Immersed Tunnel Lifting System

Abstract

This application provides an immersed tunnel hoisting system, relating to the field of immersed tunnel hoisting technology. The system includes: main hoisting points, installed on the immersed tunnel to be hoisted, symmetrically arranged along the central axis of the tunnel, with the spacing of the main hoisting points corresponding to the length and weight distribution of the tunnel; auxiliary hoisting points, including hydraulic actuators, installed on the tunnel and located at both ends; and auxiliary hoisting points used for hoisting and adjusting the tunnel's attitude; a sensing module installed on the main hoisting points, auxiliary hoisting points, and the tunnel, used to collect hoisting information; and a control module communicatively connected to the sensing module, used to control the hydraulic actuators to adjust the tunnel's attitude based on the hoisting information and / or received attitude adjustment commands. The embodiments of this application can achieve automatic adjustment of the immersed tunnel's attitude, with fast adjustment speed and high efficiency, and can control the load of each hoisting point, ensuring that it does not exceed the upper limit of the hoisting point's bearing capacity, effectively guaranteeing the safety of the hoisting points.

Description

Technical Field

[0001] This application relates to the field of immersed tunnel hoisting technology, and more specifically, to an immersed tunnel hoisting system. Background Technology

[0002] In the construction of immersed tunnels and large drainage box culverts, immersed tunnel segments need to be transported from the prefabrication yard to the installation sea area. Large crane vessels are usually used for hoisting. Existing technology involves directly embedding or welding permanent lifting lugs on the top of the immersed tunnel and using these lugs to hoist the tunnel. This method requires manual adjustment of the tunnel's posture during hoisting, which requires constant stopping and starting of the hoisting process. This results in low efficiency for the immersed tunnel hoisting and makes it difficult to ensure that the load at each hoisting point is always within a safe range. There is a risk that the load may exceed the upper limit of the hoisting point's bearing capacity, making it difficult to guarantee the safety of the hoisting. Summary of the Invention

[0003] This application provides a immersed tunnel hoisting system that solves the problems of low hoisting efficiency and difficulty in ensuring the load remains within a safe range using existing manual methods of adjusting the tunnel's attitude, which can easily lead to overloading and compromise hoisting safety. To achieve this objective, this application provides the following solutions.

[0004] According to one aspect of the embodiments of this application, an immersed tunnel hoisting system is provided, the system comprising: The main lifting points are installed on the immersed tube to be lifted. The main lifting points are symmetrically arranged along the central axis of the immersed tube. The spacing of the main lifting points corresponds to the length and weight distribution of the immersed tube. The main lifting points are used to lift the immersed tube. The auxiliary lifting points include hydraulic actuators. The auxiliary lifting points are installed on the immersed tube and are arranged at both ends of the immersed tube. The auxiliary lifting points are used to lift the immersed tube and adjust the posture of the immersed tube. A sensing module is installed on the main lifting point, the auxiliary lifting point, and the immersed tube to collect lifting information, including the load information of the main lifting point and the auxiliary lifting point, the displacement information of the hydraulic actuator, and the attitude information of the immersed tube. The control module is communicatively connected to the sensing module and is used to control the hydraulic actuator to adjust the attitude of the immersed tube according to the hoisting information and / or the received attitude adjustment command.

[0005] In one possible implementation, controlling the hydraulic actuator to adjust the attitude of the immersed tube according to the hoisting information and / or the received attitude adjustment command includes: Once a preset control cycle is entered, the attitude deviation is determined based on the attitude adjustment command and the attitude information, and the attitude adjustment function corresponding to the attitude deviation is determined. The extension / retraction adjustment amount of the auxiliary lifting point is determined based on the load safety conditions, stroke constraints, and the attitude adjustment function. The load safety conditions are determined based on the upper limit of the safe load of the main lifting point and the auxiliary lifting point, and the stroke constraints are determined based on the extension / retraction stroke of the hydraulic actuator. The hydraulic actuator is controlled to adjust the submerged tube posture according to the telescopic adjustment amount.

[0006] In one possible implementation, the attitude adjustment function is: K×ΔU=E In the formula, ΔU is the telescopic adjustment amount of the auxiliary lifting point, E is the attitude deviation, and K is the attitude influence matrix, which represents the correspondence between the telescopic adjustment amount and the attitude change of the immersed tube. The load safety conditions are: F current +ΔF≤Fmax In the formula, F current This represents the current load at the lifting point, Fmax is the upper limit of the load at the lifting point, and ΔF is the load change at the lifting point, where ΔF = K. F ×ΔU,K F The load influence matrix represents the correspondence between the expansion / contraction adjustment amount and the load at the lifting point, where the lifting point includes the main lifting point and the auxiliary lifting point.

[0007] In one possible implementation, the step of solving for the adjustment amount of the auxiliary lifting point based on the load safety conditions, travel constraints, and the attitude adjustment function includes: The objective function corresponding to the attitude adjustment function is determined based on the adjustment cost of the auxiliary lifting points; The scaling adjustment amount is determined based on the objective function. The objective function is: minJ=(ΔU)^T×W×ΔU; In the formula, J represents the adjustment cost, (ΔU)^T is the transpose of ΔU, and W is the weight matrix, in which the weights of the auxiliary lifting points correspond to the positions of the auxiliary lifting points.

[0008] In one possible implementation, solving for the extension / retraction adjustment of the auxiliary lifting point based on the load safety conditions, travel constraints, and the attitude adjustment function includes: If it is determined that there is no expansion / contraction adjustment amount that simultaneously satisfies the load safety condition and the stroke constraint condition, then the attitude adjustment function is adjusted to the first constraint function, and the expansion / contraction adjustment amount is solved using the first constraint function. The first constraint function is: |K×ΔU-E|≤ε In the formula, ε is the attitude tolerance, and the value of ε corresponds to the number of solutions.

[0009] In one possible implementation, a hydraulic station is included, which is connected to both the hydraulic actuator and the control module. The hydraulic station is used to provide hydraulic power to the hydraulic actuator according to the instructions of the control module.

[0010] In one possible implementation, the main lifting point and the auxiliary lifting point are detachably installed on the immersed tube. Both the main lifting point and the auxiliary lifting point include fixing bolts and lifting lugs. The fixing bolts are pre-embedded in the immersed tube, and the lifting lugs are detachably connected to the fixing bolts.

