A method for anti-sway control of a two-degree-of-freedom bridge erecting machine based on differential flatness technology

Abstract

This invention discloses a two-degree-of-freedom bridge erecting machine anti-sway control method based on differential flattening technology. The method includes: S1: Modeling the bridge erecting machine system as a linear time-invariant system using the Lagrange energy method; S2: Deriving the differential flattened output of the system by calculating the inverse of the controllability matrix; S3: Performing an inverse model transformation using the flattened output and its derivative to obtain a feedforward control law; S4: Recognizing the tolerance between the control output and the flattened output, the internal dynamics are parameterized using the differential flattened output and its actual derivative, and the feedforward input is obtained based on the feedforward control law; S5: Stabilizing the system near the reference trajectory by introducing a feedback control law, and applying the superposition of the feedforward and feedback control laws to obtain the two-degree-of-freedom control law, thus achieving anti-sway control of the two-degree-of-freedom bridge erecting machine. This invention enables the bridge erecting machine system to achieve better performance indicators and maintain stability.

Description

Technical Field

[0001] This invention relates to the field of bridge erecting machine control technology, and more specifically, to a two-degree-of-freedom bridge erecting machine anti-sway control method based on differential flatness technology. Background Technology

[0002] The core function of a bridge erecting machine is to smoothly transport the load from a designated location to the target location. However, since the load is usually suspended below the trolley, it is prone to swaying during trolley operation. This swaying not only reduces the operating efficiency of the bridge erecting machine but may also cause equipment damage and even endanger the safety of on-site personnel. Therefore, how to effectively suppress load swaying and improve the control accuracy of the bridge erecting machine has become an important technical problem that urgently needs to be solved in this field.

[0003] In the field of anti-sway control for heavy lifting equipment such as bridge erecting machines, existing traditional control methods mainly suffer from the following technical defects: 1. Poor robustness of traditional open-loop control (such as input shaping and trajectory planning): This type of method highly relies on an accurate physical model of the system. In actual operation, when faced with disturbances such as changes in rope length, load mass, or external wind load, the open-loop system, lacking state feedback, cannot make dynamic corrections, which easily leads to anti-sway failure. 2. High cost and susceptibility to oscillation of traditional closed-loop control (such as full-state feedback): Traditional closed-loop methods require complex sensor networks and state observers to obtain multi-dimensional operating states, resulting in huge hardware costs and low-level computing power overhead. In addition, traditional control laws often ignore the inherent "first-order inertial lag" characteristic of heavy machinery hydraulic or motor drive systems, which can easily cause overshoot and oscillation in actual control.

[0004] To address the shortcomings of existing technologies, this invention proposes a dual-degree-of-freedom active anti-sway control method based on differential flatness technology, which has the following significant and substantial improvements: 1. Achieves feedforward active anti-sway with accurate trajectory tracking. The system can pre-calculate and output the feedforward motion trajectory required to counteract sway at the drive source. 2. Integrates hysteresis and damping characteristics, resulting in strong system stability: The feedforward control command has built-in delay compensation, solving the control oscillation problem caused by the slow response of heavy equipment. 3. Employs a minimalist feedback architecture, greatly reducing hardware costs: The feedback loop of this invention only requires a minimalist scalar proportional (P) controller to stabilize the system. This architecture eliminates the need for complex state observers, significantly reducing the dependence on sensor accuracy and microcontroller computing power while ensuring the system's anti-interference robustness. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a two-degree-of-freedom bridge erecting machine anti-sway control method based on differential flattening technology.

[0006] The objective of this invention is achieved through the following technical solution: Firstly, this invention provides a method for anti-sway control of a two-degree-of-freedom bridge erecting machine based on differential flattening technology, comprising the following steps: S1: The bridge erecting machine system is modeled as a linear time-invariant (LTI) SISO system, and mathematical modeling is performed using the Lagrange energy method.

[0007] S2: By calculating the inverse of the controllability matrix, the differential flat output z(t) of the system is derived.

[0008] S3: Using the flat output z(t) and its derivative, perform the inverse model transformation to obtain the feedforward control law uff(t).

