameters of the corresponding steel strand in the subsequent tensioning steps.

[0080] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: the compensation command includes at least one of the following: advancing or delaying the tensioning sequence of the next tensioning step, incrementally superimposing the tensioning target force value, and adjusting the tensioning speed or holding time.

[0081] Furthermore, the prefabricated tower crane foundation construction system based on prestressed collaborative control is also used for: establishing an assembly construction record after the assembly construction is completed; performing anomaly control analysis on the assembly construction record and establishing anomaly control feedback; and performing assembly optimization of the tower crane foundation according to the anomaly control feedback.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The prefabricated tower crane foundation construction method and specific examples based on prestressed synergistic control in the aforementioned embodiment 1 are also applicable to the prefabricated tower crane foundation construction system based on prestressed synergistic control in this embodiment. Through the foregoing detailed description of the prefabricated tower crane foundation construction method based on prestressed synergistic control, those skilled in the art can clearly understand the prefabricated tower crane foundation construction system based on prestressed synergistic control in this embodiment. Therefore, for the sake of brevity, it will not be described in detail here.

[0083] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0084] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application also intends to include such modifications and variations.

Claims

1. A prefabricated tower crane foundation construction method based on prestressed synergistic control, characterized in that, The method includes: The tower crane foundation is prefabricated in sections to form an assembly unit that includes multiple foundation modules. Each foundation module is equipped with a steel strand channel and a standardized anchoring interface along a predetermined stress path. The assembly unit set is spatially positioned and assembled to establish an initial assembly configuration. The spatial attitude parameters of each basic module and the contact state parameters between modules under the initial assembly configuration are obtained, and an assembly state description vector is established. Based on the assembly state description vector, an unbalanced force analysis is performed to generate partitioned deviation distribution information that characterizes the assembly deviation in each region. The partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilting deviation. After identifying the key stress paths using the partition deviation distribution information, a tensioning linkage relationship is established that runs through all basic modules, with the key stress paths as the main guide. Based on the tensioning linkage relationship, the tensioning sequence, tensioning direction, and tensioning step of the steel strands are optimized collaboratively to establish a collaborative control strategy. The tensioning linkage relationship refers to taking the key stress path as the guide and identifying all steel strand channels located on the path. Typically, this consists of several bundles of steel strands that run through each module along the path direction, defined as a collaborative tensioning group. All steel strands within the same collaborative tensioning group share the same priority level and are tensioned before steel strands in other directions, and follow linkage constraints during the tensioning process. Identifying key force paths using the partition deviation distribution information includes: Each basic module in the assembly unit set is identified by functional attributes. The functional attributes include at least the main control module, the constraint support module, and the connection transition module. Synchronously acquire the assembly connection relationships between basic modules in the assembly unit set, wherein the assembly connection relationships include at least surface contact connections, interlocking connections and anchoring connections; In the assembly connection relationship, the assembly connection topology is constructed with the basic module as the node and the connection relationship between the modules as the edge. The module functional attributes, height difference deviation and local tilt deviation are marked at each node, and the connection type and corresponding joint opening deviation are marked at each edge. After filtering for deviations using module functional attributes, the deviations are traced step by step to identify key force paths. include: The main control module and adjacent connection modules are taken as the priority analysis units. The deviation transmission capacity is graded according to the connection type and spatial attitude change characteristics. Among them, the surface contact connection establishes the transmission weight according to the contact area and the normal deflection angle of the contact surface; the interlocking connection determines the transmission weight according to the interlocking depth and relative rotation constraint characteristics; and the anchoring connection determines the transmission weight according to the anchoring constraint stiffness and anti-overturning capacity. Starting from the priority analysis unit, the deviation is tracked and transmitted step by step along the connection relationship. During the transmission process, the height difference deviation is transmitted along the connection direction, the joint opening deviation is accumulated at the connection interface, and the local tilt deviation is decomposed into tilt components along the connection direction and tilt components perpendicular to the connection direction according to the connection direction between modules. By utilizing the corresponding transfer weights, the elevation difference deviation, joint opening deviation, and tilt component are attenuated or amplified to establish a deviation transfer sequence. When multiple deviation transmission sequences converge at the same main control module and their tilt component directions are consistent or their deviation change trends are consistent, the deviation transmission sequences are merged to form a composite deviation transmission path that runs through multiple functional modules. The key force path is established based on the composite deviation transmission path.

2. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 1, characterized in that, After establishing a collaborative control strategy, it includes: The collaborative control strategy is sent to the collaborative control unit, and the steel strand is loaded in stages according to the tensioning step. After each stage of loading, the attitude change of the basic module and the change of joint closure are obtained. Based on the changes in attitude and the changes in seam closure, perform deviation diffusion trend analysis in the non-dominant direction and establish trend feedback; In response to the trend feedback, the strategy timing compensation of the collaborative control strategy is executed.

3. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 2, characterized in that, Policy timing compensation for implementing coordinated control strategies includes: The trend feedback is quantitatively analyzed to obtain the deviation diffusion direction and diffusion rate of the non-dominant direction; The deviation diffusion direction and diffusion rate are compared with the preset allowable diffusion envelope. When the deviation exceeds the threshold, the compensation node that needs intervention is determined. Based on the diffusion rate and compensation node, the required compensation tension is calculated, and a compensation command is generated to correct the tension control parameters of the corresponding steel strand in subsequent tensioning steps.

4. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 3, characterized in that, The compensation command includes at least one of the following: advancing or delaying the tensioning sequence of the next tensioning step, incrementally adding the target tensioning force value, or adjusting the tensioning speed or holding time.

5. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 1, characterized in that, The composite deviation transmission path that covers more than a preset threshold and whose cumulative deviation impact reaches a set range is determined as the dominant deviation path, and the set of basic modules involved in the path is determined as the dominant deviation region. Based on the spatial extension direction of the dominant deviation path and the corresponding tilting dominant direction, steel strand channels with the same direction or forming a constraint intersection relationship are selected as the key force path.

6. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 1, characterized in that, The tilt component along the connection direction participates in the deviation propagation calculation, while the tilt component perpendicular to the connection direction is used to correct the subsequent propagation direction.

7. The prefabricated tower crane foundation construction method based on prestressed synergistic control as described in claim 1, characterized in that, After establishing a collaborative control strategy, it also includes: After the assembly work is completed, an assembly work record shall be established; Anomaly control analysis was performed on the assembly construction records, and anomaly control feedback was established. The assembly optimization of the tower crane foundation is performed based on the abnormal control feedback.

8. A prefabricated tower crane foundation construction system based on prestressed synergistic control, characterized in that, The steps for implementing the prefabricated tower crane foundation construction method based on prestressed synergistic control according to any one of claims 1 to 7, wherein the prefabricated tower crane foundation construction system based on prestressed synergistic control comprises: The segmented prefabrication module is used to prefabricate the tower crane foundation in segments, forming an assembly unit set containing multiple foundation modules. Each foundation module is equipped with a steel strand channel and a standardized anchoring interface arranged along a predetermined stress path. The spatial positioning and assembly module is used to perform spatial positioning and assembly of the assembly unit set, establish an initial assembly configuration, obtain the spatial attitude parameters of each basic module and the contact state parameters between modules under the initial assembly configuration, and establish an assembly state description vector. The unbalanced force analysis module is used to perform unbalanced force analysis based on the assembly state description vector and generate partitioned deviation distribution information that characterizes the assembly deviation of each region. The partitioned deviation distribution information includes module height difference deviation, joint opening deviation, and local tilt deviation. The collaborative optimization module is used to identify key stress paths using the partition deviation distribution information, and then establish a tensioning linkage relationship that runs through all basic modules, with the key stress paths as the main focus. Based on the tensioning linkage relationship, the tensioning sequence, tensioning direction, and tensioning step of the steel strands are collaboratively optimized to establish a collaborative control strategy. The tensioning linkage relationship refers to taking the key stress path as the main focus and identifying all steel strand channels located on that path. Typically, this involves several bundles of steel strands that run through each module along the path direction, which are defined as a collaborative tensioning group. All steel strands within the same collaborative tensioning group share the same priority level and are tensioned before steel strands in other directions, and follow linkage constraints during the tensioning process. The system is also used for: Each basic module in the assembly unit set is identified by functional attributes. The functional attributes include at least the main control module, the constraint support module, and the connection transition module. Synchronously acquire the assembly connection relationships between basic modules in the assembly unit set, wherein the assembly connection relationships include at least surface contact connections, interlocking connections and anchoring connections; In the assembly connection relationship, the assembly connection topology is constructed with the basic module as the node and the connection relationship between the modules as the edge. The module functional attributes, height difference deviation and local tilt deviation are marked at each node, and the connection type and corresponding joint opening deviation are marked at each edge. After filtering for deviations using module functional attributes, the deviations are traced step by step to identify key force paths. The main control module and adjacent connection modules are taken as the priority analysis units. The deviation transmission capacity is graded according to the connection type and spatial attitude change characteristics. Among them, the surface contact connection establishes the transmission weight according to the contact area and the normal deflection angle of the contact surface; the interlocking connection determines the transmission weight according to the interlocking depth and relative rotation constraint characteristics; and the anchoring connection determines the transmission weight according to the anchoring constraint stiffness and anti-overturning capacity. Starting from the priority analysis unit, the deviation is tracked and transmitted step by step along the connection relationship. During the transmission process, the height difference deviation is transmitted along the connection direction, the joint opening deviation is accumulated at the connection interface, and the local tilt deviation is decomposed into tilt components along the connection direction and tilt components perpendicular to the connection direction according to the connection direction between modules. By utilizing the corresponding transfer weights, the elevation difference deviation, joint opening deviation, and tilt component are attenuated or amplified to establish a deviation transfer sequence. When multiple deviation transmission sequences converge at the same main control module and their tilt component directions are consistent or their deviation change trends are consistent, the deviation transmission sequences are merged to form a composite deviation transmission path that runs through multiple functional modules. The key force path is established based on the composite deviation transmission path.

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