[0011] In one possible implementation, it also includes reinforcing ribs, which are staggered and pre-embedded in the immersed tube. The portion of the fixing bolt embedded in the immersed tube contacts the reinforcing ribs, and the bottom of the fixing bolt embedded in the immersed tube is provided with an anchor plate and a reinforcing plate.

[0012] In one possible implementation, the sensing module includes a displacement sensor, the lifting lug of the auxiliary lifting point includes a hydraulic lifting lug and a base, the base is fixedly connected to the fixing bolt, one end of the hydraulic actuator is connected to the base, and the other end of the telescopic rod is connected to the hydraulic lifting lug, and the displacement sensor is mounted on the hydraulic actuator to detect the extension stroke of the telescopic rod.

[0013] In one possible implementation, the control module is further configured to adjust the load on the main lifting point during the initial stage of the immersed tube hoisting. The adjustment of the load on the main lifting point by the control module includes: The load deviation of the main lifting point is obtained based on the lifting information. If it is determined that the load deviation is greater than the maximum load deviation, the load deviation of the main lifting point is adjusted using the hydraulic actuator of the auxiliary lifting point to meet the preset deviation condition.

[0014] The beneficial effects of the technical solutions provided in this application are: The immersed tunnel hoisting system provided in this application includes: main lifting points, installed on the immersed tunnel to be hoisted, symmetrically arranged along the central axis of the immersed tunnel, with the spacing of the main lifting points corresponding to the length and weight distribution of the immersed tunnel; auxiliary lifting points, including hydraulic actuators, installed on the immersed tunnel and located at both ends of the immersed tunnel; and a sensing module installed on the main lifting points, auxiliary lifting points, and the immersed tunnel to collect hoisting information, including load information of the main lifting points and auxiliary lifting points, displacement information of the hydraulic actuators, and attitude information of the immersed tunnel; and a control module, communicatively connected to the sensing module, to control the hydraulic actuators to adjust the attitude of the immersed tunnel according to the hoisting information and / or received attitude adjustment commands. This embodiment of the application can achieve automatic adjustment of the immersed tunnel attitude during hoisting, with fast adjustment speed, high efficiency, and controllable load of each lifting point, ensuring that it does not exceed the upper limit of the lifting point's bearing capacity, effectively guaranteeing the safety of the lifting points. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0016] Figure 1 A schematic diagram of the lifting point setup in the immersed tunnel hoisting system provided in this application embodiment; Figure 2 A schematic diagram of the main lifting point installation provided in an embodiment of this application; Figure 3 for Figure 2 A cross-sectional view along the AA direction; Figure 4 for Figure 2 A cross-sectional view along the BB direction; Figure 5 A structural diagram of the auxiliary lifting point provided in the embodiments of this application; Figure 6 A structural diagram of the hydraulic station provided in the embodiments of this application; Figure 7 The architecture and signal flow diagram of the immersed tunnel hoisting system provided in the embodiments of this application; Figure 8 A flowchart of attitude-load control provided in an embodiment of this application; Label Explanation: 1. Submerged tube; 2. Main lifting point; 21. Lifting lug plate; 22. Nut; 23. Washer; 24. Reinforcing rib; 25. Fixing bolt; 26. Reinforcing plate; 27. Anchor plate; 3. Auxiliary lifting point; 31. Hydraulic lifting lug; 32. Telescopic rod; 33. Hydraulic chamber; 34. Hydraulic pipe; 41. Attitude sensor; 42. Pressure sensor; 43. Displacement sensor; 51. Oil tank; 52. Motor; 53. Oil pump; 54. Relief valve; 55. Filter; 56. Throttle valve; 57. Solenoid directional valve; 58. Oil circuit; 6. Lifting sling. Detailed Implementation

[0017] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0018] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” indicates implementation as “A,” or implementation as “A,” or implementation as “A and B.”

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0021] The immersed tunnel hoisting system provided in this application aims to solve at least one technical problem existing in the prior art. Specifically, the system aims to address the technical challenges of existing hoisting point structures, such as large steel consumption, installation difficulties, lack of active leveling and intelligent monitoring capabilities, and, in particular, the inability to coordinate the attitude of the immersed tunnel 1 and the load of the hoisting points during hoisting. Through optimization of the number of hoisting points, detachable structural design, distributed hydraulic actuators, and a unique attitude-load coordinated decoupling control algorithm, the system achieves a balance between safety, economy, and intelligence in the hoisting of the immersed tunnel 1, achieving the technical effects of "material saving, safety, intelligence, and adjustability."

[0022] Optionally, such as Figure 7 As shown, the immersed tunnel hoisting system of this application can be divided into an interaction layer, an execution layer, a control layer, and a perception layer. The interaction layer can be the monitoring terminal in the cab of the system. The execution layer and the control layer can be the control modules in the system (such as the central controller PLC (Programmable Logic Controller)). The perception layer can be the sensing modules (such as pressure sensor 42, displacement sensor 43, IMU (Inertial Measurement Unit) attitude sensor 41). The execution layer can also include a hydraulic station, an electromagnetic directional valve 57, and hydraulic actuators. The sensing modules send the collected hoisting information to the control module, and the control module controls the hydraulic actuators and other objects in the execution layer to work.

[0023] Optionally, such as Figures 1-8 As shown, the immersed tunnel hoisting system of this application includes: a main hoisting point 2, installed on the immersed tunnel 1 to be hoisted, used for hoisting the immersed tunnel 1; an auxiliary hoisting point 3, including a hydraulic actuator, installed on the immersed tunnel 1, used for hoisting the immersed tunnel 1 and adjusting the attitude of the immersed tunnel 1; a sensing module, installed on the main hoisting point 2, the auxiliary hoisting point 3 and the immersed tunnel 1, used for collecting hoisting information, including load information of the main hoisting point 2 and the auxiliary hoisting point 3, displacement information of the hydraulic actuator and attitude information of the immersed tunnel 1; and a control module, communicatively connected to the sensing module, used for controlling the hydraulic actuator to adjust the attitude of the immersed tunnel 1 according to the hoisting information and / or the received attitude adjustment command.