[0009] S4: There is a tolerance between the control output and the flat output. Its internal dynamics are derived by parameterizing the control output y with z(t) and its actual derivative to obtain z*(t). Substituting z*(t) into the expression of uff(t) yields the feedforward input uff*(t).

[0010] S5: By introducing feedback, the system is stabilized near the reference trajectory. The control law for two degrees of freedom is derived by superimposing the feedforward and feedback control laws.

[0011] Furthermore, step S1 specifically includes: S11: A dynamic model in a generalized coordinate system is established based on the Lagrange equations. Since the three-dimensional model is too complex and not conducive to problem analysis, it needs to be simplified to a two-dimensional Lagrange dynamic model. This can be assumed to be a two-dimensional model of a cart suspending a weight, with the cart having a mass of... The length of the rope is During the swinging motion of the weight, the angle between the rope and the trolley in the perpendicular direction is... This allows us to deduce that the heavy object is horizontal. The displacement in the direction is The heavy object is vertical The displacement in the direction is Its kinetic energy can be derived. and potential energy for . We can obtain .

[0012] S12: Applying the Euler-Lagrange equations The generalized coordinates are ,for have get ;for have get Because the swaying amplitude of the bridge erecting machine is very small, It is very small, so appropriate simplification can yield the following result. Furthermore, due to the lag between the input speed and output motion of the vehicle, the relationship is quite complex, but it can be approximated by a first-order transfer function. The results obtained from them The damping force of the rope can be expressed as follows: Substituting the above equations together, we get... The space state equation can be obtained from the above equation. Where the spatial state vector of the model is taken as The state space of the system can be obtained as follows: The control output is .

[0013] Furthermore, step S2 specifically includes: S21: A linear time-invariant SISO system , , If the derivative is flat, then there exists a flat output. Its relative order And system input u and system variables It can be used Its finite-order time derivative is expressed as follows: S22: Find a flat output This is the main task in designing flatness-based control. Ideally, the actual output... The relative order is Then it is a flat output of the system. However, the relative order of its control output is only... This violates the necessary condition for the system to have a flat output. Therefore, its flat output can be determined by the controllability matrix. The last row of the inverse matrix is ​​defined. For a 3rd order system, its differential flatness is calculated as follows: .

[0014] S23: Based on the state space, its controllability matrix is ​​taken as follows. Taking its inverse matrix yields Take the last row and simplify it to obtain the differential flat output. .

[0015] Furthermore, step S3 specifically includes: because Any linearly correlated variable is also a flat output of the system. Therefore It's a degree of freedom in design. Choice This leads to the following state parameterization : , , , , .in .from Solution and use After replacing the state and simplifying, the expression for the feedforward control law can be obtained as follows: It applies the flat output and its time derivative to the inverse transform of the model. A feasible reference trajectory.

[0016] Furthermore, step S4 specifically includes: Internal dynamics due to A feasible trajectory for a flat output and its time derivative is required. However, the flat output is a dummy variable and does not originate from the control output y. Therefore, residual dynamics exist between these two values. These internal dynamics can be derived by parameterizing the control output y using z(t) and its time derivative. Since... Substituting the differential flattening into the equation yields... ,in That is, the initial value for differential flatness should be zero. This equation can be viewed as a... The reference trajectory output by the system is the input ordinary differential equation. This is because the mutual interference between the driving dynamics and the oscillation is neglected. To obtain a feasible reference trajectory, Must: Yes The solution, to ensure track ,and (Continuously differentiable of order n). To derive a flat output... The reference trajectory, equation It can be integrated in the forward direction because the ordinary differential equation is stable. Furthermore, the reference trajectory serves as the ordinary differential equation. The input needs to meet the following conditions At least two consecutive differentiable ( In order to generate Kinematic constraints must be considered through rate limits. Driven by joystick signals, the signal is then filtered by at least a second-order filter to achieve... .