[0024] Optionally, the system may also include a crane vessel, a crane, and other equipment for lifting the immersed tunnel segment 1. The monitoring terminal in the operator's cab of this equipment can serve as the system's interaction layer, allowing operators to observe the lifting status of the immersed tunnel segment 1 and obtain lifting information. Furthermore, a control module can also be installed in this equipment. This control module can be a central controller (PLC), a CPU (Central Processing Unit), or other components capable of controlling hydraulic actuators to adjust the attitude of the immersed tunnel segment 1 based on lifting information or attitude adjustment commands. This control module serves as the system's control and execution layer, enabling operators to quickly adjust the attitude of the immersed tunnel segment 1.

[0025] Optionally, the main lifting point 2 and the auxiliary lifting point 3 can be detachably installed on the immersed tube 1. Both the main lifting point 2 and the auxiliary lifting point 3 include a fixing bolt 25 and a lifting lug plate 21. The fixing bolt 25 is pre-embedded in the immersed tube 1, and the lifting lug plate 21 is detachably connected to the fixing bolt 25. The lifting lug plate 21 can be fixed to the fixing bolt 25 by means of a nut 22.

[0026] Optionally, each section of the immersed tube 1 can be equipped with multiple main lifting points 2 and auxiliary lifting points 3. The main lifting points 2 and auxiliary lifting points 3 can be fixed on the same side or different sides of the immersed tube 1 in a symmetrical manner.

[0027] In one embodiment, the fixing bolts 25 can be anchor bolts. Each section of the immersed tube 1 can be equipped with 10 main lifting points 2 + 4 auxiliary attitude adjustment lifting points. Each lifting point adopts a connection method of single-row anchor bolts + detachable lifting lugs 21. Most of the anchor bolts are pre-embedded in the concrete of the top slab of the immersed tube 1. The lifting lugs 21 are detachably fixed by nuts 22 (a washer 23 can be provided between the nut 22 and the lifting lug 21). After the hoisting is completed, they are all removed and recycled for reuse in the hoisting of subsequent sections of the immersed tube 1 (large concrete components).

[0028] Optionally, the main lifting points 2 are symmetrically arranged along the central axis of the immersed tube 1, and the spacing of the main lifting points 2 corresponds to the length and weight distribution of the immersed tube 1; the auxiliary lifting points 3 are arranged at both ends of the immersed tube 1. By adjusting the stroke of the hydraulic actuator at the auxiliary lifting points 3, the attitude of the immersed tube 1 can be quickly corrected in real time during the lifting process by adjusting the extension and retraction of the auxiliary lifting points 3, while not causing excessive interference to the overall lifting force balance of the main lifting points 2.

[0029] Optionally, the upper part of the lifting lug plate 21 may be provided with a lifting hole for lifting the immersed tube 1. When lifting the immersed tube 1, the lifting cable 6 can be connected to the lifting lug plate 21 through the lifting hole. The sensing module may include a pressure sensor 42 (which may be a high-strength tensile sensor) for detecting the load of the lifting points (main lifting point 2, auxiliary lifting point 3). The pressure sensor 42 may be installed on the lifting cable 6.

[0030] Optionally, the pressure sensor 42 is used to monitor the force at each lifting point in real time. Its specific parameters can be: range: main lifting point 20-1000kN, auxiliary lifting point 30-200kN; accuracy: ±0.5%FS; sampling frequency: ≥20Hz.

[0031] Optionally, when the immersed tube 1 is a homogeneous structure, the main lifting points 2 can be set at equal intervals, and the distance from the end of the immersed tube 1 to the first main lifting point 2 can be determined according to the number of main lifting points 2. Specifically, the number of main lifting points 2 is n, and the length of the immersed tube 1 is L. When n=4, the distance from the end of the immersed tube 1 to the first main lifting point 2 is a=0.2L~0.22L; a=0.15L~0.18L (when n=6); a=0.10L~0.12L (when n=8); a=0.04L~0.06L (when n=10). For a heterogeneous immersed tube 1, the position of the main lifting points 2 can be determined according to the weight distribution of the immersed tube 1.

[0032] In one embodiment, each standard immersed tube section 1 is equipped with 10 main lifting points 2 (which can be numbered P1, P2, ..., P10) and a high-precision pressure sensor 42 (using a high-strength tension / compression sensor, directly mounted on the sling 6). The main lifting points 2 are symmetrically arranged along the longitudinal central axis, with 5 on each side. The spacing between the lifting points is calculated and determined based on the length and weight distribution of the immersed tube 1 to ensure balanced force distribution at each lifting point. Four auxiliary attitude adjustment lifting points (numbered A1, A2, A3, A4) are added at the four corners of the immersed tube 1, equipped with intelligent hydraulic actuators and high-precision pressure sensors 42 (set on the sling 6, consistent with the main lifting points 2) to control the attitude of the immersed tube 1. All main and auxiliary lifting points adopt a modular design, allowing different specifications of immersed tube 1 to use the same lifting lugs 21 and fixing bolts 25 to reduce the amount of steel used for the lifting points.

[0033] Optionally, for the fixing bolts 25, depending on the stress area of ​​the immersed tube 1, 3 (edge ​​area) to 5 (central high stress area) high-strength alloy steel anchor bolts arranged in a single row can be used and pre-embedded in the top concrete of the immersed tube 1. The lifting lug plate 21 is detachably fixed to the single row of anchor bolts by nuts 22, and the top of the lifting lug plate 21 is provided with lifting holes.

[0034] Optionally, the system also includes reinforcing ribs 24, which are staggered and pre-embedded within the immersed tube 1. The portion of the fixing bolt 25 embedded within the immersed tube 1 contacts the reinforcing ribs 24. An anchor plate 27 and a reinforcing plate 26 are provided at the bottom of the fixing bolt 25 embedded in the immersed tube 1. The anchor plate 27 can be installed at the bottom of the fixing bolt 25, and the reinforcing plate 26 can be triangular, with its bottom fixed to the anchor plate 27 and its sides fixedly connected to the fixing bolt 25. The reinforcing ribs 24, anchor plate 27, and reinforcing plate 26 are used to improve the bonding strength between the fixing bolt 25 and the concrete of the immersed tube 1, and to distribute the lifting load, preventing the fixing bolt 25 from loosening or localized cracking of the concrete during lifting, thus ensuring the reliability of the connection between the lifting point and the immersed tube 1.

[0035] Optionally, the system includes a hydraulic station, which is connected to a hydraulic actuator and a control module. The hydraulic station is used to provide hydraulic power to the hydraulic actuator according to the instructions of the control module, thereby changing the extension and retraction of the auxiliary lifting point 3.

[0036] Optionally, the hydraulic station can be installed on top of the immersed tube 1 or on the deck of a crane vessel, providing hydraulic power to multiple auxiliary lifting points 3 on the immersed tube 1. The hydraulic station may include an oil tank 51, a motor 52, an oil pump 53, an overflow valve 54, a filter 55, a throttle valve 56, and a solenoid directional valve 57. The oil tank 51 stores hydraulic oil. The motor 52 drives the oil pump 53 to adjust the flow rate of the hydraulic oil. The oil pump 53 delivers hydraulic oil to the hydraulic actuator to provide hydraulic power. The overflow valve 54 returns excess hydraulic oil to the oil tank 51. The filter 55 filters impurities from the hydraulic oil. The oil pump 53 can be connected to the filter 55, the throttle valve 56, the solenoid directional valve 57, and the hydraulic actuator via an oil circuit 58. The throttle valve 56 adjusts the flow rate of the hydraulic oil, and the solenoid directional valve 57 directs the flow of hydraulic oil in the oil circuit 58.

[0037] In one embodiment, some parameters of the hydraulic station can be: Fuel tank 51: Made of stainless steel, with an effective volume of 200L.

[0038] Hydraulic pump: Variable displacement piston pump, displacement 28cc / r, rated working pressure 25MPa, maximum pressure 28MPa.

[0039] Motor 52: can be a servo motor with a rated power of 15kW, directly driven by the control module to achieve stepless flow regulation.

[0040] The relief valve 54 can be set to a pressure of 28 MPa, and the oil circuit 58 can also be equipped with sensors such as a pressure gauge for detecting hydraulic oil pressure.

[0041] The filtration accuracy of filter 55 is 10μm.

[0042] Optionally, each auxiliary lifting point 3 may be equipped with a hydraulic actuator, and the sensing module includes a displacement sensor 43. The lifting lug 21 of the auxiliary lifting point 3 includes a hydraulic lifting lug 31 and a base. The base is fixedly connected to the fixing bolt 25. One end of the hydraulic actuator is connected to the base, and the other end of the telescopic rod 32 is connected to the hydraulic lifting lug 31. The displacement sensor 43 is set on the hydraulic actuator to detect the extension stroke of the telescopic rod 32.

[0043] In one embodiment, the hydraulic actuator may include a telescopic rod 32 and a hydraulic chamber 33. The hydraulic chamber 33 is fixedly connected to a base, and a hydraulic pipe 34 for transmitting hydraulic oil is provided on one side of the hydraulic chamber 33. The displacement sensor 43 may be a displacement gauge, which may be fixed to the hydraulic chamber 33. The top of the telescopic rod 32 may be fixedly connected to the hydraulic lug 31. The displacement sensor 43 provides real-time feedback on the piston rod extension / retraction amount, and its parameters may be: range 0-200mm, accuracy ±0.05mm, and resolution 0.01mm.

[0044] Optionally, the sensing module may include an attitude sensor 41, which can be a six-degree-of-freedom inertial measurement unit (IMU). The attitude sensor 41 can be installed at the geometric center of the immersed tube 1. During the hoisting of the immersed tube 1, the attitude sensor 41 outputs the roll angle γ, pitch angle θ, yaw angle ψ, and three-dimensional acceleration and angular velocity of the immersed tube 1 in real time. Specifically, the data update frequency of the attitude sensor 41 is ≥50Hz, and the angle accuracy is ±0.05°.

[0045] In one embodiment, the control module can receive signals from the pressure sensors 42 and displacement sensors 43 at each lifting point via wireless or wired means, and control the hydraulic station. Specifically, the control module can be a high-performance programmable logic controller (PLC) or an embedded industrial computer, equipped with multi-channel analog signal acquisition (16 bits or more), digital input / output, and high-speed communication interface.

[0046] Optionally, the hydraulic actuator is controlled to adjust the attitude of the immersed tube 1 according to the hoisting information and / or the received attitude adjustment command, including: determining that it has entered a preset control cycle, determining the attitude deviation based on the attitude adjustment command and attitude information, and determining the attitude adjustment function corresponding to the attitude deviation; solving the extension and retraction adjustment amount of the auxiliary hoisting point 3 according to the load safety conditions, stroke constraints and attitude adjustment function, wherein the load safety conditions are determined based on the upper limit of the safe load of the main hoisting point 2 and the auxiliary hoisting point 3, and the stroke constraints are determined based on the extension and retraction stroke of the hydraulic actuator; and controlling the hydraulic actuator to adjust the attitude of the immersed tube 1 according to the extension and retraction adjustment amount.

[0047] Optionally, the control module can embed an attitude-load collaborative decoupling control algorithm to calculate the telescopic adjustment amount. The control cycle can be set to 50ms, that is, a closed-loop control is completed every 50ms, which involves collecting hoisting information, calculating the telescopic adjustment amount, and outputting instructions to the hydraulic actuator.

[0048] Optionally, the attitude adjustment function is: K×ΔU=E In the formula, ΔU is the telescopic adjustment amount of auxiliary lifting point 3, E is the attitude deviation, and K is the attitude influence matrix, which represents the correspondence between the telescopic adjustment amount and the attitude change of immersed tube 1. The load safety conditions are: F current +ΔF≤Fmax In the formula, F current The current load of the lifting point is represented by Fmax, which is the upper limit of the load of the lifting point. ΔF is the load change of the lifting point, and ΔF = KF × ΔU. KF is the load influence matrix, which represents the correspondence between the expansion and contraction adjustment amount and the load of the lifting point. The lifting points include the main lifting point 2 and the auxiliary lifting point 3.

[0049] Optionally, the attitude influence matrix and load influence matrix quantify the mathematical relationship between the action of auxiliary lifting point 3 and the changes in system state (attitude change of immersed tube 1 and load change of main lifting point 2).