[0017] Furthermore, step S5 specifically includes: Applying feedforward control to the system can reduce oscillations. However, due to model mismatch and assumptions made in the design, vibrations are not completely eliminated. Therefore, a feedback loop is needed to stabilize the system near the reference trajectory to ensure minimal oscillations. The feedback is a proportional controller. The relation can be obtained from the state parameterized flat output. This is and as well as and The same applies. Applying the superposition principle to feedforward and feedback control laws... , The control law of two-degree-of-freedom control is derived.

[0018] Secondly, this invention provides a simulation device for anti-sway control of a two-degree-of-freedom bridge erecting machine based on differential flatness technology, including a MATLAB / Simulink flowchart and a Simpack simulation model. The Simpack model is used to implement the anti-sway control simulation device in the model. The parameters are passed to the MATLAB / Simulink model to determine their values. Then, the desired weight is input. The velocity of the motion is obtained by using the differential flat two-degree-of-freedom control program in MATLAB / Simulink, which transmits the control input velocity to the Simpack model.

[0019] Thirdly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor executes the computer program to implement the steps of the anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology.

[0020] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements all the steps of the anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology.

[0021] The beneficial effects of this invention are: This invention discloses a two-degree-of-freedom anti-sway control method for bridge erecting machines based on differential flattening technology. The state-space equation of the bridge erecting machine system is established by using the Lagrange energy method, the feedforward control law is obtained by applying the differential flattening algorithm, and the feedback control law is obtained by applying simple proportional feedback. Finally, the two are added together to obtain the final two-degree-of-freedom control law, which enables the bridge erecting machine system to achieve better performance indicators, maintain stability, and ultimately achieve rapid anti-sway and anti-sway control.

[0022] The specific implementation methods and paths of the technical solutions of this invention are diverse. The above descriptions are merely preferred embodiments of this invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles and spirit of this invention, and such improvements and modifications should all be included within the protection scope of this invention. All components not explicitly described in detail in this embodiment can be implemented using existing technologies known in the art. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a two-dimensional schematic diagram of the bridge erecting machine model structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the joint simulation model of the bridge erecting machine of the present invention.

[0026] Figure 3 This is a schematic diagram of the overall process of the present invention.

[0027] Figure 4 This is a diagram of the differential flat two-degree-of-freedom control structure of the present invention.

[0028] Figure 5 The Simpack simulation model diagram of the present invention is shown below. Figure 6 The displacement diagram of the weight from the MATLAB / Simulink and Simpack co-simulation of this invention. Figure 7 The image shows the displacement of the vehicle simulated using MATLAB / Simulink and Simpack in this invention. Detailed Implementation

[0029] The technical solutions of the present invention will now be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention.

[0030] It should be noted that in the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying their relative importance.

[0031] The following description provides specific examples and does not limit the scope, applicability, or examples defined in the claims. Modifications to the function and arrangement of the described elements can be made without departing from the technical solution of the invention. In each example, various processes or components can be appropriately omitted, substituted, or added according to actual needs; for example, the described method can be performed in a different order than that described, and various steps can be added, omitted, or combined. Furthermore, features described for some examples can be integrated into other examples.

[0032] See Figure 1 , Figure 3 . Figure 1 This is a two-dimensional schematic diagram of the bridge erecting machine model structure. Figure 3 A flowchart illustrating a method for anti-sway control of a two-degree-of-freedom bridge erecting machine based on differential flatness technology is provided as an example of the present invention. In this example, the method includes the following steps: S1: The bridge erecting machine system is modeled as a linear time-invariant (LTI) SISO system. Mathematical modeling is performed using the Lagrange energy method. Since the real-world model is very complex, accurate modeling will not significantly improve the control effect compared to simplified modeling. Therefore, the model is appropriately simplified into a model of a trolley carrying a heavy object, which moves by pulling the heavy object.

[0033] S2: The state equation is derived from the established mathematical model, and the controllability matrix is ​​obtained from it. The differential flat output z(t) of the system is derived by calculating the inverse of the controllability matrix.

[0034] S3: The system parameters are represented by the flat output z(t) and its derivative. The inverse model transformation is performed, and the system input is deduced from the system output, thus obtaining the feedforward control law uff(t).

[0035] S4: Since there is a tolerance between the control output and the flat output, the flat output obtained by taking the inverse of the controllability matrix is ​​not the actual flat output. It needs to be transformed by an internal dynamic module, which derives z*(t) by parameterizing the control output y with z(t) and its actual derivative. Substituting z*(t) into the expression of uff(t) yields the feedforward input uff*(t).

[0036] S5: Since the single feedforward system is unstable and has poor anti-interference ability, it is necessary to introduce feedback to stabilize the system near the reference trajectory. The simplest proportional feedback is adopted. The control law of two degrees of freedom is derived by superimposing the feedforward and feedback control laws.

[0037] In this invention example, because the real-world bridge erecting machine model is extremely complex, and each part possesses certain flexible characteristics, completely considering all structures as flexible bodies would increase modeling difficulty without significantly improving control performance. Therefore, the model was simplified. In this example, only the rope is a flexible body; all other components are treated as rigid bodies. It is simplified to a small cart with a heavy load suspended below it, as shown below. Figure 1 The distance the car traveled was The weight of the cart is M, and the weight of the ball is... The length of the rope holding the ball is The damping of the rope is The acceleration due to gravity is The angle between the rope and the vertical direction of the trolley is The velocity calculated by the differential flatness acts on the trolley, which in turn moves the weight. The algorithm reduces the amplitude of swaying during the movement and stopping of the weight, thus achieving an anti-sway control effect.

[0038] In one possible implementation, step S1 specifically includes: S11: A dynamic model in a generalized coordinate system is established based on the Lagrange equations. Since the three-dimensional model is too complex and not conducive to problem analysis, it needs to be simplified to a two-dimensional Lagrange dynamic model. This can be assumed to be a two-dimensional model of a cart suspending a weight. The weight swings as the cart moves, pulled by a rope. The mass of the cart is... The displacement of the trolley is The length of the rope is The damping on the rope is During the swinging motion of the weight, the angle between the direction of the rope and the direction perpendicular to the trolley is... The local gravitational acceleration is This allows us to deduce that the heavy object is horizontal. The displacement in the direction is denoted as The heavy object is vertical The displacement in the direction is denoted as Its kinetic energy can be derived. and potential energy They are respectively: Its Lagrange function can be obtained as: S12: Applying the Euler-Lagrange equations: The generalized coordinates are chosen as the displacement of the trolley. The angle between the direction of the rope and the direction perpendicular to the trolley get ; for have: Simplifying, we get: for have: Simplifying, we get: Because the swaying amplitude of the bridge erecting machine is very small, Very small ( Therefore, by making appropriate simplifications, we can obtain... Furthermore, due to the lag between the input speed and output motion of the vehicle, the relationship is quite complex and can be expressed by a first-order transfer function. To approximate the relationship between input speed and the vehicle's execution speed, where This is the proportionality coefficient. It is a time constant. For control input. Wherein obtained The damping force of the rope can be expressed as follows: Substituting the above equations, we get: The spatial state equation can be obtained from the above equation. Where the spatial state vector of the model is taken as The state space of the system can be obtained as follows: The control output can be selected as the displacement of the weight as it moves with the trolley. .

[0039] In one possible implementation, step S2 specifically includes: S21: If a linear time-invariant SISO system , , If the derivative is flat, then it has a flat output. Its relative order And system input u and system variables It can be used Its finite-order time derivative is expressed as follows: S22: Find a flat output (t) is the main task in designing flatness-based control. The ideal situation is the actual output... The relative order is Then it is a flat output of the system. However, the relative order of the system's control output is only r=1, making... This violates the necessary condition for the system to have a flat output. Therefore, to find its flat output, we can calculate its controllability matrix. The last row of the inverse matrix is ​​defined. For a 3rd order system, it is... .

[0040] S23: Based on the state space, A and b can be obtained, and their controllability matrix is: Taking its inverse matrix yields: Take the last row and simplify it to obtain the differential flat output. , where all values ​​that are linearly dependent on z(t) are the differential flat outputs of the system.