[0050] In one embodiment, the attitude influence matrix can be represented as a K-matrix, defined as follows: Output vector Y = [γ, θ]^T, where γ is the roll angle of the immersed tube 1 (rotation about the longitudinal axis), and θ is the pitch angle of the immersed tube 1 (rotation about the transverse axis). Input vector U = [ΔL1, ΔL2, ΔL3, ΔL4]^T, where ΔL... j Let K(i,j) represent the extension / retraction of the telescopic rod 32 at the j-th auxiliary lifting point 3 (extension is positive, retraction is negative, unit: mm, j=1,2,3,4). The physical meaning of element K(i,j) in the K matrix is: when the telescopic rod 32 at the j-th auxiliary lifting point 3 extends / retracts by 1mm (the K matrix is ​​approximately linear within a small range. If a large range of changes occurs, several points can be calibrated during calibration, and the K matrix for uncalibrated points can be calculated using interpolation), the change in the i-th attitude angle (including roll and pitch angles) (unit: degrees / mm). For example, K(1,1)=[0.12,0.11] means: extending the first auxiliary lifting point 3 by 1mm increases the roll angle γ of the immersed tube 1 by 0.12° and the pitch angle θ by 0.11°. When calculating the effect of the extension / retraction of the auxiliary lifting point 3, to save computational effort, the heading angle and lifting direction can be ignored (because the immersed tube 1 is not submerged).

[0051] Optionally, the K-matrix can be calibrated when the first immersed tube 1 is hoisted or when the model of the hoisted immersed tube 1 changes. The specific calibration process can be as follows: 1. Smoothly lift the immersed tube 1 to a height of 1m above the ground, and record the current attitude Y0=[γ0,θ0] and the load at each lifting point. γ0 is the roll angle when it is 1m above the ground, and θ0 is the pitch angle when it is 1m above the ground.

[0052] 2. Extend the hydraulic cylinder of A1 separately (extension rod 32 extends) by 10mm, wait for the system to stabilize (3-5 seconds), and record the new posture Y1=[γ1,θ1], where γ1 is the roll angle after the system stabilizes and θ1 is the pitch angle after the system stabilizes.

[0053] 3. Calculate the influence coefficient: K(1,1)=(γ1-γ0) / 10,(θ1-θ0) / 10,or it can be expressed as K(1,1)=(γ1-γ0),(θ1-θ0).

[0054] 4. Return auxiliary lifting point 3, numbered A1, to its original position, and repeat steps 2-3 for A2, A3, and A4 in sequence.

[0055] 5. Obtain the complete K matrix.

[0056] Optionally, the load influence matrix can be calibrated during the calibration of the attitude influence matrix. This can be done by recording the load changes at each lifting point while performing the K matrix calibration described above, thus allowing the calculation of the load influence matrix K. F The various elements. Specifically, The load influence matrix, when there are 10 main lifting points 2 and 4 auxiliary lifting points 3 on the immersed tube 1, can be a 14×4 matrix, which can be defined as follows: Output vector F=[ , ,..., , , , , ]^T, that is, 10 main lifting points 2 (represented as , ,..., ) + 4 auxiliary lifting points 3 (represented as) , , The load value (unit: kN).

[0057] The input vector is the same as above, also U=[ΔL1,ΔL2,ΔL3,ΔL4]^T.

[0058] Matrix elements The physical meaning of (m,j): When the j-th auxiliary lifting point 3 extends or retracts by 1mm on its own, the change in load of the m-th lifting point (which may be the main lifting point 2 or the auxiliary lifting point 3) (unit: kN / mm).

[0059] For example, (1,1)=-0.8 means that the auxiliary lifting point 3, numbered A1, extends by 1mm, and the load of the main lifting point 2, numbered P1, decreases by 0.8kN.

[0060] Optionally, the attitude adjustment command may include an attitude target, which may include adjusting either the pitch angle or the roll angle of the immersed tube 1. The load safety condition may also include that the load on each main lifting point 2 is as balanced as possible and does not exceed the safety limit (which can be expressed as the load deviation of the main lifting point 2 not exceeding the predetermined maximum load deviation and meeting the preset deviation condition).

[0061] In one embodiment, the attitude target determined according to the attitude adjustment command is: to keep the immersed tube 1 horizontal, i.e., the target pitch angle γ. target =0°, target roll angle θ target =0°. During dynamic lifting, the operator can also input other target postures according to actual needs. For Fmax in the load safety condition, four threshold levels can be set according to actual needs. These four threshold levels are: Normal range: 0~100% of design load; Warning range: 100%~110% of design load (the system issues a warning but does not actively intervene). Dangerous range: >110% of design load (the system must actively intervene and prioritize reducing the overload). Ultimate safety limit: 120% of the design load (absolutely prohibited from being exceeded; this is a hard constraint in the algorithm). The threshold level of Fmax can be selected according to actual needs.

[0062] Optionally, the extension and retraction of the hydraulic actuator in each auxiliary lifting point 3 can be constrained by a stroke constraint condition. This stroke constraint condition can be expressed as follows: the extension and retraction of the telescopic rod 32 of each auxiliary lifting point 3 shall not exceed its physical limit, i.e., ΔLmin≤ΔLj≤ΔLmax (ΔLmin is the minimum extension and retraction, and ΔLmax is the maximum extension and retraction. In this embodiment, it can be -100mm≤ΔLj≤+100mm to leave a margin for safe stroke).

[0063] Optionally, to avoid impact caused by excessive adjustment of the auxiliary lifting point 3, the extension rate of the telescopic rod 32 can be limited to ≤20mm / s, or it can be 25mm / s, 30mm / s, or other values. The specific value can be determined according to the lifting environment, the structure of the auxiliary lifting point 3, and other conditions.

[0064] Optionally, during the solution process, the target attitude Y can be obtained through preset instructions or attitude adjustment instructions input by the operator. target After acquiring the hoisting information transmitted by the sensing module, it reads the current attitude Y. current Y current =[ , ], The current roll angle, Given the current pitch angle, calculate the deviation from the target attitude. The calculation formula can be: E=Y target -Y current =[ , ]^T, E represents the deviation of the target attitude. Indicates pitch angle deviation. This indicates the roll angle deviation.

[0065] Optionally, the scaling adjustment amount can be solved using quadratic programming (QP) or other methods. When there are four auxiliary lifting points 3, there are four variables (ΔL1~ΔL4), but only two equality constraints (Δγ and Δθ). Therefore, there are usually countless solutions, and it is necessary to select an optimal solution. Solving for the adjustment amount of auxiliary lifting points 3 based on load safety conditions, travel constraints, and attitude adjustment functions includes: determining the objective function corresponding to the attitude adjustment function based on the adjustment cost of auxiliary lifting points 3; and solving for the scaling adjustment amount based on the objective function. The objective function is: minJ=(ΔU)^T×W×ΔU; In the formula, minJ represents minimizing the adjustment cost, (ΔU)^T is the transpose of ΔU, W is the weight matrix, and the weight of auxiliary suspension point 3 in the weight matrix corresponds to the position of auxiliary suspension point 3.

[0066] In one embodiment, auxiliary lifting points 3 closer to the center of gravity of the immersed tube 1 can be assigned smaller weights (because they are more efficient at attitude adjustment), while those farther from the center of gravity can be assigned larger weights (to avoid over-adjustment). Specifically, each element in the weight matrix ( , , , The value of ) can be: = =1.0, = =1.0.

[0067] Optionally, the control module can convert the solved ΔU into a displacement command for the telescopic rod 32 in the hydraulic actuator, and drive the four auxiliary lifting points 3 to execute synchronously through the solenoid directional valve 57 of the hydraulic station. During execution, the attitude sensor 41 and pressure sensor 42 continuously feed back real-time data, and the control module recalculates the deviation in the next control cycle (e.g., after 50ms) to form a closed-loop control.

[0068] Optionally, in certain extreme cases (such as encountering strong winds and waves, or severe shifts in the center of gravity), there may not be a single ΔU that simultaneously satisfies both the "attitude adjustment target" and the "load safety constraint." That is, if the immersed tube 1 is to be leveled, one of the main lifting points 2 will inevitably be overloaded. In this case, the attitude adjustment function can be adjusted. Specifically, the calculation of the expansion / contraction adjustment amount of the auxiliary lifting point 3 based on the load safety condition, travel constraint condition, and attitude adjustment function includes: if it is determined that there is no expansion / contraction adjustment amount that simultaneously satisfies both the load safety condition and travel constraint condition, then the attitude adjustment function is adjusted to the first constraint function, and the expansion / contraction adjustment amount is solved using the first constraint function. The first constraint function is: |K×ΔU-E|≤ε In the formula, ε is the attitude tolerance, and the value of ε corresponds to the number of solutions.

[0069] In one embodiment, a QP solver is used for solving the problem. During the solution process, if it is found that all solutions satisfying K×ΔU=E will lead to a certain F... current If +ΔF > Fmax (i.e., overload), then switch targets: the control module automatically softens the attitude control target to a range rather than a precise value. That is, the equality constraint K×ΔU=E is changed to an inequality constraint. |K×ΔU-E|≤ε Where ε is the allowable attitude deviation (in this embodiment, ε can be set to 0.5°). This means that perfect leveling is no longer required, and a certain degree of attitude deviation is allowed.

[0070] Re-solving: Under relaxed attitude requirements, the QP solver searches for a solution again. If no solution is found, the attitude requirements are further relaxed (ε is increased) until a solution that satisfies the load safety constraints is found. If the load constraints still cannot be met even when the attitude requirements are completely relaxed (ε→∞) (i.e., regardless of the adjustment of auxiliary lifting point 3, a certain main lifting point 2 is overloaded), the control module can issue an emergency alarm through the system, prompting the operator to immediately stop the lifting and check the cause.

[0071] Optionally, the control module is also used to adjust the load of the main lifting point 2 in the initial stage of the installation of the immersed tube 1. The control module adjusts the load of the main lifting point 2 by: obtaining the load deviation of the main lifting point 2 according to the lifting information; if it is determined that the load deviation is greater than the maximum load deviation, the hydraulic actuator of the auxiliary lifting point 3 is used to adjust the load deviation of the main lifting point 2 to meet the preset deviation conditions. The initial load imbalance caused by the length error of the sling 6, the concrete pouring deviation, the anchor bolt positioning deviation, etc. is eliminated by adjusting the load of the main lifting point 2.

[0072] In one embodiment, the system performs initialization and executes a static balance optimization mode during the initial stage of the immersed tube 1 hoisting. Based on this mode, the load adjustment of the main lifting point 2 is performed. The execution flow of the load adjustment of the main lifting point 2 can be as follows: ①The crane vessel slowly lifts the tube 1 so that it is just about 100mm off the ground and suspended in mid-air.

[0073] ②The system reads the initial load values ​​of all 10 main lifting points 2. ... .

[0074] ③ Calculate the load deviation: δ i =( -F avg ) / F avg ×100%, where δ i Let F be the load deviation of the i-th main lifting point. avgThis is the average value of the load at 10 main lifting points.

[0075] ④If all |δ i If the value is ≤5%, no adjustment is needed, and the system will issue a "ready" signal.

[0076] ⑤ If |δ exists i If the value is greater than 5%, then proceed to the optimization calculation: I. Define the objective: Find the preload amount U of a set of auxiliary lifting points 3. pre =[ , , , This minimizes the load deviation at the adjusted main lifting point 2. Indicates the preload amount U pre The preload amount of the i-th auxiliary lifting point 3 (i.e. the extension amount of the telescopic rod 32).

[0077] II. Solve the optimization problem, which can be expressed as: minΣ( The constraint is that the preload of auxiliary lifting point 3 shall not exceed 50% of its rated load capacity (with a margin).

[0078] III. The controller drives auxiliary lifting point 3 to perform preloading.

[0079] ⑥ Repeat steps 2-5 until the load deviation of all main lifting points 2 is ≤3%.

[0080] ⑦ The system issues a "ready" signal, notifying the operator that the lifting can begin.

[0081] Optionally, in order to keep the immersed tube 1 horizontal in real time during the hoisting process and resist attitude changes caused by external disturbances such as wind, waves, acceleration and deceleration, the system can execute a dynamic decoupling leveling mode. The triggering condition for this mode is: the immersed tube 1 is in a suspended hoisting state, and the load of all hoisting points is <110% of the design load (i.e., within the safe range).

[0082] Execution process: ① The controller reads IMU data every 50ms and calculates the current attitude angle Y. current .

[0083] ② Calculate the attitude deviation E=Y target -Y current .

[0084] ③ If |E| < 0.2° (attitude deviation is within the dead zone), no adjustment command will be output, and the system will be in monitoring mode.

[0085] ④ If |E|≥0.2°, then activate the decoupling control algorithm: I. Calling the K matrix and KF matrix.

[0086] II. Setting Load Constraints F current +ΔF≤110%×F design (F) design (Design load).