[0041] In one possible implementation, step S3 specifically includes: S31: Due to Any linearly correlated variable is also a flat output of the system. Therefore This can be seen as a degree of freedom in the design. Therefore, the flat output z can be simplified, and a choice can be made... This leads to the following state parameterization: : Taking its derivative yields the expression for its derivative. , , Substitute z and its derivative into It can be solved by inverse reasoning .in .from Solution and use By replacing the state, the feedforward control law can be obtained: It applies a flat output and its time derivative to the inverse model transform. A feasible reference trajectory.

[0042] In one possible implementation, step S4 specifically includes: S41: Internal dynamics due to A feasible trajectory for a flat output and its time derivative is required. However, the flat output is a dummy variable and does not originate from the control output y. Therefore, residual dynamics exist between these two values. These internal dynamics can be derived by parameterizing the control output using z(t) and its time derivative. Since... Substituting the differential flattening into the equation yields... ,in That is, the initial value for differential flatness should be zero. This equation can be viewed as a... The reference trajectory output by the system is the input ordinary differential equation. This is because the mutual interference between the driving dynamics and the oscillation is neglected. To obtain a feasible reference trajectory, It must be The solution, to ensure track ,and (Continuously differentiable of order n). To derive a flat output... The reference trajectory, equation It can be integrated in the forward direction because the ordinary differential equation is stable. And the reference trajectory (as the ordinary differential equation) The input needs to meet the following conditions: At least two consecutive differentiable ( In order to generate Kinematic constraints must be considered through rate limits. Driven by joystick signals, the signal is then filtered by at least a second-order filter to achieve... .

[0043] S5: Applying feedforward control to the system can reduce oscillation. However, due to model mismatch and assumptions made in the design, oscillation is not completely eliminated. Therefore, a feedback loop is needed to stabilize the system near the reference trajectory to ensure minimal oscillation. The feedback is a proportional controller. The relation can be obtained from the state parameterized flat output. This is and as well as and The same applies. Applying the superposition principle to feedforward and feedback control laws... , The control law of two-degree-of-freedom control is derived.

[0044] See Figure 2 This is a schematic diagram of the joint simulation model of MATLAB / Simulink and Simpack, showing its anti-sway control simulation device, including the MATLAB / Simulink program flowchart and the Simpack simulation model. The Simpack model is used to implement the simulation of the anti-sway control device. The parameters are passed to the MATLAB / Simulink model to determine their values. Then, the desired weight is input. The velocity of the motion is obtained by using the differential flat two-degree-of-freedom control program in MATLAB / Simulink, which transmits the control input velocity to the Simpack model.

[0045] See Figure 4 The diagram shows the logic block diagram of the integral two-degree-of-freedom differential flat anti-sway control. The input desired velocity is first processed by internal dynamic calculation to obtain a differential flat output that matches the desired velocity. (t) The feedforward control obtained by the differential flattening of FF, plus the feedback control of FB, yields the dual-freedom control law.

[0046] See Figure 5 This is a simulation model of a rigid-flexible coupling system using Simpack. Since each part has certain flexible characteristics, treating all structures as flexible would increase modeling difficulty without significantly improving control performance. Therefore, all components except the rope are treated as rigid bodies, while the rope is treated as a flexible body.

[0047] See Figure 6 and Figure 7 This is a set of co-simulation data using MATLAB / Simulink and Simpack, in which... Figure 6 This represents the displacement change of the weight during the movement. Figure 7 The displacement of the cart is as follows: the cart pulls the weight and undergoes uniform acceleration and deceleration, with a maximum speed of 0.2 m / s. The rope... The length of the cart is 10m, the mass of the load is 110976kg, and other parameters are obtained through modeling. Three different schemes are used to control the movement of the cart, thereby controlling the movement of the load. The three schemes are: 1. Uncontrolled: The trolley is made to move with uniform acceleration and deceleration, resulting in a large swing amplitude of the weight. 2. Differential flat feedforward control is adopted: the desired speed is calculated by differential flatness and the feedforward control speed is input to the trolley. At this time, the swing amplitude of the weight is greatly improved compared with the case of no control. 3. Feedforward control plus feedback control: Feedback control is introduced on the basis of feedforward control. At this time, the swing amplitude of the weight is slightly improved compared with the case of single feedforward control.