[0087] III. Run the QP solver to calculate the optimal ΔU.

[0088] ⑤ Output instructions to drive auxiliary lifting point 3 to perform synchronous adjustments.

[0089] ⑥ In the next control cycle, the attitude is reread to form a closed loop.

[0090] Typical response time: ≤100ms delay from detecting attitude deviation to initiating adjustment. For an attitude deviation of 0.5°, it typically recovers to level within 1-2 seconds.

[0091] Optionally, when a load exceeds the limit (>110% of the design load) at a certain main lifting point 2, the load balancing redistribution module can be executed. This mode is executed in emergency situations during the lifting of the immersed tube 1. In this mode, the over-limit is eliminated first to ensure structural safety, and attitude control is temporarily given way.

[0092] The trigger condition for this mode is: the measured load of any lifting point (main lifting point 2 or auxiliary lifting point 3) is ≥110% of the design load.

[0093] Execution process: ① The control module identifies the lifting point with the most severe over-limit load and the over-limit amount ΔF of its load. overload .

[0094] ② Temporarily freeze the attitude control target: Change the attitude equality constraint K×ΔU=E to an inequality constraint, allowing attitude deviations to exist.

[0095] ③ Redefine the control objective: Prioritize reducing excessive loads. That is, construct a new objective function: minJ= ×(ΔF overload after )²+ ×(Attitude Deviation)² in, For load weight, For attitude weights, >> (The load weight is much greater than the attitude weight), ΔF overload after The adjusted limits reflect the principle of "safety first".

[0096] ④ Run the QP solver to calculate ΔU, which can reduce the overload while minimizing the deterioration of the attitude.

[0097] ⑤ Output instructions are executed and adjusted.

[0098] ⑥ Continuous load monitoring: If the over-limit is eliminated (all loads at the lifting points < 105% of the design load), the dynamic decoupling leveling mode will be automatically switched to slowly restore the target posture.

[0099] ⑦ If the exceedance persists or continues to worsen (exceeding 120%), an emergency alarm will be issued to prompt the operator to take immediate action.

[0100] A typical scenario for implementing this mode is as follows: if a sudden lateral wave is encountered, the tilting of the immersed tube 1 causes a sudden increase in the load on one of the main lifting points 2. This mode can automatically adjust the auxiliary lifting point 3 within 0.5-1 seconds to transfer the excessive load to other lifting points and prevent local structural damage.

[0101] Alternatively, to protect the fixing bolts 25, after the lifting lugs 21 are removed, bio-based biodegradable plastic protective caps can be screwed into the exposed fixing bolts 25 to prevent seawater corrosion, with an effective period of 3 to 6 months.

[0102] In one embodiment, the control module can be a central controller, and the entire process of hoisting the immersed tube 1 can be as follows: ① Pre-embedded stage: When the immersed tube 1 is prefabricated, a single row of anchor bolts is positioned and pre-embedded according to the design location to ensure the verticality and embedment depth of the fixing bolts 25; ② Installation stage: After the concrete of the immersed tube 1 reaches the design strength, the lifting lug 21 is installed on the anchor bolts with nuts 22 and tightened to the design torque; ③ Initial Static Balance Optimization Stage: The crane vessel slowly lifts the tube 1 until it is just off the ground (approximately 100mm). The system automatically executes the initial static balance optimization procedure: Read the initial load values ​​of each main lifting point 2 and identify the load deviation.

[0103] If the maximum load deviation is >5%, the central controller will automatically calculate the pre-adjustment amount of auxiliary lifting point 3.

[0104] The hydraulic cylinders of the auxiliary lifting point 3 are driven to perform pre-adjustment until the load deviation of all main lifting points 2 is ≤±3%.

[0105] The system issues a "ready" signal, notifying the operator that the lifting can begin.

[0106] ④ Dynamic Coordinated Lifting Phase: The crane vessel officially lifts and transports the immersed tunnel section 1 to the installation position. During the lifting process, the central controller collects and processes all sensor data in real time at a frequency of ≥20Hz, and automatically switches between the following sub-modes: Attitude maintenance sub-mode: When the attitude deviation is ≤0.2°, the system is in monitoring mode, only recording data and not actively intervening.

[0107] Dynamic leveling sub-mode: When the attitude deviation is >0.2°, the system automatically activates the decoupling control algorithm, calculates and outputs adjustment commands to restore the immersed tube 1 to a horizontal position.

[0108] Load protection sub-mode: When the load at any suspension point exceeds 110% of the design value, the system automatically switches to load priority mode to prioritize eliminating load overload and ensure structural safety.

[0109] The operator can view the hoisting status in real time on the monitoring terminal in the cab, and can manually intervene when necessary (such as inputting a new target posture, switching to manual control, etc.).

[0110] ⑤ Dismantling stage: After the immersed tube 1 is installed in place, remove the lifting lugs 21 and nuts 22, clean the threads and apply anti-rust oil, and then collect and store them.

[0111] The immersed tunnel hoisting system provided in this application has the following advantages compared to existing technologies: (1) Significantly reduce steel consumption: The total steel consumption of the fixing bolts 25 of each section of immersed tube 1 is only 251KG, saving about 79% of steel; the lifting lugs 21 can be reused. Based on 20 turnovers, the steel consumption of the lifting lugs 21 of a single section of immersed tube 1 is only about 42kg, further reducing the amount of steel used.

[0112] (2) Avoid conflict in areas with dense reinforcement: The single row of anchor bolts is flexible in arrangement, with 3-5 fixing bolts in a single row and a total width of about 300-500mm, which can easily avoid the spacing of the main reinforcement of the top plate of the sinking pipe 1 (usually 150-200mm); no on-site welding is required, eliminating the adverse effects of welding stress on concrete.

[0113] (3) Improve construction efficiency: The installation / removal of the lifting lug 21 only requires tightening / loosening the nut 22, and the operation time of a single lifting point is ≤5 minutes; compared with the traditional welding of the lifting lug 21 (which takes 2-3 hours per piece), the efficiency is improved by about 90%.

[0114] (4) Improved safety: Intelligent monitoring and posture leveling avoid local overload, reducing the risk of concrete cracking by 90%.

[0115] (5) Achieving intelligent and robust attitude-load coordinated control: Through an original decoupling control algorithm based on the influence coefficient matrix and quadratic programming, independent control of the attitude control channel and the load control channel is achieved, solving the coupling problem of "adjusting attitude causing load fluctuation and adjusting load causing attitude change" in traditional methods. The attitude adjustment accuracy can reach ±0.1°, and the response time is <5 seconds. Under typical working conditions, the load fluctuation amplitude of each lifting point during attitude adjustment is <±5%, while this value is usually >±20% in traditional methods.

[0116] (6) High versatility and good adaptability: By updating the attitude influence matrix K (online calibration or offline simulation), this system can quickly adapt to immersed tube 1 components with different weights, sizes and center of gravity distributions without replacing hardware. The anchor bolts and lifting lugs 21 adopt a modular design, which can be applied to various specifications of immersed tube 1, and has good versatility.

[0117] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the illustrations or text descriptions.

[0118] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0119] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A submerged tunnel hoisting system, characterized in that, include: The main lifting points are installed on the immersed tube to be lifted. The main lifting points are symmetrically arranged along the central axis of the immersed tube. The spacing of the main lifting points corresponds to the length and weight distribution of the immersed tube. The main lifting points are used to lift the immersed tube. The auxiliary lifting points include hydraulic actuators. The auxiliary lifting points are installed on the immersed tube and are arranged at both ends of the immersed tube. The auxiliary lifting points are used to lift the immersed tube and adjust the posture of the immersed tube. A sensing module is installed on the main lifting point, the auxiliary lifting point, and the immersed tube to collect lifting information, including the load information of the main lifting point and the auxiliary lifting point, the displacement information of the hydraulic actuator, and the attitude information of the immersed tube. The control module is communicatively connected to the sensing module and is used to control the hydraulic actuator to adjust the attitude of the immersed tube according to the hoisting information and / or the received attitude adjustment command.

2. The immersed tunnel hoisting system according to claim 1, characterized in that, Controlling the hydraulic actuator to adjust the submerged tube attitude according to the hoisting information and / or received attitude adjustment commands includes: Once a preset control cycle is entered, the attitude deviation is determined based on the attitude adjustment command and the attitude information, and the attitude adjustment function corresponding to the attitude deviation is determined. The extension / retraction adjustment amount of the auxiliary lifting point is determined based on the load safety conditions, stroke constraints, and the attitude adjustment function. The load safety conditions are determined based on the upper limit of the safe load of the main lifting point and the auxiliary lifting point, and the stroke constraints are determined based on the extension / retraction stroke of the hydraulic actuator. The hydraulic actuator is controlled to adjust the submerged tube posture according to the telescopic adjustment amount.

3. The immersed tunnel hoisting system according to claim 2, characterized in that, The attitude adjustment function is: K×ΔU=E In the formula, ΔU is the telescopic adjustment amount of the auxiliary lifting point, E is the attitude deviation, and K is the attitude influence matrix, which represents the correspondence between the telescopic adjustment amount and the attitude change of the immersed tube. The load safety conditions are: F current +ΔF≤Fmax In the formula, F current This represents the current load at the lifting point, Fmax is the upper limit of the load at the lifting point, and ΔF is the load change at the lifting point, where ΔF = K. F ×ΔU,K F The load influence matrix represents the correspondence between the expansion / contraction adjustment amount and the load at the lifting point, where the lifting point includes the main lifting point and the auxiliary lifting point.

4. The immersed tunnel hoisting system according to claim 3, characterized in that, The step of solving for the adjustment amount of the auxiliary lifting point based on the load safety conditions, travel constraints, and the attitude adjustment function includes: The objective function corresponding to the attitude adjustment function is determined based on the adjustment cost of the auxiliary lifting points; The scaling adjustment amount is determined based on the objective function. The objective function is: minJ=(ΔU)^T×W×ΔU; In the formula, J represents the adjustment cost, (ΔU)^T is the transpose of ΔU, and W is the weight matrix, in which the weights of the auxiliary lifting points correspond to the positions of the auxiliary lifting points.

5. The immersed tunnel hoisting system according to claim 3, characterized in that, The process of solving for the extension / retraction adjustment of the auxiliary lifting point based on the load safety conditions, travel constraints, and the attitude adjustment function includes: If it is determined that there is no expansion / contraction adjustment amount that simultaneously satisfies the load safety condition and the stroke constraint condition, then the attitude adjustment function is adjusted to the first constraint function, and the expansion / contraction adjustment amount is solved using the first constraint function. The first constraint function is: |K×ΔU-E|≤ε In the formula, ε is the attitude tolerance, and the value of ε corresponds to the number of solutions.

6. The immersed tunnel hoisting system according to claim 1, characterized in that, It includes a hydraulic power unit, which is connected to the hydraulic actuator and the control module respectively. The hydraulic power unit is used to provide hydraulic power to the hydraulic actuator according to the instructions of the control module.

7. The immersed tunnel hoisting system according to claim 1, characterized in that, The main lifting point and the auxiliary lifting point are detachably installed on the immersed tube. Both the main lifting point and the auxiliary lifting point include fixing bolts and lifting lugs. The fixing bolts are embedded in the immersed tube, and the lifting lugs are detachably connected to the fixing bolts.

8. The immersed tunnel hoisting system according to claim 7, characterized in that, It also includes reinforcing ribs, which are staggered and pre-embedded in the immersed tube. The portion of the fixing bolt embedded in the immersed tube contacts the reinforcing ribs, and the bottom of the fixing bolt embedded in the immersed tube is provided with an anchor plate and a reinforcing plate.

9. The immersed tunnel hoisting system according to claim 7, characterized in that, The sensing module includes a displacement sensor. The lifting lug plate of the auxiliary lifting point includes a hydraulic lifting lug and a base. The base is fixedly connected to the fixing bolt. One end of the hydraulic actuator is connected to the base, and the other end of the telescopic rod is connected to the hydraulic lifting lug. The displacement sensor is installed on the hydraulic actuator to detect the extension and retraction stroke of the telescopic rod.

10. The immersed tunnel hoisting system according to claim 1, characterized in that, The control module is also used to adjust the load on the main lifting point during the initial stage of the immersed tube hoisting. The adjustment of the load on the main lifting point by the control module includes: The load deviation of the main lifting point is obtained based on the lifting information. If it is determined that the load deviation is greater than the maximum load deviation, the load deviation of the main lifting point is adjusted using the hydraulic actuator of the auxiliary lifting point to meet the preset deviation condition.

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