[0048] The above embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A method for anti-sway control of a two-degree-of-freedom bridge erecting machine based on differential flatness technology, characterized in that, Includes the following steps: S1: The bridge erecting machine system is modeled as a linear time-invariant SISO system, and mathematical modeling is performed using the Lagrange energy method; S2: By calculating the inverse of the controllability matrix, the differential flat output z(t) of the system is derived; S3: Using the flat output z(t) and its derivative, perform inverse model transformation to obtain the feedforward control law uff(t); S4: There is a tolerance between the control output and the flat output. Its internal dynamics are obtained by parameterizing the control output y with the differential flat output z(t) and its actual derivative to obtain z*(t). Substituting z*(t) into the expression of uff(t) yields the feedforward input uff*(t). S5: By introducing a feedback control law, the system is stabilized near the reference trajectory. The feedforward control law and the feedback control law are superimposed to obtain the control law for two degrees of freedom control. Based on the control law for two degrees of freedom control, the anti-sway control of the two-degree-of-freedom bridge erecting machine is realized.

2. The anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology according to claim 1, characterized in that, Step S1 specifically includes: S11: Establish a dynamic model in a generalized coordinate system based on the Lagrange equation, and simplify it into a two-dimensional Lagrange dynamic model. This model is assumed to be a two-dimensional model of a cart suspending a weight, and calculate the relationship between kinetic energy and potential energy. S12: Apply the Euler-Lagrange equations, based on the angle between the rope and the cart in the perpendicular direction. Select generalized coordinates; and for Simplify: Furthermore, since there is a certain lag between the input speed and the output motion of the vehicle, a first-order transfer function is used to approximate the relationship between the vehicle speed and the input speed; then, based on the relationship between kinetic energy and potential energy, a spatial state equation is constructed to obtain the control output of the system.

3. The anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology according to claim 1, characterized in that, Step S2 specifically includes: S21: A linear time-invariant SISO system , , If the derivative is flat, then there exists a flat output. Its relative order And system input u and system variables use and its finite-order time derivative representation; S22: The flat output is defined by the last row of the inverse of the controllability matrix; the differential flat output is obtained by taking the controllability matrix from the state space, taking the last row of its inverse matrix, and reducing it to obtain the differential flat output.

4. The anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology according to claim 1, characterized in that... Step S4 specifically includes: S41: The internal dynamics are derived by parameterizing the control output using z(t) and its time derivative; due to Substituting the differential flattening into the equation yields... ,in That is, the initial value for differential flattening should be zero, and the equation is regarded as a reference trajectory based on the system output. Given the input ordinary differential equations, neglecting the mutual interference between driving dynamics and oscillation, in order to obtain a feasible reference trajectory, then... for The solution, to ensure track ,and In order to derive the flat output The reference trajectory, equation It can be integrated in the positive direction because the ordinary differential equation is stable; and as an ordinary differential equation The input reference trajectory, At least twice consecutively differentiable; in order to generate Kinematic constraints must be considered through rate limits; Driven by joystick signals, the signal is then filtered by at least a second-order filter to achieve... .

5. The anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology according to claim 1, characterized in that, Step S5 specifically includes: designing a feedback loop to stabilize the system near the reference trajectory to ensure minimal oscillation; the feedback control law is a proportional controller. The relation is obtained from the state parameterized flat output. This is for and as well as and The same applies; applying the superposition principle to feedforward and feedback control laws. , The control law of two-degree-of-freedom control is derived.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, characterized in that: The processor executes the computer program to implement the steps of the anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology as described in any one of claims 15.

7. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is run by the processor, it implements all the steps of the anti-sway control method for a two-degree-of-freedom bridge erecting machine based on differential flatness technology as described in any one of claims 1-5.

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